Cleaning robot obstacle avoidance method, device, equipment and medium based on LDS

Abstract

The present application discloses a cleaning robot obstacle avoidance method, device, equipment and medium based on LDS, which relates to the field of robot obstacle avoidance technology and is applied to a cleaning robot. The cleaning robot includes a first laser ranging sensor for horizontal plane ranging and a second laser ranging sensor for inclined plane ranging, and includes: obtaining the motion environment information of the cleaning robot on the motion trajectory, including the horizontal plane environment information collected by the first laser ranging sensor and the inclined plane environment information collected by the second laser ranging sensor; determining the obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, and the obstacle avoidance environment type includes a concave obstacle avoidance environment and a convex obstacle avoidance environment; when it is a concave obstacle avoidance environment, performing obstacle avoidance control according to the inclined plane environment information and a preset bottom height threshold; when it is a convex obstacle avoidance environment, performing obstacle avoidance control according to the inclined plane environment information, the horizontal plane environment information and a preset bottom width threshold. The obstacle avoidance accuracy of the cleaning robot is improved.

Description

Technical Field

[0001] The present application relates to the technical field of robot obstacle avoidance, and in particular to an LDS-based cleaning robot obstacle avoidance method, device, equipment and medium. Background Art

[0002] At present, with the application of cleaning robots, higher requirements are placed on the obstacle avoidance of cleaning robots.

[0003] The traditional obstacle avoidance method for cleaning robots is to use LDS (Lidar Distance Sensor) to avoid obstacles in different home environments. However, the obstacle avoidance method based on LDS may not be able to avoid low-lying environments during cleaning, causing the cleaning robot to be trapped in this environment. That is, this obstacle avoidance method of the cleaning robot cannot avoid low-lying environments, which results in a low obstacle avoidance accuracy rate for the cleaning robot.

[0004] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a cleaning robot obstacle avoidance method, device, equipment and medium based on LDS, aiming to solve the technical problem of low obstacle avoidance accuracy of the cleaning robot.

[0006] To achieve the above purpose, the present application proposes an LDS-based cleaning robot obstacle avoidance method, which is applied to a cleaning robot, wherein the cleaning robot includes a first laser ranging sensor for horizontal plane ranging and a second laser ranging sensor for inclined plane ranging, and the LDS-based cleaning robot obstacle avoidance method includes:

[0007] Acquire motion environment information of the cleaning robot on the motion trajectory, wherein the motion environment information includes horizontal surface environment information collected by the first laser ranging sensor and inclined surface environment information collected by the second laser ranging sensor;

[0008] Determining an obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, wherein the obstacle avoidance environment type includes a concave obstacle avoidance environment and a convex obstacle avoidance environment;

[0009] When the obstacle avoidance environment type is the concave obstacle avoidance environment, performing obstacle avoidance control according to the slope environment information and a preset bottom height threshold;

[0010] When the obstacle avoidance environment type is the convex obstacle avoidance environment, obstacle avoidance control is performed according to the inclined surface environment information, the horizontal surface environment information and a preset bottom width threshold.

[0011] In one embodiment, the horizontal plane environment information includes a horizontal ranging distance of a target point on the motion trajectory, and the inclined plane environment information includes an inclined plane ranging distance of a downwardly inclined plane of the target point on the motion trajectory. The step of determining the obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information includes:

[0012] When the horizontal ranging distance and the inclined plane ranging distance meet a preset first condition, determining that the obstacle avoidance environment type is a concave obstacle avoidance environment, wherein the preset first condition includes that the endpoint of the inclined plane ranging distance coincides with the horizontal ranging distance, and the inclined plane ranging distance is greater than the distance from the cleaning robot to the endpoint of the inclined plane ranging distance;

[0013] When the horizontal ranging distance and the slope ranging distance meet a preset second condition, it is determined that the obstacle avoidance environment type is a convex obstacle avoidance environment, wherein the preset second condition includes that an endpoint of the slope ranging distance does not overlap with the horizontal ranging distance.

[0014] In one embodiment, after the step of determining the obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, the following steps are included:

[0015] Determine, in turn, in the area corresponding to the concave obstacle avoidance environment, a first distance difference value between a horizontal ranging distance and an inclined ranging distance of each positioning point, and determine a corresponding difference depth value based on the first distance difference value, wherein the positioning points include points set at preset horizontal and vertical intervals on the motion trajectory;

[0016] When the difference depth value changes, determining the change trend corresponding to the difference depth value as the concave change depth;

[0017] When the difference depth value does not change, the continuous length corresponding to the difference depth value is determined as the concave width, and the concave change depth and the concave width are used as the inclined surface environment information.

[0018] In one embodiment, the slope environment information includes a concave change depth and a concave width, and the step of performing obstacle avoidance control according to the slope environment information and a preset bottom height threshold includes:

[0019] When the depth of the concave surface change matches the depth threshold in the preset bottom height threshold, and the width of the concave surface matches the first width threshold in the preset bottom height threshold, controlling the cleaning robot to perform cleaning based on the motion trajectory;

[0020] When the depth of the concave surface change matches the depth threshold in the preset bottom height threshold, or the width of the concave surface matches the first width threshold in the preset bottom height threshold, controlling the cleaning robot to avoid the motion track for cleaning;

[0021] The step of controlling the cleaning robot to perform cleaning based on the motion trajectory comprises:

[0022] Determine that the positioning point where the depth of the concave surface change matches the depth threshold in the preset bottom height threshold and the width of the concave surface matches the width threshold in the preset bottom height threshold is the cleaning track;

[0023] When the cleaning trajectory is a straight cleaning trajectory on the motion trajectory, controlling the cleaning robot to clean based on the cleaning trajectory;

[0024] When the cleaning trajectory is not a straight cleaning trajectory on the motion trajectory and the cleaning trajectories are connected, controlling the cleaning robot to perform cleaning based on the connected cleaning trajectories;

[0025] When the cleaning trajectory is not a straight cleaning trajectory on the motion trajectory and the cleaning trajectory is not connected, the cleaning robot is controlled to avoid the motion trajectory for cleaning.

[0026] In one embodiment, the slope environment information includes a convex surface change height, and the step of performing obstacle avoidance control according to the slope environment information, the horizontal plane environment information and a preset bottom width threshold includes:

[0027] In the area corresponding to the convex obstacle avoidance environment, determine a second distance difference value between the horizontal ranging distance and the inclined ranging distance of the highest positioning point, and determine the corresponding highest height value based on the second distance difference value, wherein the highest positioning point includes the highest point position in the area corresponding to the convex obstacle avoidance environment;

[0028] Adjusting the horizontal height of the first laser ranging sensor based on the highest height value, acquiring the convex ranging distance collected by the first laser ranging sensor after the horizontal height is adjusted, and determining the convex width based on the convex ranging distance and the inclined ranging distance;

[0029] When the height of the convex surface change matches a height threshold in the preset bottom width thresholds, and the convex shape width matches a second width threshold in the preset bottom width thresholds, controlling the cleaning robot to perform cleaning based on the motion trajectory;

[0030] When the convex surface change height does not match the height threshold in the preset bottom width threshold, or the convex shape width does not match the second width threshold in the preset bottom width threshold, the cleaning robot is controlled to avoid the motion track for cleaning.

