Obstacle avoidance control method for sweeping robot

Abstract

The invention relates to an obstacle avoidance control method for a sweeping robot. The obstacle avoidance control method for the sweeping robot comprises the following steps: in response to a first obstacle detected by the robot, acquiring obstacle data of the robot in a target area; calculating distance information between the first obstacle and the robot in the target area based on the obstacle data; determining an advancing track of the robot according to the distance information and the position information of the robot; and controlling the robot to perform obstacle avoidance driving based on the advancing track. According to the scheme, under the condition that the minimum safety threshold value of the robot and the obstacle is kept, the obstacle can be avoided, and the collision risk is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent devices, and in particular to an obstacle avoidance control method for a sweeping robot. Background Art

[0002] A sweeping robot is an automated cleaning device. During the autonomous operation of a sweeping robot, obstacle avoidance is the most important part. The quality of the obstacle avoidance algorithm is directly related to the cleaning efficiency and user experience of the sweeping robot. The obstacle avoidance algorithm of a sweeping robot generally avoids obstacles by using sensors such as radar and cameras to obtain obstacle data and plan real-time local paths.

[0003] For example, patent document CN117666547A discloses the logic of narrow channel recognition and obstacle avoidance under a grid map. When a narrow channel is formed between two obstacles in front, narrow channel passage or obstacle avoidance is achieved by twisting the body. However, this method often causes the sweeping robot to get too close to the obstacle, unable to maintain a safe distance, and prone to collision. Summary of the invention

[0004] In order to solve the above technical problems, the present disclosure provides an obstacle avoidance control method for a sweeping robot.

[0005] The present disclosure provides an obstacle avoidance control method for a sweeping robot, comprising:

[0006] In response to the robot detecting a first obstacle, obtaining obstacle data of the robot in a target area;

[0007] Calculating distance information between the first obstacle and the robot in the target area based on the obstacle data;

[0008] Determining a travel trajectory of the robot according to the distance information and the position information of the robot;

[0009] The robot is controlled to perform obstacle avoidance driving based on the travel trajectory.

[0010] In some embodiments, the method further comprises:

[0011] Dividing different grid intervals based on the width of the robot and acquiring sensor data around the robot;

[0012] The relative distances between the obstacles in the different grid intervals and the outer contour of the robot are calculated.

[0013] In some embodiments, the method further comprises:

[0014] If the relative distance is less than a first obstacle avoidance threshold, controlling the robot to perform a deceleration operation;

[0015] If the relative distance is less than a second obstacle avoidance threshold, the robot is controlled to perform a stop operation, and the second obstacle avoidance threshold is less than the first obstacle avoidance threshold.

[0016] In some embodiments, calculating the distance information between the first obstacle and the robot in the target area based on the obstacle data includes:

[0017] Dividing the target area in front of the robot into multiple target intervals, and acquiring the obstacle data corresponding to the multiple target intervals;

[0018] The distance information between the first obstacle and the robot in a plurality of target intervals is calculated based on the obstacle data.

[0019] In some embodiments, determining the robot's travel trajectory according to the distance information and the robot's position information includes:

[0020] Taking the position information of the robot as a starting point, extending a preset safety threshold in a preset direction of the robot to obtain an extended position of the robot;

[0021] Taking the extended position of the robot as a starting point, constructing a tangent ray to the first obstacle, and calculating a ray angle of the tangent ray;

[0022] The robot is controlled to avoid obstacles according to the ray angle.

[0023] In some embodiments, the method further comprises:

[0024] In response to the robot detecting a second obstacle, acquiring obstacle data of the robot in a target area;

[0025] Calculating distance information between the second obstacle in the target area and the robot based on the obstacle data;

[0026] Determine a tangent ray between the extended position of the robot and the second obstacle according to the distance information and the position information of the robot, and calculate a ray angle of the tangent ray;

[0027] The robot is controlled to avoid obstacles according to the ray angle.

[0028] In some embodiments, controlling the robot to avoid obstacles based on the travel trajectory includes:

[0029] Controlling the robot to rotate in situ so that the robot's moving direction is parallel to the ray angle;

[0030] The robot is controlled to travel in the direction of travel in an obstacle-avoiding manner.

