Obstacle avoidance method and device of sweeping robot, sweeping robot and storage medium

Abstract

The invention provides an obstacle avoidance method and device of a sweeping robot, the sweeping robot and a storage medium, and relates to the technical field of intelligent robots. The method comprises the following steps: in response to triggering of a collision sensor of the sweeping robot, judging whether the sweeping robot goes out of a base or goes on the base currently; if the sweeping robot goes out of the base at present, the current moving direction passing through the center of the robot is determined as a first direction, the sweeping robot is controlled to stop advancing, and a first rotating direction is determined according to the triggered collision sensor; after the sweeping robot is controlled to rotate by a first preset angle from the first direction according to the first rotating direction, the sweeping robot continues to travel by a first preset distance, the sweeping robot is controlled to stop traveling, the current machine center line direction is adjusted back to the first direction, and the sweeping robot continues to go out of the base. It can be seen that when the obstacle exists beside the base and the collision sensor is triggered, the sweeping robot can conduct obstacle avoidance adjustment and bypass the obstacle to continue to go out of the base, and the efficiency of the sweeping robot going out of the base is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to an obstacle avoidance method and device for a sweeping robot, a sweeping robot and a storage medium. Background Art

[0002] In modern home life, sweeping robots have become the new star of cleaning assistants. Their compact bodies are equipped with advanced sensors and intelligent algorithms, and they can navigate autonomously and clean every corner of the home efficiently. Users can set cleaning plans through mobile phone applications, and the robots will automatically start working at the scheduled time, keeping the home clean whether it is a busy weekday or a leisurely weekend.

[0003] When the robot vacuum cleaner is cleaning, if there is an obstacle next to the base when it is leaving or getting on the base, the collision sensor may be triggered, causing the process of leaving or getting on the base to be interrupted. The robot vacuum cleaner may perform subsequent complex actions on the ground or on the ramp of the base, which reduces the efficiency of leaving or getting on the base and affects the user experience. Therefore, it is urgent to solve this technical problem. Summary of the invention

[0004] In view of the above problems, the present application is proposed to provide an obstacle avoidance method and device for a sweeping robot, a sweeping robot and a storage medium that overcome the above problems or at least partially solve the above problems. The technical solution is as follows:

[0005] In a first aspect, a method for avoiding obstacles of a sweeping robot is provided, which is applied to a scenario where the sweeping robot is out of a base or on a base, and the method comprises:

[0006] In response to a collision sensor of the cleaning robot being triggered, determining whether the cleaning robot is currently out of the base or on the base;

[0007] If the sweeping robot is currently out of the base, the current moving direction through the center of the machine is determined to be the first direction, the sweeping robot is controlled to stop moving, and the first rotation direction is determined according to the triggered collision sensor;

[0008] After controlling the sweeping robot to rotate from a first direction to a first preset angle according to a first rotation direction, the sweeping robot continues to travel a first preset distance, controls the sweeping robot to stop moving, adjusts the current centerline direction of the machine back to the first direction, and continues to move out of the base.

[0009] In a possible implementation, the first preset angle is in a range of 10 degrees to 30 degrees.

[0010] In a possible implementation, the method further includes:

[0011] While continuing to exit the base, if the collision sensor of the sweeping robot is triggered again, the sweeping robot is controlled to stop moving, and after rotating from the first direction to the first preset angle in the first rotation direction, it continues to travel the first preset distance, and the sweeping robot is controlled to stop moving, and the current machine centerline direction is adjusted back to the first direction, and then it continues to exit the base again.

[0012] In a possible implementation, the method further includes:

[0013] If the sweeping robot is currently on the upper base, determine whether the sweeping robot is currently on the ground or on the ramp;

[0014] If the sweeping robot is currently on the ground, the sweeping robot is controlled to retreat a second preset distance, the current centerline direction of the machine is determined to be the second direction, and the sweeping robot is controlled to stop retreating;

[0015] determining a second rotation direction according to the triggered collision sensor;

[0016] After controlling the sweeping robot to rotate from the second direction to the second preset angle according to the second rotation direction, continue to travel the second preset distance, control the sweeping robot to stop moving, adjust the current machine centerline direction back to the second direction, and continue to move onto the base.

