Sweeping machine and detection method of sweeping machine

Abstract

The embodiment of the present application provides a sweeping machine and a detection method for the sweeping machine, wherein the sweeping machine includes a sweeping machine body, a detection device and a first detector. The detection device is connected to the sweeping machine body, and the detection device includes a first rotating part, which is located at the top of the sweeping machine body and rotates relative to the sweeping machine body in a working state; the first detector is connected to the first rotating part, so that when the first rotating part rotates relative to the sweeping machine body, it drives the first detector to rotate together, and the first detector is used for obstacle detection. The sweeping machine of the embodiment of the present application drives the first detector to rotate through the first rotating part of the detection device, so that the minimum number of first detectors can be used to perform uninterrupted all-round detection of obstacles around the sweeping machine, which effectively solves the problem of detection blind spots in existing sweeping machines and the problem of a large number of obstacle detection devices.

Description

Technical Field

[0001] The present application relates to the technical field of smart home appliances, and in particular to a sweeping machine and a detection method for the sweeping machine. Background Art

[0002] The detection devices (e.g., sensors and cameras) on existing sweepers are not properly positioned, so there are detection blind spots, which can cause the sweeper to bump into objects during operation. To solve the above problem, some sweeper products have increased the number of detection devices to compensate for the detection blind spot problem. However, when a large number of detection devices are installed, the manufacturing cost of the sweeper will be too high.

[0003] This section is intended to provide a background or context to the embodiments of the application that are recited in the claims. No description herein is admitted to be prior art by inclusion in this section. Summary of the invention

[0004] The embodiments of the present application provide a sweeping machine and a detection method for the sweeping machine to solve or alleviate one or more technical problems in the prior art.

[0005] As a first aspect of an embodiment of the present application, an embodiment of the present application provides a sweeping machine, comprising:

[0006] Sweeper body;

[0007] A detection device is connected to the sweeping machine body, and the detection device includes a first rotating part, which is located on the top of the sweeping machine body and rotates relative to the sweeping machine body in a working state;

[0008] The first detector is connected to the first rotating part so that when the first rotating part rotates relative to the sweeping machine body, the first detector is driven to rotate together. The first detector is used for obstacle detection.

[0009] In one embodiment, the sweeping machine further comprises:

[0010] The second detector is connected to the first rotating part so that when the first rotating part rotates relative to the sweeping machine body, the second detector is driven to rotate together. The second detector is used for environmental detection.

[0011] In one embodiment, the first detector and the second detector are arranged inside the first rotating part, and the first rotating part is provided with a first detection window and a second detection window, the first detection window corresponds to the position of the first detector, and the second detection window corresponds to the position of the second detector.

[0012] In one embodiment, the detection device includes a second rotating part, which is rotatably disposed inside the sweeping machine body, and the second rotating part is connected to the second detector so that when the second rotating part rotates relative to the sweeping machine body, the second detector is driven to rotate together; an annular detection window is circumferentially arranged on the side wall surface of the sweeping machine body, and the annular detection window corresponds to the position of the second detector, so that the second detector can perform environmental detection through the annular detection window.

[0013] In one embodiment, the first detector is an ultrasonic sensor, and the second detector is a single-line laser sensor.

[0014] In one embodiment, the first rotating part adopts a boss structure, and the boss structure is arranged near the front end of the sweeping machine body along the forward direction.

[0015] In one embodiment, the first rotating part adopts an annular structure, the center of the annular structure coincides with the center of the top of the sweeper body, and the outer edge size of the annular structure is less than or equal to the outer edge size of the top of the sweeper body.

[0016] In one embodiment, the first rotating part is connected to the top of the sweeper body in a liftable manner.

[0017] In one embodiment, the first detector is any one of an ultrasonic sensor, an infrared sensor, a proximity sensor, a time-of-flight sensor, a structured light sensor, or a camera.

[0018] In one embodiment, the second detector is any one of a laser sensor, a time-of-flight sensor, an infrared sensor, a structured light sensor, or a camera.

[0019] In one embodiment, the sweeping machine further comprises:

[0020] The control device is electrically connected to the detection device.

[0021] As a second aspect of an embodiment of the present application, an embodiment of the present application provides a detection method for a sweeping machine, which is applied to the sweeping machine of the first aspect above, comprising:

[0022] Obtaining an abnormal obstacle detection result from the historical obstacle detection results of the first detector;

[0023] Determine a first target area corresponding to the obstacle abnormality detection result;

[0024] When the sweeping machine moves to the first target area, at least the first detector is controlled to be in a working state, and the detection device is controlled to drive the first detector to rotate, so that the first detector detects obstacles in the first target area.

[0025] In one embodiment, the detection method of the sweeping machine further includes:

[0026] Obtaining an environmental anomaly detection result from historical environmental detection results of a second detector;

[0027] Determine a second target area corresponding to the environmental anomaly detection result;

[0028] When the sweeping machine moves to the second target area, at least the second detector is controlled to be in working state, and the detection device is controlled to drive the second detector to rotate, so that the second detector detects the environment in the second target area.

[0029] In one embodiment, the detection method of the sweeping machine further includes:

[0030] During the operation of the sweeping machine, at least one of the first detector and the second detector is controlled to be in an operating state.

[0031] In one implementation, obtaining an abnormal obstacle detection result from a historical obstacle detection result of the first detector includes:

[0032] The result that the number of times the first detector is triggered exceeds a threshold is obtained from the historical obstacle detection results of the first detector as the obstacle abnormality detection result.

