Method, device and medium for obstacle avoidance in cleaning of a region by a robotic cleaner

Abstract

The present application relates to the field of cleaning robots, and discloses a method, device, equipment and medium for obstacle avoidance during area cleaning of a robot vacuum cleaner, which comprises setting a cleaning path in a closed boundary area, generating coverage follow path points based on the cleaning path, generating an along-obstacle path according to the relationship between the position information of the robot vacuum cleaner and the coverage follow path points when there is an obstacle in the cleaning path and the robot vacuum cleaner performs along-obstacle cleaning on the obstacle, and directly skipping the current along-obstacle cleaning step and navigating to a planning point to continue coverage cleaning according to map information when repeated along-obstacle cleaning is detected. The method, device, equipment and medium for obstacle avoidance during area cleaning of a robot vacuum cleaner can avoid repeated along-obstacle cleaning of the robot vacuum cleaner during cleaning, greatly improving the cleaning efficiency.

Description

Technical Field

[0001] This invention relates to the field of cleaning sweeping robots, and more specifically, to a sweeping robot's method, apparatus, equipment, and medium for cleaning and obstacle avoidance within a designated area. Background Technology

[0002] With the development of technology, artificial intelligence has permeated all aspects of life, and more and more families are choosing easier ways to handle housework. Robotic vacuum cleaners are replacing daily cleaning, freeing up hands and saving time. Currently, the cleaning functions of robotic vacuum cleaners can meet the daily needs of most families, but cleaning efficiency remains a significant factor limiting user experience. To provide a better user experience, further improvements in the cleaning efficiency of robotic vacuum cleaners are needed.

[0003] One common issue when using a robot vacuum cleaner is that it often gets stuck on obstacles on the floor or bumps into things due to inaccurate navigation, affecting its cleaning efficiency. Compared to ordinary robot vacuum cleaners, those with strong obstacle avoidance capabilities clean better, with more direct and precise cleaning routes, resulting in higher efficiency.

[0004] However, existing technologies have not been able to achieve highly efficient results in handling obstacles during the cleaning process and designing avoidance routes. Summary of the Invention

[0005] The main objective of this invention is to provide a cleaning and obstacle avoidance method for a robotic vacuum cleaner within a designated area, aiming to solve the technical problems of low cleaning efficiency and inefficient obstacle handling and obstacle avoidance route design in robotic vacuum cleaners during the cleaning process.

[0006] To address the aforementioned problems, this application provides a method, apparatus, device, and medium for cleaning and obstacle avoidance within a designated area using a robotic vacuum cleaner. The following technical solutions are disclosed:

[0007] Within a closed boundary area, a cleaning path is defined, and based on the cleaning path, coverage and following path points are generated;

[0008] When there are obstacles in the cleaning path, and the robot vacuum cleaner cleans along the obstacles, an obstacle-along path is generated based on the relationship between the robot vacuum cleaner's position information and the coverage and following path points.

[0009] When repeated obstacle-sweeping is detected, skip the current obstacle-sweeping step and navigate to the planned point to continue coverage sweeping based on map information.

[0010] Furthermore, the step of setting a cleaning path within a closed boundary area and generating a coverage path point based on the cleaning path includes:

[0011] Within the closed boundary area, a "bow"-shaped coverage path is generated, and coverage following path points are generated on the coverage path according to a preset distance interval.

[0012] Furthermore, the repeated obstacle cleaning refers to the situation where, when an obstacle on the cleaning path crosses multiple straight lines in the covered path, the robot vacuum cleaner determines that it is repeatedly cleaning along the obstacle during its third obstacle cleaning.

[0013] Furthermore, the step of generating an edge obstacle path based on the relationship between the location information of the sweeping robot and the coverage following path points includes:

[0014] The points on the same straight line as the breakpoint and the subsequent covered follow path are used as candidate points, and the corresponding fitted straight line Ax+By+C=0 is generated. The breakpoint is the point where the robot stops following the covered follow path when it encounters an obstacle, and the breakpoint and the candidate points are on opposite sides of the obstacle.