[0031] In some embodiments, after obtaining obstacle data in the target area in front of the robot, the method further includes:

[0032] Determining whether there are multiple obstacles in the target area at the same time according to the obstacle data;

[0033] If there are multiple obstacles at the same time, position information of the multiple obstacles is calculated based on the obstacle data, and distances between the multiple obstacles are calculated based on the position information.

[0034] In some embodiments, the method further comprises:

[0035] If the distance between the multiple obstacles is smaller than the preset passable width, a virtual obstacle is added between the multiple obstacles, and the robot is controlled to replan the path.

[0036] In some embodiments, the method further comprises:

[0037] After the collision plate sensor is detected to be triggered, the robot is controlled to rotate a preset angle on the spot according to the position of the collision plate sensor, and the robot is controlled to travel a preset distance.

[0038] Compared with the prior art, the technical solution provided by the embodiments of the present disclosure has the following advantages:

[0039] The sweeping robot obstacle avoidance control method of the disclosed embodiment can obtain obstacle data of the robot in the target area in response to the robot detecting the first obstacle, then calculate the distance information between the first obstacle and the robot in the target area based on the obstacle data, then determine the robot's travel trajectory based on the distance information and the robot's position information, and finally control the robot to avoid obstacles based on the travel trajectory. Thus, when the robot encounters the first obstacle, the robot can calculate the corresponding travel trajectory of the robot through the distance information between the first obstacle and the robot, and can avoid obstacles and reduce collision risks while maintaining the minimum safety threshold between the robot and the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0041] Figure 1 A schematic diagram of a flow chart of an obstacle avoidance control method for a sweeping robot provided in an embodiment of the present disclosure;

[0042] Figure 2 A schematic diagram of the structure of a grid interval provided in an embodiment of the present disclosure;

[0043] Figure 3 A schematic diagram of a target interval provided in an embodiment of the present disclosure;

[0044] Figure 4 A schematic diagram of the structure of a tangent ray provided in an embodiment of the present disclosure;

[0045] Figure 5 A schematic diagram of a scene of an obstacle avoidance control method for a sweeping robot provided in an embodiment of the present disclosure;

[0046] Figure 6 A schematic diagram of another scenario of an obstacle avoidance control method for a sweeping robot provided in an embodiment of the present disclosure;

[0047] Figure 7 A schematic diagram of the structure of a sweeping robot provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0048] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0049] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0050] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0051] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0052] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0053] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0054] In order to solve the above problems, the present disclosure provides a method for controlling obstacle avoidance of a sweeping robot. Figures 1 to 6 The obstacle avoidance control method for a sweeping robot provided by an embodiment of the present disclosure is described in detail.

[0055] Figure 1 A flow chart of an obstacle avoidance control method for a sweeping robot provided in an embodiment of the present disclosure is shown.

[0056] In the disclosed embodiment, the robot vacuum cleaner obstacle avoidance control method may be executed by an electronic device, wherein the electronic device may be a device including a robot vacuum cleaner, a workstation, various devices, and the like.

[0057] like Figure 1 As shown, the sweeping robot obstacle avoidance control method may include the following steps.

[0058] S110 . In response to the robot detecting a first obstacle, obtaining obstacle data of the robot in a target area.

[0059] In an embodiment of the present disclosure, the electronic device obtains obstacle data of the robot in a target area in response to the robot detecting a first obstacle.

[0060] Optionally, the first obstacle may be an obstacle encountered by the robot during its working process.

[0061] Optionally, the obstacle data may be information such as the location and quantity of the obstacles collected.

[0062] Specifically, during the cleaning process of the robot, the electronic device can obtain obstacle data of the robot in the target area through the sensor in response to the robot detecting the first obstacle.

[0063] S120: Calculate distance information between the first obstacle and the robot in the target area based on the obstacle data.

[0064] In the embodiment of the present disclosure, the electronic device may calculate the distance information between the first obstacle and the robot in the target area based on the obstacle data.

