Obstacle cleaning method and device

Abstract

The invention relates to an obstacle cleaning method and device, and the method comprises the steps: obtaining a target image, determining a target ground brake supporting surface with an obstacle according to the target image, determining a target supporting position of a cleaning device disposed on a cart based on the target ground brake supporting surface, and controlling the cleaning device to move to the target supporting position. The target image is an image of the ground below the cart and controls the sweeping device to sweep the obstacle. The target ground brake supporting surface with the obstacle is determined through the obtained target image, so that the target supporting position is determined according to the target ground brake supporting surface, the cleaning device arranged on the cart is moved to the target supporting position, the obstacle is cleaned through the cleaning device, medical staff do not need to manually clean the obstacle, and the cleaning efficiency is improved. And the operation convenience of medical staff is improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to an obstacle clearing method and device. Background Art

[0002] The existing surgical carts or navigation carts have a small bottom space, which makes it difficult to observe the ground under the carts. The floor of the operating room may contain sand, dust, cables, etc. If the surgical cart or navigation cart is turned on without observing the ground conditions and the cart's floor brake is directly operated to contact the ground, it is likely that the floor brake will hit an obstacle, which may cause the medical equipment to tilt. Therefore, it is necessary to clean the obstacles on the support surface of the floor brake in time before starting the cart with medical equipment installed.

[0003] In the related art, when there are obstacles on the floor brake support surface, medical staff are often required to manually clean them. However, since medical staff wear sterile gloves in the operating room environment, manually cleaning the obstacles will cause great inconvenience. Summary of the invention

[0004] Based on this, it is necessary to provide an obstacle clearing method and device that does not require medical staff to manually clear obstacles and can improve the operating convenience of medical staff in order to address the above technical problems.

[0005] In a first aspect, the present application provides an obstacle clearing method, the method comprising:

[0006] Acquire a target image; the target image is an image of the ground below the cart;

[0007] determining a target ground brake support surface where an obstacle exists according to the target image;

[0008] Determining a target support position of a cleaning device disposed on the cart based on the target ground brake support surface;

[0009] The cleaning device is controlled to move to the target support position, and the cleaning device is controlled to clean the obstacle.

[0010] In one embodiment, determining a target support position of a cleaning device disposed on the cart based on the target floor brake support surface includes:

[0011] Based on a first floor brake supporting surface of a first floor brake and a second floor brake supporting surface of a second floor brake, determining a region of interest of the target image; the target floor brake supporting surface includes the first floor brake supporting surface or the second floor brake supporting surface;

[0012] The target support position is determined based on the region of interest, the first floor brake support surface, and the second floor brake support surface.

[0013] In one embodiment, the method further comprises:

[0014] Determine the type of the obstacle according to the target image;

[0015] If the type of the obstacle is a cleanable type, determining whether the obstacle needs to be cleaned;

[0016] If the obstacle needs to be cleared, the target ground brake support surface where the obstacle exists is determined according to the target image.

[0017] In one embodiment, controlling the cleaning device to clean the obstacle includes:

[0018] Controlling the cleaning device to return to an initial position;

[0019] Acquire an image to be recognized, determine a cleaning result according to the image to be recognized, and output the cleaning result; the image to be recognized is an image of the cleaned ground below the cart;

[0020] If the cleaning result is unqualified, the image to be identified is used as the target image, and the target ground brake support surface where an obstacle exists is determined according to the target image.

[0021] In one embodiment, determining the target support position based on the region of interest, the first floor brake support surface, and the second floor brake support surface includes:

[0022] determining an initial support area of ​​the cleaning device based on the region of interest, the first floor brake support surface, and the second floor brake support surface;

[0023] The target support position is determined according to the initial support area.

[0024] In one embodiment, determining the initial support area of ​​the cleaning device based on the region of interest, the first floor brake support surface, and the second floor brake support surface includes:

[0025] Determine a first tangent line and a second tangent line between a center point of the region of interest and the first floor brake support surface;

[0026] Determining a third tangent line and a fourth tangent line between the center point and the second floor brake supporting surface;

[0027] determining a first area based on the first tangent line and the third tangent line, and determining a second area based on the second tangent line and the fourth tangent line;

[0028] The initial support area includes the first area and the second area, and the first area and the second area do not include the first floor brake support surface and the second floor brake support surface.

[0029] In one embodiment, determining the target support position according to the initial support area includes:

[0030] Taking the first target tangent line of the target ground brake support surface as the first starting boundary line, determining the first dividing line of the first area at intervals of a first preset angle; the first target tangent line is the first tangent line or the third tangent line;

[0031] Taking the second target tangent line of the target floor brake support surface as the second starting boundary line, determining the second dividing line of the second area at intervals of the first preset angle; the second target tangent line is the second tangent line or the fourth tangent line;

[0032] The target support position is determined based on the obstacle position information of the obstacle, the first position information of the first cutting line, and the second position information of the second cutting line.

[0033] In one embodiment, determining the target support position based on the obstacle position information of the obstacle, the first position information of the first cutting line, and the second position information of the second cutting line includes:

[0034] taking a first segmentation line corresponding to the first position information that coincides with the obstacle position information as a first candidate segmentation line;

[0035] taking a second segmentation line corresponding to second position information that coincides with the obstacle position information as a second candidate segmentation line;

[0036] The target support position is determined according to the first candidate segmentation line, the second candidate segmentation line and the obstacle position information.

[0037] In one of the embodiments, the cleaning device includes a driving mechanism, an output end, a buffer mechanism, an eccentric support frame, and a cleaning component;

[0038] The driving mechanism is connected to the first end of the output end, the second end of the output end is connected to the eccentric support frame, the eccentric support frame is connected to the cleaning component, and the buffer mechanism is arranged on the output end.

[0039] In a second aspect, the present application also provides an obstacle clearing device, the device comprising:

[0040] A first acquisition module is used to acquire a target image; the target image is an image of the ground below the cart;

[0041] A first determination module is used to determine a target ground brake support surface where an obstacle exists according to the target image;

[0042] A second determination module is used to determine a target support position of a cleaning device provided on the cart based on the target floor brake support surface;

[0043] The first control module is used to control the cleaning device to move to the target support position and control the cleaning device to clean the obstacle.

[0044] In a third aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0045] Acquire a target image; the target image is an image of the ground below the cart;

[0046] determining a target ground brake support surface where an obstacle exists according to the target image;

[0047] Determining a target support position of a cleaning device disposed on the cart based on the target ground brake support surface;

[0048] The cleaning device is controlled to move to the target support position, and the cleaning device is controlled to clean the obstacle.