[0033] In one embodiment, obtaining an environmental anomaly detection result from a historical environmental detection result of a second detector includes:

[0034] The result that the distance detection data fluctuation exceeds the threshold range is obtained from the historical environment detection results of the second detector as the environment anomaly detection result.

[0035] In one embodiment, the detection method of the sweeping machine further includes:

[0036] When the first detector detects an obstacle, determining the relative position between the sweeping machine and the obstacle;

[0037] Determining the distance between the sweeper and the obstacle according to the rotation angle of the first rotating part and the relative position between the sweeper and the obstacle;

[0038] The obstacle avoidance action of the sweeper is determined according to the distance between the sweeper and the obstacle.

[0039] In one embodiment, when the first detector detects an obstacle, determining the relative position between the sweeping machine and the obstacle includes:

[0040] When the first detector detects an obstacle, the second detector is used to determine the relative position between the sweeper and the obstacle in the target area.

[0041] As a third aspect of the embodiment of the present application, the embodiment of the present application provides a detection device for a sweeping machine, including:

[0042] A first acquisition module, used to acquire an obstacle abnormality detection result from the historical obstacle detection results of the first detector;

[0043] A first determination module, used to determine a first target area corresponding to the obstacle abnormality detection result;

[0044] The first control module is used to control at least the first detector to be in a working state when the sweeping machine moves to the first target area, and control the detection device to drive the first detector to rotate, so that the first detector detects obstacles in the first target area.

[0045] In one embodiment, the detection device of the sweeping machine further includes:

[0046] A second acquisition module, used to acquire an environmental anomaly detection result from a historical environmental detection result of a second detector;

[0047] A second determination module, used to determine a second target area corresponding to the environmental anomaly detection result;

[0048] The second control module is used to control at least the second detector to be in a working state when the sweeping machine moves to the second target area, and control the detection device to drive the second detector to rotate, so that the second detector detects the environment in the second target area.

[0049] In one embodiment, the detection device of the sweeping machine further includes:

[0050] The third control module is used to control at least one of the first detector and the second detector to be in a working state during the operation of the sweeping machine.

[0051] In one implementation, the first acquisition module is further configured to acquire, from historical obstacle detection results of the first detector, a result in which the number of times the first detector is triggered exceeds a threshold value as the obstacle abnormality detection result.

[0052] In one embodiment, the second acquisition module is further used to obtain the result of the distance detection data fluctuation exceeding the threshold range from the historical environment detection results of the second detector as the environment anomaly detection result.

[0053] In one embodiment, the detection device of the sweeping machine further includes:

[0054] A third determination module is used to determine the relative position between the sweeping machine and the obstacle when the first detector detects the obstacle;

[0055] A fourth determination module, used to determine the distance between the sweeping machine and the obstacle according to the rotation angle of the first rotating part and the relative position between the sweeping machine and the obstacle;

[0056] The fifth determination module is used to determine the obstacle avoidance action of the sweeping machine according to the distance between the sweeping machine and the obstacle.

[0057] In one embodiment, the third determination module is further configured to use the second detector to determine the relative position between the sweeper and the obstacle in the target area when the first detector detects the obstacle.

[0058] As a fourth aspect of the embodiments of the present application, the embodiments of the present application provide an electronic device, the functions of which can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0059] In one possible design, the structure of the electronic device includes a processor and a memory, the memory is used to store a program that supports the electronic device to execute the above-mentioned detection method of the sweeping machine, and the processor is configured to execute the program stored in the memory. The electronic device may also include a communication interface for communicating with other devices or a communication network.

[0060] As the fifth aspect of the embodiment of the present application, the embodiment of the present application provides a non-transitory computer-readable storage medium storing computer instructions, which is used to store electronic devices and computer software instructions used by electronic devices, including programs involved in executing the above-mentioned sweeping machine detection method.

[0061] The sweeping machine of the embodiment of the present application drives the first detector to rotate through the first rotating part of the detection device, so that the obstacles around the sweeping machine can be uninterruptedly detected in all directions by using a minimum number of first detectors, which effectively solves the problem of blind detection areas in existing sweeping machines and the problem of a large number of detection devices. In addition, since the sweeping machine of the embodiment of the present application can perform all-round detection of surrounding obstacles, it can obtain more comprehensive environmental information, and has a stronger ability to perceive environments such as collisions and falls, thereby improving operational reliability and making the sweeping machine less likely to be trapped. In addition, the sweeping machine of the embodiment of the present application not only does not need to increase the number of sensors or cameras, but can also drive the first detector to rotate through the detection device, thereby reducing the number of sensors or cameras arranged, thereby saving the manufacturing cost and complexity of the sweeping machine.

[0062] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present application will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In the accompanying drawings, unless otherwise specified, the same reference numerals throughout the multiple drawings represent the same or similar parts or elements. These drawings are not necessarily drawn to scale. It should be understood that these drawings only depict some embodiments disclosed in the present application and should not be regarded as limiting the scope of the present application.

[0064] Figure 1 A structural diagram of a sweeping machine according to an embodiment of the present application is shown.

[0065] Figure 2 A structural diagram of a sweeping machine according to another embodiment of the present application is shown.

[0066] Figure 3 A structural diagram showing the arrangement relationship of the first detector and the second detector according to an embodiment of the present application.

[0067] Figure 4 A structural diagram showing the arrangement relationship of a first detector and a second detector according to another embodiment of the present application.

[0068] Figure 5 A structural diagram showing the arrangement relationship of a first detector and a second detector according to another embodiment of the present application.