[0015] When the robotic vacuum cleaner cleans along an obstacle, the distance between the robotic vacuum cleaner and the fitted straight line is detected. When the robotic vacuum cleaner has cleaned the obstacle a preset distance, the distance between the robotic vacuum cleaner's position P(x0, y0) and the straight line is also detected. When the value is less than the threshold, the robot vacuum cleaner continues to clean along the "bow"-shaped coverage path following the candidate point, generating the edge obstacle path; where A, B, and C represent constants, and x0 and y0 represent the robot vacuum cleaner position P(x0, y0).

[0016] Furthermore, the step of navigating to the planned point based on map information to continue coverage includes:

[0017] Use the current position of the robot vacuum cleaner as the starting point of the navigation line;

[0018] Construct multiple path information between the starting point and the planned point;

[0019] Obtain the path information that covers the fewest following path points from among the multiple path information;

[0020] Complete navigation information is constructed based on the path information that covers the fewest following path points, and the navigation is then used to navigate to the planned point.

[0021] Furthermore, before the step of setting a cleaning path within a closed boundary area and generating a coverage path point based on the cleaning path, the following steps are included:

[0022] Based on the initially constructed cleaning area, the corresponding edge tasks are completed to form a closed cleaning area. Within the closed cleaning area, the overall boundary information is extracted, the obstacle information of the area boundary is removed, and the edge cleaning information is added to form a closed boundary area.

[0023] Furthermore, before the step of generating an obstacle-along path based on the relationship between the robot's position information and the coverage / following path points when there are obstacles in the cleaning path, the method further includes:

[0024] Based on the generated coverage follow path points, the area is covered and cleaned. When the coverage follow path point is interrupted, it is determined that the current cleaning process has encountered an obstacle.

[0025] When encountering obstacles, it abandons the following path point cleaning method and instead cleans the edge of the obstacle by following the obstacle's cleaning method;

[0026] Record the index value of the last coverage follow path point before starting to sweep along the obstacle, and record the obstacle path swept along the obstacle edge.

[0027] This application also provides a device for cleaning and obstacle avoidance within a sweeping robot's area, comprising:

[0028] The generation module is used to set a cleaning path within a closed boundary area and generate coverage follow-path points based on the cleaning path.

[0029] The processing module generates an obstacle-along path based on the relationship between the robot's position information and the coverage and following path points when there are obstacles in the cleaning path and the robot moves along the edge of the obstacles.

[0030] The navigation module is used to skip the current obstacle-following step when repeated obstacle-following is detected, and navigate to the planned point to continue the coverage cleaning based on map information.

[0031] This application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of the sweeping robot's area cleaning and obstacle avoidance method described above.

[0032] This application also provides a computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of the sweeping robot area cleaning and obstacle avoidance method described above.

[0033] Beneficial effects: The sweeping robot provided in this application has a method for cleaning and avoiding obstacles within a set cleaning path. It can perform cleaning work by generating a cover and follow path point in the set cleaning path. In subsequent cleaning work, the presence of obstacles can be clearly and accurately determined by the following of the cover and follow path point. Then, by calculating the distance between the position of the sweeping robot and the straight line and comparing it with a preset threshold, the size of the obstacle can be determined, avoiding repeated cleaning along the obstacle, which greatly improves the cleaning efficiency. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of a cleaning and obstacle avoidance method for a sweeping robot within a designated area, according to an embodiment of the present invention.

[0035] Figure 2 This is a flowchart illustrating the obstacle avoidance planning of a new route according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic block diagram of a cleaning and obstacle avoidance device for a sweeping robot in an area according to an embodiment of the present invention;

[0037] Figure 4 This is a schematic block diagram of the structure of a computer device according to an embodiment of the present invention.

[0038] The realization of the purpose, functional characteristics and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0040] like Figure 1 As shown, the present invention provides a method for cleaning and obstacle avoidance within a designated area using a robotic vacuum cleaner, which includes the following steps:

[0041] S1. Set a cleaning path within the closed boundary area, and generate coverage following path points based on the cleaning path;

[0042] First, a map of the space where the robot vacuum cleaner is located is created based on the laser platform. The area formed at this time is the size of the initially set cleaning area.