[0017] In a possible implementation, the method further includes:

[0018] If the sweeping robot is currently on the ramp, the sweeping robot is controlled to retreat a third preset distance at the set angular speed, and then the sweeping robot is controlled to stop retreating, and the current machine centerline direction is adjusted back to the machine centerline direction when the collision sensor is triggered, and the robot continues to move onto the base.

[0019] In a possible implementation, the second preset angle is in a range of 20 degrees to 40 degrees.

[0020] In a possible implementation, the method further includes:

[0021] During the process of continuing to get on the base, if the collision sensor of the sweeping robot is triggered again, it is determined whether the number of times it is triggered is greater than a preset number. If not, the sweeping robot is controlled to retreat a second preset distance, and then the sweeping robot is controlled to stop retreating. The sweeping robot is controlled to rotate a second preset angle from the second direction according to the second rotation direction, and then continue to travel a second preset distance. The sweeping robot is controlled to stop moving, and the current centerline direction of the machine is adjusted back to the second direction, and the sweeping robot is continued to get on the base;

[0022] If the number of times triggered is greater than the preset number, the original preset upper base logic will be executed.

[0023] In a possible implementation manner, the collision sensor is a front sensor, a side sensor and / or a rear sensor.

[0024] In a second aspect, an obstacle avoidance device for a sweeping robot is provided, which is applied to a scene where the sweeping robot is out of a base or on a base, and the device comprises:

[0025] a judgment unit, configured to judge whether the cleaning robot is currently out of the base or on the base in response to a collision sensor of the cleaning robot being triggered;

[0026] The obstacle avoidance unit is used to determine that the current moving direction through the center of the machine is a first direction if the sweeping robot is currently out of the base, control the sweeping robot to stop moving, and determine a first rotation direction according to a triggered collision sensor; control the sweeping robot to rotate from the first direction to a first preset angle according to the first rotation direction, and then continue to travel a first preset distance, control the sweeping robot to stop moving, adjust the current machine centerline direction back to the first direction, and continue to leave the base.

[0027] In a possible implementation, the first preset angle is in a range of 10 degrees to 30 degrees.

[0028] In a possible implementation, the obstacle avoidance unit is further used for:

[0029] While continuing to exit the base, if the collision sensor of the sweeping robot is triggered again, the sweeping robot is controlled to stop moving, and after rotating from the first direction to the first preset angle in the first rotation direction, it continues to travel the first preset distance, and the sweeping robot is controlled to stop moving, and the current machine centerline direction is adjusted back to the first direction, and then it continues to exit the base again.

[0030] In a possible implementation, the obstacle avoidance unit is further used for:

[0031] If the sweeping robot is currently on the upper base, determine whether the sweeping robot is currently on the ground or on the ramp;

[0032] If the sweeping robot is currently on the ground, the sweeping robot is controlled to retreat a second preset distance, the current centerline direction of the machine is determined to be the second direction, and the sweeping robot is controlled to stop retreating;

[0033] determining a second rotation direction according to the triggered collision sensor;

[0034] After controlling the sweeping robot to rotate from the second direction to the second preset angle according to the second rotation direction, continue to travel the second preset distance, control the sweeping robot to stop moving, adjust the current machine centerline direction back to the second direction, and continue to move onto the base.

[0035] In a possible implementation, the obstacle avoidance unit is further used for:

[0036] If the sweeping robot is currently on the ramp, the sweeping robot is controlled to retreat a third preset distance at the set angular speed, and then the sweeping robot is controlled to stop retreating, and the current machine centerline direction is adjusted back to the machine centerline direction when the collision sensor is triggered, and the robot continues to move onto the base.

[0037] In a possible implementation, the second preset angle is in a range of 20 degrees to 40 degrees.

[0038] In a possible implementation, the obstacle avoidance unit is further used for:

[0039] During the process of continuing to get on the base, if the collision sensor of the sweeping robot is triggered again, it is determined whether the number of times it is triggered is greater than a preset number. If not, the sweeping robot is controlled to retreat a second preset distance, and then the sweeping robot is controlled to stop retreating. The sweeping robot is controlled to rotate a second preset angle from the second direction according to the second rotation direction, and then continue to travel a second preset distance. The sweeping robot is controlled to stop moving, and the current centerline direction of the machine is adjusted back to the second direction, and the sweeping robot is continued to get on the base;

[0040] If the number of times triggered is greater than the preset number, the original preset upper base logic will be executed.