[0069] Figure 6 A structural diagram of a sweeping machine according to another embodiment of the present application is shown.

[0070] Figure 7 A structural diagram of a sweeping machine according to another embodiment of the present application is shown.

[0071] Figure 8 Show Figure 7 A top view of the sweeper.

[0072] Fig. 9 A flow chart of a detection method for a sweeping machine according to an embodiment of the present application is shown.

[0073] Fig.10 A schematic diagram showing an application of the detection method for a sweeping machine according to an embodiment of the present application.

[0074] Fig.11 A schematic diagram of a detection device for a sweeping machine according to an embodiment of the present application is shown.

[0075] Fig.12 It is a block diagram of an electronic device used to implement the detection method of the sweeping machine in the embodiment of the present application.

[0076] Description of reference numerals:

[0077] 1-sweeping machine body; 2-detection device; 3-first detector;

[0078] 4-second detector; 21-first rotating part; 22-second rotating part;

[0079] 11-circular detection window; 100-sweeper; 200-obstacle. DETAILED DESCRIPTION

[0080] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present application. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0081] like Figure 1 As shown, as one aspect of an embodiment of the present application, this embodiment provides a sweeping machine, comprising: a sweeping machine body 1, a detection device 2 and a first detector 3. The detection device 2 is connected to the sweeping machine body 1. The detection device 2 comprises a first rotating part 21, which is located at the top of the sweeping machine body 1 and rotates relative to the sweeping machine body 1 during operation. The first detector 3 is connected to the first rotating part 21, so that when the first rotating part 21 rotates relative to the sweeping machine body 1, the first detector 3 is driven to rotate together, and the first detector 3 is used for obstacle detection.

[0082] The sweeping machine body 1 can be understood as any sweeping machine in the prior art, and is not specifically limited here. For example, the outer shell shape and material of the sweeping machine body 1 can be selected and adjusted according to the sweeping machines in the prior art, the number and arrangement of the wheels of the sweeping machine body 1 can be selected and adjusted according to the sweeping machines in the prior art, and the structure inside the sweeping machine body 1 and the sensors provided on the sweeping machine body 1 can be selected and adjusted according to the sweeping machines in the prior art.

[0083] The first rotating part 21 rotates relative to the sweeping machine body 1 during operation, which can be understood as the first rotating part 21 is rotatably connected to the sweeping machine body 1 and can rotate relative to the sweeping machine body 1. The first rotating part 21 is located at the top of the sweeping machine body 1 during operation, which can be understood as the first rotating part 21 is located inside the sweeping machine body 1 when not in operation, and the first rotating part 21 extends to the top of the sweeping machine body 1 when in operation. The first rotating part 21 is located at the top of the sweeping machine body 1 during operation, which can also be understood as the first rotating part 21 is located at the top of the sweeping machine body 1 both in the operating state and in the non-operating state.

[0084] The shape and structure of the first rotating part 21 can be selected and adjusted according to the size of the sweeper and the detection requirements of the sweeper, and are not specifically limited here. The transmission mechanism that drives the first rotating part 21 to rotate can adopt any structure in the prior art, and the specific structure can be selected and adjusted according to the needs, and are not specifically limited here. The first rotating part 21 is arranged on the top of the sweeper body 1, which can be understood as the first rotating part 21 extending from the inside of the sweeper body 1 to the top outside of the sweeper body 1 (such as Figure 1 shown).

[0085] The first detector 3 can adopt any sensor or camera for measuring the distance of an object in the prior art. As long as it can realize all-round obstacle detection around the sweeping machine body 1 while rotating. All-round obstacle detection can be understood as that the first detector 3 can perform 360° detection around the sweeping machine body 1 when rotating, and the detection area covers the oblique upper space area and the oblique lower space area of ​​the outer edge of the sweeping machine body 1.

[0086] The connection between the first detector 3 and the first rotating part 21 can be understood as the first detector 3 being arranged inside or outside the first rotating part 21. When the first detector 3 is arranged inside the first rotating part 21, a corresponding detection window can be opened on the first rotating part 21, so that the first detector 3 can detect obstacles in the surrounding environment of the sweeping machine body 1 through the detection window.

[0087] The sweeping machine of the embodiment of the present application drives the first detector 3 to rotate through the first rotating part 21 of the detection device 2, so that the obstacles around the sweeping machine can be uninterruptedly detected in all directions with a minimum number of first detectors 3 (for example, one first detector 3), which effectively solves the problem of blind detection areas in existing sweeping machines and the problem of a large number of detection devices. In addition, since the sweeping machine of the embodiment of the present application can perform all-round detection of surrounding obstacles, it can obtain more comprehensive environmental information, and has a stronger ability to perceive environments such as collisions and falls, thereby improving operational reliability and making the sweeping machine less likely to be trapped. In addition, the sweeping machine of the embodiment of the present application not only does not need to increase the number of sensors or cameras, but can also drive the first detector 3 to rotate through the first rotating part 21, thereby reducing the number of sensors or cameras arranged, thereby saving the manufacturing cost and manufacturing complexity of the sweeping machine.

[0088] In one embodiment, the first detector 3 is an ultrasonic sensor, an infrared sensor, a proximity sensor, a time-of-flight sensor, a structured light sensor, or a camera, etc. The specific structure can be selected and adjusted as needed, and is not specifically limited here.

[0089] In one example, the number of the first detectors 3 can be selected and adjusted as needed. For example, since the first rotating part 21 can drive the first detector 3 to rotate, only one first detector 3 can be provided on the first rotating part 21 to meet the detection requirements. For another example, in order to improve the detection accuracy, multiple first detectors 3 can be provided on the first rotating part 21 to improve the detection accuracy.