[0043] After obtaining the information of the initially set cleaning area, the edge task is then performed on the initially set cleaning area; the edge task is to outline and surround the constructed cleaning area with boundary lines to form a closed space.

[0044] After the edge task is completed, a cleaning closed area information is obtained. After the robot vacuum cleaner obtains the cleaning closed area information, it will remove the obstacles existing on the straight line of the cleaning closed area, extract the edges of the obstacles and merge them into the overall closed boundary to obtain the closed boundary area.

[0045] Specifically, for example, if the robotic vacuum cleaner described in this application is placed in a space, including but not limited to a room, the robotic vacuum cleaner will first scan the overall edge size of the room (where the edge includes but is not limited to walls) to construct cleaning area information. If there are items placed on the straight line of the edge (in real-world applications, most families place items such as wardrobes, refrigerators, and washing machines in the room), the robotic vacuum cleaner will remove these extra items and reconnect the extra lines after removal to the original closed boundary area. After merging, a new cleaning boundary information is formed, resulting in the final closed boundary area information.

[0046] Based on the acquired information about the closed boundary area, the cleaning path within the area is planned according to a preset method, and coverage and following points are generated at regular intervals along this planned cleaning path. In the process of planning the cleaning path, straight lines are essentially obtained using points, and the movement of a robotic vacuum cleaner is essentially the movement of those points. By designing coverage and following points, the cleaning trajectory of the robotic vacuum cleaner can be identified more clearly, and accurate judgments can be made more clearly and quickly when it deviates from the cleaning path.

[0047] Specifically, the planning of cleaning paths for the space within the area in a preset manner includes, but is not limited to, constructing a "cow-plowing" ("bow" shaped) cleaning path.

[0048] S2. When there are obstacles in the cleaning path, and the sweeping robot cleans along the obstacles, an obstacle-along path is generated based on the relationship between the sweeping robot's position information and the coverage and following path points.

[0049] If the robot vacuum cleaner is working according to the originally set cleaning route, and detects that the direction of operation during cleaning does not coincide with the original coverage and following path point (or is interrupted at the original coverage and following path point), then the robot vacuum cleaner will abandon following the original coverage and following path point and choose to start cleaning along the right side (due to the limitations of the robot vacuum cleaner's sensor structure) to clean the obstacle and record the index value of the last coverage and following path point when it started cleaning along the obstacle. At the same time, it will record the obstacle path along the edge.

[0050] Specifically, the points on the same straight line as the breakpoint and the subsequent covered following path are used as candidate points, and the corresponding fitted straight line Ax+By+C=0 is generated at the same time; where the breakpoint refers to the point where the sweeping robot stops following the covered following path when it encounters an obstacle, and the breakpoint and the candidate points are on opposite sides of the obstacle.

[0051] When the robotic vacuum cleaner cleans along an obstacle, the distance between the robotic vacuum cleaner and the fitted straight line is detected. When the robotic vacuum cleaner has cleaned the obstacle a preset distance, the distance between the robotic vacuum cleaner's position P(x0, y0) and the straight line is also detected. When the value is less than the threshold, the robot vacuum cleaner continues to clean along the "bow"-shaped coverage path following the candidate point, generating the edge obstacle path; where A, B, and C represent constants, and x0 and y0 represent the robot vacuum cleaner position P(x0, y0).

[0052] The distance between the robotic vacuum cleaner and the straight line is detected because the robotic vacuum cleaner initially moves along a straight line, but when it encounters an obstacle, it begins to move along the edge of the obstacle, deviating from its original straight-line movement. The robotic vacuum cleaner's position is acquired in real time, thus allowing us to determine its distance from the straight line. The point ahead of the current position is the point the robotic vacuum cleaner should continue following. The points it has already followed are known. When it is detected that the robotic vacuum cleaner has reached the "bow" shaped straight line (covering the following path points), or has bypassed the obstacle, the "forward" point refers to the point currently in front of the robotic vacuum cleaner; that is, the first point on the "bow" shaped straight line on the other side of the obstacle after the robot has crossed it.