[0041] In a possible implementation manner, the collision sensor is a front sensor, a side sensor and / or a rear sensor.

[0042] In a third aspect, a sweeping robot is provided, comprising a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the above-mentioned obstacle avoidance methods for the sweeping robot.

[0043] In a fourth aspect, a storage medium is provided, wherein the storage medium stores a computer program, wherein the computer program is configured to execute any of the above-mentioned obstacle avoidance methods for a sweeping robot when running.

[0044] By means of the above technical scheme, the embodiment of the present application provides an obstacle avoidance method and device for a sweeping robot, a sweeping robot and a storage medium. The method responds to the collision sensor of the sweeping robot being triggered to determine whether the sweeping robot is currently out of the base or on the base; if the sweeping robot is currently out of the base, the current moving direction through the center of the machine is determined to be the first direction, the sweeping robot is controlled to stop moving, and the first rotation direction is determined according to the triggered collision sensor; the sweeping robot is controlled to rotate from the first direction according to the first rotation direction by a first preset angle, and then continue to travel a first preset distance, the sweeping robot is controlled to stop moving, the current machine centerline direction is adjusted back to the first direction, and the sweeping robot continues to move out of the base. It can be seen that in this embodiment, there is an obstacle next to the base. When the collision sensor is triggered, the sweeping robot can make obstacle avoidance adjustments, bypass the obstacle and continue to move out of the base, thereby improving the efficiency of the sweeping robot moving out of the base.

[0045] In addition, if the sweeping robot is currently on the base and there is an obstacle next to the base, when the collision sensor is triggered, the sweeping robot can still make obstacle avoidance adjustments, bypass the obstacle and continue to get on the base, thereby improving the efficiency of the sweeping robot getting on the base. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in describing the embodiments of the present application are briefly introduced below.

[0047] Figure 1 is a flow chart of the obstacle avoidance method of the sweeping robot provided in an embodiment of the present application;

[0048] Figure 2 It is a schematic diagram of the post-charging sweeping robot provided in an embodiment of the present application performing obstacle avoidance when it leaves the base after being charged on the base;

[0049] Figure 3 It is a structural diagram of the obstacle avoidance device of the sweeping robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such use is interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to".

[0052] In order to solve the above technical problems, the embodiment of the present application provides an obstacle avoidance method for a sweeping robot, which can be applied to the scenario where the sweeping robot leaves the base or is placed on the base. For example, in the scenario where the sweeping robot leaves the base after charging on the base; in another example, in the scenario where the sweeping robot is placed on the base, the sweeping robot that is charged forward goes to the base to charge and then places on the base, etc. It should be noted that the scenario where the sweeping robot leaves the base or is placed on the base is only illustrative and does not limit the present embodiment.

[0053] like Figure 1 As shown, the obstacle avoidance method of the sweeping robot may include the following steps S101 to S103:

[0054] Step S101, in response to a collision sensor of the cleaning robot being triggered, determining whether the cleaning robot is currently out of the base or on the base.

[0055] In this step, the collision sensor can be the front, side and / or rear sensor of the sweeping robot, or it can be the sensor installed on the left front end and right front end of the sweeping robot. Their main function is to detect whether there are obstacles in front. When the sweeping robot approaches or touches an obstacle, the collision sensor will sense the presence of the obstacle and be triggered.

[0056] Step S102: If the sweeping robot is currently out of the base, the current moving direction through the center of the machine is determined to be the first direction, the sweeping robot is controlled to stop moving, and the first rotation direction is determined according to the triggered collision sensor.

[0057] In this step, taking the left front end and right front end sensors as an example, if the triggered collision sensor is the left front end collision sensor, it is determined that the first rotation direction is to the right; if the triggered collision sensor is the right front end collision sensor, it is determined that the first rotation direction is to the left.

[0058] Step S103, control the sweeping robot to rotate from the first direction to the first preset angle according to the first rotation direction, and then continue to travel the first preset distance, control the sweeping robot to stop moving, adjust the current machine centerline direction back to the first direction, and continue to move out of the base.

[0059] In this step, the first preset distance can be set according to actual needs, such as the first preset distance is 5 cm or 6 cm, etc., which is not limited in this embodiment.

[0060] In this embodiment, when there is an obstacle next to the base and the collision sensor is triggered, the sweeping robot can make obstacle avoidance adjustments, bypass the obstacle and continue to exit the base, thereby improving the efficiency of the sweeping robot exiting the base.