[0049] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0050] Acquire a target image; the target image is an image of the ground below the cart;

[0051] determining a target ground brake support surface where an obstacle exists according to the target image;

[0052] Determining a target support position of a cleaning device disposed on the cart based on the target ground brake support surface;

[0053] The cleaning device is controlled to move to the target support position, and the cleaning device is controlled to clean the obstacle.

[0054] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising a computer program, which implements the following steps when executed by a processor:

[0055] Acquire a target image; the target image is an image of the ground below the cart;

[0056] determining a target ground brake support surface where an obstacle exists according to the target image;

[0057] Determining a target support position of a cleaning device disposed on the cart based on the target ground brake support surface;

[0058] The cleaning device is controlled to move to the target support position, and the cleaning device is controlled to clean the obstacle.

[0059] The above obstacle clearing method and device acquire a target image, determine the target brake support surface where the obstacle exists according to the target image, determine the target support position of the cleaning device provided on the cart based on the target brake support surface, thereby controlling the cleaning device to move to the target support position, and controlling the cleaning device to clear the obstacle, wherein the target image is an image of the ground below the cart. In the present application, the target brake support surface where the obstacle exists is determined by the acquired target image, thereby determining the target support position according to the target brake support surface, moving the cleaning device provided on the cart to the target support position, and using the cleaning device to clear the obstacle, without the need for medical staff to manually clear the obstacle, thereby improving the convenience of operation for medical staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 A schematic diagram of an electric ground brake pressing down an obstacle during support in one embodiment;

[0061] Figure 2 A diagram of an application environment of an obstacle clearing method in one embodiment;

[0062] Figure 3 A schematic diagram of a flow chart of an obstacle clearing method in one embodiment;

[0063] Figure 4 is a schematic diagram of a first ground brake and a second ground brake in one embodiment;

[0064] Figure 5 A schematic diagram of a process for determining a target support position in one embodiment;

[0065] Figure 6 is a schematic diagram of a first ground brake and a second ground brake in another embodiment;

[0066] Figure 7 is a schematic diagram of a first ground brake and a second ground brake in another embodiment;

[0067] Figure 8 is a schematic diagram of a region of interest in one embodiment;

[0068] Fig. 9 is a flow chart of an obstacle clearing method in another embodiment;

[0069] Fig.10 is a flow chart of an obstacle clearing method in another embodiment;

[0070] Fig.11 A schematic diagram of a flow chart for determining a target support position in another embodiment;

[0071] Fig.12 A schematic diagram of a process for determining an initial support area in one embodiment;

[0072] Fig.13 A schematic diagram of a flow chart for determining a target support position in another embodiment;

[0073] Fig.14 A schematic diagram of a flow chart for determining a target support position in another embodiment;

[0074] Fig.15 is a flow chart of an obstacle clearing method according to another embodiment;

[0075] Fig.16 A schematic diagram of the structure of a cleaning device in one embodiment;

[0076] Fig.17 1 is a structural block diagram of an obstacle clearing device in one embodiment.

[0077] Description of reference numerals:

[0078] 100. cleaning device; 10. driving mechanism; 20. output end;

[0079] 30. Buffer mechanism; 40. Eccentric support frame; 50. Cleaning component. DETAILED DESCRIPTION

[0080] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. 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.

[0081] The existing surgical carts or navigation carts have a small bottom space, which makes it difficult to observe the ground under the carts. The floor of the operating room may contain sand, dust, cables, etc. If the surgical cart or navigation cart is turned on without observing the ground conditions and the cart's ground brake is directly operated to contact the ground, it is very likely that the ground brake will hit an obstacle, which may cause the medical equipment to tilt. Figure 1 As shown, Figure 1This is a schematic diagram of an electric floor brake pressing down an obstacle when supported in one embodiment. Similarly, when the electric floor brake is supported, the foot-operated floor brake is in a raised state. If there is an obstacle under the foot-operated floor brake, the electric floor brake will retract and the foot-operated floor brake may press down the obstacle. Therefore, it is necessary to clean the obstacles on the support surface of the floor brake in time before starting the cart with medical equipment installed.

[0082] In the related art, when there is an obstacle on the floor brake support surface, medical staff often need to manually clean it. However, since medical staff wear sterile gloves in the operating room environment, manually cleaning the obstacle will cause great inconvenience. Therefore, the present application provides an obstacle cleaning method and device to solve the above-mentioned technical problems.

[0083] The obstacle clearing method provided in the embodiment of the present application can be applied to Figure 2 In the application environment shown, the application environment includes a cart, on which medical equipment is placed, and a camera and a computer device are arranged at the bottom of the cart. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 2 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store obstacle cleaning related data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, an obstacle cleaning method is implemented. The server can be implemented as an independent server or a server cluster consisting of multiple servers.

[0084] Those skilled in the art will understand that Figure 2 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0085] In one embodiment, Figure 3 As shown, an obstacle clearing method is provided, which is applied to Figure 2 The computer device in the example is used to illustrate, including the following steps:

[0086] S301, acquiring a target image; the target image is an image of the ground below the cart.

[0087] In this embodiment, at least one camera can be installed on the cart, and the camera can be used to capture images of the ground below the cart in real time or periodically. After the user triggers a command, the computer device can obtain the target image captured for the last time, and can also obtain the target image according to a preset period; or obtain the target image after each cleaning is completed.

[0088] S302, determining a target ground brake support surface where an obstacle exists according to the target image.

[0089] Optionally, a plurality of floor brakes may be installed on the cart, for example, including a first floor brake and a second floor brake, and accordingly, the floor brake support surface may include a first floor brake support surface and a second floor brake support surface. Figure 4 As shown, the first floor brake can be an electric floor brake, and the second floor brake can be a foot-operated floor brake. Alternatively, the first floor brake can be a pneumatic floor brake or a hydraulic floor brake, and the second floor brake can be a foot-operated floor brake.

[0090] In this embodiment, an image recognition algorithm can be used to identify the target image to obtain obstacle position information, and the obstacle position information is compared with the brake support surface position information of each location in the target image. The brake support surface whose brake support surface position information overlaps with the obstacle position information is used as the target brake support surface.

[0091] S303: Determine a target support position of a cleaning device disposed on the cart based on the target ground brake support surface.

[0092] In this embodiment, if the obstacle only exists on the target ground brake support surface, any position other than the target ground brake support surface is used as the target support position.

[0093] In a possible implementation, if the obstacle exists not only on the target brake support surface, the area other than the target brake support surface is used as the initial support area, and the target support position is further determined from the initial support area according to the obstacle position information.

[0094] S304, controlling the cleaning device to move to the target support position, and controlling the cleaning device to clean the obstacle.

[0095] In this embodiment, the cleaning device can be controlled to descend from an initial position on the cart and rotate to a target support position according to control instructions, and the distance, direction or angle between the target support positions can be determined. According to the distance or angle, the cleaning device can be controlled to clean obstacles on the target ground brake support surface at the target support position.