[0065] Specifically, after obtaining the obstacle data, the electronic device can determine the position information of the robot, and calculate the distance information between the first obstacle in the target area and the robot according to the obstacle data and the position information of the robot, that is, calculate the relative distance between the first obstacle and the robot.

[0066] S130. Determine a moving trajectory of the robot according to the distance information and the position information of the robot.

[0067] In the embodiment of the present disclosure, the electronic device can determine the travel trajectory of the robot based on the distance information and the position information of the robot.

[0068] Optionally, the travel trajectory may be a travel path for the robot to avoid obstacles.

[0069] Specifically, after obtaining the distance information, the electronic device can determine the robot's travel trajectory according to the distance information and the robot's position information, that is, determine the robot's travel path for avoiding obstacles.

[0070] S140, controlling the robot to avoid obstacles based on the travel trajectory.

[0071] In the disclosed embodiment, after obtaining the travel trajectory, the electronic device can control the robot to avoid obstacles according to the travel trajectory.

[0072] Therefore, in the disclosed embodiment, in response to the robot detecting the first obstacle, the obstacle data of the robot in the target area can be obtained, and then the distance information between the first obstacle and the robot in the target area is calculated based on the obstacle data, and then the robot's travel trajectory is determined according to the distance information and the robot's position information, and finally the robot is controlled to avoid obstacles based on the travel trajectory. Therefore, when the robot encounters the first obstacle, the robot's corresponding travel trajectory can be calculated through the distance information between the first obstacle and the robot, and the robot can avoid the obstacle and reduce the risk of collision while maintaining the minimum safety threshold between the robot and the obstacle.

[0073] Optionally, the obstacle avoidance control method of the sweeping robot may further include: dividing the robot into different grid intervals based on the width of the robot, and acquiring sensor data around the robot; and calculating the relative distance between obstacles in the different grid intervals and the outer contour of the robot.

[0074] In an embodiment of the present disclosure, the electronic device may divide the robot into different grid intervals based on the width of the robot and obtain sensor data around the robot.

[0075] Furthermore, the electronic device may calculate the relative distance between the obstacles in the different grid intervals and the outer contour of the robot.

[0076] Figure 2 A schematic structural diagram of a grid interval provided by an embodiment of the present disclosure is shown.

[0077] like Figure 2 As shown, the electronic device can divide different grid intervals based on the width of the robot 201, grid the host width of the robot 201, and divide it into different intervals according to the spatial coordinate system. For example, the host width of the robot 201 is 35 cm, and it is divided into 35 different grid intervals with a width of 1 cm each, and the sensor data around the robot 201 is obtained, and then the relative distances between obstacles in different grid intervals and the outer contour of the robot are calculated respectively.

[0078] Optionally, the obstacle avoidance control method of the sweeping robot may further include: if the relative distance is less than a first obstacle avoidance threshold, controlling the robot to perform a deceleration operation; if the relative distance is less than a second obstacle avoidance threshold, controlling the robot to perform a stop operation, and the second obstacle avoidance threshold is less than the first obstacle avoidance threshold.

[0079] In some embodiments of the present disclosure, if the relative distance is less than a first obstacle avoidance threshold, the electronic device may control the robot to perform a deceleration operation.

[0080] Optionally, the first obstacle avoidance threshold may be a preset threshold, for example, the first obstacle avoidance threshold may be 20 cm, 15 cm, etc., which is not limited here.

[0081] Specifically, after the electronic device calculates the relative distance, when the relative distance is less than the first obstacle avoidance threshold, the robot is approaching the obstacle, and the electronic device can control the robot to perform a deceleration operation.

[0082] In some other embodiments of the present disclosure, if the relative distance is less than a second obstacle avoidance threshold, the robot is controlled to perform a stop operation.

[0083] Optionally, the second obstacle avoidance threshold may be a preset threshold. For example, the first obstacle avoidance threshold may be 2 cm, 1.5 cm, etc., which are not limited here. The second obstacle avoidance threshold is smaller than the first obstacle avoidance threshold.

[0084] Specifically, after the electronic device calculates the relative distance, when the relative distance is less than the second obstacle avoidance threshold, the robot is close to the obstacle and is about to collide with the obstacle, and the electronic device can control the robot to perform a stop operation.