[0090] In another example, the first detector 3 may be arranged at any position on the sweeping machine body 1 .

[0091] In one embodiment, Figure 2 As shown, the sweeper further includes a second detector 4. The second detector 4 is connected to the first rotating part 21 of the detection device 2, so that when the first rotating part 21 rotates relative to the sweeper body 1, the second detector 4 is driven to rotate together, and the second detector 4 is used for environmental detection.

[0092] Environmental detection can be understood as detecting the medium and long-distance environment around the sweeping machine body 1, so as to further realize the construction of a map of the spatial area and the positioning of the sweeping machine body 1 in the spatial area. The detection method of the second detector 4 can be selected and adjusted as needed. For example, the second detector 4 can be based on the tof (Time offlight, time of flight) principle for detection, or it can be based on the triangulation principle for detection. The specific method adopted is not specifically limited here.

[0093] The second detector 4 is connected to the first rotating part 21, which can be understood as the second detector 4 being arranged inside or outside the first rotating part 21. When the second detector 4 is arranged inside the first rotating part 21, the first rotating part 21 needs to be provided with a corresponding detection window so that the first detector 3 can detect the area around the sweeping machine body 1 through the detection window.

[0094] In this embodiment, since the first detector 3 and the second detector 4 are simultaneously provided on the first rotating part 21 of the sweeper, when the detection device 2 rotates, all-round detection of short-distance obstacles and medium- and long-distance environments can be achieved simultaneously. The first detector 3 and the second detector 4 can not only complement each other in detection distance and field of view, but also improve the working reliability of the sweeper, and avoid the problem of collision and entrapment of the sweeper with obstacles.

[0095] In one embodiment, the second detector 4 is a laser sensor, a time-of-flight sensor, an infrared sensor, a structured light sensor, or a camera, etc. The specific structure can be selected and adjusted as needed and is not specifically limited here.

[0096] In one example, the number of the second detectors 4 can be selected and adjusted as needed. For example, since the first rotating part 21 can drive the second detector 4 to rotate, only one second detector 4 can be set on the first rotating part 21 to meet the detection requirements. For another example, in order to detect environmental information of planes at different heights, multiple second detectors 4 can be set at different heights on the first rotating part 21, so as to detect planes at different heights.

[0097] In one embodiment, the first detector 3 uses an ultrasonic sensor, and the second detector 4 uses a single-line laser sensor. The single-line laser sensor can collect environmental information at medium and long distances (0.15 to 20m) on a height plane, thereby realizing map construction and self-positioning of the area. The ultrasonic sensor has a beam angle in a certain angle range, so it can detect close-range obstacles (0 to 50cm) in an area within a certain height range around the sweeping machine body 1. The conical collection range of the ultrasonic sensor can make up for the problem that the single-line laser sensor cannot collect obstacles in the area above and below the height plane, and the single-line laser sensor can make up for the problem that the ultrasonic sensor can only collect obstacles in the close-range area. Through the complementarity of the ultrasonic sensor and the single-line laser sensor, it can be achieved that when the detection device 2 drives the ultrasonic sensor and the single-line laser sensor to rotate, the close-range and medium-range environment around the sweeping machine body 1 can be fully detected. In addition, the ultrasonic sensor is not affected by the brightness and multipath interference of the light in the environment, and can accurately detect the location of the obstacle.

[0098] In one embodiment, Figure 2 As shown, the first detector 3 and the second detector 4 are both arranged inside the first rotating part 21. The side wall of the first rotating part 21 is provided with a first detection window and a second detection window, the first detection window corresponds to the position of the first detector 3, and the second detection window corresponds to the position of the second detector 4. Thus, when the first rotating part 21 rotates, the first detector 3 can perform all-round detection of obstacles around the sweeping machine body 1 through the first detection window, and the second detector 4 can perform all-round detection of the medium and long-distance environment around the sweeping machine body 1 through the second detection window.

[0099] The arrangement of the first detector 3 and the second detector 4 can be selected and adjusted as needed, and is not specifically limited here. Figure 3 As shown, the first detector 3 and the second detector 4 are arranged on the same straight line relative to each other. Figure 4 As shown, the first detector 3 and the second detector 4 are arranged at a certain angle. Figure 5As shown, the first detector 3 and the second detector 4 are arranged adjacent to each other. It should be noted that, since the first rotating part 21 can drive the first detector 3 and the second detector 4 to rotate, the first detector 3 and the second detector 4 can be used to achieve all-round detection without blind spots regardless of the arrangement.

[0100] In one embodiment, the first detector 3 and the second detector 4 may both be disposed outside the first rotating portion 21 .

[0101] In one embodiment, Figure 6 As shown, the second detector 4 is connected to the second rotating part 22 of the detection device 2, and the second rotating part 22 is located inside the sweeping machine body 1. The side wall surface of the sweeping machine body 1 is circumferentially provided with an annular detection window 11, and the annular detection window 11 corresponds to the position of the second detector 4. The second detector 4 detects the environment outside the sweeping machine body 1 through the annular detection window 11.

[0102] It should be noted that the second detector 4 mentioned in this embodiment can be understood as the second detector described in the above embodiments. Its structure and arrangement can refer to the above embodiments and will not be repeated here.

[0103] In one embodiment, Figure 1 As shown, the first rotating part 21 adopts a boss structure, which is arranged on the top of the sweeping machine body 1 and close to the front end of the sweeping machine body 1 along the forward direction. The boss structure can rotate relative to the top of the sweeping machine body 1.

