Control method and device of laser distance measuring sensor and sweeping robot

Abstract

The embodiment of the invention is suitable for the technical field of smart home, and provides a control method and device of a laser distance measuring sensor and a sweeping robot, the method is applied to the sweeping robot, and the sweeping robot is provided with the liftable laser distance measuring sensor. The method comprises the steps that when the upper surface of a laser distance measuring sensor is not higher than the surface of an upper shell of the sweeping robot, the laser distance measuring sensor is controlled to send distance measuring laser to an optical turn-back component, and the optical turn-back component is arranged below the surface of the upper shell of the sweeping robot; and the optical turn-back component is used for reflecting the ranging laser to the surface of the upper shell of the sweeping robot so as to carry out ranging on an object on the surface of the upper shell of the sweeping robot. By means of the method, the liftable laser distance measuring sensor can be used for expanding the sweeping range, and meanwhile when the laser distance measuring sensor is located below the surface of the upper shell of the sweeping robot, the laser distance measuring sensor can still be used for measuring the distance of an object above the surface of the upper shell of the sweeping robot.

Description

Technical Field

[0001] The present application belongs to the field of smart home technology, and in particular, relates to a control method and device for a laser ranging sensor and a sweeping robot. Background Art

[0002] During operation, a sweeper generally senses the environment through a sensor device, so that the sweeper can plan a reasonable cleaning path. The sensor device deployed on the sweeper will increase the size of the sweeper. When the size of the sweeper is too large, the sweeper's cleaning range will be limited.

[0003] For example, a sensor device may be provided on the upper surface of the sweeper, which may increase the height of the sweeper, thereby preventing the sweeper from entering areas such as under the bed and sofa for cleaning, limiting the working range of the sweeper and causing inconvenience to the user's life. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a control method, device and sweeping robot of a laser ranging sensor, which can use a liftable laser ranging sensor to expand the cleaning range, and at the same time enable the laser ranging sensor to still measure the distance to objects above the upper shell surface of the sweeping robot when the laser ranging sensor is lowered below the upper shell surface of the sweeping robot.

[0005] A first aspect of an embodiment of the present application provides a control method for a laser ranging sensor, which is applied to a sweeping robot, wherein the sweeping robot is provided with a liftable laser ranging sensor, and the method comprises:

[0006] When the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the laser ranging sensor is controlled to send a ranging laser to an optical return component, which is arranged below the upper shell surface of the sweeping robot. The optical return component is used to reflect the ranging laser onto the upper shell surface of the sweeping robot to measure the distance of objects on the upper shell surface of the sweeping robot.

[0007] A second aspect of an embodiment of the present application provides a control device for a laser ranging sensor, which is applied to a sweeping robot, wherein the sweeping robot is provided with a liftable laser ranging sensor, and the device comprises:

[0008] A reflective ranging module is used to control the laser ranging sensor to send a ranging laser to an optical return component when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot. The optical return component is arranged below the upper shell surface of the sweeping robot. The optical return component is used to reflect the ranging laser onto the upper shell surface of the sweeping robot to measure the distance of objects on the upper shell surface of the sweeping robot.

[0009] A third aspect of an embodiment of the present application provides a sweeping robot, the sweeping robot being provided with a liftable laser ranging sensor, and the sweeping robot executing the method described in the first aspect above to control the laser ranging sensor.

[0010] A fourth aspect of the embodiments of the present application provides a sweeping robot, the sweeping robot being provided with a liftable laser ranging sensor and an optical component, the optical component being provided below the upper shell surface of the sweeping robot, wherein:

[0011] The optical component is used to reflect the ranging laser sent by the laser ranging sensor onto the upper shell surface of the sweeping robot.

[0012] In a possible implementation manner, the optical component is disposed obliquely in the cleaning robot.

[0013] In a possible implementation manner, the tilt angle of the optical component is adjustable.

[0014] In a possible implementation manner, the optical component is a reflector, a light guide column or a beam splitter.

[0015] In a possible implementation, the sweeping robot is provided with a control module, and the control module is used to:

[0016] Control the laser ranging sensor to rise or fall.

[0017] In a possible implementation, the cleaning robot includes a photoelectric sensor.

[0018] The photoelectric sensor is used to monitor the height of the open area above the laser ranging sensor;

[0019] The control module is used to control the laser ranging sensor to rise when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot and the height of the open area monitored by the photoelectric sensor is greater than a preset height value.

[0020] In a possible implementation, the cleaning robot includes a plurality of photoelectric sensors, and the plurality of photoelectric sensors are evenly deployed around the laser ranging sensor;

[0021] The plurality of photoelectric sensors are respectively used to monitor the distance of the open area above the laser ranging sensor;

[0022] The control module is used to control the laser ranging sensor to rise when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot and the height of the open area monitored by each photoelectric sensor is greater than a preset height value.