[0096] In the above obstacle clearing method, a target image is acquired, a target brake support surface where an obstacle exists is determined according to the target image, and a target support position of a cleaning device disposed on the cart is determined based on the target brake support surface, thereby controlling the cleaning device to move to the target support position, and controlling the cleaning device to clear the obstacle, wherein the target image is an image of the ground below the cart. In the present application, the target brake support surface where an obstacle exists is determined by acquiring a target image, thereby determining the target support position according to the target brake support surface, moving the cleaning device disposed on the cart to the target support position, and using the cleaning device to clear the obstacle, without the need for medical staff to manually clear the obstacle, thereby improving the convenience of operation for medical staff.

[0097] Figure 5 FIG. 1 is a flow chart of determining a target support position in an embodiment. Figure 5 As shown, the embodiment of the present application relates to a possible implementation method of how to determine a target support position of a cleaning device disposed on a cart based on a target ground brake support surface, including the following steps:

[0098] S501, determining a region of interest of a target image based on a first floor brake supporting surface of a first floor brake and a second floor brake supporting surface of a second floor brake; the target floor brake supporting surface includes the first floor brake supporting surface or the second floor brake supporting surface.

[0099] In this embodiment, the region of interest of the target image is determined based on the region where the first support surface is located and the region where the second floor brake support surface is located. Figure 6-Figure 8 As shown, the first floor brake is an electric floor brake, and the second floor brake is a pedal floor brake. The electric floor brake is used to fix the cart. The first floor brake is a cylindrical device. The first floor brake support surface obtained by the first floor brake contacting the ground can be a circle C1 with a center o1 and a radius r1. Figure 7 As shown, the cart is initially fixed by using the foot brake, and the second brake support surface obtained when the second brake contacts the ground is Figure 8 The pedal theoretical support line in FIG. 1 is used as the circle including the first brake support surface and the second brake support surface as the region of interest of the target image. The schematic diagram of the region of interest is shown in FIG. Figure 8 shown.

[0100] It should be noted that the first floor brake support surface and the second floor brake support surface of the present embodiment are only examples. When the first floor brake and the second floor brake adopt different types of floor brakes, the shapes of the corresponding first floor brake support surface and the second floor brake support surface are different. Therefore, the region of interest determined according to the first floor brake support surface and the second floor brake support surface only needs to ensure that it can contain the first floor brake support surface and the second floor brake support surface at the same time.

[0101] S502: Determine a target support position based on the region of interest, the first floor brake support surface, and the second floor brake support surface.

[0102] In this embodiment, the positions in the area of ​​interest except the first floor brake support surface and the second floor brake support surface can be used as the initial support area, and according to the positions of the initial support area and the obstacle, any position in the initial support area except the obstacle position can be determined as the target support position.

[0103] In a possible implementation, multiple candidate positions other than the obstacle position may be determined from the initial support area, and a position closest to the obstacle position is determined from the multiple candidate positions as the target support position.

[0104] In the embodiment of the present application, the region of interest of the target image is determined based on the first floor brake supporting surface of the first floor brake and the second floor brake supporting surface of the second floor brake, and the target support position is determined based on the region of interest, the first floor brake supporting surface and the second floor brake supporting surface. In the present embodiment, the region of interest of the target image is determined based on the first floor brake supporting surface of the first floor brake and the second floor brake supporting surface of the second floor brake, and the target support position is determined from the region of interest, and the target support position does not need to be determined in the target image, which narrows the determination range of the target support position and improves the determination efficiency of the target support position.

[0105] Fig. 9 FIG. 1 is a flow chart of an obstacle clearing method in another embodiment. Fig. 9 As shown, the following steps are included:

[0106] S901: Determine the type of obstacle according to the target image.

[0107] In this embodiment, an image recognition algorithm is used to determine the type of obstacle, and the types of obstacles include a cleanable type and an uncleanable type. The image recognition algorithm is used to identify the position of the obstacle. If the position of the obstacle is located at the center of the area of ​​interest, the type of the obstacle is determined to be an uncleanable type. The type of obstacle can also be determined based on the area of ​​the obstacle. If the area of ​​the obstacle is larger than a preset area, the type of the obstacle is determined to be an uncleanable type.

[0108] S902: If the obstacle is of a cleanable type, determine whether the obstacle needs to be cleaned.

[0109] In this embodiment, if the type of the obstacle is a cleanable type, it can be determined whether the obstacle needs to be cleaned according to the surgical operation time. For example, if the current time is not the surgical operation time, the obstacle may not be cleaned.

[0110] Furthermore, if the type of obstacle is an uncleanable type, the computer device can output a prompt message, which is used to indicate that the current obstacle type is an uncleanable type, and output the corresponding processing method for the uncleanable type obstacle, etc. The operator can handle the obstacle according to the prompt information.

[0111] S903: If the obstacle needs to be cleared, determine the target ground brake support surface where the obstacle exists according to the target image.

[0112] In this embodiment, if it is necessary to clear the obstacle, the above step of determining the target ground brake support surface where the obstacle exists according to the target image is performed.

[0113] In the embodiment of the present application, the type of obstacle is determined according to the target image. If the type of obstacle is a cleanable type, it is determined whether the obstacle needs to be cleaned. If the obstacle needs to be cleaned, the target brake support surface where the obstacle exists is determined according to the target image. In this embodiment, even if the obstacle type is a cleanable type, it is necessary to further determine whether the obstacle needs to be cleaned. If the obstacle needs to be cleaned, the target brake support surface where the obstacle exists is determined according to the target image, making the cleaning of the obstacle more flexible.

[0114] Fig.10 FIG. 1 is a flow chart of an obstacle clearing method in another embodiment. Fig.10 As shown, the following steps are included:

[0115] S1001, controlling the cleaning device to return to the initial position.

[0116] In this embodiment, after the cleaning device completes the cleaning task, the rotation direction, angle, etc. of the cleaning device are determined according to the current position information and initial position information of the cleaning device, and the cleaning device is controlled to rise and return to the initial position on the cart according to the rotation direction, angle, etc.

[0117] S1002, obtaining an image to be recognized, determining a cleaning result based on the image to be recognized, and outputting the cleaning result; the image to be recognized is an image of the cleaned ground below the cart.

[0118] In this embodiment, a camera installed on the cart is used to reacquire an image of the ground below the cart as an image to be identified, and an image recognition algorithm is used to determine whether there are any obstacles in the image to be identified. If there are no obstacles, the cleaning result is determined to be qualified; if there are obstacles, the cleaning result is determined to be unqualified, and the cleaning result is output.

[0119] Optionally, when the cleaning result is unqualified, the cleaning result may also include location information of obstacles in the image to be identified, the type of obstacles, etc.