[0104] In one example, the specific setting position of the boss structure on the top of the sweeping machine body 1 can be selected and adjusted according to the field of view angles of the first detector 3 and the second detector 4 to avoid the sweeping machine body 1 interfering with the field of view angles of the first detector 3 and the second detector 4.

[0105] In one example, the first detector 3 is disposed inside the boss structure, and the second detector 4 is disposed inside or outside the boss structure or on the second rotating part 22 .

[0106] In one example, the first detector 3 is disposed outside the boss structure, and the second detector 4 is disposed inside or outside the boss structure or on the second rotating part 22 .

[0107] In one embodiment, the detection device 2 includes a rotating shaft and a transmission mechanism disposed in the sweeper body 1, one end of the rotating shaft is connected to the boss structure, and the other end is connected to the transmission mechanism, and under the transmission action of the transmission mechanism, the boss structure is driven to rotate by the rotating shaft, thereby further driving the first detector 3 and the second detector 4 connected to the boss structure to rotate.

[0108] In one embodiment, Figure 7 , Figure 8 As shown, the first rotating part 21 adopts an annular structure, the center of the annular structure coincides with the center of the top of the sweeping machine body 1, and the outer edge size of the annular structure is less than or equal to the outer edge size of the top of the sweeping machine body 1. The shape and outer edge size of the annular structure can be selected and adjusted according to the shape and outer edge size of the sweeping machine body 1.

[0109] In one example, the detection device 2 includes a driving mechanism and a pulley disposed in the sweeping machine body 1. A slide groove is disposed on the wheel surface of the pulley, and the slide groove cooperates with the lower edge of the annular structure. The pulley is connected to the output end of the driving mechanism, and the pulley can realize self-rotation under the action of the driving mechanism. When the pulley rotates, the friction between the slide groove of the pulley and the lower edge of the annular structure can drive the annular structure to rotate relative to the top of the sweeping machine body 1.

[0110] In one embodiment, the first detector 3 is connected to the side wall of the annular structure. The second detector 4 is connected to the side wall of the annular structure. When the annular structure rotates, the first detector 3 and the second detector 4 arranged on the side wall can be driven to rotate, thereby realizing the detection of obstacles and environment around the sweeper body 1.

[0111] In one example, the arrangement of the first detector 3 and the second detector 4 can be selected and adjusted as needed, and is not specifically limited here. For example, the first detector 3 and the second detector 4 can be relatively arranged on the same straight line. The first detector 3 and the second detector 4 can be arranged at a certain angle. The first detector 3 and the second detector 4 can be arranged adjacent to each other. It should be noted that since the detection device 2 can drive the first detector 3 and the second detector 4 to rotate, no matter how it is arranged, the first detector 3 and the second detector 4 can be used to achieve all-round detection without blind spots.

[0112] In one example, the outer edge size of the annular structure can also be adjusted according to the field of view angles of the first detector 3 and the second detector 4 to avoid interference of the sweeper body 1 with the field of view angles of the first detector 3 and the second detector 4 .

[0113] In one embodiment, the first rotating part 21 is connected to the top of the sweeping machine body 1 in a liftable manner. The height of the first rotating part 21 can be adjusted by the lifting and lowering movement of the first rotating part 21 relative to the top of the sweeping machine body 1. The height change of the first rotating part 21 can adjust the collection area of ​​the field of view angle of the first detector 3 and / or the second detector 4 connected thereto.

[0114] In this embodiment, the detection device 2 can not only drive the first detector 3 and / or the second detector 4 to perform 360° no-dead-angle detection of obstacles and environments around the sweeping machine body 1 through self-rotation, but also adjust the detection height of the first detector 3 and / or the second detector 4 during detection through its own lifting movement.

[0115] In one embodiment, the sweeping machine further includes a control device, which is electrically connected to the detection device 2 and is used to control the detection device 2 to rotate.

[0116] The control device controlling the detection device 2 to rotate can be understood as controlling the first rotating part 21 of the detection device 2 to rotate and / or controlling the second rotating part 22 of the detection device 2 to rotate.

[0117] In one example, the control device may also be electrically connected to the first detector 3 and / or the second detector 4 to control the first detector 3 and / or the second detector 4 to perform detection.

[0118] like Fig. 9 As shown, as one aspect of an embodiment of the present application, this embodiment provides a detection method for a sweeping machine, which can be applied to the sweeping machines of the above embodiments, including:

[0119] S10: Obtaining an abnormal obstacle detection result from the historical obstacle detection results of the first detector.

[0120] The historical obstacle detection results may be understood as obstacle detection data collected and recorded by the first detector over a period of time in the past.

[0121] S20: Determine a first target area corresponding to the obstacle abnormality detection result.

[0122] The first target area corresponding to the obstacle abnormality detection result can be understood as the area where the sweeping robot is located when obtaining the detection result.

[0123] S30: When the sweeping machine moves to the first target area, at least the first detector is controlled to be in a working state, and the detection device is controlled to drive the first detector to rotate, so that the first detector detects obstacles in the first target area.

[0124] In one embodiment, when the sweeping machine moves to the first target area, both the first detector and the second detector may be turned on, or only the first detector may be turned on. After the sweeping machine moves out of the first target area, the first detector may be turned off and the second detector may be turned on.

[0125] In one embodiment, the detection method of the sweeping machine further includes:

[0126] S40: Obtaining an environmental anomaly detection result from the historical environmental detection results of the second detector.