[0053] S3. When repeated obstacle cleaning is detected, skip the current obstacle cleaning step and navigate to the planned point to continue coverage cleaning based on map information.

[0054] Specifically, the "detection of repeated obstacle paths" refers to the situation where, when a robotic vacuum cleaner is cleaning along an obstacle, it cannot perform a single edge-cleaning operation on a larger obstacle within the existing path. For example, on a "bow"-shaped path, if an obstacle crosses three or more of the "bow"-shaped paths, using only the normal cleaning method will cause the robotic vacuum cleaner to perform edge-cleaning as if dealing with ordinary obstacles. This results in the robotic vacuum cleaner repeatedly cleaning the already cleaned edges of the obstacle. The larger the obstacle, the more times it needs to be cleaned, unnecessarily increasing the workload of the robotic vacuum cleaner, increasing cleaning costs, and reducing cleaning efficiency. In this embodiment of the application, since the index value of the last following point when cleaning along the obstacle is recorded, and the obstacle path along the edge is also recorded, when the robot vacuum detects that the obstacle path currently being cleaned has already been cleaned on one side, it will directly skip the current obstacle cleaning path and navigate to the planned point for coverage using the current location information and map information of the robot vacuum.

[0055] S3. When repeated obstacle cleaning is detected, skip the current obstacle cleaning step and navigate to the planned point to continue coverage cleaning based on map information.

[0056] like Figure 2 As shown, S3 can also be divided into the following steps:

[0057] S301. Obtain the current position of the robotic vacuum cleaner as the starting point of the navigation line;

[0058] The current position of the robotic vacuum cleaner is the point at which it stops cleaning along an obstacle when it detects repeated cleaning along that obstacle. This point is marked with coordinates on a closed boundary map within the computer, and these coordinates are used as the endpoints for navigation actions.

[0059] S302. Construct multiple path information between the starting point and the planned point;

[0060] After obtaining the current location as the starting point, the computer will exclude areas that have already been covered and cleaned (including areas that have been covered and cleaned of obstacles) from the complete closed boundary area map information. For the remaining uncleaned areas, it will combine the current starting point to determine a new continuing point as the target point and construct a new coverage following path between the starting point and the target point.

[0061] S303. Obtain the path information that covers the fewest following path points among the multiple path information;

[0062] Based on the currently obtained path information, multiple path plans can be obtained between the starting point and the target point. At this time, the number of overlapping follower path points on each path is obtained, and the path with the fewest overlapping follower path points is selected as the best path between the starting point and the target point and is selected as the target path for this time.

[0063] S304. Construct complete navigation information based on the path information that covers the fewest following path points, and navigate to the planned point based on the navigation information.

[0064] Based on the obtained starting point location information, target point location information, and path information with the fewest overlapping path points between the two points, complete navigation information is constructed on the map. Then, the robot vacuum cleaner navigates directly to the target point according to this navigation information, avoids obstacles and the cleaned path, and begins a new cleaning process.

[0065] Reference Figure 3 This embodiment also provides a device for cleaning and obstacle avoidance within the area of ​​a robotic vacuum cleaner, including:

[0066] The generation module 100 is used to set a cleaning path within a closed boundary area and generate coverage follow-path points based on the cleaning path.

[0067] The processing module 200 is used to generate an obstacle-along path based on the relationship between the position information of the sweeping robot and the coverage following path points when there are obstacles in the cleaning path and the sweeping robot sweeps along the obstacles.

[0068] The navigation module 300 is used to skip the current obstacle-along cleaning step when repeated obstacle-along cleaning is detected, and navigate to the planned point to continue the coverage cleaning according to the map information.

[0069] In another embodiment, the generation module 100 includes:

[0070] The bow-shaped generation unit is used to generate a bow-shaped coverage path within the closed boundary area, and generate coverage following path points on the coverage path according to a preset distance interval.