[0031] In one embodiment, the step of controlling the cleaning robot to perform cleaning based on the motion trajectory includes:

[0032] When the horizontal ranging distance and the slope ranging distance of the subsequent positioning point meet the preset second condition, the step of performing obstacle avoidance control according to the slope environment information and the preset bottom height threshold is executed, wherein the subsequent positioning point includes the subsequent point position of the highest positioning point;

[0033] When the horizontal ranging distance and the inclined ranging distance of the subsequent positioning point do not meet the preset second condition, the cleaning robot is controlled to perform cleaning based on the convex cleaning trajectory in the motion trajectory, wherein the convex cleaning trajectory includes the convex surface change height matching the height threshold in the preset bottom width threshold, and the convex width matching the second width threshold in the preset bottom width threshold.

[0034] In one embodiment, the cleaning robot obstacle avoidance method based on LDS further includes:

[0035] When the cleaning robot is in a preset concave state, concave environment information around the cleaning robot is obtained, wherein the concave environment information includes, for each concave point, a changed horizontal distance collected by the first laser ranging sensor and a changed inclined distance collected by the second laser ranging sensor;

[0036] Determine the height value corresponding to each of the depression points based on the changed horizontal distance and the changed slope distance, and determine the height change trend of different routes based on the height value corresponding to each of the depression points;

[0037] When the height change trend meets the chassis change threshold of the cleaning robot, the cleaning robot is controlled to move based on an escape trajectory, wherein the escape trajectory includes a trajectory where the height change trend meets the chassis change threshold of the cleaning robot.

[0038] In addition, to achieve the above purpose, the present application also proposes an LDS-based cleaning robot obstacle avoidance device, which is applied to a cleaning robot, wherein the cleaning robot includes a first laser ranging sensor for horizontal plane ranging and a second laser ranging sensor for inclined plane ranging, and the LDS-based cleaning robot obstacle avoidance device includes:

[0039] An information acquisition module, used to acquire the motion environment information of the cleaning robot on the motion trajectory, wherein the motion environment information includes the horizontal surface environment information collected by the first laser ranging sensor and the inclined surface environment information collected by the second laser ranging sensor;

[0040] A type judgment module, used to determine the obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, wherein the obstacle avoidance environment type includes a concave obstacle avoidance environment and a convex obstacle avoidance environment;

[0041] A first obstacle avoidance module, configured to perform obstacle avoidance control according to the slope environment information and a preset bottom height threshold when the obstacle avoidance environment type is the concave obstacle avoidance environment;

[0042] The second obstacle avoidance module is used to perform obstacle avoidance control according to the inclined surface environment information, the horizontal surface environment information and a preset bottom width threshold when the obstacle avoidance environment type is the convex obstacle avoidance environment.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a cleaning robot obstacle avoidance device based on LDS, and the cleaning robot obstacle avoidance device based on LDS includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the cleaning robot obstacle avoidance method based on LDS as described above.

[0044] In addition, to achieve the above-mentioned purpose, the present application also proposes a medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the cleaning robot obstacle avoidance method based on LDS as described above are implemented.

[0045] An embodiment of the present application provides an obstacle avoidance method for a cleaning robot based on LDS, which is applied to a cleaning robot, wherein the cleaning robot includes a first laser ranging sensor for horizontal plane ranging and a second laser ranging sensor for inclined plane ranging, and obtains motion environment information of the cleaning robot on a motion trajectory, wherein the motion environment information includes horizontal plane environment information collected by the first laser ranging sensor and inclined plane environment information collected by the second laser ranging sensor; determines an obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, wherein the obstacle avoidance environment type includes a concave obstacle avoidance environment and a convex obstacle avoidance environment; when the obstacle avoidance environment type is the concave obstacle avoidance environment, performs obstacle avoidance control according to the inclined plane environment information and a preset bottom height threshold; when the obstacle avoidance environment type is the convex obstacle avoidance environment, performs obstacle avoidance control according to the inclined plane environment information and a preset bottom height threshold; The cleaning robot obstacle avoidance method based on LDS obtains the horizontal plane environment information collected by the first laser ranging sensor and the inclined plane environment information collected by the second laser ranging sensor to determine the obstacle avoidance environment type based on the horizontal plane environment information and the inclined plane environment information, and then performs obstacle avoidance control according to at least one of the horizontal plane environment information and the inclined plane environment information and a preset bottom height threshold or a preset bottom width threshold under different obstacle avoidance environment types, so as to avoid the phenomenon that the cleaning robot cannot avoid the low-lying environment during cleaning and is trapped in this environment. The obstacle avoidance control can be performed based on at least one of the horizontal plane environment information and the inclined plane environment information and a preset bottom height threshold or a preset bottom width threshold, thereby improving the obstacle avoidance accuracy of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a flow chart of the first embodiment of the cleaning robot obstacle avoidance method based on LDS of the present application;

[0047] Figure 2 This is a schematic diagram of an implementation flow of the cleaning robot obstacle avoidance method based on LDS in this application;

[0048] Figure 3 This is a flow chart of a second embodiment of the cleaning robot obstacle avoidance method based on LDS of the present application;

[0049] Figure 4 This is a schematic diagram of a module of a cleaning robot obstacle avoidance device based on LDS in this application;

[0050] Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in this application.

[0051] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0053] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0054] When cleaning a home environment, a traditional cleaning robot may enter some low-lying environments (such as bumpy environments, etc.) such as the kitchen, causing the cleaning robot to be trapped in this environment, and ultimately resulting in the omission of the external environment. That is, the low-lying environment cannot be avoided during cleaning, causing the cleaning robot to be trapped in this environment. At the same time, when trying to escape from this environment, the cleaning robot needs to determine where the actual effective exit is; especially when there are obstacles such as glass in the environment, it will further affect the cleaning robot's judgment, resulting in the cleaning robot's low efficiency in escaping.

[0055] Therefore, based on the shortcomings of the above cleaning robot obstacle avoidance scheme, the cleaning robot obstacle avoidance method based on LDS of the present application is proposed. The solution of the embodiment of the present application is: by obtaining the horizontal plane environment information collected by the first laser ranging sensor and the inclined surface environment information collected by the second laser ranging sensor, the obstacle avoidance environment type is determined based on the horizontal plane environment information and the inclined surface environment information, and then under different obstacle avoidance environment types, obstacle avoidance control is performed according to at least one of the horizontal plane environment information and the inclined surface environment information and a preset bottom height threshold or a preset bottom width threshold, so as to avoid the phenomenon that the cleaning robot cannot avoid the low-lying environment during cleaning and is trapped in this environment. Obstacle avoidance control can be performed based on at least one of the horizontal plane environment information and the inclined surface environment information and a preset bottom height threshold or a preset bottom width threshold, thereby improving the cleaning robot's obstacle avoidance accuracy.