[0085] Optionally, S120 may specifically include: dividing the target area in front of the robot into multiple target intervals, and acquiring the obstacle data corresponding to the multiple target intervals; and calculating the distance information between the first obstacle and the robot in the multiple target intervals based on the obstacle data.

[0086] In the embodiment of the present disclosure, the electronic device may divide the target area in front of the robot into a plurality of target intervals, and obtain the obstacle data corresponding to the plurality of target intervals.

[0087] Optionally, the target area may be a designated area in front of the robot.

[0088] Specifically, the electronic device may divide the designated target area in front of the robot into a plurality of target intervals, for example, divide the target area within a range of 180° in front of the robot into a plurality of target intervals, and obtain the obstacle data corresponding to each target interval.

[0089] Furthermore, the electronic device may calculate the distance information between the first obstacle and the robot in a plurality of target intervals based on the obstacle data.

[0090] Figure 3 A schematic diagram of the structure of a target interval provided by an embodiment of the present disclosure is shown.

[0091] like Figure 3 As shown, the electronic device can divide the target area within a range of 180° in front of the robot 301 into a target interval of 1°, for a total of 180 target intervals, and obtain the obstacle data corresponding to each target interval, and then calculate the distance information between the first obstacle 302 and the robot 301 in multiple target intervals according to the obstacle data.

[0092] In the related art, when a robot is avoiding obstacles, the robot body may be too close to the obstacle and a collision may occur.

[0093] Optionally, S130 may specifically include: taking the position information of the robot as the starting point, extending a preset safety threshold in a preset direction of the robot to obtain the extended position of the robot; taking the extended position of the robot as the starting point, constructing a tangent ray to the first obstacle, and calculating the ray angle of the tangent ray; controlling the robot to avoid obstacles according to the ray angle.

[0094] In the disclosed embodiment, the electronic device takes the position information of the robot as a starting point, and extends a preset safety threshold in a preset direction of the robot to obtain an extended position of the robot.

[0095] Optionally, the preset direction may be a pre-set direction. For example, assuming that the front of the robot is 0°, counterclockwise is positive, and clockwise is negative, the 180° range in front of the robot is divided into -90° to 90° from right to left in a counterclockwise order, that is, -90° to 0° is the right side, and 0° to 90° is the left side. The preset direction may be the left 90° direction, the right -90° direction, etc., which is not limited here.

[0096] Optionally, the preset safety threshold may be a preset threshold for avoiding collision with an obstacle. For example, the preset safety threshold may be 1 cm, 3 cm, etc., which is not limited here.

[0097] Specifically, the electronic device takes the position information of the robot as a starting point, and extends a preset safety threshold (such as 1 cm) in a preset direction of the robot, such as 90° on the left side, to obtain an extended position of the robot.

[0098] Furthermore, the electronic device takes the extended position of the robot as a starting point, constructs a tangent ray to the first obstacle, and calculates a ray angle of the tangent ray.

[0099] Optionally, the ray angle may be an angle between the tangent ray and a coordinate axis in the space coordinate system.

[0100] Finally, the electronic device can control the robot to avoid obstacles according to the angle of the ray.

[0101] Figure 4 A structural schematic diagram of a tangent ray provided in an embodiment of the present disclosure is shown.

[0102] like Figure 4 As shown, the electronic device takes the position information of the robot 401 as the starting point, extends the preset safety threshold in the preset direction of the robot to obtain the extended position of the robot, for example, extends the preset safety threshold (such as 1 cm) in the 90° direction on the left side of the robot 401 to obtain the extended position 403 of the robot, and then takes the extended position 403 of the robot as the starting point to construct a tangent ray 404 with the first obstacle 402, and calculates the ray angle of the tangent ray 404. The ray angle can be a passable safe angle to avoid the first obstacle, and the electronic device can control the robot to rotate the ray angle in situ, that is, rotate until the forward direction is parallel to the tangent ray, and control the robot to drive in a straight line, so as to perform obstacle avoidance driving while ensuring a certain safety threshold with the first obstacle.