[0023] In a possible implementation, the laser ranging sensor includes a safety device.

[0024] The control module is used to control the laser ranging sensor to descend when the upper surface of the laser ranging sensor is higher than the upper shell surface of the sweeping robot and the safety device is triggered.

[0025] In a possible implementation manner, the safety device is a collision sensor.

[0026] In a possible implementation manner, the laser ranging sensor is provided with an anti-collision device.

[0027] A fifth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the first aspect above is implemented.

[0028] A sixth aspect of the embodiments of the present application provides a computer program product. When the computer program product is run on a cleaning robot, the cleaning robot executes the method described in the first aspect above.

[0029] Compared with the prior art, the embodiments of the present application have the following advantages:

[0030] The method in the embodiment of the present application can be applied to a sweeping robot, and the sweeping robot can be provided with a liftable laser ranging sensor and an optical return component, and the optical return component can be provided below the upper shell surface of the sweeping robot. The liftable laser ranging sensor enables the sweeping robot to enter more cleaning areas when the laser ranging sensor is lowered below the upper shell surface of the sweeping robot. When the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the sweeping robot can control the laser ranging sensor to send a ranging laser to the optical return component, and the optical return component can reflect the ranging laser onto the upper shell surface of the sweeping robot, so that the ranging laser can reach the object on the upper shell surface of the sweeping robot, and the ranging laser reflected by the object on the upper shell surface of the sweeping robot can achieve the ranging of the object on the upper shell surface of the sweeping robot. In the embodiment of the present application, the sweeping robot has a liftable laser ranging sensor, and by controlling the lifting and lowering of the laser ranging sensor, the overall height of the sweeping robot can be reduced, so that it can enter a lower place, thereby expanding the cleaning range of the sweeping robot. When the laser ranging sensor is below the upper shell surface of the cleaning robot, the direction of the laser can be changed by the optical folding component, so that the laser ranging sensor can be used to measure the distance above the upper shell surface of the cleaning robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0032] Figure 1 is a schematic diagram of a sweeping robot provided in an embodiment of the present application;

[0033] Figure 2 This is a schematic diagram of a scenario provided by an embodiment of the present application;

[0034] Figure 3 It is a schematic diagram of a laser beam route provided in an embodiment of the present application;

[0035] Figure 4 It is a schematic diagram of the steps of a control method of a laser ranging sensor provided in an embodiment of the present application;

[0036] Figure 5 It is a schematic diagram of the steps of a triggering method of a laser ranging sensor provided in an embodiment of the present application;

[0037] Figure 6 is a top view of a sweeping robot provided in an embodiment of the present application;

[0038] Figure 7 This is a schematic diagram of a triggering scenario of a laser ranging sensor provided in an embodiment of the present application;

[0039] Figure 8 It is a schematic diagram of the steps of an obstacle avoidance method of a laser ranging sensor provided in an embodiment of the present application;

[0040] Fig. 9 This is a schematic diagram of an application scenario of a sweeping robot provided in an embodiment of the present application;

[0041] Fig.10 This is a schematic diagram of an obstacle avoidance scenario of a laser ranging sensor provided in an embodiment of the present application;

[0042] Fig.11 is a schematic diagram of a sweeping robot provided in an embodiment of the present application;

[0043] Fig.12 is a top view of a sweeping robot area provided in an embodiment of the present application;

[0044] Fig.13 is a schematic diagram of an obstacle avoidance scenario of another laser ranging sensor provided in an embodiment of the present application;

[0045] Fig.14 is a schematic diagram of a control device of a laser ranging sensor provided in an embodiment of the present application;

[0046] Fig.15 is a schematic diagram of another control device of a laser ranging sensor provided in an embodiment of the present application;

[0047] Fig.16 It is a schematic diagram of a sweeping robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] In the following description, specific details such as specific system structures, technologies, etc. are proposed for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from hindering the description of the present application.

[0049] The sweeping robot may be provided with a liftable laser distance sensor (LDS). When the laser distance sensor is lowered below the upper shell surface of the sweeping robot, the sweeping robot may enter a low area, thereby expanding the cleaning range of the sweeping robot.

[0050] However, when the laser ranging sensor descends below the surface of the upper shell of the sweeping robot, it is difficult for the laser ranging sensor to measure the distance.

[0051] Based on this, the present application provides a control method and device of a laser ranging sensor and a sweeping robot, which are used to expand the cleaning range of the sweeping robot without affecting the ranging function of the laser ranging sensor.

[0052] The technical solution of the present application is described below through specific embodiments.

[0053] Reference Figure 1 , shows a schematic diagram of a sweeping robot provided in an embodiment of the present application, such as Figure 1 As shown, the sweeping robot is provided with a liftable laser ranging sensor and an optical component, wherein the optical component is provided below the upper shell surface of the sweeping robot. The laser ranging sensor is used to detect the distance between other objects or life forms in the surrounding environment and the sweeping robot through ranging laser, so as to perform positioning or map building. The optical component is used to reflect the ranging laser emitted by the laser ranging sensor onto the upper shell surface of the sweeping robot.