[0127] The historical environmental detection results can be understood as the environmental detection data collected and recorded by the second detector over a period of time in the past.

[0128] S50: Determine a second target area corresponding to the environmental anomaly detection result.

[0129] The second target area corresponding to the environmental anomaly detection result can be understood as the area where the sweeping robot is located when obtaining the detection result.

[0130] S60: When the sweeping machine moves to the second target area, at least the second detector is controlled to be in a working state, and the detection device is controlled to drive the second detector to rotate, so that the second detector detects the environment in the second target area.

[0131] In one embodiment, when the sweeping machine moves to the second target area, both the first detector and the second detector may be turned on, or only the second detector may be turned on. After the sweeping machine moves out of the second target area, the second detector may be turned off and the first detector may be turned on.

[0132] The embodiment of the present application can realize the targeted selection of the detector to be turned on or off in the abnormal environment area (second target area) and the obstacle-triggered abnormal area (first target area), which can not only realize the accurate detection of the target area, but also reduce the data calculation amount of the sweeper. When the first detector is needed to perform targeted detection on the first target area, the data transmission function of the second detector can be turned off. Similarly, when the second detector is needed to perform targeted detection on the second target area, the data transmission function of the first detector can be turned off.

[0133] In one embodiment, the detection method of the sweeping machine further includes:

[0134] During the working process of the sweeping machine, at least one of the first detector and the second detector is controlled to be in working state. The working process of the sweeping machine can be understood as the moving process of the sweeping machine, when the sweeping machine is turned on and in a stationary state, the sweeping process of the sweeping machine, the process of the sweeping machine building a map, etc. The working process of the sweeping machine also includes the process of the sweeping machine moving to the first target area and the second target area. In other words, as long as the sweeping machine is in working state, it is necessary to always keep a detector in working state. The detector can be a first detector or a second detector.

[0135] In one implementation, obtaining an abnormal obstacle detection result from a historical obstacle detection result of the first detector includes:

[0136] The result that the number of times the first detector is triggered exceeds a threshold is obtained from the historical obstacle detection results of the first detector as the obstacle abnormality detection result.

[0137] In one embodiment, in the same environment, the number of times the obstacle triggers the first detector is collected and recorded, and the abnormal area of ​​the first detector triggering number is recorded; subsequently, in the cleaning process in the same environment, the first detector can be selectively turned on according to the abnormal area of ​​the obstacle triggering. When the obstacle triggering abnormal area is not passed, the first detector may not be turned on, but the second detector needs to be turned on.

[0138] In one embodiment, obtaining an environmental anomaly detection result from a historical environmental detection result of a second detector includes:

[0139] The result that the distance detection data fluctuation exceeds the threshold range is obtained from the historical environment detection results of the second detector as the environment anomaly detection result.

[0140] In one embodiment, after multiple environmental information collections are performed in the same environment, the high-frequency points of environmental abnormalities in the entire environmental information (the points where the continuous multiple ranging data have large changes) are judged and recorded based on the signals collected by the second detector. In the subsequent cleaning process, the second detector is controlled to start at these high-frequency points of environmental abnormalities, and the second detector data collection / or the function of transmitting environmental data is turned off in other normal environments. However, at this time, the first detector needs to be in the detection state all the time and transmit data to the control unit.

[0141] In one embodiment, the sweeper keeps at least one detector turned on when working. That is to say, at least the first detector or the second detector is turned on, so as to ensure that the sweeper can work smoothly without being affected by the surrounding environment or obstacles. Moreover, when only one detector is turned on, the sweeper can be ensured to move safely while saving the amount of computation required for data processing by the sweeper.

[0142] In one embodiment, the detection method of the sweeping machine further includes:

[0143] When the first detector detects an obstacle, the relative position between the sweeping machine and the obstacle is determined.

[0144] The relative position between the sweeper and the obstacle can be understood as the position coordinates of the sweeper and the obstacle in the pre-constructed map of the spatial area, or can be understood as the position of the obstacle determined by the sweeper itself as the coordinate center.

[0145] Obstacles can be understood as any object in the space where the sweeper is located. For example, obstacles can be any low objects that may affect the movement of the sweeper, such as table and chair legs, shoes, books, walls, etc.

[0146] The distance between the sweeping machine and the obstacle is determined according to the rotation angle of the first rotating part and the relative position between the sweeping machine and the obstacle.

[0147] The rotation angle of the first rotating part can be understood as the angle through which the first rotating part rotates relative to its initial position.

[0148] The obstacle avoidance action of the sweeper is determined according to the distance between the sweeper and the obstacle.

[0149] In one example, when the distance between the obstacle and the sweeper is greater than the preset safety distance, the avoidance action is determined to move along the original planned route, that is, there is no need to avoid the obstacle. When the distance between the obstacle and the sweeper is greater than the preset safety distance, the avoidance action is determined to be a detour. It should be noted that when the obstacle is in different directions, the preset safety distance can be different thresholds.

[0150] In a specific application example, when the obstacle is not very close, for example, 20 cm away from the sweeper, the sweeper can continue to approach without avoiding it until it reaches a suitable distance (for example, 5 cm), and then perform the avoidance action. Since reasonable avoidance actions are performed when approaching obstacles, the sweeping coverage rate can be improved.

[0151] In one example, if Fig.10 As shown, when an obstacle 200 is detected in the right front of the sweeping machine 100, the rotation angle θ of the detection device is determined, and the distance L between the obstacle 200 and the sweeping machine 100 is calculated based on the rotation angle θ. According to the distance L and the rotation angle θ, the specific position of the obstacle relative to the sweeping machine is determined, and the corresponding avoidance action is performed based on the specific position and distance L.