[0056] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a device capable of realizing the above functions, a controller, etc. The following takes the controller as an example to illustrate this embodiment and the following embodiments.

[0057] Based on this, the embodiment of the present application provides a cleaning robot obstacle avoidance method based on LDS, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the cleaning robot obstacle avoidance method based on LDS of the present application.

[0058] Reference Figure 1The present application provides an obstacle avoidance method for a cleaning robot based on LDS. In a first embodiment of the obstacle avoidance method for a cleaning robot based on LDS, the obstacle avoidance method for a cleaning robot based on LDS is applied to a cleaning robot, the cleaning robot includes a first laser ranging sensor for horizontal plane ranging and a second laser ranging sensor for inclined plane ranging. The obstacle avoidance method for a cleaning robot based on LDS includes:

[0059] Step S10, obtaining motion environment information of the cleaning robot on the motion trajectory, wherein the motion environment information includes horizontal surface environment information collected by the first laser ranging sensor and inclined surface environment information collected by the second laser ranging sensor;

[0060] Step S20, determining an obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, wherein the obstacle avoidance environment type includes a concave obstacle avoidance environment and a convex obstacle avoidance environment;

[0061] In this embodiment, the cleaning robot obstacle avoidance method based on LDS is applied to the cleaning robot. The cleaning robot includes a first laser ranging sensor for horizontal plane ranging and a second laser ranging sensor for inclined plane ranging. The cleaning robot may also include other hardware components, which are not limited here. The first laser ranging sensor and the second laser ranging sensor are both conventional laser ranging sensors, but they are used to measure the difference between horizontal and inclined plane distances. When obstacle avoidance control of the cleaning robot is required, the motion environment information of the cleaning robot on the motion trajectory is obtained, wherein the motion environment information includes the horizontal plane environment information collected by the first laser ranging sensor and the inclined plane environment information collected by the second laser ranging sensor, the horizontal plane environment information refers to the horizontal distance on the motion trajectory of the cleaning robot, and the inclined plane environment information refers to the inclined plane (downward or upward at a certain height) distance on the motion trajectory of the cleaning robot. Then, the obstacle avoidance environment type can be determined based on the horizontal plane environment information and the inclined plane environment information, that is, the horizontal and inclined plane distances are used to determine whether the motion trajectory is a normal flat environment, a concave-convex environment, etc., and whether it is a concave-convex environment is determined by determining the two side lengths of a triangle. The obstacle avoidance environment types include concave obstacle avoidance environments and convex obstacle avoidance environments, that is, obstacle avoidance environments for concave roads and convex roads. When it is determined to be a normal flat environment, it will be determined that the cleaning robot does not need to avoid obstacles, that is, there is no need to perform subsequent operations, and then targeted obstacle avoidance can be performed based on the concave-convex environment to ensure the accuracy of the cleaning robot's obstacle avoidance in the concave-convex environment.

[0062] Step S30, when the obstacle avoidance environment type is the concave obstacle avoidance environment, performing obstacle avoidance control according to the slope environment information and a preset bottom height threshold;

[0063] Step S40, when the obstacle avoidance environment type is the convex obstacle avoidance environment, performing obstacle avoidance control according to the inclined surface environment information, the horizontal surface environment information and a preset bottom width threshold.

[0064] In this embodiment, after determining different obstacle avoidance environment types, targeted processing will be performed based on different obstacle avoidance environment types. When the obstacle avoidance environment type is a concave obstacle avoidance environment, that is, it is determined that the obstacle avoidance control is a concave obstacle avoidance environment at this time, that is, obstacle avoidance control can be performed based on the slope environment information and a preset bottom height threshold, that is, based on the slope distance in the slope environment information and the preset bottom height threshold of the cleaning robot, that is, the slope and bottom width of the concave surface that need to be met when the cleaning robot passes through the concave environment, that is, the concave surface allows the cleaning robot to pass normally, so as to realize intelligent obstacle avoidance for the concave obstacle avoidance environment; when it is a convex obstacle avoidance environment, the obstacle avoidance Control, that is, obstacle avoidance control can be performed based on the slope environment information, the horizontal plane environment information and the preset bottom width threshold, that is, based on the slope distance in the slope environment information, the horizontal plane environment information and the preset bottom width threshold of the cleaning robot, that is, the conditions that the slope and top width of the convex surface need to meet when the cleaning robot passes through a convex environment, that is, the convex surface allows the cleaning robot to pass normally, so as to realize intelligent obstacle avoidance in a convex obstacle avoidance environment. The reason why two pieces of information need to be considered here is that only the approximate concave and convex situation can be determined initially, and in a convex environment, there may be a subsequent concave environment phenomenon, thereby ensuring the accuracy of obstacle avoidance in a convex environment.

[0065] In one embodiment, referring to Figure 2 , Figure 2 This is a schematic diagram of an implementation flow of the cleaning robot obstacle avoidance method based on LDS of the present application. When obstacle avoidance is required, corresponding information will be collected based on parallel and inclined laser ranging sensors, that is, the first and second laser ranging sensors. The obstacle avoidance method will be determined based on the information collected by the two laser ranging sensors, that is, it will be determined whether a concave or convex obstacle avoidance method is required at this time. Finally, obstacle avoidance processing can be performed based on the determined obstacle avoidance method and the information collected by the first two laser ranging sensors, that is, the entire obstacle avoidance process is divided into concave environment obstacle avoidance and convex environment obstacle avoidance, and the information collected by the parallel and inclined laser ranging sensors is processed at the same time, thereby avoiding the phenomenon that the cleaning robot cannot avoid low-lying environments during cleaning, causing the cleaning robot to be trapped in this environment, thereby improving the obstacle avoidance accuracy of the cleaning robot.

[0066] In the present embodiment, a cleaning robot obstacle avoidance method based on LDS is provided, the cleaning robot comprising a first laser ranging sensor for horizontal plane ranging and a second laser ranging sensor for inclined plane ranging, by obtaining motion environment information of the cleaning robot on a motion trajectory, wherein the motion environment information comprises horizontal plane environment information collected by the first laser ranging sensor and inclined plane environment information collected by the second laser ranging sensor; determining an obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, wherein the obstacle avoidance environment type comprises a concave obstacle avoidance environment and a convex obstacle avoidance environment; when the obstacle avoidance environment type is the concave obstacle avoidance environment, performing obstacle avoidance control according to the inclined plane environment information and a preset bottom height threshold; when the obstacle avoidance environment type is the convex obstacle avoidance environment, performing obstacle avoidance control according to the inclined plane environment information and a preset bottom height threshold; The cleaning robot is equipped with an LDS-based obstacle avoidance method, which obtains the horizontal plane environment information collected by the first laser ranging sensor and the inclined plane environment information collected by the second laser ranging sensor to determine the obstacle avoidance environment type based on the horizontal plane environment information and the inclined plane environment information. Then, in different obstacle avoidance environment types, obstacle avoidance control is performed according to at least one of the horizontal plane environment information and the inclined plane environment information and a preset bottom height threshold or a preset bottom width threshold, so as to avoid the phenomenon that the cleaning robot cannot avoid the low-lying environment during cleaning and is trapped in this environment. Obstacle avoidance control can be performed based on at least one of the horizontal plane environment information and the inclined plane environment information and a preset bottom height threshold or a preset bottom width threshold, thereby improving the obstacle avoidance accuracy of the cleaning robot.

