Sweeping machine control method and device, electronic equipment and medium

Abstract

The embodiment of the application provides a sweeping machine control method and device, electronic equipment and medium, and belongs to the technical field of sweeping machines. The method comprises the following steps: acquiring a plurality of distance information of the sweeping machine to obstacles through a laser radar; selecting left side distance information and right side distance information of the sweeping machine from the plurality of distance information respectively; adding the left side distance information and the right side distance information to obtain a distance sum value; if the distance sum value is less than a set threshold value, acquiring a forward line laser point cloud minimum value, wherein the set threshold value is determined according to the body width of the sweeping machine; if the forward line laser point cloud minimum value is less than a non-physical collision distance threshold value, controlling the sweeping machine to move in a preset direction until the distance sum value is greater than the set threshold value. Through the provided scheme, the cleaning efficiency is improved, and the damage risk of the sweeping machine being stuck due to insufficient space is reduced.

Description

Technical Field

[0001] This application relates to the field of sweeping machine technology, and in particular to a sweeping machine control method, device, electronic equipment and medium. Background Technology

[0002] Currently, the center of the D-type robot vacuum cleaner on the market is the center of the two wheels, and the radius is from the origin to the farthest point of the machine. When entering a U-shaped scene, if there is not enough space, direct rotation will cause the robot vacuum cleaner to get stuck, which will reduce cleaning efficiency and increase the risk of damage to the robot vacuum cleaner. Summary of the Invention

[0003] To address the aforementioned technical problems, embodiments of this application provide a sweeping machine control method, apparatus, electronic device, and medium.

[0004] In a first aspect, embodiments of this application provide a method for controlling a sweeping robot, the method comprising:

[0005] The robot vacuum cleaner obtains multiple distance information from obstacles using LiDAR;

[0006] Select the left-side distance information and the right-side distance information of the sweeping machine from the multiple distance information sources respectively;

[0007] Add the left distance information to the right distance information to obtain the sum of the distances;

[0008] If the sum of the distances is less than a set threshold, then the minimum value of the forward laser point cloud is obtained, wherein the set threshold is determined based on the body width of the sweeping machine;

[0009] If the minimum value of the forward laser point cloud is less than the non-physical collision distance threshold, the sweeping machine is controlled to move in a preset direction until the sum of the distances is greater than the set threshold.

[0010] In one embodiment, the measurement range of the lidar is divided according to a fixed angle to obtain multiple distance measurement angles;

[0011] Multiple distance information items are obtained based on each of the distance measurement angles.

[0012] In one embodiment, if the sum of the distances is greater than the set threshold, or if the minimum value of the forward laser point cloud is greater than the non-physical collision distance threshold, then the laser radar can be used to acquire multiple distance information from the sweeping machine to the obstacle in real time.

[0013] In one embodiment, multiple forward linear laser point cloud data are obtained from the acquired forward linear laser data;

[0014] Select the minimum value of the forward laser point cloud from each of the forward laser point cloud data.

[0015] In one embodiment, the step of controlling the sweeping robot to retreat in a preset direction if the minimum value of the forward laser point cloud is less than a non-physical collision distance threshold, until the sum of the distances is greater than the set threshold, includes:

[0016] If any one of the minimum values ​​of the left laser point cloud, the middle laser point cloud, and the right laser point cloud is less than the non-physical collision distance threshold, then the sweeping machine is controlled to move in the preset direction until the sum of the distances is greater than the set threshold.

[0017] In one embodiment, the sweeping machine is controlled to move in the preset direction, and the distance and value are determined in real time to be greater than the set threshold, wherein the preset direction is the rear of the sweeping machine;

[0018] If the distance and value are greater than the set threshold, the sweeping machine is controlled to rotate counterclockwise by a preset angle and then travel straight for a preset distance, wherein the preset angle is determined based on the minimum value of the forward laser point cloud.

[0019] In one embodiment, if the distance sum is less than the set threshold, the sweeping machine is controlled to move in the preset direction.

[0020] Secondly, embodiments of this application provide a sweeper control device, the sweeper control device comprising:

[0021] The first acquisition module is used to acquire multiple distance information between the sweeping robot and the obstacle through LiDAR;

[0022] The selection module is used to select the left and right distance information of the sweeping machine from a plurality of distance information;

[0023] The second acquisition module is used to add the left distance information and the right distance information to obtain a distance sum value;

[0024] The third acquisition module is used to acquire the minimum value of the forward laser point cloud if the distance and value are less than a set threshold, wherein the set threshold is determined according to the body width of the sweeping machine.