[0061] The present application provides a possible implementation method, the first preset angle mentioned in step S103 above is in the interval of 10 to 30 degrees, for example, the first preset angle is 15 or 16 degrees, etc., and this embodiment does not limit this. The interval of 10 to 30 degrees here is obtained by deep learning calculation based on the width of the base, the diameter of the sweeping robot, and the size of the obstacle, etc., which is more in line with the actual application scenario and improves the efficiency of the sweeping robot out of the base.

[0062] A possible implementation method is provided in an embodiment of the present application. In the process of continuing to remove the base, the following steps A1 may also be included:

[0063] Step A1, if the collision sensor of the sweeping robot is triggered again, the sweeping robot is controlled to stop moving, and after rotating from the first direction to the first preset angle in the first rotation direction, it continues to travel the first preset distance, and controls the sweeping robot to stop moving, adjusts the current machine centerline direction back to the first direction, and continues to move out of the base again.

[0064] In this step, before controlling the sweeping robot to stop moving, it can also be determined whether the number of times it is triggered is greater than the preset number. If the number of times it is triggered is not greater than the preset number, the sweeping robot is controlled to stop moving, and after rotating from the first direction according to the first rotation direction by a first preset angle, it continues to travel the first preset distance, and controls the sweeping robot to stop moving, adjusts the current centerline direction of the machine back to the first direction, and continues to move out of the base again; the preset number here can be set according to actual conditions, such as the preset number of times is 3 times or 4 times, etc., and this embodiment does not limit this.

[0065] If the number of times it is triggered is greater than the preset number, the original preset logic for leaving the base can be executed, such as pausing to leave the base, issuing an obstacle warning prompt, etc.

[0066] This embodiment can perform obstacle avoidance action again, so that the process of leaving the base is not interrupted, thereby improving the efficiency of the sweeping robot leaving the base.

[0067] In an embodiment of the present application, a possible implementation method is provided. If the sweeping robot is currently on the upper base, the following steps B1 to B4 may be included:

[0068] Step B1, determining whether the sweeping robot is currently located on the ground or on a ramp.

[0069] Step B2, if the sweeping robot is currently on the ground, control the sweeping robot to retreat a second preset distance, determine that the current centerline direction of the machine is the second direction, and control the sweeping robot to stop retreating.

[0070] In this step, the second preset distance can be set according to actual needs, such as the second preset distance is 5 cm or 6 cm, etc., which is not limited in this embodiment.

[0071] Step B3, determining a second rotation direction according to the triggered collision sensor.

[0072] In this step, taking the left front end and right front end sensors as an example, if the triggered collision sensor is the left front end collision sensor, it is determined that the second rotation direction is to the right; if the triggered collision sensor is the right front end collision sensor, it is determined that the second rotation direction is to the left.

[0073] Step B4, control the sweeping robot to rotate from the second direction to the second preset angle according to the second rotation direction, continue to travel the second preset distance, control the sweeping robot to stop moving, adjust the current machine centerline direction back to the second direction, and continue to move onto the base.

[0074] In this step, the second preset angle is in the range of 20 to 40 degrees, for example, the second preset angle is 30 degrees, etc., which is not limited in this embodiment. The range of 20 to 40 degrees here is obtained by deep learning calculation based on the width of the base, the diameter of the sweeping robot, and the size of the obstacle, which is more in line with the actual application scenario and improves the efficiency of the base on the sweeping robot.

[0075] In this embodiment, when there is an obstacle next to the base and the collision sensor is triggered, the sweeping robot can still make obstacle avoidance adjustments while on the ground, bypass the obstacle and continue to get on the base, thereby improving the efficiency of the sweeping robot getting on the base.

[0076] A possible implementation method is provided in an embodiment of the present application. If the sweeping robot is currently located on a ramp, the following steps B5 may also be included:

[0077] Step B5, after controlling the sweeping robot to retreat a third preset distance at a set angular speed, control the sweeping robot to stop retreating, adjust the current machine centerline direction back to the machine centerline direction when the collision sensor is triggered, and continue to move onto the base.

[0078] In this step, both the set angular velocity and the third preset distance can be set according to actual conditions, and this embodiment does not limit this.