[0067] Further, based on the first embodiment of the present application, a second embodiment of the cleaning robot obstacle avoidance method based on LDS is proposed. In this embodiment, in the above step S20, the horizontal plane environment information includes the horizontal ranging distance of the target point on the motion trajectory, and the inclined plane environment information includes the inclined plane ranging distance of the target point on the motion trajectory downward. The step of determining the obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information includes:

[0068] Step S21, when the horizontal ranging distance and the inclined plane ranging distance meet a preset first condition, determining that the obstacle avoidance environment type is a concave obstacle avoidance environment, wherein the preset first condition includes that an endpoint of the inclined plane ranging distance coincides with the horizontal ranging distance, and the inclined plane ranging distance is greater than a distance from the cleaning robot to an endpoint of the inclined plane ranging distance;

[0069] Step S22, when the horizontal ranging distance and the inclined plane ranging distance meet a preset second condition, determining that the obstacle avoidance environment type is a convex obstacle avoidance environment, wherein the preset second condition includes that an endpoint of the inclined plane ranging distance does not overlap with the horizontal ranging distance.

[0070] In this embodiment, when determining the obstacle avoidance environment type, it will be determined based on the collected horizontal plane environment information and inclined plane environment information. Specifically, it is based on the horizontal ranging distance of the target point on the motion trajectory and the inclined plane ranging distance of the target point on the motion trajectory downward. That is, each point on the motion trajectory is used as a target point to determine the horizontal distance and inclined plane distance from the target point to the cleaning robot. The horizontal ranging distance refers to the horizontal distance from the first laser ranging sensor to the target point, and the inclined plane ranging distance refers to the downward inclined plane distance from the first laser ranging sensor to the target point. At this time, when the horizontal ranging distance and the inclined plane ranging distance meet the preset first condition, the obstacle avoidance environment type is determined to be a concave obstacle avoidance environment, wherein the preset first condition includes that the endpoint of the inclined plane ranging distance coincides with the horizontal ranging distance, and the inclined plane ranging distance is greater than the distance from the cleaning robot to the endpoint of the inclined plane ranging distance, that is, at this time, the first laser ranging sensor and the second laser ranging sensor are the two endpoints of a triangle, and the target point is the third endpoint of the triangle, and then the lengths of the three sides are determined. If the length of the hypotenuse is longer (there is a certain extension line of the hypotenuse when it is concave), it can be determined as a concave obstacle avoidance environment. At this time, the allowable error can be designed to be A, that is, if the difference is within A, it is determined to be a normal path. When the horizontal ranging distance and the inclined plane ranging distance meet the preset second condition, the obstacle avoidance environment type is determined to be a convex obstacle avoidance environment, wherein the preset second condition includes that the endpoint of the inclined plane ranging distance does not coincide with the horizontal ranging distance, that is, at this time, the endpoint of the inclined plane ranging distance is blocked by the protruding position, thereby causing the triangle to be short and not intersecting with the horizontal edge, so as to determine that this is a convex obstacle avoidance environment, and then directly determine that a certain position on the motion trajectory of the cleaning robot needs to avoid obstacles, so as to realize the intelligence of obstacle avoidance.

[0071] Further, after the step of determining the obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, the method further comprises:

[0072] Step S201, determining a first distance difference value between a horizontal ranging distance and an inclined ranging distance of each positioning point in the area corresponding to the concave obstacle avoidance environment, and determining a corresponding difference depth value based on the first distance difference value, wherein the positioning point includes a point position set at a preset horizontal and vertical spacing on the motion trajectory;

[0073] Step S202, when the difference depth value changes, determining the change trend corresponding to the difference depth value as the concave change depth;

[0074] Step S203 , when the difference depth value does not change, determining the continuous length corresponding to the difference depth value as the concave width, and using the concave change depth and the concave width as the slope environment information.

[0075] In this embodiment, after determining the type of obstacle avoidance environment, in order to ensure subsequent processing, mainly concave environment processing, it is necessary to determine the slope and bottom width of the concave environment to determine whether obstacle avoidance is required, that is, whether to clean directly or bypass the area to clean other areas. At this time, in the area corresponding to the concave obstacle avoidance environment, the first distance difference value between the horizontal ranging distance and the inclined ranging distance of each positioning point will be determined in turn, and then the first distance difference value will be determined to determine the corresponding difference depth value, wherein the positioning points include points set at preset horizontal and vertical spacings on the motion trajectory. For example, if the concave obstacle avoidance environment is a 5×5 area, 25 positioning points will be set in the area based on the preset horizontal and vertical spacings (assuming the setting unit is 1) to determine the difference depth values ​​of the 25 positioning points. The first distance difference value is the difference between the horizontal and oblique distances at the specified location, and the difference depth value refers to the actual depth value of the concave area. For example, the horizontal ranging distance of positioning point A is 4, the vertical height difference between the two laser ranging sensors is 3, the inclined ranging distance is 6, and 4 2 +3 2 =5 2 , that is, the first distance difference value is 1. At this time, we know two similar triangles (a right triangle composed of two laser ranging sensors and positioning point A, positioning point A, the extension line point B of positioning point A on the inclined plane ranging distance, and the extension line point C of positioning point A on the vertical distance). At this time, the three sides and three angles of one triangle, the three angles and the hypotenuse length of the other triangle are known, and then the length of the extension line of positioning point A on the vertical distance can be directly calculated, which is the difference depth value. At this time, it will be determined based on the difference depth value whether it is a concave upslope or downslope or a concave flat concave surface. When the difference depth value changes, the change trend corresponding to the difference depth value is determined as the concave change depth, that is, the change of ±1 can be defined as the existence of change, and when the difference depth value does not change, it is determined to be the bottom of the concave, and then the continuous length corresponding to the difference depth value is determined as the concave width. If the preset horizontal and vertical spacing of 1 is set to determine the difference depth value, the concave width will be directly determined to be an integer multiple of 1. The concave width refers to the width of the flat area at the bottom of the concave area, and the concave change depth refers to the slope of the concave area upslope. Finally, the concave width and concave change depth are used as the slope environment information to facilitate the subsequent obstacle avoidance processing in the concave environment.