[0054] The liftable laser distance sensor may have an up and down moving range in the vertical direction. When the laser distance sensor rises to the highest position, the upper surface of the laser distance sensor may be higher than the upper shell surface of the sweeping robot. When the laser distance sensor falls to the lowest position, the upper surface of the laser distance sensor may be lower than the upper shell surface of the sweeping robot, or the upper surface of the laser distance sensor may be flush with the upper shell surface of the sweeping robot.

[0055] When using a sweeping robot to clean, the sweeping robot can change the overall height of the sweeping robot by controlling the rise and fall of the laser ranging sensor, so that the sweeping robot can adapt to a variety of cleaning scenarios. For example, when the height of the sweeping robot cleaning area is low, the laser ranging sensor can be lowered to no higher than the upper shell surface of the sweeping robot, so that the sweeping robot can enter a lower area for cleaning, expanding the sweeping range of the sweeping robot.

[0056] The liftable laser distance sensor may have an up and down moving range in the vertical direction. When the laser distance sensor rises to the highest position, the upper surface of the laser distance sensor may be higher than the upper shell surface of the sweeping robot. When the laser distance sensor falls to the lowest position, the upper surface of the laser distance sensor may be lower than the upper shell surface of the sweeping robot, or the upper surface of the laser distance sensor may be flush with the upper shell surface of the sweeping robot.

[0057] When the upper surface of the laser distance measuring sensor is not higher than the upper shell surface of the cleaning robot, the cleaning robot can measure the distance through the laser distance measuring sensor and the optical folding component. Figure 2 is a schematic diagram of a scenario provided in an embodiment of the present application, Figure 21 in the figure is an obstacle, for example, 1 can be the bottom of a bed, the bottom of a sofa, the bottom of a table or stool, etc.; 2 is the surface of the upper shell of the sweeper; 3 is an optical folding component used to change the direction of the light beam. Figure 2 As shown, when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the laser ranging sensor can emit a ranging laser to the optical folding component, and the ranging laser can be reflected by the optical folding component to the upper shell surface of the sweeping robot, thereby reaching the obstacle. Based on the ranging laser reflected by the obstacle, the sweeping robot can determine the height H1 of the obstacle from the upper shell surface of the sweeping robot, thereby being able to judge whether the laser ranging sensor can rise according to the height of the obstacle.

[0058] The above-mentioned optical reflection component can be a reflector, a light guide column or a beam splitter, which is used to change the reflection direction of the laser beam. The optical reflection component can be arranged below the upper shell surface of the sweeping robot, so that when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the laser ranging sensor can emit the laser beam to the optical reflection component. The optical reflection component can be arranged at an angle, so that the laser beam can be reflected obliquely above or directly above the laser ranging sensor. The setting angle of the optical reflection component can be determined according to the user's setting. In a possible implementation, the angle of the optical reflection component can be automatically adjusted.

[0059] Based on the optical return component, the laser beam sent by the laser distance sensor can be emitted horizontally, obliquely upward or directly upward, such as Figure 3 shown. Figure 3 Schematic diagram of a laser beam path provided in an embodiment of the present application. Figure 3 As shown, the sweeping robot may include optical return components such as reflectors, light guides, and beam splitters. When the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the laser beam direction of the laser ranging sensor can be changed through the optical return components, so that the laser ranging sensor can detect obstacles at angles and positions other than the horizontal direction, so that the laser ranging sensor still maintains the ranging capability.

[0060] exist Figure 3 In the figure, 1 may be an obstacle above the sweeping robot, for example, 1 may be the bottom of a sofa, the bottom of a bed, etc. 2 may be an upper shell of the sweeping robot, and 3 may be an optical return component such as a reflector or a light guide column, which is used to change the direction of the laser beam.

[0061] like Figure 3As shown, when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the laser beam of the laser ranging sensor can be emitted horizontally to the optical return component, and then the optical return component can reflect the laser beam obliquely above the laser ranging sensor. The direction of the laser beam after reaching the upper shell surface of the sweeping robot can be determined according to the angle of the optical return component.

[0062] like Figure 3 As shown, the laser beam of the laser ranging sensor can be directed horizontally toward the optical return component. When the upper surface of the laser ranging sensor is higher than the upper shell surface of the sweeping robot, the laser beam emitted by the laser ranging sensor can directly perform horizontal distance measurement without passing through the return optical component.

[0063] like Figure 3 As shown, optionally, the optical reflection component can have multiple angles. By changing the angle of the optical component, the reflection direction of the laser beam can be controlled, thereby controlling the detection direction and position of the laser beam, thereby achieving full-range detection of multiple areas above the laser ranging sensor.