[0071] In this embodiment, the generation module 100 generates coverage and following path points within a pre-constructed closed boundary area and a cleaning path defined in a certain way. If an obstacle appears in the robot vacuum's cleaning path, the processing module will perform edge cleaning along the obstacle and record the obstacle path information during the entire process. If the obstacle is too large, the robot vacuum may repeatedly clean the edge of the obstacle if it continues to clean according to the original path plan, resulting in low cleaning efficiency. If the robot vacuum repeatedly cleans along the obstacle, it will stop the current repetitive behavior and cease cleaning on the path. The navigation module will then use map information, starting from the robot vacuum's current position, to find planning points and determine the optimal path between the two points for navigation.

[0072] In another embodiment, the processing module 200 includes:

[0073] Candidate point units are used to select points on the same straight line as the breakpoint and subsequent covered following path points as candidate points, and at the same time generate the corresponding fitted straight line Ax+By+C=0; where the breakpoint is the point where the sweeping robot stops following the covered following path when it encounters an obstacle, and the breakpoint and candidate points are on opposite sides of the obstacle.

[0074] Combined with the cleaning unit, it is used to detect the distance between the robot vacuum and the fitted straight line when the robot vacuum cleans along the obstacle. This is done when the robot vacuum cleans along the obstacle a preset distance, and simultaneously the distance between the robot vacuum's position P(x0, y0) and the straight line. When the value is less than the threshold, the robot vacuum cleaner continues to clean along the "bow"-shaped coverage path following the candidate point, generating the edge obstacle path; where A, B, and C represent constants, and x0 and y0 represent the robot vacuum cleaner position P(x0, y0).

[0075] In another embodiment, the navigation module 300 includes:

[0076] The position acquisition unit is used to obtain the current position of the sweeping robot as the starting point of the navigation line;

[0077] Information construction unit, used to construct multiple path information between the starting point and the planned point;

[0078] The shortest path acquisition unit is used to acquire the path information that covers the fewest following path points among the multiple path information;

[0079] The target navigation unit is used to construct complete navigation information based on the path information that covers the fewest following path points, and navigate to the planned point according to the navigation information.

[0080] In another embodiment, the initial constitutive module includes:

[0081] The closed-loop unit is used to complete the corresponding edge-following tasks based on the initially constructed cleaning area, thus forming a closed cleaning area.

[0082] The information extraction unit is used to extract the overall boundary information within the closed cleaning area, remove obstacle information at the boundary of the area, and add cleaning information along the edge to form a closed boundary area.

[0083] In another embodiment, the path-changing module includes:

[0084] The obstacle determination unit is used to perform coverage cleaning in the area based on the generated coverage following path points. When the coverage following path point is detected to be interrupted, it is determined that the current cleaning process has encountered an obstacle.

[0085] The edge cleaning unit is used to abandon the following path point cleaning when encountering an obstacle, and instead clean the edge of the obstacle by following the obstacle's cleaning method.

[0086] The path recording unit is used to record the index value of the last covered follow path point before the start of obstacle sweeping, and at the same time, to record the obstacle path swept along the edge of the obstacle.

[0087] Reference Figure 4 This application also provides a computer device, which may be a server, and its internal structure may be as follows: Figure 4 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores data such as cleaning and obstacle avoidance methods within the robot's area. The network interface is used for communication with external terminals via a network connection. When the processor executes the computer program, it implements a cleaning and obstacle avoidance method within the robot's area.

[0088] One embodiment of this application also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements a data access method, including the steps of: setting a cleaning path within a closed boundary area; generating a coverage following path point based on the cleaning path; when there is an obstacle in the cleaning path and the robot vacuum cleaner cleans along the obstacle, generating an obstacle-along path based on the relationship between the robot vacuum cleaner's position information and the coverage following path point; when repeated obstacle-along cleaning is detected, skipping the current obstacle-along cleaning step and navigating to a planned point to continue coverage cleaning based on map information.