[0025] The disengagement module is used to control the sweeping machine to move in a preset direction if the minimum value of the forward laser point cloud is less than the non-physical collision distance threshold, until the distance sum is greater than the set threshold.

[0026] Thirdly, embodiments of this application provide an electronic device, including a memory and a processor, wherein the memory is used to store a computer program, and the computer program executes the sweeping robot control method provided in the first aspect when the processor is running.

[0027] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when run on a processor, executes the sweeping robot control method provided in the first aspect.

[0028] The sweeping robot control method, device, electronic equipment, and medium provided in this application acquire multiple distance information between the sweeping robot and obstacles using a lidar system. From these multiple distance information, left-side and right-side distance information of the sweeping robot are selected respectively. The left-side and right-side distance information are added together to obtain a sum of distances. If the sum of distances is less than a set threshold, the minimum value of the forward-facing laser point cloud is obtained, wherein the set threshold is determined based on the width of the sweeping robot's body. If the minimum value of the forward-facing laser point cloud is less than a non-physical collision distance threshold, the sweeping robot is controlled to move in a preset direction until the sum of distances exceeds the set threshold. By judging the distance between the sweeping robot and obstacles using lidar and the minimum value of the forward-facing laser point cloud, the risk of the sweeping robot getting stuck in insufficient space is reduced, cleaning efficiency is improved, and maintenance costs of the sweeping robot are reduced. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be considered as a limitation on the scope of protection of this application. In the various drawings, similar components are numbered similarly.

[0030] Figure 1 A flowchart illustrating the control method of a sweeping machine is shown.

[0031] Figure 2 This illustration shows a schematic diagram of point cloud data distribution provided in an embodiment of this application;

[0032] Figure 3 A schematic diagram of the structure of the sweeper control device provided in an embodiment of this application is shown;

[0033] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown.

[0034] Icons: 300 - Sweeping robot control device, 301 - First acquisition module, 302 - Selection module, 303 - Second acquisition module, 304 - Third acquisition module, 305 - Disconnection module, 400 - Electronic device, 401 - Transceiver, 402 - Processor, 403 - Memory. Detailed Implementation

[0035] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0036] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0037] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0038] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0039] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0040] Example 1

[0041] This application provides a method for controlling a sweeping machine.

[0042] See Figure 1 The control methods for sweeping machines include:

[0043] S101 uses LiDAR to obtain multiple distance information between the sweeper and obstacles.

[0044] In one embodiment, the measurement range of the lidar is divided according to a fixed angle to obtain multiple distance measurement angles; multiple distance information is obtained based on each of the distance measurement angles.

[0045] It's important to note that determining the maximum and minimum measurement angles of the lidar is typically specified in its technical specifications. Based on the required accuracy and resolution, a fixed angular interval is selected, dividing the measurement range into multiple sub-intervals or distance measurement angles. For each defined distance measurement angle, the lidar sends a laser beam and measures the time it takes for it to reflect back. Based on the measured time difference and the speed of light, the distance from the object to the lidar at that angle can be calculated. All distance measurement angles and their corresponding distance information are then integrated to form a dataset containing multiple data points.

[0046] In this embodiment, the direction of the robot vacuum cleaner's head is the zero axis. The laser radar returns 12 data points, with the direction of the robot vacuum cleaner's head as the zero axis. Each data point represents the closest distance between the laser radar and the radar at 30 degrees.

[0047] By dividing the measurement range into multiple small angles, distance information in different directions of the environment can be understood more accurately. And by obtaining detailed distance information, the robot vacuum cleaner can more intelligently plan its movement path, avoiding collisions with obstacles.

[0048] S102, select the left-side distance information and right-side distance information of the sweeping machine from the plurality of distance information respectively.

[0049] It should be noted that, in the distance information obtained, the distance information corresponding to the left side of the sweeper and the distance information corresponding to the right side are determined based on the current orientation and driving direction of the sweeper. After determining the distance information on the left and right sides, the minimum left and right distances are obtained from the distance information. The minimum left and right distances represent the distances of the sweeper to the nearest obstacles perceived by the sweeper in the left and right directions.