[0103] Therefore, the safe passable angle of the robot to avoid the first obstacle is determined by the calculated ray angle, so that the robot can avoid obstacles while ensuring the minimum safety threshold with the first obstacle, thereby avoiding the collision between the robot and the first obstacle.

[0104] In the related art, when a robot encounters multiple obstacles and uses the body twisting to pass through a narrow channel or bypass obstacles, it cannot ensure that the robot maintains a sufficient safe distance from the obstacles, and a collision may occur.

[0105] Optionally, the obstacle avoidance control method of the sweeping robot may also include: in response to the robot detecting a second obstacle, obtaining obstacle data of the robot in a target area; calculating the distance information between the second obstacle and the robot in the target area based on the obstacle data; determining the tangent ray between the robot's extended position and the second obstacle according to the distance information and the robot's position information, and calculating the ray angle of the tangent ray; and controlling the robot to avoid obstacles according to the ray angle.

[0106] In the disclosed embodiment, in response to the robot detecting the second obstacle, the electronic device obtains obstacle data of the robot in the target area, then calculates the distance information between the second obstacle and the robot in the target area based on the obstacle data, then determines the tangent ray between the robot's extended position and the second obstacle according to the distance information and the robot's position information, calculates the ray angle of the tangent ray, and finally controls the robot to avoid obstacles according to the ray angle. The specific implementation is similar to the first obstacle described above, and will not be repeated here.

[0107] Figure 5 A schematic diagram of a scene of an obstacle avoidance control method for a sweeping robot provided by an embodiment of the present disclosure is shown.

[0108] like Figure 5As shown, during the driving process of robot 501, it is detected that robot 501 stops after encountering a first obstacle 502. The electronic device can obtain obstacle data in the target area in front of the robot in response to the robot detecting the first obstacle 502, and calculate the distance information between the first obstacle in the target area and the robot based on the obstacle data, take the position information of the robot as the starting point, extend the preset safety threshold in the preset direction of the robot to obtain the extended position of the robot, take the extended position of the robot as the starting point, construct a tangent ray with the first obstacle 502, and calculate the ray angle of the tangent ray, and control the robot 501 to avoid obstacles according to the ray angle. For example, during the driving process of robot 501, the first obstacle 502 is on the left side of robot 501. After calculating the ray angle with the first obstacle 502, the electronic device controls the robot 501 to avoid obstacles according to the ray angle, that is, to drive to the right front. During the driving process, it is detected that the robot 501 stops when encountering the second obstacle 503. In response to the robot detecting the second obstacle 503, the electronic device can continue to calculate the ray angle between the robot 501 and the second obstacle 503, and then control the robot 501 to avoid the obstacle according to the ray angle, that is, to drive to the left front again. When the first obstacle 502 is detected again, the above obstacle avoidance method is repeatedly executed until the robot 501 passes smoothly without collision.

[0109] Therefore, when there are multiple obstacles in front of the robot, the ray angles corresponding to the robot and the first obstacle and the second obstacle are repeatedly calculated so that the robot always maintains a sufficient minimum safety threshold with the multiple obstacles, thereby allowing the robot to pass through the narrow passages between the multiple obstacles smoothly without collision.

[0110] Optionally, S140 may specifically include: controlling the robot to rotate in place so that the robot's moving direction is parallel to the ray angle; and controlling the robot to travel in the moving direction to avoid obstacles.

[0111] In the disclosed embodiment, the electronic device may control the robot to rotate in situ so that the robot's moving direction is parallel to the ray angle, and control the robot to avoid obstacles in the moving direction.

[0112] Specifically, the electronic device can control the robot to rotate in place so that the robot's travel direction is parallel to the ray angle. For example, after obtaining the ray angle, the electronic device can control the robot to rotate the ray angle in place so that the robot's travel direction is parallel to the ray angle, and then control the robot to avoid obstacles in the travel direction. In this way, the robot can avoid obstacles while ensuring a certain safety threshold with obstacles.