[0079] In this embodiment, when there is an obstacle next to the base and the collision sensor is triggered, the sweeping robot can still make obstacle avoidance adjustments when it is on the ramp, bypass the obstacle and continue to get on the base, thereby improving the efficiency of the sweeping robot getting on the base.

[0080] A possible implementation method is provided in an embodiment of the present application. In the process of continuing to place the base, the following steps C1 and C2 may also be included:

[0081] Step C1, if the collision sensor of the sweeping robot is triggered again, determine whether the number of times it is triggered is greater than the preset number, if not, control the sweeping robot to retreat a second preset distance, control the sweeping robot to stop retreating, control the sweeping robot to rotate from the second direction according to the second rotation direction by a second preset angle, and continue to travel the second preset distance, control the sweeping robot to stop moving, adjust the current machine centerline direction back to the second direction, and continue to get on the base again.

[0082] Step C2: If the number of times triggered is greater than the preset number of times, the original preset upper base logic is executed.

[0083] In this step, if the number of times triggered is greater than the preset number, the original preset base upper logic can be executed, such as pausing the base upper, issuing an obstacle warning prompt, etc.

[0084] In this embodiment, the preset number of times can be set according to actual conditions, such as 3 times or 4 times, etc., and this embodiment does not limit this.

[0085] This embodiment can perform obstacle avoidance action again, so that the process of placing the base is not interrupted, thereby improving the efficiency of the sweeping robot placing the base.

[0086] The above introduces Figure 1 There are multiple implementation methods for each link of the illustrated embodiment. The obstacle avoidance method of the sweeping robot in the embodiment of the present application will be further explained below through specific embodiments.

[0087] In a scene where a robot vacuum cleaner is leaving a base, the robot vacuum cleaner that is charged later is charged on the base and then leaves the base. The base here can also be called a pile. If the base is placed against a wall or there are other obstacles next to the base, the collision sensor of the robot vacuum cleaner will be triggered when it leaves the base, interrupting the process of leaving the base, causing the robot vacuum cleaner to perform the next complex actions on the ramp of the base, reducing the efficiency of leaving the base and affecting the user experience.

[0088] The obstacle avoidance method provided in this embodiment can solve the above problems. Specifically, if the left front collision sensor is touched during the process of the sweeping robot leaving the base, it is considered that there is an obstacle on the left side. At this time, the sweeping robot will not stop leaving the base, but will rotate to the right by a first preset angle, then travel a first preset distance, then adjust the angle back, and then continue to retreat the remaining distance, that is, continue to leave the base; if the right front collision sensor is touched, it is considered that there is an obstacle on the right side. At this time, the sweeping robot will not stop leaving the base, but will rotate to the left by a first preset angle, then travel a first preset distance, then adjust the angle back, and then continue to retreat the remaining distance, that is, continue to leave the base.

[0089] Figure 2 2 is a schematic diagram of a post-charging sweeping robot provided in an embodiment of the present application performing obstacle avoidance when leaving the base after charging on the base. Figure 2 In (a), (b) and (c), the gray background is the ramp of the base, the blue circle is the sweeping robot, the arrow is the centerline direction of the machine, and the orange box is the obstacle. The specific obstacle avoidance process is as follows:

[0090] 1) When the sweeping robot leaves the base, the collision sensor is touched by an obstacle at the lower right side, and the right front end collision sensor is sensed to be triggered, and the current moving direction through the center of the machine is determined to be the first direction, that is, the current machine centerline direction is the first direction, and the sweeping robot is controlled to stop moving, and the first rotation direction (that is, the left direction) is determined according to the triggered collision sensor (that is, the right front end collision sensor), see (a);

[0091] 2) controlling the sweeping robot to rotate to the left by a first preset angle from the first direction and then continue to travel a first preset distance, and controlling the sweeping robot to stop and reach the position shown in (b);

[0092] 3) Adjust the current machine centerline direction back to the first direction and continue to exit the base, see (c).

[0093] Here, the first preset angle is in the range of 10 degrees to 30 degrees, for example, the first preset angle is 15 degrees or 16 degrees, etc., which is not limited in this embodiment. The first preset distance can be set according to actual needs, such as the first preset distance is 5 cm or 6 cm, etc., which is not limited in this embodiment.