[0120] S1003, if the cleaning result is unqualified, the image to be identified is used as a target image, and the target ground brake support surface where an obstacle exists is determined according to the target image.

[0121] In this embodiment, if the cleaning result is unqualified, the image to be identified is used as the target image and the above step S302 is executed.

[0122] In the embodiment of the present application, when the obstacle is cleared, the cleaning device is controlled to return to the initial position on the cart, and the image to be identified is obtained, and the cleaning result is determined and output according to the image to be identified. If the cleaning result is unqualified, the image to be identified is used as the target image, and the target brake support surface where the obstacle exists is determined according to the target image. In this embodiment, whether to continue cleaning is determined according to the cleaning result. If the cleaning result is unqualified, the image to be identified is used as the target image to re-determine the target support surface where the obstacle exists, forming a closed loop, thereby improving the automation of obstacle cleaning.

[0123] Fig.11 FIG. 1 is a flow chart of determining a target support position in another embodiment. Fig.11 As shown, the embodiment of the present application relates to a possible implementation method of how to determine the target support position based on the region of interest, the first floor brake support surface and the second floor brake support surface, including the following steps:

[0124] S1101, determining an initial support area of ​​the cleaning device based on the region of interest, the first floor brake support surface, and the second floor brake support surface.

[0125] In this embodiment, the area in the region of interest except the first floor brake supporting surface and the second floor brake supporting surface can be used as the initial supporting area; based on the center of the region of interest, the first tangent and the second tangent between the center point of the region of interest and the first floor brake supporting surface, the third tangent and the fourth tangent between the center point and the second floor brake supporting surface are determined, and the first area determined by the first tangent and the third tangent is used as the initial supporting area, and the second area determined by the second tangent and the fourth tangent is used as the initial supporting area, wherein the first area and the second area do not include the first floor brake supporting surface and the second floor brake supporting surface.

[0126] S1102: Determine a target support position according to the initial support area.

[0127] In this embodiment, the target support position can be determined from the initial support area according to the position information of the obstacle. The initial support area may include multiple areas. If there is no obstacle in the initial support area, the position closest to the target support surface in the multiple areas in the initial support area can be used as the target support position; if there is an obstacle in the initial support area, a candidate support area in which there is no obstacle is determined from the initial support area, and any position in the candidate support area is determined as the target support position.

[0128] In the embodiment of the present application, the initial support area of ​​the cleaning device is determined based on the region of interest, the first floor brake support surface, and the second floor brake support surface, so that the target support position is determined according to the initial support area. In this embodiment, the initial support area is determined from the region of interest, and the target support position is determined based on the initial support area, so that the determined target support position is more accurate.

[0129] Fig.12 FIG. 1 is a schematic diagram of a process for determining an initial support area in an embodiment. Fig.12 As shown, the embodiment of the present application relates to a possible implementation method of how to determine the initial support area of ​​the cleaning device based on the area of ​​interest, the first floor brake support surface and the second floor brake support surface, including the following steps:

[0130] S1201, determining a first tangent line and a second tangent line between a center point of a region of interest and a first floor brake supporting surface.

[0131] In this embodiment, as described above Figure 8 As shown, the first floor brake support surface is a circle with a center o1 and a radius r1. The first tangent AE and the second tangent BE of the first floor brake support surface are made with the center point E of interest as the starting point. The first tangent AE and the second tangent BE can be used as the cleaning boundary lines of the maximum angle of the first floor brake support surface.

[0132] S1202, determining a third tangent line and a fourth tangent line between the center point and the second floor brake supporting surface.

[0133] In this embodiment, as described above Figure 8 As shown, the second brake support surface is a line segment with a width, starting from the center point E of interest, connecting the point E and the two ends of the line segment, respectively, to obtain the third tangent EC and the fourth tangent ED. The third tangent EC and the fourth tangent ED are the cleaning boundary lines of the maximum angle of the second brake support surface.

[0134] S1203, determining a first area based on the first tangent and the third tangent, and determining a second area based on the second tangent and the fourth tangent; wherein the initial support area includes the first area and the second area, and the first area and the second area do not include the first floor brake support surface and the second floor brake support surface.

[0135] In this embodiment, the area formed by the first tangent, the third tangent and the boundary of the region of interest is taken as the first area, and the area formed by the second tangent, the fourth tangent and the boundary of the region of interest is taken as the second area. For example, the fan-shaped AEC formed by the first tangent AE, the third tangent EC and the boundary of the region of interest is the first area, and the fan-shaped BED formed by the second tangent BE, the fourth tangent ED and the boundary of the region of interest is the second area.

[0136] In the embodiment of the present application, by determining the first tangent and the second tangent between the center point of the region of interest and the first brake support surface, and determining the third tangent and the fourth tangent between the center point and the second brake support surface, the first region is determined based on the first tangent and the third tangent, and the second region is determined based on the second tangent and the fourth tangent. Since the first tangent, the third tangent, the second tangent and the fourth tangent are the cleaning boundary lines of the maximum angles of the first brake support surface and the second brake support surface, the initial support area determined based on the first tangent, the third tangent, the second tangent and the fourth tangent can completely avoid the first brake support surface and the second brake support surface, and the target support position is determined based on the initial support area, so that the target support position of the cleaning device will not be located on the first brake support surface and the second brake support surface.

[0137] Fig.13 FIG. 1 is a flow chart of determining a target support position in another embodiment. Fig.13 As shown, the embodiment of the present application relates to a possible implementation method of how to determine the target support position according to the initial support area, including the following steps:

[0138] S1301, taking a first target tangent line of a target ground brake support surface as a first starting boundary line, determining a first dividing line of a first area at intervals of a first preset angle; the first target tangent line is the first tangent line or the third tangent line.

[0139] Optionally, the first preset angle is 5 degrees, 7 degrees, 10 degrees, etc.

[0140] In this embodiment, as described above Figure 8 As shown, assuming that the first area is the area corresponding to the AEC sector, the first target tangent is AE, and AE is used as the first starting boundary line. In a counterclockwise direction, point A on the arc AC is traversed at a first preset angle. i , connect point A i and point E, we get the first dividing line A i E.

[0141] You can also use CE as the first starting boundary line and traverse point C on arc AC in a clockwise direction at a first preset angle. i , connection point C i and point E, we get the first dividing line Ci E.

[0142] S1302, taking a second target tangent line of the target ground brake support surface as a second starting boundary line, determining a second dividing line of the second area at intervals of a first preset angle; the second target tangent line is the second tangent line or the fourth tangent line.

[0143] In this embodiment, for the second area, the above S1301 method is also used to obtain the second cutting line B i E or D i E.

[0144] S1303: Determine a target support position based on the obstacle position information of the obstacle, the first position information of the first dividing line, and the second position information of the second dividing line.