[0076] Further, based on the first embodiment and / or the second embodiment of the present application, a third embodiment of the cleaning robot obstacle avoidance method based on LDS of the present application is proposed. In this embodiment, in the above step S30, the slope environment information includes the concave change depth and the concave width, and the step of performing obstacle avoidance control according to the slope environment information and the preset bottom height threshold includes:

[0077] Step S31, when the depth of the concave surface change matches the depth threshold in the preset bottom height threshold, and the width of the concave surface matches the first width threshold in the preset bottom height threshold, controlling the cleaning robot to clean based on the motion trajectory;

[0078] Step S32, when the concave surface change depth matches the depth threshold in the preset bottom height threshold, or the concave surface width matches the first width threshold in the preset bottom height threshold, control the cleaning robot to avoid the motion trajectory for cleaning.

[0079] In this embodiment, when processing is performed based on the slope environment information, obstacle avoidance processing is mainly performed based on the concave change depth and concave width. The concave change depth and concave width are compared with the preset bottom height threshold to determine whether the cleaning robot can pass through the concave environment normally. The preset bottom height threshold refers to the user-defined threshold of the slope angle and the slope bottom width for passing through the concave environment. When the concave change depth matches the depth threshold in the preset bottom height threshold, and the concave width matches the first width threshold in the preset bottom height threshold, it is determined that the cleaning robot can pass through the concave environment normally at this time, and the cleaning robot will be controlled to clean based on the motion trajectory. The depth threshold refers to the defined concave slope threshold that the cleaning robot can pass normally, the first width threshold refers to the defined bottom width of the concave that the cleaning robot can pass normally, and when the depth of the concave change does not match the depth threshold in the preset bottom height threshold, or the concave width does not match the first width threshold in the preset bottom height threshold, it is determined that the cleaning robot cannot pass through the concave environment normally at this time, and then the cleaning robot is controlled to avoid the motion trajectory for cleaning, matching means that the slope or bottom width is greater than the defined threshold, and avoiding the motion trajectory can be avoided in a default manner, such as by moving to the left to avoid the motion trajectory, and then it is determined whether the concave area can be cleaned to ensure the accuracy of cleaning. It is worth noting that the entire judgment can also be a comprehensive consideration of two factors, that is, when the slope and bottom width meet a certain defined condition, the concave area will be cleaned normally, otherwise, when a certain defined condition is not met, the concave area will be avoided, and a certain defined condition refers to the user-defined conditions for the slope and bottom width that can pass through the concave area normally.

[0080] The step of controlling the cleaning robot to perform cleaning based on the motion trajectory comprises:

[0081] Step S311, determining that the positioning point where the concave surface change depth matches the depth threshold in the preset bottom height threshold and the concave surface width matches the width threshold in the preset bottom height threshold is a cleaning track;

[0082] Step S312, when the cleaning trajectory is a straight cleaning trajectory on the motion trajectory, controlling the cleaning robot to perform cleaning based on the cleaning trajectory;

[0083] Step S313, when the cleaning trajectory is not a straight cleaning trajectory on the motion trajectory and the cleaning trajectories are connected, controlling the cleaning robot to perform cleaning based on the connected cleaning trajectories;

[0084] Step S314, when the cleaning trajectory is not a straight cleaning trajectory on the motion trajectory and the cleaning trajectory is not connected, control the cleaning robot to avoid the motion trajectory for cleaning.

[0085] In this embodiment, when cleaning is performed based on the motion trajectory, different situations will be processed. At this time, it is first determined that the depth of the concave surface change matches the depth threshold in the preset bottom height threshold, and the points whose concave surface width matches the first width threshold in the preset bottom height threshold constitute the cleaning trajectory, that is, each positioning point that meets the above two conditions is determined as the cleaning trajectory, that is, the cleaning trajectory means that the cleaning robot can pass through this point normally. At this time, it will be divided into straight track and non-straight track for processing. When the cleaning trajectory is a straight cleaning trajectory on the motion trajectory, the cleaning robot is controlled to clean based on the cleaning trajectory. The straight cleaning trajectory refers to the original straight cleaning trajectory. Here, it is defined that the cleaning machine prefers the straight cleaning trajectory. The straight cleaning trajectory refers to the trajectory of the straight motion direction; on the contrary, when it is not a straight cleaning trajectory on the motion trajectory and the cleaning trajectory is connected, it will be determined that the concave area can still pass through the cleaning robot normally, but cannot pass through in a straight line. At this time, it will be cleaned based on the connected cleaning trajectory, where connectivity is defined as connectivity and the surrounding slope and bottom width meet the passing conditions, that is, when the passing conditions are not met, it is also a disconnected situation; and when it is not a straight cleaning trajectory on the motion trajectory, and the cleaning trajectory is not connected, there are some points in the entire concave area that can pass through the cleaning robot normally, but at this time the cleaning robot will still be controlled to avoid the motion trajectory for cleaning, such as turning left or right directly or stopping the alarm, etc., thereby ensuring the intelligence and accuracy of the entire obstacle avoidance control and cleaning control.

[0086] In one embodiment, the slope environment information includes a convex surface change height, and the step of performing obstacle avoidance control according to the slope environment information, the horizontal plane environment information and a preset bottom width threshold includes:

[0087] Step S41, determining a second distance difference value between a horizontal ranging distance and an inclined ranging distance of a highest positioning point in an area corresponding to the convex obstacle avoidance environment, and determining a corresponding highest height value based on the second distance difference value, wherein the highest positioning point includes a highest point position in the area corresponding to the convex obstacle avoidance environment;

[0088] Step S42, adjusting the horizontal height of the first laser ranging sensor based on the highest height value, acquiring the convex ranging distance collected by the first laser ranging sensor after the horizontal height is adjusted, and determining the convex width based on the convex ranging distance and the inclined ranging distance;

[0089] Step S43, when the convex surface change height matches a height threshold in the preset bottom width thresholds, and the convex shape width matches a second width threshold in the preset bottom width thresholds, controlling the cleaning robot to perform cleaning based on the motion trajectory;

[0090] Step S44, when the convex surface change height does not match the height threshold in the preset bottom width threshold, or the convex shape width does not match the second width threshold in the preset bottom width threshold, control the cleaning robot to avoid the motion trajectory for cleaning.