[0094] While continuing to exit the base, if the collision sensor of the sweeping robot is triggered again, the sweeping robot is controlled to stop moving, and after rotating from the first direction to the first preset angle in the first rotation direction, it continues to travel the first preset distance, and the sweeping robot is controlled to stop moving, and the current machine centerline direction is adjusted back to the first direction, and then it continues to exit the base again.

[0095] In this embodiment, the sweeping robot can perform obstacle avoidance when leaving the base, so that the process of leaving the base is not interrupted, thereby improving the efficiency of the sweeping robot leaving the base.

[0096] In a scenario where a sweeping robot is placed on a base, for a forward-charging sweeping robot, when the base is charged, the collision sensor is facing the base. If the base is placed against a wall or there is an obstacle next to the base, the collision sensor is easily triggered, causing the placement process to be interrupted, affecting the efficiency of the placement.

[0097] The obstacle avoidance method provided in this embodiment can solve the above problems. Specifically:

[0098] (1) If the sweeping robot is currently on the ground, the sweeping robot is controlled to retreat a second preset distance, determine that the current centerline direction of the machine is the second direction, and control the sweeping robot to stop retreating; determine the second rotation direction according to the triggered collision sensor; control the sweeping robot to rotate from the second direction according to the second rotation direction by a second preset angle, and continue to travel the second preset distance, control the sweeping robot to stop moving, adjust the current centerline direction of the machine back to the second direction, and continue to move onto the base.

[0099] In this step, the second preset distance can be set according to actual needs, such as the second preset distance is 5 cm or 6 cm, etc., which is not limited in this embodiment. If the collision sensor triggered is the left front collision sensor, the second rotation direction is determined to be the right direction; if the collision sensor triggered is the right front collision sensor, the second rotation direction is determined to be the left direction.

[0100] In addition, the second preset angle is in the range of 20 to 40 degrees, for example, the second preset angle is 30 degrees, etc., and this embodiment does not limit this. The range of 20 to 40 degrees here is obtained by deep learning calculation based on the width of the base, the diameter of the sweeping robot, and the size of the obstacle, etc., which is more in line with the actual application scenario and improves the efficiency of the sweeping robot on the base.

[0101] (2) If the sweeping robot is currently on the ramp, the sweeping robot is controlled to retreat a third preset distance at a set angular speed, and then the sweeping robot is controlled to stop retreating, and the current machine centerline direction is adjusted back to the machine centerline direction when the collision sensor is triggered, and the robot continues to move onto the base.

[0102] In this step, both the set angular velocity and the third preset distance can be set according to actual conditions, and this embodiment does not limit this.

[0103] (3) If the collision sensor of the sweeping robot is triggered again, it is determined whether the number of times it is triggered is greater than a preset number. If not, the sweeping robot is controlled to retreat a second preset distance, then the sweeping robot is controlled to stop retreating, the sweeping robot is controlled to rotate a second preset angle from the second direction according to the second rotation direction, then continue to travel a second preset distance, then the sweeping robot is controlled to stop moving, the current centerline direction of the machine is adjusted back to the second direction, and the robot continues to move onto the base.

[0104] If the number of times it is triggered is greater than the preset number, the original preset base logic will be executed, such as pausing the base, issuing an obstacle warning prompt, etc.

[0105] In this step, the preset number of times can be set according to actual conditions, such as 3 times or 4 times, etc., which is not limited in this embodiment.

[0106] (4) If the head of the sweeping robot is less than the preset distance from the charging spring device of the base station, even if the collision sensor is triggered, the robot will no longer enter the obstacle avoidance action provided in this embodiment, but will continue to use the original preset upper base logic, such as pausing the upper base, issuing an obstacle warning prompt, etc.

[0107] In this step, the preset distance can be set according to actual conditions, such as the preset distance is 5 centimeters, etc., which is not limited in this embodiment.

[0108] (5) Regardless of the position of the sweeping robot, if the collision sensor at the center is triggered, or the left front collision sensor and the right front collision sensor are triggered at the same time, the robot will no longer enter the obstacle avoidance action provided in this embodiment, but will continue to use the original preset upper base logic, such as directly retreating a set distance and then replanning the path of the upper base.

[0109] It should be noted that the size of the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. In practical applications, all the above possible implementation methods can be combined in any way to form possible embodiments of the present application, which will not be described one by one here.

[0110] Based on the obstacle avoidance methods for a sweeping robot provided in the above embodiments, and based on the same inventive concept, an embodiment of the present application further provides an obstacle avoidance device for a sweeping robot.