[0145] In this embodiment, the first position information of the first dividing line can be compared with the obstacle position information, and the first position information that does not overlap with the obstacle position information can be used as the target support position; or the second position information can be compared with the obstacle position information, and the second position information that does not overlap with the obstacle position information can be used as the target support position.

[0146] In a possible implementation, the first candidate position information may be determined based on the first position information and the obstacle position information, the second candidate position information may be determined based on the second position information and the obstacle position information, and the target support position may be determined based on the first candidate position information and the second candidate position information.

[0147] In the embodiment of the present application, the first target tangent of the target brake support surface is used as the first starting boundary line, and the first dividing line of the first area is determined at intervals of a first preset angle. At the same time, the second target tangent of the target brake support surface is used as the second starting boundary line, and the second dividing line of the second area is determined at intervals of a first preset angle. The target support position is determined based on the obstacle position information of the obstacle, the first position information of the first dividing line, and the second position information of the second dividing line. In this embodiment, the first dividing line is determined from the first area and the second dividing line is determined from the second area at a first preset angle, so that the target support position is determined according to the obstacle position information of the obstacle, the first position information of the first dividing line, and the second position information of the second dividing line, thereby improving the efficiency of determining the target support position.

[0148] Fig.14 FIG. 1 is a flow chart of determining a target support position in another embodiment. Fig.14 As shown, the embodiment of the present application relates to a possible implementation method of determining a target support position based on obstacle position information of an obstacle, first position information of a first cutting line, and second position information of a second cutting line, including the following steps:

[0149] S1401: Take a first segmentation line corresponding to first position information that coincides with the obstacle position information as a first candidate segmentation line.

[0150] In this embodiment, according to the comparison between the obstacle position information and the first position information of the first cutting line, all the first cutting lines in the first position information that coincide with the obstacle position information are used as the first candidate cutting lines. For example, the obstacle position information includes (1, 2), (2, 2), (3, 2), (2, 5), (4, 2), (4, 4), (5, 6), and the first position information includes the position information of 20 first cutting lines, among which the first cutting lines A6E, A7E, A 12 E. A 15 If the first position information of E coincides with the obstacle position information, the first dividing lines A6E, A7E, A8E, A 12 E. A 13 E is taken as the first candidate segmentation line.

[0151] S1402: taking a second segmentation line corresponding to second position information that overlaps with the obstacle position information as a second candidate segmentation line.

[0152] In this embodiment, the specific implementation method of determining the second candidate segmentation line from the second segmentation line can refer to the above S1401, and this embodiment of the present application will not be described in detail.

[0153] S1403: Determine a target support position according to the first candidate segmentation line, the second candidate segmentation line and the obstacle position information.

[0154] In this embodiment, the first segmentation line group is determined according to the first candidate segmentation line, and the first segmentation line group is searched according to the second preset angle. Among them, the first segmentation line before the starting segmentation line in the first segmentation line group is not the first candidate segmentation line, and the first segmentation line after the ending segmentation line of the first segmentation line group is not the first candidate segmentation line. For example, the above A6E, A7E, A8E, A 12 E. A 13 E is the first candidate segmentation line, then A6E and A8E form the first segmentation line group, the first segmentation line A5E before A6E is not the first candidate segmentation line, and the first segmentation line A9E after A8E is not the first candidate segmentation line; similarly, A 12 E. A 13 E also constitutes the first cutting line group.

[0155] In the first segmentation line group, a new segmentation line is determined at a second preset angle, and the target support position is determined according to the position information of the new segmentation line and the obstacle position information. 12 E. A 13 Take the first segmentation line group composed of E as an example,12 E is the starting dividing line of the first dividing line group. 12 A 13 Determine a new point A 12i , point A 12i Connect it with point E to get the new dividing line A 12i E.

[0156] Then compare the position information of the new dividing line with the information of the obstacle. 125 E is the last new segmentation line that coincides with the obstacle position information, so A can be determined. 125 E is a first angle away from AE, and an area larger than the first angle is used as the target support position.

[0157] Similarly, a second segmentation line group may be determined according to the second candidate segmentation line, the second segmentation line group may be searched according to the second preset angle, and the target support position may be determined from the second area according to the same method as above.

[0158] In a possible implementation, the support position determined in the first area can be used as the first candidate support position, and the support position determined in the second area can be used as the second candidate support position, and the target support position can be determined from the first candidate support position and the second candidate support position. For example, if the obstacle is located on the first support surface, the first angle of the first candidate support position from AE and the second angle of the second support position from BE are compared, and if the first angle is smaller than the second angle, the first candidate support position is used as the target support position.

[0159] In the embodiment of the present application, the first segmentation line corresponding to the first position information that coincides with the obstacle position information is used as the first candidate segmentation line, and the second segmentation line corresponding to the second position information that coincides with the obstacle position information is used as the second candidate segmentation line, and the target support position is determined according to the first candidate segmentation line, the second candidate segmentation line and the obstacle position information. In this embodiment, the first candidate segmentation line and the second candidate segmentation line are the first segmentation line and the second segmentation line where obstacles may exist, and the target support position is further determined according to the first candidate segmentation line, the second candidate segmentation line and the obstacle position information, so that the determination of the target support position is more accurate.

[0160] In one embodiment, Fig.15As shown, an obstacle cleaning method is provided, comprising the following steps: determining the obstacle type according to a target image, if the obstacle type is a cleanable type, determining whether the obstacle needs to be cleaned, if the obstacle needs to be cleaned, determining the region of interest of the target image based on the first floor brake support surface of the first floor brake and the second floor brake support surface of the second floor brake, determining the initial support area of ​​the cleaning device based on the region of interest, the first floor brake support surface and the second floor brake support surface, determining the target support position according to the initial support area, and controlling the cleaning device to move to the target support position, and controlling the cleaning device to clean the obstacle. After the obstacle cleaning is completed, the cleaning device is controlled to return to the initial position, and the image to be identified is obtained, and the cleaning result is determined according to the image to be identified and the cleaning result is output, if the cleaning result is unqualified, the image to be identified is used as the target image, and the step of determining the target floor brake support surface where the obstacle exists according to the target image is executed.

[0161] In one embodiment, Fig.16 As shown, the cleaning device 100 includes a driving mechanism 10, an output end 20, a buffer mechanism 30, an eccentric support frame 40, and a cleaning component 50; the driving mechanism 10 is connected to a first end of the output end 20, the second end of the output end 20 is connected to the eccentric support frame 40, the eccentric support frame 40 is connected to the cleaning component 50, and the buffer mechanism 30 is arranged on the output end 20.