[0050] For example, the radar monitoring range of the sweeping robot is divided into 12 parts with a fixed angle of 30 degrees in 360 degrees. Each part receives the distance value between the sweeping robot and the obstacle within a 30-degree range. The minimum value of the data within the range of data 2 and data 3 is taken as the right distance information, and the minimum value of the data within the range of data 8 and data 9 is taken as the left distance information.

[0051] S103, add the left distance information and the right distance information to obtain the distance sum value.

[0052] It should be noted that the distance information on the left and right sides is summed to obtain the distance sum value. The distance sum value is then compared with a set threshold. If the distance sum value is less than the set threshold, the robot vacuum cleaner is determined to have entered a U-shaped scenario.

[0053] S104, if the sum of the distances is less than a set threshold, then obtain the minimum value of the forward laser point cloud, wherein the set threshold is determined based on the body width of the sweeping machine.

[0054] It should be noted that the distance values ​​extracted from the left and right sides are summed to obtain a value representing the total distance to obstacles on both sides of the robot. The threshold is usually set based on the width of the robot vacuum, for example, 1.5 times the robot's width. Setting the threshold typically needs to consider the robot's safe operating distance and cleaning efficiency. The calculated sum of the distances from the left and right sides is then compared with the set threshold.

[0055] To further clarify, if the distance and value are less than the threshold, it means that the space on both sides of the robot vacuum is not spacious enough to move forward safely, so further judgment is required.

[0056] In one embodiment, multiple forward-looking laser point cloud data are obtained from the acquired forward-looking laser data; the minimum value of the forward-looking laser point cloud is selected from each of the forward-looking laser point cloud data.

[0057] In this embodiment, point cloud data of the surrounding environment is collected. This data can be used to detect obstacles and plan paths. When a point's value is detected to be less than a preset non-physical collision distance threshold, it means that an obstacle may exist.

[0058] In one embodiment, the minimum value of the forward-facing laser point cloud includes: the minimum value of the left laser point cloud, the minimum value of the middle laser point cloud, and the minimum value of the right laser point cloud; if any one of the minimum values ​​of the left laser point cloud, the middle laser point cloud, and the right laser point cloud is less than the non-physical collision distance threshold, then the sweeping machine is controlled to move in the preset direction until the sum of the distances is greater than the set threshold.

[0059] It should be noted that if the minimum value of the laser point cloud on the left, middle, or right side of the robot vacuum is less than the collision distance threshold, it indicates that the robot vacuum is approaching an obstacle in at least one of these directions, posing a risk of collision. In this case, the robot vacuum is controlled to retreat a certain distance until the sum of the distances and values ​​exceeds the set threshold to avoid collision with the obstacle and ensure the safety of the surrounding space.

[0060] In one embodiment, if the sum of the distances is greater than the set threshold, or if the minimum value of the forward laser point cloud is greater than the non-physical collision distance threshold, then the laser radar can be used to acquire multiple distance information from the sweeping machine to the obstacle in real time.

[0061] It should be noted that if the sum of the distances is greater than or equal to a set threshold, or if the minimum value of the forward laser point cloud is greater than or equal to the non-physical collision distance threshold, then the laser radar can acquire multiple distance information from the sweeping machine to the obstacle in real time.

[0062] S105, if the minimum value of the forward laser point cloud is less than the non-physical collision distance threshold, then control the sweeper to move in a preset direction until the distance sum is greater than the set threshold.

[0063] It should be noted that the robot vacuum cleaner has front collision bars on both sides. Pressing these bars will trigger a physical collision. A non-physical collision refers to a collision being triggered when the minimum distance between the point cloud data from the left, center, and right sides detected by the laser in the current direction is less than a set threshold. Figure 2 As shown, the point cloud distribution in the three directions is L51~L80 on the left, L1~L50 or R31~R80 in the middle, and R1~R30 on the right.

[0064] In one embodiment, the sweeping machine is controlled to move in the preset direction, and the distance sum value is judged in real time whether it is greater than the set threshold, wherein the preset direction is the rear of the sweeping machine; if the distance sum value is greater than the set threshold, the sweeping machine is controlled to rotate counterclockwise by a preset angle and then travel straight for a preset distance, wherein the preset angle is determined based on the minimum value of the forward laser point cloud.