[0111] Figure 3 is a structural diagram of the obstacle avoidance device of the sweeping robot provided in the embodiment of the present application. Figure 3 As shown, the obstacle avoidance device of the sweeping robot is applied to the scenario where the sweeping robot is out of the base or on the base, and may specifically include a judgment unit 310 and an obstacle avoidance unit 320 .

[0112] The judgment unit 310 is used to judge whether the cleaning robot is currently out of the base or on the base in response to the collision sensor of the cleaning robot being triggered;

[0113] The obstacle avoidance unit 320 is used to determine that the current moving direction through the center of the machine is a first direction if the sweeping robot is currently out of the base, control the sweeping robot to stop moving, and determine a first rotation direction according to a triggered collision sensor; control the sweeping robot to rotate from the first direction to a first preset angle according to the first rotation direction, and then continue to travel a first preset distance, control the sweeping robot to stop moving, adjust the current machine centerline direction back to the first direction, and continue to leave the base.

[0114] A possible implementation method is provided in an embodiment of the present application, where the first preset angle is in the range of 10 degrees to 30 degrees.

[0115] A possible implementation method is provided in an embodiment of the present application, wherein the obstacle avoidance unit 320 is further configured to:

[0116] While continuing to exit the base, if the collision sensor of the sweeping robot is triggered again, the sweeping robot is controlled to stop moving, and after rotating from the first direction to the first preset angle in the first rotation direction, it continues to travel the first preset distance, and the sweeping robot is controlled to stop moving, and the current machine centerline direction is adjusted back to the first direction, and then it continues to exit the base again.

[0117] A possible implementation method is provided in an embodiment of the present application, wherein the obstacle avoidance unit 320 is further configured to:

[0118] If the sweeping robot is currently on the upper base, determine whether the sweeping robot is currently on the ground or on the ramp;

[0119] If the sweeping robot is currently on the ground, the sweeping robot is controlled to retreat a second preset distance, the current centerline direction of the machine is determined to be the second direction, and the sweeping robot is controlled to stop retreating;

[0120] determining a second rotation direction according to the triggered collision sensor;

[0121] After controlling the sweeping robot to rotate from the second direction to the second preset angle according to the second rotation direction, continue to travel the second preset distance, control the sweeping robot to stop moving, adjust the current machine centerline direction back to the second direction, and continue to move onto the base.

[0122] A possible implementation method is provided in an embodiment of the present application, where the second preset angle is in the range of 20 degrees to 40 degrees.

[0123] A possible implementation method is provided in an embodiment of the present application, wherein the obstacle avoidance unit 320 is further configured to:

[0124] During the process of continuing to get on the base, if the collision sensor of the sweeping robot is triggered again, it is determined whether the number of times it is triggered is greater than a preset number. If not, the sweeping robot is controlled to retreat a second preset distance, and then the sweeping robot is controlled to stop retreating. The sweeping robot is controlled to rotate a second preset angle from the second direction according to the second rotation direction, and then continue to travel a second preset distance. The sweeping robot is controlled to stop moving, and the current centerline direction of the machine is adjusted back to the second direction, and the sweeping robot is continued to get on the base;

[0125] If the number of times triggered is greater than the preset number, the original preset upper base logic will be executed.

[0126] A possible implementation manner is provided in an embodiment of the present application, wherein the collision sensor is a front, side and / or rear sensor.

[0127] Based on the same inventive concept, an embodiment of the present application also provides a sweeping robot, including a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the obstacle avoidance method of the sweeping robot of any one of the above embodiments.

[0128] Based on the same inventive concept, an embodiment of the present application further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the obstacle avoidance method of the sweeping robot of any of the above embodiments when running.

[0129] Those skilled in the art can clearly understand that the specific working processes of the systems, devices, and modules described above can refer to the corresponding processes in the aforementioned method embodiments, and for the sake of brevity, they are not further described here.

[0130] Those skilled in the art can understand that the technical solution of the present application can be essentially or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, which includes a number of program instructions, so that an electronic device (such as a personal computer, a server, or a network device, etc.) executes all or part of the steps of the method described in each embodiment of the present application when running the program instructions. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0131] Alternatively, all or part of the steps of implementing the aforementioned method embodiments may be accomplished by hardware associated with program instructions (such as electronic devices such as personal computers, servers, or network devices), and the program instructions may be stored in a computer-readable storage medium. When the program instructions are executed by a processor of an electronic device, the electronic device executes all or part of the steps of the methods described in the embodiments of the present application.