[0152] In one embodiment, the detection method of the sweeping machine further includes:

[0153] During the movement of the sweeping machine, the first rotating part is controlled to drive the second detector to rotate.

[0154] When the first detector detects an obstacle, determining a relative position between the sweeper and the obstacle includes:

[0155] When the first detector detects an obstacle, the second detector is used to determine the relative position between the sweeper and the obstacle in the target area.

[0156] In this embodiment, when the first rotating part drives the first detector and the second detector to rotate, the first detector and the second detector can be used to realize accurate detection of obstacles in the area around the sweeping machine in all directions without blind spots, and effectively determine the distance between the obstacle and the sweeping machine, so as to control the sweeping machine to perform precise obstacle avoidance actions, so that the sweeping machine avoids the obstacle after it reaches the minimum safe distance, thereby improving the cleaning coverage rate of the sweeping machine.

[0157] In one embodiment, the detection method of the sweeping machine further includes:

[0158] During the movement of the sweeping machine, the second rotating part of the control detection device drives the second detector to rotate.

[0159] as well as

[0160] When the first detector detects an obstacle, determining a relative position between the sweeper and the obstacle includes:

[0161] When the first detector detects an obstacle, the second detector is used to determine the relative position between the sweeper and the obstacle in the target area.

[0162] In this embodiment, when the first rotating part and the second rotating part drive the first detector and the second detector to rotate, the first detector and the second detector can be used to realize accurate detection of obstacles in the area around the sweeping machine in all directions without blind spots, and effectively determine the distance between the obstacle and the sweeping machine, so as to control the sweeping machine to perform precise obstacle avoidance actions, so that the sweeping machine avoids the obstacle after it reaches the minimum safe distance, thereby improving the cleaning coverage rate of the sweeping machine.

[0163] like Fig.11 As shown, as one aspect of an embodiment of the present application, an embodiment of the present application provides a detection device for a sweeping machine, comprising:

[0164] The first acquisition module 10 is used to acquire an abnormal obstacle detection result from the historical obstacle detection results of the first detector.

[0165] The first determination module 20 is used to determine a first target area corresponding to the obstacle abnormality detection result.

[0166] The first control module 30 is used to control at least the first detector to be in a working state when the sweeping machine moves to the first target area, and control the detection device to drive the first detector to rotate, so that the first detector detects obstacles in the first target area.

[0167] In one embodiment, the detection device of the sweeping machine further includes:

[0168] A second acquisition module, used to acquire an environmental anomaly detection result from a historical environmental detection result of a second detector;

[0169] A second determination module, used to determine a second target area corresponding to the environmental anomaly detection result;

[0170] The second control module is used to control at least the second detector to be in a working state when the sweeping machine moves to the second target area, and control the detection device to drive the second detector to rotate, so that the second detector detects the environment in the second target area.

[0171] In one embodiment, the detection device of the sweeping machine further includes:

[0172] The third control module is used to control at least one of the first detector and the second detector to be in a working state during the operation of the sweeping machine.

[0173] In one implementation, the first acquisition module is further configured to acquire, from historical obstacle detection results of the first detector, a result in which the number of times the first detector is triggered exceeds a threshold value as the obstacle abnormality detection result.

[0174] In one embodiment, the second acquisition module is further used to obtain the result of the distance detection data fluctuation exceeding the threshold range from the historical environment detection results of the second detector as the environment anomaly detection result.

[0175] In one embodiment, the detection device of the sweeping machine further includes:

[0176] A third determination module is used to determine the relative position between the sweeping machine and the obstacle when the first detector detects the obstacle;

[0177] A fourth determination module, used to determine the distance between the sweeping machine and the obstacle according to the rotation angle of the first rotating part and the relative position between the sweeping machine and the obstacle;

[0178] The fifth determination module is used to determine the obstacle avoidance action of the sweeping machine according to the distance between the sweeping machine and the obstacle.

[0179] In one embodiment, the third determination module is further configured to use the second detector to determine the relative position between the sweeper and the obstacle in the target area when the first detector detects the obstacle.

[0180] The functions of the detection device of the above-mentioned sweeping machine in the present application can refer to the various embodiments of the detection method of the above-mentioned sweeping machine.

[0181] According to an embodiment of the present application, the present application also provides an electronic device and a readable storage medium.

[0182] like Fig.12 , is a block diagram of an electronic device according to the method of obstacle avoidance of a sweeping machine according to an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0183] like Fig.12 As shown, the electronic device includes: one or more processors 1201, memory 1202, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In other embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple electronic devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.12 A processor 1201 is taken as an example.

[0184] The memory 1202 is the non-transitory computer-readable storage medium provided in the present application. The memory stores instructions executable by at least one processor to enable the at least one processor to execute the method for avoiding obstacles in the sweeping machine provided in the present application. The non-transitory computer-readable storage medium of the present application stores computer instructions, which are used to enable a computer to execute the method for avoiding obstacles in the sweeping machine provided in the present application.

[0185] The memory 1202 is a non-transient computer-readable storage medium that can be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the method for avoiding obstacles of the sweeping machine in the embodiment of the present application. The processor 1201 executes various functional applications and data processing of the server by running the non-transient software programs, instructions and modules stored in the memory 1202, that is, the method for avoiding obstacles of the sweeping machine in the above method embodiment is implemented.