[0065] It should be noted that if the distance calculated based on the forward laser data is greater than or equal to the set threshold, it means that the space in front of the robot vacuum is relatively spacious, but some adjustments are still needed to better avoid obstacles or optimize the cleaning path. By controlling the robot vacuum to rotate counterclockwise in place at a fixed angle, space is reserved for the robot vacuum to turn and continue cleaning the next area.

[0066] The preset angle is determined based on the minimum value in the forward laser point cloud data, which is the distance to the nearest obstacle. This minimum value reflects the relative position of the obstacle and the robot vacuum cleaner in the forward direction, and can therefore be used to adjust the rotation angle.

[0067] In this embodiment, a mapping relationship is designed to map the minimum value of the point cloud to a corresponding rotation angle. For example, a function or lookup table can be set to determine different rotation angles based on the range of the minimum value. Thus, when the obstacle is close, the rotation angle may be larger to avoid it more quickly; while when the obstacle is far, the rotation angle may be smaller to maintain a straighter driving path. The robot vacuum can determine the distance to obstacles based on forward laser data and initiate a U-shaped obstacle avoidance control process when necessary, thereby completing the cleaning task more intelligently and safely.

[0068] In one embodiment, if the distance sum is less than the set threshold, the sweeping machine is controlled to move in the preset direction.

[0069] The sweeping robot control method provided in this embodiment acquires multiple distance information between the sweeping robot and obstacles using a LiDAR scanner; selects the left and right distance information of the sweeping robot from the multiple distance information; adds the left and right distance information to obtain a sum of distances; if the sum of distances is less than a set threshold, obtains the minimum value of the forward-facing laser point cloud, wherein the set threshold is determined based on the width of the sweeping robot's body; if the minimum value of the forward-facing laser point cloud is less than a non-physical collision distance threshold, controls the sweeping robot to move in a preset direction until the sum of distances is greater than the set threshold. By judging the distance between the sweeping robot and obstacles using LiDAR and the minimum value of the forward-facing laser point cloud, the risk of the sweeping robot getting stuck in scenarios with insufficient space is reduced, cleaning efficiency is improved, and maintenance costs of the sweeping robot are reduced.

[0070] Example 2

[0071] In addition, this application provides a sweeping machine control device.

[0072] like Figure 3 As shown, the sweeper control device 300 includes:

[0073] The first acquisition module 301 is used to acquire multiple distance information between the sweeping robot and the obstacle through the lidar;

[0074] The selection module 302 is used to select the left-side distance information and the right-side distance information of the sweeping machine from the plurality of distance information;

[0075] The second acquisition module 303 is used to add the left distance information and the right distance information to obtain a distance sum value;

[0076] The third acquisition module 304 is used to acquire the minimum value of the forward laser point cloud if the distance and value are less than a set threshold, wherein the set threshold is determined according to the body width of the sweeping machine.

[0077] The disengagement module 305 is used to control the sweeping machine to move in a preset direction if the minimum value of the forward laser point cloud is less than the non-physical collision distance threshold, until the distance and value are greater than the set threshold.

[0078] The sweeper control device 300 provided in this embodiment can implement the sweeper control method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0079] The sweeper control device provided in this embodiment acquires multiple distance information between the sweeper and obstacles using a LiDAR scanner. It selects the left and right distance information of the sweeper from these multiple distance information sources. The left and right distance information are added together to obtain a sum of distances. If the sum of distances is less than a set threshold, the minimum value of the forward-facing laser point cloud is obtained, where the set threshold is determined based on the width of the sweeper's body. If the minimum value of the forward-facing laser point cloud is less than a non-physical collision distance threshold, the sweeper is controlled to move in a preset direction until the sum of distances exceeds the set threshold. By judging the distance between the sweeper and obstacles using LiDAR and the minimum value of the forward-facing laser point cloud, the risk of the sweeper getting stuck in insufficient space is reduced, cleaning efficiency is improved, and maintenance costs of the sweeper are reduced.

[0080] Example 3

[0081] Furthermore, this application provides an electronic device, including a memory and a processor. The memory stores a computer program, and the computer program executes the sweeping robot control method provided in Embodiment 1 when it runs on the processor.