[0132] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that within the spirit and principles of the present application, they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate from the protection scope of the present application.

Claims

1. An obstacle avoidance method for a sweeping robot, characterized in that: Applied to the scenario where the sweeping robot is out of the base or on the base, the method includes: In response to a collision sensor of the cleaning robot being triggered, determining whether the cleaning robot is currently out of the base or on the base; If the sweeping robot is currently out of the base, the current moving direction through the center of the machine is determined to be the first direction, the sweeping robot is controlled to stop moving, and the first rotation direction is determined according to the triggered collision sensor; After controlling the sweeping robot to rotate from a first direction to a first preset angle according to a first rotation direction, the sweeping robot continues to travel a first preset distance, controls the sweeping robot to stop moving, adjusts the current centerline direction of the machine back to the first direction, and continues to move out of the base.

2. The method according to claim 1, characterized in that The first preset angle is in the range of 10 degrees to 30 degrees.

3. The method according to claim 1 or 2, characterized in that: The method further comprises: While continuing to exit the base, if the collision sensor of the sweeping robot is triggered again, the sweeping robot is controlled to stop moving, and after rotating from the first direction to the first preset angle in the first rotation direction, it continues to travel the first preset distance, and the sweeping robot is controlled to stop moving, and the current machine centerline direction is adjusted back to the first direction, and then it continues to exit the base again.

4. The method according to claim 1, characterized in that: The method further comprises: If the sweeping robot is currently on the upper base, determine whether the sweeping robot is currently on the ground or on the ramp; If the sweeping robot is currently on the ground, the sweeping robot is controlled to retreat a second preset distance, the current centerline direction of the machine is determined to be the second direction, and the sweeping robot is controlled to stop retreating; determining a second rotation direction according to the triggered collision sensor; After controlling the sweeping robot to rotate from the second direction to the second preset angle according to the second rotation direction, continue to travel the second preset distance, control the sweeping robot to stop moving, adjust the current machine centerline direction back to the second direction, and continue to move onto the base.

5. The method according to claim 4, characterized in that The method further comprises: If the sweeping robot is currently on the ramp, the sweeping robot is controlled to retreat a third preset distance at the set angular speed, and then the sweeping robot is controlled to stop retreating, and the current machine centerline direction is adjusted back to the machine centerline direction when the collision sensor is triggered, and the robot continues to move onto the base.

6. The method according to claim 4, characterized in that The method further comprises: During the process of continuing to get on the base, if the collision sensor of the sweeping robot is triggered again, it is determined whether the number of times it is triggered is greater than a preset number. If not, the sweeping robot is controlled to retreat a second preset distance, and then the sweeping robot is controlled to stop retreating. The sweeping robot is controlled to rotate a second preset angle from the second direction according to the second rotation direction, and then continue to travel a second preset distance. The sweeping robot is controlled to stop moving, and the current centerline direction of the machine is adjusted back to the second direction, and the sweeping robot is continued to get on the base; If the number of times triggered is greater than the preset number, the original preset upper base logic will be executed.

7. The method according to claim 1 or 2, characterized in that: The collision sensors are front, side and / or rear sensors.

8. An obstacle avoidance device for a sweeping robot, characterized in that: Applicable to the scene where the sweeping robot is out of the base or on the base, the device includes: a judgment unit, configured to judge whether the cleaning robot is currently out of the base or on the base in response to a collision sensor of the cleaning robot being triggered; The obstacle avoidance unit is used to determine that the current moving direction through the center of the machine is a first direction if the sweeping robot is currently out of the base, control the sweeping robot to stop moving, and determine a first rotation direction according to a triggered collision sensor; control the sweeping robot to rotate from the first direction to a first preset angle according to the first rotation direction, and then continue to travel a first preset distance, control the sweeping robot to stop moving, adjust the current machine centerline direction back to the first direction, and continue to leave the base.

9. A sweeping robot, characterized in that: The invention comprises a processor and a memory, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the obstacle avoidance method of the sweeping robot according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the obstacle avoidance method for a cleaning robot according to any one of claims 1 to 7 when running.

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