[0089] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media provided in this application and in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be obtained in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0090] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for cleaning and avoiding obstacles within a designated area using a robotic vacuum cleaner, characterized in that, include: Within a closed boundary area, a cleaning path is defined, and based on the cleaning path, coverage and following path points are generated; When there are obstacles in the cleaning path, and the robot vacuum cleaner cleans along the obstacles, an obstacle-along path is generated based on the relationship between the robot vacuum cleaner's position information and the coverage and following path points. When repeated obstacle cleaning is detected, skip the current obstacle cleaning step and navigate to the planned point to continue coverage cleaning based on map information; The step of generating an edge obstacle path based on the relationship between the location information of the sweeping robot and the coverage following path points includes: The points on the same straight line as the breakpoint and the subsequent covered follow path points are used as candidate points, and the corresponding fitted straight line Ax+By+C=0 is generated. The breakpoint is the point where the robot stops following the covered follow path points when it encounters an obstacle, and the breakpoint and the candidate points are on opposite sides of the obstacle. When the robotic vacuum cleaner cleans along an obstacle, the distance between the robotic vacuum cleaner and the fitted straight line is detected. When the robotic vacuum cleaner has cleaned the obstacle a preset distance, the distance between the robotic vacuum cleaner's position P(x0, y0) and the straight line is also detected. When the value is less than the threshold, the robot vacuum cleaner continues to clean along the "bow"-shaped coverage path following the candidate point, generating the edge obstacle path; where A, B, and C represent constants, and x0 and y0 represent the robot vacuum cleaner position P(x0, y0); The step of navigating to the planned point based on map information to continue coverage cleaning includes: Use the current position of the robot vacuum cleaner as the starting point of the navigation line; Construct multiple path information between the starting point and the planned point; Obtain the path information that covers the fewest following path points from among the multiple path information; Complete navigation information is constructed based on the path information that covers the fewest following path points, and the navigation is then used to navigate to the planned point.

2. The method for cleaning and avoiding obstacles within a designated area using a sweeping robot according to claim 1, characterized in that, The step of setting a cleaning path within a closed boundary area and generating a coverage path based on the cleaning path includes: Within the closed boundary area, a "bow"-shaped coverage path is generated, and coverage following path points are generated on the coverage path according to a preset distance interval.

3. The method for cleaning and avoiding obstacles within a designated area using a sweeping robot according to claim 2, characterized in that, The term "repeated obstacle sweeping" refers to the situation where, when an obstacle on the sweeping path crosses multiple straight lines in the covered path, the sweeping robot is judged to be repeatedly sweeping along the obstacle during its third sweeping along the obstacle.

4. The method for cleaning and avoiding obstacles within a designated area using a sweeping robot according to claim 1, characterized in that, Before the step of setting a cleaning path within a closed boundary area and generating a coverage path based on the cleaning path, the following steps are included: Based on the initially constructed cleaning area, complete the corresponding edge tasks to form a closed cleaning area; Within the closed cleaning area, extract the overall boundary information and remove obstacle information at the area boundary. It also adds cleaning information along the edge to form a closed boundary area.

5. The method for cleaning and avoiding obstacles within a designated area using a sweeping robot according to claim 1, characterized in that, Before the step of generating an obstacle-along path based on the relationship between the robot's position information and the coverage / following path points when there are obstacles in the cleaning path, the method further includes: Based on the generated coverage follow path points, the area is covered and cleaned. When the coverage follow path point is interrupted, it is determined that the current cleaning process has encountered an obstacle. When encountering obstacles, it abandons the following path point cleaning method and instead cleans the edge of the obstacle by following the obstacle cleaning method; Record the index value of the last coverage follow path point before starting to sweep along the obstacle, and record the obstacle path swept along the obstacle edge.

6. A device for cleaning and obstacle avoidance within a sweeping robot area, used to perform the cleaning and obstacle avoidance method within a sweeping robot area as described in any one of claims 1-5, characterized in that, include: The generation module is used to set a cleaning path within a closed boundary area and generate coverage follow-path points based on the cleaning path. The processing module generates an obstacle-along path based on the relationship between the robot's position information and the coverage and following path points when there are obstacles in the cleaning path and the robot moves along the edge of the obstacles. The navigation module is used to skip the current obstacle when repeated obstacle-along cleaning is detected. The cleaning process involves navigating to the designated points based on map information to continue coverage.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the cleaning and obstacle avoidance method within the area of ​​the sweeping robot according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the cleaning and obstacle avoidance method within the area of ​​the sweeping robot according to any one of claims 1 to 5.

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