[0091] In this embodiment, when avoiding obstacles through a convex area, it is necessary to preferentially determine the second distance difference value between the horizontal ranging distance and the slope ranging distance of the highest positioning point in the area corresponding to the convex obstacle avoidance environment, that is, control the direction of the second laser ranging sensor to move forward to determine the highest point. At this time, the second distance difference value between the horizontal ranging distance and the slope ranging distance of the highest positioning point can be determined. The second distance difference value refers to the difference between the horizontal ranging distance difference and the slope ranging distance of the highest point. For example, if the horizontal ranging distance is 3, the vertical difference in height between the two laser ranging sensors is 3, and the slope ranging distance of the highest point is 5, then the horizontal distance from the lowest point to the highest point in the convex area is 1, and the second distance difference value is 2. Two similar triangles are determined to determine the vertical distance from the lowest point to the highest point of the convex area as the highest height value, that is, the vertical distance from the highest point to the horizontal ranging distance plane, and then the horizontal height of the first laser ranging sensor is adjusted to the highest height value to measure the convex part of the convex area, that is, the convex ranging distance refers to the ranging distance with the highest point as the horizontal plane. At this time, the convex width can be determined by the convex ranging distance and the inclined ranging distance. The convex width refers to the width of the top of the convex area. That is, when it is determined that the convex ranging distance and the inclined ranging distance match, it is determined that it is still at the top of the convex area. When they do not match, it is determined that it is not at the top of the convex area (that is, the above-mentioned method of determining the concave area). Then, when the height of the convex surface change matches the height threshold in the preset bottom width threshold, and the convex width matches the second width threshold in the preset bottom width threshold, it is determined that the cleaning robot can pass through the convex area normally at this time, and then the cleaning robot is controlled to clean based on the motion trajectory. The height threshold refers to the defined convex slope threshold that the cleaning robot can pass normally, and the second width threshold refers to the defined bottom width of the convex surface that the cleaning robot can pass normally. The convex surface change height refers to the height change of the convex surface. When the convex surface change height does not match the height threshold in the preset bottom width threshold, or the convex width does not match the second width threshold in the preset bottom width threshold, it is determined that the cleaning robot cannot pass through the convex area normally at this time, and the cleaning robot is controlled to avoid the motion trajectory for cleaning, that is, the cleaning robot is controlled to turn left or right or stop alarming, etc. It is worth noting that when controlling the cleaning robot to clean based on the motion trajectory, there may also be a process of step S311-step S314 to ensure the intelligence of cleaning and obstacle avoidance control in the convex area.

[0092] Furthermore, the step of controlling the cleaning robot to perform cleaning based on the motion trajectory includes:

[0093] Step S431, when the horizontal ranging distance and the slope ranging distance of the subsequent positioning point meet the preset second condition, executing the step of performing obstacle avoidance control according to the slope environment information and the preset bottom height threshold, wherein the subsequent positioning point includes the subsequent point position of the highest positioning point;

[0094] Step S432, when the horizontal ranging distance and the inclined ranging distance of the subsequent positioning point do not meet the preset second condition, control the cleaning robot to perform cleaning based on the convex cleaning trajectory in the motion trajectory, wherein the convex cleaning trajectory includes the convex surface change height matching the height threshold in the preset bottom width threshold, and the convex width matching the second width threshold in the preset bottom width threshold.

[0095] In this embodiment, in order to avoid the phenomenon of a concave area after a convex area, when it is determined that the convex area can be passed normally, when the horizontal ranging distance and the inclined ranging distance of the subsequent positioning point meet the preset second condition, the step of obstacle avoidance control according to the inclined surface environment information and the preset bottom height threshold is executed, wherein the subsequent positioning point includes the subsequent point position of the highest positioning point, that is, the process of obstacle avoidance in the concave area is continued to be executed to ensure the intelligence of obstacle avoidance in the convex area. When the horizontal ranging distance and the inclined ranging distance of the subsequent positioning point do not meet the preset second condition, the cleaning robot is controlled to clean based on the convex cleaning trajectory in the motion trajectory, wherein the convex cleaning trajectory includes the convex surface change height matching the height threshold in the preset bottom width threshold, and the convex width matching the second width threshold in the preset bottom width threshold, that is, at this time, the convex area is a plane, and cleaning can be directly performed based on the convex cleaning trajectory, and the first laser ranging sensor will be lowered to the initial horizontal position for subsequent use, thereby ensuring the intelligence of cleaning by the cleaning robot through the above control method.

[0096] Further, based on the first embodiment, the second embodiment and / or the third embodiment of the present application, a fourth embodiment of the cleaning robot obstacle avoidance method based on LDS of the present application is proposed. In this embodiment, referring to Figure 3 , Figure 3 This is a flow chart of a second embodiment of the cleaning robot obstacle avoidance method based on LDS of the present application, and the cleaning robot obstacle avoidance method based on LDS also includes:

[0097] Step S50, when the cleaning robot is in a preset recessed state, obtaining recessed environment information around the cleaning robot, wherein the recessed environment information includes, for each recessed point, a changed horizontal distance collected by the first laser ranging sensor and a changed inclined distance collected by the second laser ranging sensor;

[0098] Step S60, determining the height value corresponding to each of the depression points based on the changed horizontal distance and the changed inclined distance, and determining the height change trend of different routes based on the height value corresponding to each of the depression points;

[0099] Step S70, when the height change trend meets the chassis change threshold of the cleaning robot, control the cleaning robot to move based on the escape trajectory, wherein the escape trajectory includes a trajectory where the height change trend meets the chassis change threshold of the cleaning robot.

[0100] In this embodiment, when the cleaning robot is in a preset recessed state, the recessed environmental information around the cleaning robot will be determined, wherein the recessed environmental information includes, for each recessed point, a changing horizontal distance collected by a first laser ranging sensor and a changing inclined distance collected by a second laser ranging sensor. The preset recessed state refers to the cleaning robot being in a concave area, the changing horizontal distance refers to a changing distance on the horizontal surface, and the changing inclined surface distance refers to a changing distance on the inclined surface. Then, the height value corresponding to each depression point can be determined based on the changing inclined distance and the changing horizontal distance, that is, the height difference from the bottom surface of the depression, which is consistent with the process of determining the height of the convex area, and then the height change trend of different routes can be determined based on the height value corresponding to each depression point. The height change trend refers to the change in height, which can generally be expressed by the angle of the slope. Then, when the height change trend meets the chassis change threshold of the cleaning robot, the cleaning robot can be controlled to move based on the escape trajectory, wherein the escape trajectory includes a trajectory whose height change trend meets the chassis change threshold of the cleaning robot. The chassis change threshold refers to the threshold of the slope that the cleaning robot chassis can pass through. The angle of the slope can be defined, and finally the best path can be selected to exit the concave area based on this, which is also applicable to the process after step S30, and then the cleaning robot can be intelligent in avoiding obstacles in the concave area.

[0101] In one embodiment, different from the traditional cleaning robot obstacle traversal method, this embodiment can also determine the operation of the effective exit by determining the first intersection between the preliminary exit set and the obstacle point set and filtering out the obstacles that can be identified by the laser sensor, thereby effectively avoiding the cleaning robot from being unable to accurately identify the effective exit in some low-lying or glass and other obstacle environments, causing the cleaning robot to be trapped and miss the external environment. The present invention can quickly and accurately identify the effective exit for obstacle traversal, thereby improving the cleaning robot's efficiency in escaping.