[0064] It can be seen that when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the sweeping robot can still achieve ranging by changing the direction of the laser beam through the optical folding component.

[0065] In the embodiment of the present application, the laser ranging sensor of the sweeping robot is a liftable laser ranging sensor. During use, the sweeping robot can use the laser ranging sensor for positioning and mapping. When the sweeping robot wants to enter a low area, if the height of the low area is less than the sum of the height of the sweeping robot body and the height of the laser ranging sensor, the sweeping robot can enter the low area by controlling the laser ranging sensor to descend, thereby avoiding obstacles. When the open space above the laser ranging sensor is high enough, the laser ranging sensor can be triggered to rise, thereby facilitating positioning and mapping.

[0066] The sweeping robot can be provided with a control module, which can be used to control the laser ranging sensor to rise or fall. Based on the control module, the sweeping robot can perform Figure 4 The method in .

[0067] Reference Figure 4 , shows a schematic flow chart of the steps of a control method of a laser ranging sensor provided in an embodiment of the present application. The method can be applied to a sweeping robot, which is provided with a liftable laser ranging sensor. The method can specifically include the following steps:

[0068] S401, when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, control the laser ranging sensor to send a ranging laser to an optical component, wherein the optical component is arranged below the upper shell surface of the sweeping robot, and the optical component is used to reflect the ranging laser onto the upper shell surface of the sweeping robot to measure the distance of an object on the upper shell surface of the sweeping robot.

[0069] Based on this, the control method of the laser ranging sensor in the embodiment of the present application may include an obstacle avoidance method of the laser ranging sensor and a triggering method of the laser ranging sensor. The obstacle avoidance method of the laser ranging sensor is a method for controlling the laser ranging sensor to descend, and the triggering method of the laser ranging sensor is a method for controlling the laser ranging sensor to ascend.

[0070] Reference Figure 5 , shows a schematic flow chart of a triggering method of a laser ranging sensor provided in an embodiment of the present application, which may specifically include the following steps:

[0071] S501: When the upper surface of the laser ranging sensor is not higher than the upper shell surface of the cleaning robot, determine whether there is an obstacle in a preset area above the laser ranging sensor.

[0072] The executor of the embodiment of the present application may be the above-mentioned sweeping robot, which will not be described in detail here.

[0073] In the initial use stage of the sweeping robot, or when the sweeping robot enters a low area for cleaning, the laser ranging sensor can be lowered to a level not higher than the upper shell surface of the sweeping robot. When the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the sweeping robot can determine whether the laser ranging sensor can be raised.

[0074] Whether the laser ranging sensor can rise depends on whether there is space for the laser ranging sensor in the area above the laser ranging sensor. Therefore, the sweeping robot can detect whether there is an obstacle in the preset area above. The preset area above can be a cylindrical area, and the height of the cylinder can be the vertical distance between the laser ranging sensor and the upper shell surface of the sweeping robot when the laser ranging sensor rises to the highest point. The bottom of the cylinder may include the projection area of ​​the laser ranging sensor on the upper shell surface of the sweeping robot. The bottom area of ​​the cylinder can be larger than the projection area of ​​the laser ranging sensor on the upper shell surface of the sweeping robot, thereby avoiding the need to immediately descend to avoid obstacles after the laser ranging sensor rises.

[0075] When the upper surface of the laser ranging sensor is not higher than the upper shell surface of the cleaning robot, the cleaning robot can determine whether there is an obstacle in the preset area above the laser ranging sensor by monitoring the height of the open area above the laser ranging sensor, thereby judging whether the laser ranging sensor can be raised. When the height of the open area above the laser ranging sensor is greater than the preset height value, it can be determined that there is no obstacle in the preset area.

[0076] In a possible implementation, the cleaning robot can detect the distance of an object on the upper shell surface of the cleaning robot through a laser ranging sensor and an optical return component, thereby determining the distance of the object above the cleaning robot. Figure 2 .

[0077] The sweeping robot can control the laser ranging sensor to send a ranging laser to the optical return component. The ranging laser can be reflected onto the upper shell surface of the sweeping robot via the optical return component. Objects on the upper shell surface of the sweeping robot can reflect the ranging laser. The laser ranging sensor can receive the ranging laser reflected again by one or more objects on the upper shell surface of the sweeping robot. Based on the ranging laser reflected by one or more objects, the laser ranging sensor can determine the vertical distance between the object and the upper shell surface of the sweeping robot; and determine the shortest vertical distance therebetween. If the shortest vertical distance is greater than the preset height value, it is determined that there is no obstacle in the preset area. Among them, the preset height value can be the vertical distance between the highest point of the laser ranging sensor and the upper shell surface of the sweeping robot. The ranging method of the laser ranging sensor belongs to the prior art and will not be repeated here.