[0186] The memory 1202 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the electronic device for avoiding obstacles of the sweeper, etc. In addition, the memory 1202 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 1202 may optionally include a memory remotely arranged relative to the processor 1201, and these remote memories may be connected to the electronic device for avoiding obstacles of the sweeper via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0187] The electronic device of the method for avoiding obstacles of the sweeping machine may also include: an input device 1203 and an output device 1204. The processor 1201, the memory 1202, the input device 1203 and the output device 1204 may be connected via a bus or other means. Fig.12 The example of connecting through bus is taken in the following.

[0188] The input device 1203 can receive input digital or character information, and generate key signal input related to user settings and function control of the electronic device of the sweeper's obstacle avoidance, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator rod, one or more mouse buttons, a trackball, a joystick and other input devices. The output device 1204 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The display device may include, but is not limited to, a liquid crystal display (LCD), a light emitting diode (LED) display and a plasma display. In some embodiments, the display device may be a touch screen.

[0189] Various implementations of the systems and techniques described herein can be realized in digital electronic circuit systems, integrated circuit systems, dedicated ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0190] These computer programs (also referred to as programs, software, software applications, or code) include machine instructions for programmable processors and can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, device, and / or means (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0191] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0192] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0193] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0194] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0195] In the description of this specification, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0196] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0197] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0198] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0199] The disclosure above provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numerals and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0200] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A sweeping machine, characterized in that: include: A sweeping machine body, wherein the sweeping machine body is provided with wheels; A detection device connected to the sweeper body, the detection device comprising a first rotating part, the first rotating part being located at the top of the sweeper body and rotating relative to the sweeper body in a working state; the detection device further comprising a second rotating part, the second rotating part being rotatably disposed inside the sweeper body; a first detector connected to the first rotating part, so that when the first rotating part rotates relative to the sweeper body, the first detector is driven to rotate together, the first detector is arranged inside the first rotating part, and a detection window is opened on the first rotating part, so that the first detector detects obstacles through the detection window; The second rotating part is connected to the second detector so that when the second rotating part rotates relative to the sweeping machine body, the second detector is driven to rotate together; an annular detection window is circumferentially arranged on the side wall surface of the sweeping machine body, and the annular detection window corresponds to the position of the second detector, so that the second detector can perform environmental detection through the annular detection window.

2. The sweeping machine according to claim 1, characterized in that: The first detector adopts an ultrasonic sensor, and the second detector adopts a single-line laser sensor.

3. The sweeping machine according to claim 1, characterized in that: The first rotating part adopts a boss structure, and the boss structure is arranged near the front end of the sweeper body along the forward direction.

4. The sweeping machine according to claim 1, characterized in that: The first rotating part adopts an annular structure, the center of the annular structure coincides with the center of the top of the sweeper body, and the outer edge size of the annular structure is less than or equal to the outer edge size of the top of the sweeper body.

5. The sweeping machine according to claim 1, characterized in that: The first rotating part is connected to the top of the sweeping machine body in a liftable manner.

6. The sweeping machine according to claim 1, characterized in that: The first detector is any one of an ultrasonic sensor, an infrared sensor, a proximity sensor, a time-of-flight sensor, a structured light sensor or a camera.

7. The sweeping machine according to claim 1, characterized in that: The second detector is any one of a laser sensor, a time-of-flight sensor, an infrared sensor, a structured light sensor or a camera.

8. The sweeping machine according to claim 1, characterized in that: Also includes: A control device is electrically connected to the detection device.

9. A method for detecting a sweeping machine, applied to the sweeping machine according to any one of claims 1 to 8, characterized in that: include: Obtaining an abnormal obstacle detection result from the historical obstacle detection results of the first detector; Determine a first target area corresponding to the obstacle abnormality detection result; When the sweeping machine moves to the first target area, at least the first detector is controlled to be in a working state, and the detection device is controlled to drive the first detector to rotate, so that the first detector detects obstacles in the first target area.

10. The method according to claim 9, characterized in that Also includes: Obtaining an environmental anomaly detection result from historical environmental detection results of a second detector; Determine a second target area corresponding to the environmental anomaly detection result; When the sweeping machine moves to the second target area, at least the second detector is controlled to be in a working state, and the detection device is controlled to drive the second detector to rotate, so that the second detector detects the environment in the second target area.

11. The method according to claim 10, characterized in that Also includes: During the operation of the sweeping machine, at least one of the first detector and the second detector is controlled to be in an operating state.

12. The method according to claim 9, characterized in that The obtaining of an abnormal obstacle detection result from the historical obstacle detection result of the first detector includes: The result that the first detector is triggered a number of times exceeding a threshold is obtained from the historical obstacle detection results of the first detector as the obstacle abnormality detection result.

13. The method according to claim 10, characterized in that The obtaining of the environmental anomaly detection result from the historical environmental detection result of the second detector includes: A result in which the distance detection data fluctuation exceeds a threshold range is obtained from the historical environment detection results of the second detector as the environment anomaly detection result.

14. The method according to claim 9, characterized in that Also includes: When the first detector detects an obstacle, determining a relative position between the sweeper and the obstacle; determining a distance between the sweeping machine and the obstacle according to a rotation angle of the first rotating part and a relative position between the sweeping machine and the obstacle; The obstacle avoidance action of the sweeping machine is determined according to the distance between the sweeping machine and the obstacle.

15. The method according to claim 14, characterized in that When the first detector detects an obstacle, determining the relative position between the sweeper and the obstacle includes: When the first detector detects an obstacle, the second detector is used to determine the relative position between the sweeping machine and the obstacle in the target area.

16. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 9 to 15.

17. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 9 to 15.

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