[0113] Optionally, after S110, the obstacle avoidance control method of the sweeping robot may further include: judging whether there are multiple obstacles in the target area at the same time according to the obstacle data; if there are multiple obstacles at the same time, calculating the position information of the multiple obstacles based on the obstacle data, and calculating the distances between the multiple obstacles based on the position information.

[0114] In an embodiment of the present disclosure, the electronic device can determine whether there are multiple obstacles in the target area at the same time based on the obstacle data. If there are multiple obstacles at the same time, the electronic device can calculate the position information of the multiple obstacles based on the obstacle data, and calculate the distance between the multiple obstacles based on the position information.

[0115] Figure 6 A schematic diagram of a scene of another sweeping robot obstacle avoidance control method provided by an embodiment of the present disclosure is shown.

[0116] like Figure 6 As shown, the electronic device can determine whether there are multiple obstacles in the target area at the same time based on the obstacle data. For example, in the target area of ​​the robot 601, there are multiple obstacles (a first obstacle 602 and a second obstacle 603). The electronic device can calculate the position information of the multiple obstacles in the spatial coordinate system based on the obstacle data, and calculate the distances between the multiple obstacles based on the position information.

[0117] Optionally, the obstacle avoidance control method of the sweeping robot may further include: if the distance between multiple obstacles is less than a preset passable width, adding a virtual obstacle between the multiple obstacles, and controlling the robot to re-plan the path.

[0118] In an embodiment of the present disclosure, if the distance between multiple obstacles is less than a preset passable width, the electronic device can add a virtual obstacle between the multiple obstacles and control the robot to replan the path.

[0119] Optionally, the preset passable width may be a width that allows the robot to pass through.

[0120] Specifically, after the electronic device obtains the distance between multiple obstacles, if the distance between the multiple obstacles is less than the preset passable width, that is, the distance between the multiple obstacles does not allow the robot to pass through, the electronic device can add virtual obstacles between the multiple obstacles and control the robot to replan the path so that the robot can bypass the multiple obstacles.

[0121] Optionally, the obstacle avoidance control method of the sweeping robot may further include: after detecting that a collision plate sensor is triggered, controlling the robot to rotate by a preset angle on the spot according to the position of the collision plate sensor, and controlling the robot to travel a preset distance.

[0122] In the disclosed embodiment, after the electronic device detects that the collision plate sensor is triggered, it controls the robot to rotate at a preset angle in situ according to the position of the collision plate sensor, and controls the robot to travel a preset distance.

[0123] Specifically, when the robot is driving, if no obstacle information is detected, but a collision plate sensor is detected, the electronic device can control the robot to rotate a preset angle in situ according to the position of the collision plate sensor, and control the robot to travel a preset distance. For example, if the collision plate sensor on the left side of the robot is detected to be triggered, the robot is controlled to rotate 40° to the right in situ, and then move forward a preset distance (30cm). If the robot still does not collide when it moves forward to the distance, it is considered that the robot has avoided the invisible obstacle. At this time, the path is re-planned again, which can avoid multiple collisions with invisible obstacles. At the same time, compared with directly re-planning the path after the collision, the number of times the path is re-planned can be reduced, which indirectly improves the cleaning efficiency.

[0124] Figure 7 A schematic structural diagram of a sweeping robot provided by an embodiment of the present disclosure is shown.

[0125] like Figure 7 As shown, the cleaning robot may include a processor 701 and a memory 702 storing computer program instructions.

[0126] Specifically, the processor 701 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0127] The memory 702 may include a large capacity memory for information or instructions. By way of example and not limitation, the memory 702 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 702 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 702 may be inside or outside the integrated gateway device. In a specific embodiment, the memory 702 is a non-volatile solid-state memory. In a specific embodiment, the memory 702 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (Electrically Erasable Programmable ROM, EEPROM), an electrically rewritable ROM (EAROM) or a flash memory, or a combination of two or more of these.

[0128] The processor 701 reads and executes the computer program instructions stored in the memory 702 to perform the steps of the sweeping robot obstacle avoidance control method provided in the embodiment of the present disclosure.

[0129] In one example, the cleaning robot may further include a transceiver 703 and a bus 704. Figure 7 As shown, the processor 701, the memory 702 and the transceiver 703 are connected via a bus 704 and communicate with each other.