[0078] Exemplarily, when the sweeping robot enters under the bed to clean, since the height of the edge of the bed is relatively low, the sweeping robot can control the laser ranging sensor to descend so that the laser ranging sensor can enter under the bed. After entering under the bed, the sweeping robot can control the laser ranging sensor to send a ranging laser to the optical folding component. The ranging laser can be reflected by the optical folding component to the upper shell surface of the sweeping robot and reach the bottom of the middle of the bed. Since the height of the middle part of the bed is relatively high, the sweeping robot can detect that the current vertical distance between the bottom of the bed and the sweeping robot is greater than the preset height value. At this time, the sweeping robot can control the laser ranging sensor to rise.

[0079] When the control module controls the laser range finder to rise or fall, it can determine whether there is an obstacle in the upper active area of ​​the laser range finder. Based on this, a device for detecting the upper active area of ​​the laser range finder can be set on the sweeping robot.

[0080] In a possible implementation, the sweeping robot may include a photoelectric sensor (cliff). The photoelectric sensor is used to monitor the height of the open area above the laser ranging sensor; the control module is used to control the laser ranging sensor to rise when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot and the height of the open area monitored by the photoelectric sensor is greater than a preset height value.

[0081] In another possible implementation, the sweeping robot may include a plurality of photoelectric sensors, which are evenly deployed around the laser ranging sensor. The plurality of photoelectric sensors are respectively used to monitor the distance of the open area above the laser ranging sensor; the control module is used to control the laser ranging sensor to rise when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot and the height of the open area monitored by each photoelectric sensor is greater than a preset height value.

[0082] The photoelectric sensor can have a distance measurement or distance detection function. The photoelectric sensor can determine whether there is space above the laser distance sensor based on the measurement data. The photoelectric sensor can be deployed close to the laser distance sensor. The photoelectric sensor can be used to detect the open area above, so as to determine the height of the open area above. When multiple photoelectric sensors are deployed on the sweeping robot, the photoelectric sensors can be evenly deployed around the laser distance sensor. Figure 6 As shown, Figure 6 This is a top view of a sweeping robot provided in an embodiment of the present application. Figure 7 The black square in the figure is the photoelectric sensor. Figure 6 As shown, the photoelectric sensors can be evenly distributed around the laser ranging sensor. Figure 7 Schematic diagram of a triggering scenario of a laser ranging sensor provided in an embodiment of the present application. Figure 7 As shown, the photoelectric sensor can have a detection field angle, and the detection range can cover the area directly above the edge of the laser ranging sensor. Using multiple photoelectric sensors can cover a larger detection area, thereby accurately detecting whether there is space above the laser ranging sensor. The sweeping robot can determine the height of the open area above each photoelectric sensor through each photoelectric sensor; if the height of each open area is greater than the preset height value, it can be determined that there are no obstacles in the preset area above the laser ranging sensor. The preset height value can be the vertical distance between the highest point of the laser ranging sensor and the surface of the upper shell of the sweeping robot.

[0083] Exemplarily, the photoelectric sensor can be used to sense the upper area. When the upper area is an open area, the photoelectric sensor is not triggered. When there is an obstacle in the upper area, the photoelectric sensor is triggered. The sensing height of each photoelectric sensor can be preset. For example, the sensing height of the photoelectric sensor can be set to the above-mentioned preset height value. During the operation of the sweeping robot, if any photoelectric sensor is triggered, it is determined that there is an obstacle above the laser ranging sensor. If none of the photoelectric sensors are triggered, it can be determined that there is no obstacle in the preset area above the laser ranging sensor.

[0084] S502: If there is no obstacle in the preset area, control the laser ranging sensor to rise.

[0085] In a possible implementation, the sweeping robot can control the laser ranging sensor to directly rise to the highest point.

[0086] In another possible implementation, if there is an obstacle in the preset area, the sweeping robot can control the laser ranging sensor to rise to a position lower than the obstacle according to the height of the obstacle. For example, the height of the sweeping robot itself is 15 cm, and when the laser ranging sensor rises to the highest point, the vertical distance between the upper surface of the laser ranging sensor and the upper shell surface of the sweeping robot is 5 cm. When the height of the obstacle is detected to be 4 cm, the laser ranging sensor can be controlled to rise 3 cm.

[0087] In this embodiment, when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the height of the open area above the laser ranging sensor can be sensed by an optical folding component or a photoelectric sensor, so that it can be determined whether to trigger the rise of the laser ranging sensor based on the height of the open area above the laser ranging sensor. Based on the method of this embodiment, the rise of the laser ranging sensor can be controlled in time, so that the sweeping robot can be convenient for positioning and mapping through the laser ranging sensor.

[0088] Reference Figure 8 , shows a schematic flow chart of the steps of an obstacle avoidance method of a laser ranging sensor provided in an embodiment of the present application, which may specifically include the following steps:

[0089] S801, when the upper surface of the laser ranging sensor is higher than the upper shell surface of the cleaning robot, performing obstacle detection on the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the cleaning robot is located.