[0162] In this embodiment, if Fig.16 As shown, the driving mechanism 10 is connected to the first end of the output end 20, the second end of the output end 20 is connected to the eccentric support frame 40, the eccentric support frame 40 is connected to the cleaning component 50, the output end 20 can rotate, drive the eccentric support frame 40 and the cleaning component 50 to rotate, so that the cleaning component 50 is located at different positions in the initial support area, and a buffer mechanism 30 is also provided on the output end 20, which can drive the eccentric support frame 40 and the cleaning component 50 to move up and down based on the up and down linear movement of the output end 20, thereby controlling the descent and retraction of the cleaning device 100.

[0163] The cleaning device 100 is controlled to move to the target support position for cleaning, that is, the cleaning component 50 is controlled to contact the ground at the target support position, thereby completing the cleaning work. In order to avoid the situation where the cleaning component 50 cannot be controlled to contact the ground when the obstacle is located at the center position E of the area of ​​interest, the cleaning device 100 of the present application is provided with an eccentric support frame 40, and the distance between the eccentric support frame 40 and the center position of the area of ​​interest is r0. Even if the obstacle is located at the center position of the area of ​​interest, the cleaning device 100 can be controlled to complete the cleaning task.

[0164] Optionally, the cleaning component 50 includes a cleaning support module and a flexible cleaning module, and the flexible cleaning module is arranged on the cleaning support module.

[0165] It should be noted that in order to ensure that obstacles can be completely cleared, the length of the cleaning component is greater than the actual radius corresponding to the area of ​​interest; moreover, when the first floor brake is retracted, the support height of the first floor brake from the ground is h1, and when the second floor brake is retracted, the support height of the second floor brake from the ground is h2, and the height of the cleaning component is less than the minimum height between the first height h1 and the second height h2.

[0166] In the embodiment of the present application, the cleaning device includes a driving mechanism, an output end, a buffer mechanism, an eccentric support frame, and a cleaning component; the driving mechanism is connected to the first end of the output end, the second end of the output end is connected to the eccentric support frame, the eccentric support frame is connected to the cleaning component, and the buffer mechanism is provided on the output end. The cleaning device of this embodiment is provided with an eccentric support frame, so that the cleaning device has the characteristics of a small motion range and a large cleaning range.

[0167] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0168] Based on the same inventive concept, the embodiment of the present application also provides an obstacle cleaning device for implementing the obstacle cleaning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations of one or more obstacle cleaning device embodiments provided below can refer to the limitations of the obstacle cleaning method above, and will not be repeated here.

[0169] In one embodiment, Fig.17 As shown, an obstacle clearing device is provided, comprising: a first acquisition module 11, a first determination module 12, a second determination module 13 and a first control module 14, wherein:

[0170] The first acquisition module 11 is used to acquire a target image; the target image is an image of the ground below the cart;

[0171] A first determination module 12, used to determine a target ground brake support surface where an obstacle exists according to the target image;

[0172] A second determination module 13, for determining a target support position of a cleaning device disposed on the cart based on a target ground brake support surface;

[0173] The first control module 14 is used to control the cleaning device to move to the target support position and control the cleaning device to clean obstacles.

[0174] In one embodiment, the second determining module includes:

[0175] A first determining unit is used to determine an area of ​​interest of a target image based on a first floor brake supporting surface of the first floor brake and a second floor brake supporting surface of the second floor brake; the target floor brake supporting surface includes the first floor brake supporting surface or the second floor brake supporting surface;

[0176] The second determining unit is used to determine the target support position based on the region of interest, the first floor brake support surface and the second floor brake support surface.

[0177] In one embodiment, the obstacle clearing device further comprises:

[0178] A third determination module is used to determine the type of obstacle according to the target image;

[0179] A judgment module, used to judge whether the obstacle needs to be cleared if the obstacle is of a clearable type;

[0180] The fourth determination module is used to determine the target ground brake support surface where the obstacle exists according to the target image if the obstacle needs to be cleared.

[0181] In one embodiment, the obstacle clearing device further comprises:

[0182] A second control module, used for controlling the cleaning device to return to an initial position;

[0183] The second acquisition module is used to acquire the image to be recognized, determine the cleaning result according to the image to be recognized, and output the cleaning result; the image to be recognized is an image of the cleaned ground below the cart;

[0184] The execution module is used to use the image to be identified as a target image if the cleaning result is unqualified, and to determine the target ground brake support surface where obstacles exist according to the target image.

[0185] In one embodiment, the second determination unit is further used to determine an initial support area of ​​the cleaning device based on the region of interest, the first floor brake support surface and the second floor brake support surface; and determine a target support position according to the initial support area.

[0186] In one embodiment, the second determination unit is further used to determine a first tangent and a second tangent between the center point of the area of ​​interest and the first floor brake support surface; determine a third tangent and a fourth tangent between the center point and the second floor brake support surface; determine the first area based on the first tangent and the third tangent, and determine the second area based on the second tangent and the fourth tangent; wherein the initial support area includes the first area and the second area, and the first area and the second area do not include the first floor brake support surface and the second floor brake support surface.

[0187] In one embodiment, the second determining unit is further used to determine a first dividing line of the first area at intervals of a first preset angle using a first target tangent line of the target ground brake support surface as a first starting boundary line; the first target tangent line is the first tangent line or the third tangent line;

[0188] Taking the second target tangent line of the target ground brake support surface as the second starting boundary line, determining the second dividing line of the second area at intervals of the first preset angle; the second target tangent line is the second tangent line or the fourth tangent line;

[0189] The target support position is determined based on the obstacle position information of the obstacle, the first position information of the first cutting line, and the second position information of the second cutting line.

[0190] In one embodiment, the second determining unit is further configured to use a first segmentation line corresponding to the first position information that coincides with the obstacle position information as a first candidate segmentation line;

[0191] taking the second segmentation line corresponding to the second position information that coincides with the obstacle position information as the second candidate segmentation line;

[0192] The target support position is determined according to the first candidate segmentation line, the second candidate segmentation line and the obstacle position information.

[0193] In one embodiment, the cleaning device includes a driving mechanism, an output end, a buffer mechanism, an eccentric support frame, and a cleaning component;

[0194] The driving mechanism is connected to the first end of the output end, the second end of the output end is connected to the eccentric support frame, the eccentric support frame is connected to the cleaning component, and a buffer mechanism is arranged on the output end.

[0195] Each module in the above obstacle clearing device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0196] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0197] Acquire a target image; the target image is an image of the ground below the cart;

[0198] Determine the target ground brake support surface where obstacles exist according to the target image;

[0199] Determining a target support position of a cleaning device disposed on the cart based on the target ground brake support surface;

[0200] The cleaning device is controlled to move to a target support position, and the cleaning device is controlled to clean obstacles.