[0102] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the LDS-based cleaning robot obstacle avoidance method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0103] The present application also provides an LDS-based cleaning robot obstacle avoidance device, which is applied to a cleaning robot. The cleaning robot includes a first laser ranging sensor for horizontal plane ranging and a second laser ranging sensor for inclined plane ranging. Please refer to Figure 4 , the cleaning robot obstacle avoidance device based on LDS includes:

[0104] An information acquisition module 10 is used to acquire the motion environment information of the cleaning robot on the motion trajectory, wherein the motion environment information includes the horizontal surface environment information collected by the first laser ranging sensor and the inclined surface environment information collected by the second laser ranging sensor;

[0105] A type determination module 20, configured to determine an obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, wherein the obstacle avoidance environment type includes a concave obstacle avoidance environment and a convex obstacle avoidance environment;

[0106] A first obstacle avoidance module 30, configured to perform obstacle avoidance control according to the slope environment information and a preset bottom height threshold when the obstacle avoidance environment type is the concave obstacle avoidance environment;

[0107] The second obstacle avoidance module 40 is configured to perform obstacle avoidance control according to the inclined surface environment information, the horizontal surface environment information and a preset bottom width threshold when the obstacle avoidance environment type is the convex obstacle avoidance environment.

[0108] The cleaning robot obstacle avoidance device based on LDS provided by the present application adopts the cleaning robot obstacle avoidance method based on LDS in the above embodiment, which can solve the technical problem of low accuracy of cleaning robot obstacle avoidance. Compared with the prior art, the beneficial effects of the cleaning robot obstacle avoidance device based on LDS provided by the present application are the same as the beneficial effects of the cleaning robot obstacle avoidance method based on LDS provided by the above embodiment, and the other technical features of the cleaning robot obstacle avoidance device based on LDS are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0109] The present application provides a cleaning robot obstacle avoidance device based on LDS (which can be a part of the cleaning robot), and the cleaning robot obstacle avoidance device based on LDS includes: at least one processor; and a memory 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, so that the at least one processor can execute the cleaning robot obstacle avoidance method based on LDS in the above-mentioned embodiment 1. It is worth noting that the cleaning robot obstacle avoidance device based on LDS can also contain other devices shared with the cleaning robot, such as a power supply, etc., which are not described one by one here.

[0110] Reference below Figure 5 , which shows a schematic diagram of the structure of a controller suitable for implementing the embodiment of the present application. The controller in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions: tablet computers), PMPs (Portable Media Players: portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The controller shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0111] like Figure 5 As shown, the controller may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the controller are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following devices may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the controller to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a controller with various devices, it should be understood that it is not required to implement or have all the devices shown. More or fewer devices can be implemented or have alternatively.

[0112] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0113] The controller provided by the present application adopts the cleaning robot obstacle avoidance method based on LDS in the above embodiment, which can solve the technical problem of low accuracy of cleaning robot obstacle avoidance. Compared with the prior art, the beneficial effects of the controller provided by the present application are the same as the beneficial effects of the cleaning robot obstacle avoidance method based on LDS provided in the above embodiment, and other technical features in the controller are the same as those disclosed in the method of the previous embodiment, which will not be repeated here.

[0114] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0115] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of 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.

[0116] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the cleaning robot obstacle avoidance method based on LDS in the above-mentioned embodiment.

[0117] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor devices, devices or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution device, device or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0118] The computer-readable storage medium may be included in the controller; or may exist independently without being assembled into the controller.

[0119] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the controller, the controller:

[0120] Acquire motion environment information of the cleaning robot on the motion trajectory, wherein the motion environment information includes horizontal surface environment information collected by the first laser ranging sensor and inclined surface environment information collected by the second laser ranging sensor;

[0121] Determining an obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, wherein the obstacle avoidance environment type includes a concave obstacle avoidance environment and a convex obstacle avoidance environment;

[0122] When the obstacle avoidance environment type is the concave obstacle avoidance environment, performing obstacle avoidance control according to the slope environment information and a preset bottom height threshold;

[0123] When the obstacle avoidance environment type is the convex obstacle avoidance environment, obstacle avoidance control is performed according to the inclined surface environment information, the horizontal surface environment information and a preset bottom width threshold.

[0124] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0125] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the device, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based device that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0126] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0127] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned cleaning robot obstacle avoidance method based on LDS, and can solve the technical problem of low accuracy of cleaning robot obstacle avoidance. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the cleaning robot obstacle avoidance method based on LDS provided by the above-mentioned embodiment, and will not be repeated here.

[0128] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the cleaning robot obstacle avoidance method based on LDS as described above.

[0129] The computer program product provided by the present application can solve the technical problem of low accuracy of obstacle avoidance of cleaning robots. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the cleaning robot obstacle avoidance method based on LDS provided in the above embodiment, which will not be repeated here.

[0130] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A cleaning robot obstacle avoidance method based on LDS, characterized in that: The cleaning robot obstacle avoidance method based on LDS is applied to a cleaning robot, wherein the cleaning robot comprises a first laser ranging sensor for horizontal plane ranging and a second laser ranging sensor for inclined plane ranging. The cleaning robot obstacle avoidance method based on LDS comprises: Acquire motion environment information of the cleaning robot on the motion trajectory, wherein the motion environment information includes horizontal plane environment information collected by the first laser ranging sensor and inclined plane environment information collected by the second laser ranging sensor, the horizontal plane environment information includes the horizontal ranging distance of the target point on the motion trajectory, and the inclined plane environment information includes the inclined plane ranging distance of the target point on the motion trajectory downward; Determining an obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, wherein the obstacle avoidance environment type includes a concave obstacle avoidance environment and a convex obstacle avoidance environment; When the obstacle avoidance environment type is the concave obstacle avoidance environment, performing obstacle avoidance control according to the slope environment information and a preset bottom height threshold; When the obstacle avoidance environment type is the convex obstacle avoidance environment, performing obstacle avoidance control according to the inclined surface environment information, the horizontal surface environment information and a preset bottom width threshold; The step of determining the obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information comprises: When the horizontal ranging distance and the inclined plane ranging distance meet a preset first condition, determining that the obstacle avoidance environment type is a concave obstacle avoidance environment, wherein the preset first condition includes that the endpoint of the inclined plane ranging distance coincides with the horizontal ranging distance, and the inclined plane ranging distance is greater than the distance from the cleaning robot to the endpoint of the inclined plane ranging distance; When the horizontal ranging distance and the inclined plane ranging distance meet a preset second condition, determining that the obstacle avoidance environment type is a convex obstacle avoidance environment, wherein the preset second condition includes that an endpoint of the inclined plane ranging distance does not overlap with the horizontal ranging distance; After the step of determining the obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, the cleaning robot obstacle avoidance method based on LDS includes: Determine, in turn, in the area corresponding to the concave obstacle avoidance environment, a first distance difference value between a horizontal ranging distance and an inclined ranging distance of each positioning point, and determine a corresponding difference depth value based on the first distance difference value, wherein the positioning points include points set at preset horizontal and vertical intervals on the motion trajectory; When the difference depth value changes, determining the change trend corresponding to the difference depth value as the concave change depth; When the difference depth value does not change, the continuous length corresponding to the difference depth value is determined as the concave width, and the inclined surface environment information includes the concave change depth and the concave width.