[0090] The executor of the embodiment of the present application may be the above-mentioned sweeping robot, which will not be described in detail here.

[0091] In this embodiment, the laser ranging sensor can descend to avoid obstacles when encountering obstacles. Therefore, the sweeping robot needs to determine whether the laser ranging sensor needs to avoid obstacles. When the upper surface of the laser ranging sensor is higher than the upper surface of the sweeping robot, it is necessary to perform obstacle avoidance control on the laser ranging sensor. When performing obstacle avoidance control on the laser ranging sensor, it is first necessary to determine whether the laser ranging sensor needs to be descended. During the operation of the sweeping robot, if the laser ranging sensor will not collide with an obstacle, it does not need to be descended. If the sweeping robot may collide with an obstacle, it needs to be descended to avoid the obstacle.

[0092] During the operation of the sweeping robot, the sweeping robot can use a laser ranging sensor to measure the distance between the sweeping robot and obstacles. The laser ranging sensor can emit a ranging laser. When there is an obstacle, the obstacle can reflect the ranging laser, so that the sweeping robot can collect the reflected laser. Based on the reflected laser, the sweeping robot can determine the distance and position of the obstacle.

[0093] During the operation of the sweeping robot, the laser ranging sensor can be located on the sweeping robot, so that the sweeping robot can use the laser ranging sensor to measure distance. During the cleaning process, the sweeping robot may need to enter a lower space. For example, the sweeping robot can enter under the bed, under the sofa, and under the chair to clean the floor. When the sweeping robot enters a lower space, the height of the entire sweeping robot needs to be lower than the height of the space to be entered. The height of the entire sweeping robot can include the sum of the height of the laser ranging sensor above the upper surface of the sweeping robot and the height of the sweeping robot itself.

[0094] Fig. 9 Schematic diagram of an application scenario of a sweeping robot provided in an embodiment of the present application. Fig. 9 As shown, the height of the obstacle can be represented by a first height H1, the height of the cleaning robot itself can be represented by a second height H2, and the height of the entire cleaning robot can be represented by a third height H3. In subsequent embodiments, the first height, the second height, and the third height are used continuously.

[0095] When entering the space under an obstacle, the relationship between the first height, the second height, and the third height can be determined. If the first height is greater than the third height, the sweeping robot can directly enter the space under the obstacle without controlling the laser ranging sensor to descend. If the first height is less than the third height, but the first height is greater than the second height, it means that after the laser ranging sensor descends, the sweeping robot can enter the space under the obstacle. At this time, the laser ranging sensor can be controlled to descend, so that the sweeping robot can enter the space under the obstacle for cleaning.

[0096] based on Fig. 9 From the schematic diagram of the application scenario, it can be seen that the sweeping robot can avoid obstacles by controlling the laser ranging sensor to descend during operation.

[0097] When the sweeping robot is running, there may be no obstacles directly above the laser ranging sensor that may affect the laser ranging sensor. However, there may be obstacles to the side of the laser ranging sensor that may affect the continued operation of the laser ranging sensor. For example, when there are living or non-living things flying to the side of the laser ranging sensor, such as when a pet bird flies to the side of the laser ranging sensor or an unmanned aircraft flies to the side of the laser ranging sensor, the laser ranging sensor may collide with the sweeping robot while it is running. Fig.10 shown. Fig.10 A schematic diagram of an application scenario provided by an embodiment of the present application is shown. Fig.10 , the height of the obstacle is higher than the height of the robot vacuum cleaner itself, but the height of the obstacle is lower than the overall height of the robot vacuum cleaner. If the robot vacuum cleaner continues to approach the obstacle, the laser ranging sensor will inevitably collide with the obstacle.

[0098] Based on this, during the movement of the sweeping robot, it is possible to monitor whether there are obstacles in the operating range of the laser ranging sensor, so as to determine whether to control the laser ranging sensor to descend. During the movement of the sweeping robot, the operating range of the laser ranging sensor can be located in the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper surface of the sweeping robot is located. Therefore, the area can be detected to determine whether there are obstacles. That is, when the upper surface of the laser ranging sensor is higher than the upper shell surface of the sweeping robot, obstacle detection can be performed on the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the sweeping robot is located, so as to determine whether there is a collision risk in the side area of ​​the laser ranging sensor.

[0099] When monitoring obstacles, the detection range can be determined from the area between the plane where the upper surface of the laser distance sensor is located and the plane where the upper shell surface of the sweeping robot is located. For example, the center of the laser distance sensor can be used as a dot to determine a circular range. Fig.11 shown. Fig.11 It is a schematic diagram of a sweeping robot provided in an embodiment of the present application. Fig.11 , a side view and a top view of the sweeping robot are shown. Fig.11 The detection area in may be the operating range of the laser ranging sensor. The sweeping robot may only detect the detection range to determine whether there is an obstacle that may collide with the laser ranging sensor.