[0201] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0202] Based on a first floor brake supporting surface of the first floor brake and a second floor brake supporting surface of the second floor brake, determining a region of interest of a target image; the target floor brake supporting surface includes the first floor brake supporting surface or the second floor brake supporting surface;

[0203] A target support position is determined based on the region of interest, the first floor brake support surface, and the second floor brake support surface.

[0204] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0205] Determine the type of obstacle based on the target image;

[0206] If the obstacle type is a cleanable type, determine whether the obstacle needs to be cleaned;

[0207] If the obstacle needs to be cleared, the target ground brake support surface where the obstacle exists is determined according to the target image.

[0208] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0209] Control the cleaning device to return to the initial position;

[0210] Acquire an image to be identified, determine a cleaning result according to the image to be identified, and output the cleaning result; the image to be identified is an image of the cleaned ground below the cart;

[0211] If the cleaning result is unqualified, the image to be identified is used as a target image, and the target ground brake support surface where obstacles exist is determined according to the target image.

[0212] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0213] Determining an initial support area of ​​the cleaning device based on the region of interest, the first floor brake support surface, and the second floor brake support surface;

[0214] Based on the initial support area, determine the target support position.

[0215] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0216] Determine a first tangent line and a second tangent line between a center point of the region of interest and the first floor brake support surface;

[0217] Determine a third tangent line and a fourth tangent line between the center point and the second floor brake support surface;

[0218] determining a first area based on the first tangent line and the third tangent line, and determining a second area based on the second tangent line and the fourth tangent line;

[0219] The initial support area includes a first area and a second area, and both the first area and the second area do not include a first floor brake support surface and a second floor brake support surface.

[0220] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0221] Taking a first target tangent line of the target ground brake support surface as a first starting boundary line, a first dividing line of the first area is determined at intervals of a first preset angle; the first target tangent line is the first tangent line or the third tangent line;

[0222] Taking the second target tangent line of the target ground brake support surface as the second starting boundary line, determining the second dividing line of the second area at intervals of the first preset angle; the second target tangent line is the second tangent line or the fourth tangent line;

[0223] The target support position is determined based on the obstacle position information of the obstacle, the first position information of the first cutting line, and the second position information of the second cutting line.

[0224] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0225] Taking the first segmentation line corresponding to the first position information that coincides with the obstacle position information as the first candidate segmentation line;

[0226] taking the second segmentation line corresponding to the second position information that coincides with the obstacle position information as the second candidate segmentation line;

[0227] The target support position is determined according to the first candidate segmentation line, the second candidate segmentation line and the obstacle position information.

[0228] In one embodiment, the cleaning device includes a driving mechanism, an output end, a buffer mechanism, an eccentric support frame, and a cleaning component;

[0229] The driving mechanism is connected to the first end of the output end, the second end of the output end is connected to the eccentric support frame, the eccentric support frame is connected to the cleaning component, and a buffer mechanism is arranged on the output end.

[0230] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0231] Acquire a target image; the target image is an image of the ground below the cart;

[0232] Determine the target ground brake support surface where obstacles exist according to the target image;

[0233] Determining a target support position of a cleaning device disposed on the cart based on the target ground brake support surface;

[0234] The cleaning device is controlled to move to a target support position, and the cleaning device is controlled to clean obstacles.

[0235] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0236] Based on a first floor brake supporting surface of the first floor brake and a second floor brake supporting surface of the second floor brake, determining a region of interest of a target image; the target floor brake supporting surface includes the first floor brake supporting surface or the second floor brake supporting surface;

[0237] A target support position is determined based on the region of interest, the first floor brake support surface, and the second floor brake support surface.

[0238] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0239] Determine the type of obstacle based on the target image;

[0240] If the obstacle type is a cleanable type, determine whether the obstacle needs to be cleaned;

[0241] If the obstacle needs to be cleared, the target ground brake support surface where the obstacle exists is determined according to the target image.

[0242] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0243] Control the cleaning device to return to the initial position;

[0244] Acquire an image to be identified, determine a cleaning result according to the image to be identified, and output the cleaning result; the image to be identified is an image of the cleaned ground below the cart;

[0245] If the cleaning result is unqualified, the image to be identified is used as a target image, and the target ground brake support surface where obstacles exist is determined according to the target image.

[0246] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0247] Determining an initial support area of ​​the cleaning device based on the region of interest, the first floor brake support surface, and the second floor brake support surface;

[0248] Based on the initial support area, determine the target support position.

[0249] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0250] Determine a first tangent line and a second tangent line between a center point of the region of interest and the first floor brake support surface;

[0251] Determine a third tangent line and a fourth tangent line between the center point and the second floor brake support surface;

[0252] determining a first area based on the first tangent line and the third tangent line, and determining a second area based on the second tangent line and the fourth tangent line;

[0253] The initial support area includes a first area and a second area, and both the first area and the second area do not include a first floor brake support surface and a second floor brake support surface.

[0254] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0255] Taking a first target tangent line of the target ground brake support surface as a first starting boundary line, a first dividing line of the first area is determined at intervals of a first preset angle; the first target tangent line is the first tangent line or the third tangent line;

[0256] Taking the second target tangent line of the target ground brake support surface as the second starting boundary line, determining the second dividing line of the second area at intervals of the first preset angle; the second target tangent line is the second tangent line or the fourth tangent line;

[0257] The target support position is determined based on the obstacle position information of the obstacle, the first position information of the first cutting line, and the second position information of the second cutting line.

[0258] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0259] Taking the first segmentation line corresponding to the first position information that coincides with the obstacle position information as the first candidate segmentation line;

[0260] taking the second segmentation line corresponding to the second position information that coincides with the obstacle position information as the second candidate segmentation line;

[0261] The target support position is determined according to the first candidate segmentation line, the second candidate segmentation line and the obstacle position information.

[0262] In one embodiment, the cleaning device includes a driving mechanism, an output end, a buffer mechanism, an eccentric support frame, and a cleaning component;

[0263] The driving mechanism is connected to the first end of the output end, the second end of the output end is connected to the eccentric support frame, the eccentric support frame is connected to the cleaning component, and a buffer mechanism is arranged on the output end.

[0264] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0265] Acquire a target image; the target image is an image of the ground below the cart;

[0266] Determine the target ground brake support surface where obstacles exist according to the target image;

[0267] Determining a target support position of a cleaning device disposed on the cart based on the target ground brake support surface;

[0268] The cleaning device is controlled to move to a target support position, and the cleaning device is controlled to clean obstacles.

[0269] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0270] Based on a first floor brake supporting surface of the first floor brake and a second floor brake supporting surface of the second floor brake, determining a region of interest of a target image; the target floor brake supporting surface includes the first floor brake supporting surface or the second floor brake supporting surface;

[0271] A target support position is determined based on the region of interest, the first floor brake support surface, and the second floor brake support surface.