2. The cleaning robot obstacle avoidance method based on LDS as claimed in claim 1, characterized in that: The step of performing obstacle avoidance control according to the slope environment information and a preset bottom height threshold comprises: When the depth of the concave surface change matches the depth threshold in the preset bottom height threshold, and the width of the concave surface matches the first width threshold in the preset bottom height threshold, controlling the cleaning robot to perform cleaning based on the motion trajectory; When the depth of the concave surface change does not match the depth threshold in the preset bottom height threshold, or the width of the concave surface does not match the first width threshold in the preset bottom height threshold, controlling the cleaning robot to avoid the motion track for cleaning; The step of controlling the cleaning robot to perform cleaning based on the motion trajectory comprises: Determine that the positioning point where the concave surface change depth matches the depth threshold in the preset bottom height threshold and the concave surface width matches the first width threshold in the preset bottom height threshold is the cleaning track; When the cleaning trajectory is a straight cleaning trajectory on the motion trajectory, controlling the cleaning robot to clean based on the cleaning trajectory; When the cleaning trajectory is not a straight cleaning trajectory on the motion trajectory and the cleaning trajectories are connected, controlling the cleaning robot to perform cleaning based on the connected cleaning trajectories; When the cleaning trajectory is not a straight cleaning trajectory on the motion trajectory and the cleaning trajectory is not connected, the cleaning robot is controlled to avoid the motion trajectory for cleaning.

3. The cleaning robot obstacle avoidance method based on LDS as claimed in claim 1, characterized in that: The slope environment information also includes a convex surface change height, and the step of performing obstacle avoidance control according to the slope environment information, the horizontal plane environment information and a preset bottom width threshold includes: In the area corresponding to the convex obstacle avoidance environment, determine a second distance difference value between the horizontal ranging distance and the inclined ranging distance of the highest positioning point, and determine the corresponding highest height value based on the second distance difference value, wherein the highest positioning point includes the highest point position in the area corresponding to the convex obstacle avoidance environment; Adjusting the horizontal height of the first laser ranging sensor based on the highest height value, acquiring the convex ranging distance collected by the first laser ranging sensor after the horizontal height is adjusted, and determining the convex width based on the convex ranging distance and the inclined ranging distance; When the height of the convex surface change matches a height threshold in the preset bottom width thresholds, and the convex shape width matches a second width threshold in the preset bottom width thresholds, controlling the cleaning robot to perform cleaning based on the motion trajectory; When the convex surface change height does not match the height threshold in the preset bottom width threshold, or the convex shape width does not match the second width threshold in the preset bottom width threshold, the cleaning robot is controlled to avoid the motion track for cleaning.

4. The cleaning robot obstacle avoidance method based on LDS as claimed in claim 3, characterized in that: The step of controlling the cleaning robot to perform cleaning based on the motion trajectory comprises: When the horizontal ranging distance and the slope ranging distance of the subsequent positioning point meet the preset second condition, the step of performing obstacle avoidance control according to the slope environment information, the horizontal plane environment information and the preset bottom width threshold is executed, wherein the subsequent positioning point includes the subsequent point position of the highest positioning point; When the horizontal ranging distance and the inclined ranging distance of the subsequent positioning point do not meet the preset second condition, the cleaning robot is controlled to perform cleaning based on the convex cleaning trajectory in the motion trajectory, wherein the convex cleaning trajectory includes the convex surface change height matching the height threshold in the preset bottom width threshold, and the convex width matching the second width threshold in the preset bottom width threshold.

5. The cleaning robot obstacle avoidance method based on LDS according to any one of claims 1 to 4, characterized in that: The cleaning robot obstacle avoidance method based on LDS also includes: When the cleaning robot is in a preset recessed state, recessed environment information around the cleaning robot is obtained, wherein the recessed environment information includes, for each recessed point, a changed horizontal distance collected by the first laser ranging sensor and a changed inclined distance collected by the second laser ranging sensor; Determine the height value corresponding to each of the depression points based on the changed horizontal distance and the changed slope distance, and determine the height change trend of different routes based on the height value corresponding to each of the depression points; When the height change trend meets the chassis change threshold of the cleaning robot, the cleaning robot is controlled to move based on an escape trajectory, wherein the escape trajectory includes a trajectory where the height change trend meets the chassis change threshold of the cleaning robot.

6. An obstacle avoidance device for a cleaning robot based on LDS, characterized in that: The cleaning robot obstacle avoidance device based on LDS is applied to a cleaning robot, the cleaning robot comprises a first laser ranging sensor for horizontal plane ranging and a second laser ranging sensor for inclined plane ranging, and the cleaning robot obstacle avoidance device based on LDS comprises: An information acquisition module, used to acquire the motion environment information of the cleaning robot on the motion trajectory, wherein the motion environment information includes horizontal plane environment information collected by the first laser ranging sensor and inclined plane environment information collected by the second laser ranging sensor, the horizontal plane environment information includes the horizontal ranging distance of the target point on the motion trajectory, and the inclined plane environment information includes the inclined plane ranging distance of the target point on the motion trajectory downward; A type judgment module, used to determine the obstacle avoidance environment type according to the horizontal plane environment information and the inclined plane environment information, wherein the obstacle avoidance environment type includes a concave obstacle avoidance environment and a convex obstacle avoidance environment; A first obstacle avoidance module, configured to perform obstacle avoidance control according to the slope environment information and a preset bottom height threshold when the obstacle avoidance environment type is the concave obstacle avoidance environment; A second obstacle avoidance module, configured to perform obstacle avoidance control according to the inclined surface environment information, the horizontal surface environment information and a preset bottom width threshold when the obstacle avoidance environment type is the convex obstacle avoidance environment; The type judgment module is further used to determine that the type of the obstacle avoidance environment is a concave obstacle avoidance environment when the horizontal ranging distance and the inclined plane ranging distance meet a preset first condition, wherein the preset first condition includes that the endpoint of the inclined plane ranging distance coincides with the horizontal ranging distance, and the inclined plane ranging distance is greater than the distance from the cleaning robot to the endpoint of the inclined plane ranging distance; and when the horizontal ranging distance and the inclined plane ranging distance meet a preset second condition, determine that the type of the obstacle avoidance environment is a convex obstacle avoidance environment, wherein the preset second condition includes that the endpoint of the inclined plane ranging distance does not coincide with the horizontal ranging distance; The type judgment module is also used to determine, in turn, a first distance difference value between a horizontal ranging distance and an inclined ranging distance of each positioning point in an area corresponding to the concave obstacle avoidance environment, and determine a corresponding difference depth value based on the first distance difference value, wherein the positioning points include points arranged at preset horizontal and vertical spacings on the motion trajectory; when the difference depth value changes, a change trend corresponding to the difference depth value is determined as a concave surface change depth; when the difference depth value does not change, a continuous length corresponding to the difference depth value is determined as a concave surface width, and the inclined surface environment information includes the concave surface change depth and the concave surface width.

7. An obstacle avoidance device for a cleaning robot based on LDS, characterized in that: The LDS-based cleaning robot obstacle avoidance device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the LDS-based cleaning robot obstacle avoidance method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the cleaning robot obstacle avoidance method based on LDS as described in any one of claims 1 to 5 are implemented.

Images