[0082] For details, see Figure 4 The electronic device 400 includes a transceiver 401, a bus interface, and a processor 402. The processor 402 is configured to: acquire multiple distance information from the sweeper to the obstacle via a laser radar; select left-side distance information and right-side distance information of the sweeper from the multiple distance information; add the left-side distance information and the right-side distance information to obtain a distance sum; if the distance sum is less than a set threshold, acquire the minimum value of the forward-facing laser point cloud, wherein the set threshold is determined based on the width of the sweeper body; if the minimum value of the forward-facing laser point cloud is less than a non-physical collision distance threshold, control the sweeper to move in a preset direction until the distance sum is greater than the set threshold.

[0083] In one embodiment, the processor 402 is further configured to: divide the measurement range of the lidar according to a fixed angle to obtain multiple distance measurement angles; and obtain multiple distance information based on each of the distance measurement angles.

[0084] In one embodiment, the processor 402 is further configured to: if the sum of the distances is greater than the set threshold, or if the minimum value of the forward laser point cloud is greater than the non-physical collision distance threshold, then acquire multiple distance information from the sweeping robot to the obstacle in real time through the lidar.

[0085] In one embodiment, the processor 402 is further configured to: obtain a plurality of forward linear laser point cloud data from the acquired forward linear laser data; and select the minimum value of the forward linear laser point cloud from each of the forward linear laser point cloud data.

[0086] In one embodiment, the processor 402 is further configured to: the minimum value of the forward laser point cloud includes: the minimum value of the left laser point cloud, the minimum value of the middle laser point cloud, and the minimum value of the right laser point cloud; if any one of the minimum value of the left laser point cloud, the minimum value of the middle laser point cloud, and the minimum value of the right laser point cloud is less than the non-physical collision distance threshold, then the sweeping machine is controlled to move in the preset direction until the sum of the distances is greater than the preset threshold.

[0087] In one embodiment, the processor 402 is further configured to: control the sweeper to move in the preset direction, and determine in real time whether the distance sum is greater than the set threshold, wherein the preset direction is the rear of the sweeper; if the distance sum is greater than the set threshold, control the sweeper to rotate counterclockwise by a preset angle and then travel a preset straight distance, wherein the preset angle is determined based on the minimum value of the forward laser point cloud.

[0088] In one embodiment, the processor 402 is further configured to: if the distance and value are less than the set threshold, control the sweeping machine to move in the preset direction.

[0089] In this embodiment of the application, the electronic device 400 further includes a memory 403. Figure 4In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 402) and memory (memory 403). The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 401 can be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium. The processor 402 is responsible for managing the bus architecture and general processing, and the memory 403 can store data used by the processor 402 during operation.

[0090] The electronic device 400 provided in this application embodiment can execute the steps of the sweeper control method provided in the above method embodiment 1. To avoid repetition, it will not be described again here.

[0091] The electronic device provided in this embodiment acquires multiple distance information between the robot vacuum and obstacles using a LiDAR. It selects the left and right distance information of the robot vacuum from these multiple distance information sources. The left and right distance information are added together to obtain a sum of distances. If the sum of distances is less than a set threshold, the minimum value of the forward-facing laser point cloud is obtained, where the set threshold is determined based on the robot vacuum's body width. If the minimum value of the forward-facing laser point cloud is less than a non-physical collision distance threshold, the robot vacuum is controlled to move in a preset direction until the sum of distances exceeds the set threshold. By using LiDAR and the minimum value of the forward-facing laser point cloud to determine the distance between the robot vacuum and obstacles, the risk of the robot vacuum getting stuck in situations with insufficient space is reduced, cleaning efficiency is improved, and maintenance costs of the robot vacuum are reduced.

[0092] Example 4

[0093] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the sweeping robot control method provided in Embodiment 1.

[0094] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0095] The computer-readable storage medium provided in this embodiment can implement the sweeping robot control method provided in Embodiment 1. To avoid repetition, it will not be described again here.