[0272] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0273] Determine the type of obstacle based on the target image;

[0274] If the obstacle type is a cleanable type, determine whether the obstacle needs to be cleaned;

[0275] If the obstacle needs to be cleared, the target ground brake support surface where the obstacle exists is determined according to the target image.

[0276] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0277] Control the cleaning device to return to the initial position;

[0278] Acquire an image to be identified, determine a cleaning result according to the image to be identified, and output the cleaning result; the image to be identified is an image of the cleaned ground below the cart;

[0279] If the cleaning result is unqualified, the image to be identified is used as a target image, and the target ground brake support surface where obstacles exist is determined according to the target image.

[0280] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0281] Determining an initial support area of ​​the cleaning device based on the region of interest, the first floor brake support surface, and the second floor brake support surface;

[0282] Based on the initial support area, determine the target support position.

[0283] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0284] Determine a first tangent line and a second tangent line between a center point of the region of interest and the first floor brake support surface;

[0285] Determine a third tangent line and a fourth tangent line between the center point and the second floor brake support surface;

[0286] determining a first area based on the first tangent line and the third tangent line, and determining a second area based on the second tangent line and the fourth tangent line;

[0287] The initial support area includes a first area and a second area, and both the first area and the second area do not include a first floor brake support surface and a second floor brake support surface.

[0288] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0289] Taking a first target tangent line of the target ground brake support surface as a first starting boundary line, a first dividing line of the first area is determined at intervals of a first preset angle; the first target tangent line is the first tangent line or the third tangent line;

[0290] Taking the second target tangent line of the target ground brake support surface as the second starting boundary line, determining the second dividing line of the second area at intervals of the first preset angle; the second target tangent line is the second tangent line or the fourth tangent line;

[0291] The target support position is determined based on the obstacle position information of the obstacle, the first position information of the first cutting line, and the second position information of the second cutting line.

[0292] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0293] Taking the first segmentation line corresponding to the first position information that coincides with the obstacle position information as the first candidate segmentation line;

[0294] taking the second segmentation line corresponding to the second position information that coincides with the obstacle position information as the second candidate segmentation line;

[0295] The target support position is determined according to the first candidate segmentation line, the second candidate segmentation line and the obstacle position information.

[0296] In one embodiment, the cleaning device includes a driving mechanism, an output end, a buffer mechanism, an eccentric support frame, and a cleaning component;

[0297] The driving mechanism is connected to the first end of the output end, the second end of the output end is connected to the eccentric support frame, the eccentric support frame is connected to the cleaning component, and a buffer mechanism is arranged on the output end.

[0298] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0299] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0300] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0301] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An obstacle clearing method, characterized in that: The method comprises: Acquire a target image; the target image is an image of the ground below the cart; determining a target ground brake support surface where an obstacle exists according to the target image; Determining a target support position of a cleaning device disposed on the cart based on the target ground brake support surface; The cleaning device is controlled to move to the target support position, and the cleaning device is controlled to clean the obstacle.

2. The method according to claim 1, characterized in that The step of determining a target support position of a cleaning device disposed on the cart based on the target floor brake support surface comprises: Based on a first floor brake supporting surface of a first floor brake and a second floor brake supporting surface of a second floor brake, determining a region of interest of the target image; the target floor brake supporting surface includes the first floor brake supporting surface or the second floor brake supporting surface; The target support position is determined based on the region of interest, the first floor brake support surface, and the second floor brake support surface.

3. The method according to claim 1, characterized in that The method further comprises: Determine the type of the obstacle according to the target image; If the type of the obstacle is a cleanable type, determining whether the obstacle needs to be cleaned; If the obstacle needs to be cleared, the target ground brake support surface where the obstacle exists is determined according to the target image.

4. The method according to claim 1, characterized in that: Controlling the cleaning device to clean the obstacle includes: Controlling the cleaning device to return to an initial position; Acquire an image to be recognized, determine a cleaning result according to the image to be recognized, and output the cleaning result; the image to be recognized is an image of the cleaned ground below the cart; If the cleaning result is unqualified, the image to be identified is used as the target image, and the target ground brake support surface where an obstacle exists is determined according to the target image.

5. The method according to claim 2, characterized in that: The determining the target support position based on the region of interest, the first floor brake support surface, and the second floor brake support surface includes: determining an initial support area of ​​the cleaning device based on the region of interest, the first floor brake support surface, and the second floor brake support surface; The target support position is determined according to the initial support area.

6. The method according to claim 5, characterized in that The determining, based on the region of interest, the first floor brake support surface, and the second floor brake support surface, of an initial support area of ​​the cleaning device comprises: Determine a first tangent line and a second tangent line between a center point of the region of interest and the first floor brake support surface; Determining a third tangent line and a fourth tangent line between the center point and the second floor brake supporting surface; determining a first area based on the first tangent line and the third tangent line, and determining a second area based on the second tangent line and the fourth tangent line; The initial support area includes the first area and the second area, and the first area and the second area do not include the first floor brake support surface and the second floor brake support surface.

7. The method according to claim 6, characterized in that The step of determining the target support position according to the initial support area includes: Taking the first target tangent line of the target ground brake support surface as the first starting boundary line, determining the first dividing line of the first area at intervals of a first preset angle; the first target tangent line is the first tangent line or the third tangent line; Taking the second target tangent line of the target floor brake support surface as the second starting boundary line, determining the second dividing line of the second area at intervals of the first preset angle; the second target tangent line is the second tangent line or the fourth tangent line; The target support position is determined based on the obstacle position information of the obstacle, the first position information of the first cutting line, and the second position information of the second cutting line.

8. The method according to claim 7, characterized in that The determining the target support position based on the obstacle position information of the obstacle, the first position information of the first cutting line, and the second position information of the second cutting line includes: taking a first segmentation line corresponding to the first position information that coincides with the obstacle position information as a first candidate segmentation line; taking a second segmentation line corresponding to second position information that coincides with the obstacle position information as a second candidate segmentation line; The target support position is determined according to the first candidate segmentation line, the second candidate segmentation line and the obstacle position information.

9. The method according to claim 1, characterized in that: The cleaning device includes a driving mechanism, an output end, a buffer mechanism, an eccentric support frame, and a cleaning component; The driving mechanism is connected to the first end of the output end, the second end of the output end is connected to the eccentric support frame, the eccentric support frame is connected to the cleaning component, and the buffer mechanism is arranged on the output end.

10. An obstacle clearing device, characterized in that: The device comprises: A first acquisition module is used to acquire a target image; the target image is an image of the ground below the cart; A first determination module is used to determine a target ground brake support surface where an obstacle exists according to the target image; A second determination module is used to determine a target support position of a cleaning device provided on the cart based on the target floor brake support surface; The first control module is used to control the cleaning device to move to the target support position and control the cleaning device to clean the obstacle.

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