[0100] The detection area can also be set to the area within the corresponding range of the upper shell surface of the sweeping robot. Fig.12 As shown in the figure, the dotted circle is the detection area.

[0101] In a possible implementation, the cleaning robot can control the laser ranging sensor to emit a ranging laser to the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the cleaning robot is located. Then, based on the ranging laser obtained after reflection, the cleaning robot can detect whether there is an obstacle in the area.

[0102] Specifically, based on the ranging laser obtained after reflection, the sweeping robot can determine the shortest horizontal distance between one or more objects reflecting the ranging laser and the sweeping robot; if the shortest horizontal distance is less than a preset value, it can be determined that there are obstacles in the area, and the obstacles include the objects corresponding to the shortest horizontal distance.

[0103] The preset value can be a fixed value or can be determined according to the position of the object reflecting the ranging laser. Fig.10 When the distance between each monitored object and the laser ranging sensor is less than the fixed preset value, it can be determined that there is no risk of collision between the laser ranging sensor and the obstacle in the side area.

[0104] When the detection area is Fig.12 When the area shown is within the detection range, the preset value can be determined according to the position of each object. Exemplarily, the sweeping robot can store preset values ​​corresponding to each position in the detection range, so that when an object is detected, the stored preset value is obtained according to the position of the object.

[0105] In another possible implementation, a safety device may be provided on the laser ranging sensor, and when the safety device is triggered, it can be determined that an obstacle exists. For example, the safety device may be a bumper sensor, and when the bumper sensor detects a collision, it can be determined that an obstacle exists.

[0106] Fig.13 Schematic diagram of an obstacle avoidance scenario provided by an embodiment of the present application. Fig.13 As shown, when an obstacle contacts the laser distance sensor, a safety device provided on the laser distance sensor will be triggered. When the safety device is triggered, the sweeping robot can control the laser distance sensor to descend.

[0107] In a possible implementation, the laser distance sensor may also be provided with an anti-collision device, so as to avoid damage to the laser distance sensor when the laser distance sensor collides, thereby extending the service life of the laser distance sensor. For example, the laser distance sensor may be wrapped with an outer cover or a silicone anti-collision cover, so as to provide a buffer in the event of a collision and reduce the probability of loss.

[0108] S802: If an obstacle is detected in the area, control the laser ranging sensor to descend.

[0109] If an obstacle is detected in this area, the laser ranging sensor can be controlled to descend.

[0110] In a possible implementation, the laser ranging sensor can be directly controlled to descend until the upper surface of the laser ranging sensor is lower than the upper shell surface of the cleaning robot, or the upper surface of the laser ranging sensor is flush with the upper shell surface of the cleaning robot.

[0111] In another possible implementation, the descent height of the laser ranging sensor can be determined according to the height of the obstacle, so that the sweeping robot can control the laser ranging sensor to descend to a certain height. For example, the vertical distance between the obstacle and the upper shell surface of the sweeping robot can be determined, and then a target height value slightly smaller than the vertical distance can be determined, and then the laser ranging sensor is controlled to descend to the position corresponding to the target height value. For example, the body height of the sweeping robot itself is 15cm, and the vertical distance between the upper surface of the laser ranging sensor and the upper shell surface of the sweeping robot is 5cm. When the vertical distance between the obstacle and the upper shell surface of the sweeping robot is detected to be 4cm, the laser ranging sensor can be controlled to descend 2cm.

[0112] In this embodiment, when the upper surface of the laser ranging sensor is higher than the upper shell surface of the sweeping robot, the laser ranging sensor can be detected within the operating range, so that when an obstacle is detected, the laser ranging sensor can be controlled to descend, thereby avoiding the laser ranging sensor from colliding with the obstacle and expanding the cleaning range of the sweeping robot.

[0113] By applying the method in this embodiment, the laser ranging sensor on the sweeping robot can be controlled so that the laser ranging sensor can avoid obstacles. When the upper surface of the laser ranging sensor is higher than the upper shell surface of the sweeping robot, the sweeping robot can detect obstacles in the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper surface of the sweeping robot is located; if an obstacle is detected in the area, it indicates that the laser ranging sensor may hit the obstacle during the movement of the sweeping robot. At this time, the laser ranging sensor can be controlled to descend to avoid the laser ranging sensor from colliding with the obstacle. In the embodiment of the present application, the sweeping robot has a liftable floor fan. By controlling the lifting and lowering of the laser ranging sensor, the overall height of the sweeping robot can be lowered, so that it can enter a lower place, expanding the cleaning range of the sweeping robot.