[0096] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0097] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0098] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A sweeper control method, characterized in that, The method includes: The robot vacuum cleaner obtains multiple distance information from obstacles using LiDAR; Select the left-side distance information and the right-side distance information of the sweeping machine from the multiple distance information sources respectively; Add the left distance information to the right distance information to obtain the sum of the distances; If the sum of the distances is less than a set threshold, then the minimum value of the forward laser point cloud is obtained, wherein the set threshold is determined based on the body width of the sweeping machine; If the minimum value of the forward laser point cloud is less than the non-physical collision distance threshold, the robot vacuum cleaner is controlled to move in a preset direction, and the distance and value are judged in real time to see if they are greater than the set threshold. The preset direction is the rear of the robot vacuum cleaner. The non-physical collision distance threshold means that if the minimum distance value of the point cloud data in the left, middle and right directions detected by the forward laser point is less than the set threshold, a collision is triggered. If the sum of the distances is greater than the set threshold, the robot vacuum is controlled to rotate counterclockwise by a preset angle and then travel straight for a preset distance. The preset angle is determined based on the minimum value of the forward laser point cloud, which reflects the relative position of the obstacle and the robot vacuum in the forward direction. The closer the obstacle is, the larger the preset angle is; the farther the obstacle is, the smaller the preset angle is.

2. The sweeper control method according to claim 1, characterized in that, The method of acquiring multiple distance information from the sweeping robot to the obstacle using lidar includes: The measurement range of the lidar is divided according to a fixed angle to obtain multiple distance measurement angles; Multiple distance information items are obtained based on each of the distance measurement angles.

3. The sweeper control method according to claim 1, characterized in that, The method further includes: If the sum of the distances is greater than the set threshold, or if the minimum value of the forward laser point cloud is greater than the non-physical collision distance threshold, then the laser radar will acquire multiple distance information from the sweeping machine to the obstacle in real time.

4. The sweeper control method according to claim 1, characterized in that, The process of obtaining the minimum value of the forward-looking laser point cloud includes: Multiple forward-looking laser point cloud data are obtained from the acquired forward-looking laser data; Select the minimum value of the forward laser point cloud from each of the forward laser point cloud data.

5. The sweeper control method according to claim 4, characterized in that, The minimum value of the forward-looking laser point cloud includes: the minimum value of the left laser point cloud, the minimum value of the middle laser point cloud, and the minimum value of the right laser point cloud; If the minimum value of the forward-facing laser point cloud is less than the non-physical collision distance threshold, then the sweeping robot is controlled to retreat in a preset direction until the sum of the distances is greater than the set threshold, including: If any one of the minimum values ​​of the left laser point cloud, the middle laser point cloud, and the right laser point cloud is less than the non-physical collision distance threshold, then the sweeping machine is controlled to move in the preset direction until the sum of the distances is greater than the set threshold.

6. The sweeper control method according to claim 1, characterized in that, The method further includes: If the distance and value are less than the set threshold, the sweeping machine is controlled to move in the preset direction.

7. A sweeper control device, characterized in that, The device includes: The first acquisition module is used to acquire multiple distance information between the sweeping robot and the obstacle through LiDAR; The selection module is used to select the left and right distance information of the sweeping machine from a plurality of distance information; The second acquisition module is used to add the left distance information and the right distance information to obtain a distance sum value; The third acquisition module is used to acquire the minimum value of the forward laser point cloud if the distance and value are less than a set threshold, wherein the set threshold is determined according to the body width of the sweeping machine. The disengagement module is used to control the sweeping robot to move in a preset direction if the minimum value of the forward laser point cloud is less than the non-physical collision distance threshold, and to determine in real time whether the distance and value are greater than the set threshold, wherein the preset direction is the rear of the sweeping robot; the non-physical collision distance threshold refers to the minimum distance value of the point cloud data in the left, middle and right directions detected by the forward laser point being less than the set threshold, in which case a collision is triggered. If the sum of the distances is greater than the set threshold, the robot vacuum is controlled to rotate counterclockwise by a preset angle and then travel straight for a preset distance. The preset angle is determined based on the minimum value of the forward laser point cloud, which reflects the relative position of the obstacle and the robot vacuum in the forward direction. The closer the obstacle is, the larger the preset angle is; the farther the obstacle is, the smaller the preset angle is.

8. An electronic device, characterized in that, The system includes a memory and a processor, wherein the memory stores a computer program that executes the sweeping machine control method according to any one of claims 1 to 6 when the processor is running.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when run on a processor, executes the sweeper control method according to any one of claims 1 to 6.

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