[0130] The bus 704 includes hardware, software, or both. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, the bus 704 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0131] The embodiments of the present disclosure also provide a computer-readable storage medium, which may store a computer program. When the computer program is executed by a processor, the processor implements the sweeping robot obstacle avoidance control method provided by the embodiments of the present disclosure.

[0132] The above-mentioned storage medium may, for example, include a memory 702 of computer program instructions, and the above-mentioned instructions may be executed by the processor 701 of the sweeping robot to complete the sweeping robot obstacle avoidance control method provided by the embodiment of the present disclosure. Optionally, the storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a ROM, a random access memory (Random Access Memory, RAM), a compact disc read-only memory (Compact Disc ROM, CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0133] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising" is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0134] The above description is only a specific embodiment of the present disclosure, so that those skilled in the art can understand or implement the present disclosure. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments described herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A sweeping robot obstacle avoidance control method, characterized in that: include: In response to the robot detecting a first obstacle, obtaining obstacle data of the robot in a target area; Calculating distance information between the first obstacle and the robot in the target area based on the obstacle data; Determining a travel trajectory of the robot according to the distance information and the position information of the robot; The robot is controlled to perform obstacle avoidance driving based on the travel trajectory.

2. The method according to claim 1, characterized in that The method further comprises: Dividing different grid intervals based on the width of the robot and acquiring sensor data around the robot; The relative distances between the obstacles in the different grid intervals and the outer contour of the robot are calculated.

3. The method according to claim 2, characterized in that The method further comprises: If the relative distance is less than a first obstacle avoidance threshold, controlling the robot to perform a deceleration operation; If the relative distance is less than a second obstacle avoidance threshold, the robot is controlled to perform a stop operation, and the second obstacle avoidance threshold is less than the first obstacle avoidance threshold.

4. The method according to claim 1, characterized in that: The calculating the distance information between the first obstacle and the robot in the target area based on the obstacle data includes: Dividing the target area in front of the robot into multiple target intervals, and acquiring the obstacle data corresponding to the multiple target intervals; The distance information between the first obstacle and the robot in a plurality of target intervals is calculated based on the obstacle data.

5. The method according to claim 1, characterized in that Determining the robot's travel trajectory according to the distance information and the robot's position information includes: Taking the position information of the robot as a starting point, extending a preset safety threshold in a preset direction of the robot to obtain an extended position of the robot; Taking the extended position of the robot as a starting point, constructing a tangent ray to the first obstacle, and calculating a ray angle of the tangent ray; The robot is controlled to avoid obstacles according to the ray angle.

6. The method according to claim 1, characterized in that The method further comprises: In response to the robot detecting a second obstacle, acquiring obstacle data of the robot in a target area; Calculating distance information between the second obstacle in the target area and the robot based on the obstacle data; Determine a tangent ray between the extended position of the robot and the second obstacle according to the distance information and the position information of the robot, and calculate a ray angle of the tangent ray; The robot is controlled to avoid obstacles according to the ray angle.

7. The method according to claim 1, characterized in that The controlling the robot to avoid obstacles based on the travel trajectory comprises: Controlling the robot to rotate in situ so that the robot's moving direction is parallel to the ray angle; The robot is controlled to travel in the direction of travel in an obstacle-avoiding manner.

8. The method according to claim 1, characterized in that: After obtaining obstacle data in the target area in front of the robot, the method further includes: Determining whether there are multiple obstacles in the target area at the same time according to the obstacle data; If there are multiple obstacles at the same time, position information of the multiple obstacles is calculated based on the obstacle data, and distances between the multiple obstacles are calculated based on the position information.

9. The method according to claim 8, characterized in that The method further comprises: If the distance between the multiple obstacles is smaller than the preset passable width, a virtual obstacle is added between the multiple obstacles, and the robot is controlled to replan the path.

10. The method according to claim 1, characterized in that The method further comprises: After the collision plate sensor is detected to be triggered, the robot is controlled to rotate a preset angle on the spot according to the position of the collision plate sensor, and the robot is controlled to travel a preset distance.

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