[0114] When the sweeping robot is just started, the upper surface of the laser ranging sensor may not be higher than the upper shell surface of the sweeping robot. At this time, the sweeping robot can determine whether to control the laser ranging sensor to rise through the triggering method of the laser ranging sensor. After determining that the laser ranging sensor needs to rise, the laser ranging sensor is controlled to rise. After the laser ranging sensor rises, when the sweeping robot needs to enter a low area for cleaning, it can determine whether to control the laser ranging sensor to fall according to the height of the obstacle, the height of the fuselage and the height of the laser ranging sensor. Or it can determine whether to execute the descent of the laser ranging sensor through the obstacle avoidance method of the laser ranging sensor. After determining that the laser ranging sensor needs to fall, the laser ranging sensor is controlled to fall. After the laser ranging sensor falls, the sweeping robot can determine whether to control the laser ranging sensor to rise through the triggering method of the laser ranging sensor. After determining that the laser ranging sensor needs to rise, the laser ranging sensor is controlled to rise. During the cleaning process, the sweeping robot can continue to execute the laser ranging sensor control method in the embodiment of the present application, so that the ranging accuracy of the laser ranging sensor can be guaranteed while expanding the cleaning range.

[0115] It should be noted that the size of the serial numbers of the steps in the above embodiments 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 embodiments of the present application.

[0116] The embodiment of the present application also provides a sweeping robot, which may include a liftable laser ranging sensor and an optical folding component, wherein the optical folding component is disposed below the surface of the sweeping robot.

[0117] In a possible implementation, the cleaning robot may include a safety device, which may be a collision sensor.

[0118] In a possible implementation, the cleaning robot may include one or more photoelectric sensors, and the photoelectric sensors may be deployed around the laser ranging sensor.

[0119] Reference Fig.14 , shows a schematic diagram of a control device of a laser ranging sensor provided in an embodiment of the present application, the device is applied to a sweeping robot, the sweeping robot is provided with a liftable laser ranging sensor, and specifically may include a reflection ranging module 1401, wherein:

[0120] The reflection ranging module 1401 is used to control the laser ranging sensor to send a ranging laser to an optical reflection component when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot. The optical reflection component is arranged below the upper shell surface of the sweeping robot. The optical reflection component is used to reflect the ranging laser onto the upper shell surface of the sweeping robot to measure the distance of objects above the upper shell surface of the sweeping robot.

[0121] Reference Fig.15 , shows a schematic diagram of another control device of a laser ranging sensor provided in an embodiment of the present application, such as Fig.15 As shown, in a possible implementation, the above device further includes:

[0122] A first judgment module, used for determining whether there is an obstacle in a preset area above the laser ranging sensor when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot;

[0123] The ascending module is used to control the laser ranging sensor to ascend if there is no obstacle in the preset area.

[0124] In a possible implementation, the first determination module includes:

[0125] A receiving submodule, used for receiving the ranging laser reflected again by one or more objects on the upper shell surface of the cleaning robot;

[0126] A determination submodule, configured to determine the shortest vertical distance between one or more of the objects and the upper shell surface of the cleaning robot according to the ranging laser reflected again by the one or more of the objects;

[0127] The first judgment submodule is used to determine that there is no obstacle in the preset area if the shortest vertical distance is greater than a preset height value.

[0128] In a possible implementation, the cleaning robot includes one or more photoelectric sensors, which are deployed around the laser ranging sensor, and the first judgment module includes:

[0129] An open area height detection submodule, used to determine the height of the open area above each of the photoelectric sensors through each of the photoelectric sensors;

[0130] The second judgment submodule is used to determine that there is no obstacle in the preset area above the laser ranging sensor if the height of each of the open areas is greater than a preset height value.

[0131] In a possible implementation, the above device further includes:

[0132] A second judgment module is used to perform obstacle detection on the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the cleaning robot is located when the upper surface of the laser ranging sensor is higher than the upper shell surface of the cleaning robot;

[0133] The descending module is used to control the laser ranging sensor to descend if an obstacle is detected in the area.

[0134] In a possible implementation, the second determination module includes:

[0135] A laser emission submodule, used to control the laser ranging sensor to emit a ranging laser to an area between a plane where an upper surface of the laser ranging sensor is located and a plane where an upper shell surface of the sweeping robot is located;

[0136] The obstacle monitoring submodule is used to detect whether there is an obstacle in the area based on the ranging laser obtained after reflection.

[0137] In a possible implementation, the obstacle monitoring submodule includes:

[0138] A shortest horizontal distance determination unit, used to determine the shortest horizontal distance between one or more objects reflecting the ranging laser and the cleaning robot according to the ranging laser obtained after reflection;

[0139] A judgment unit is used to determine that there is an obstacle in the area if the shortest horizontal distance is less than a preset value, and the obstacle includes an object corresponding to the shortest horizontal distance.

[0140] In a possible implementation, the second determination module includes:

[0141] The safety judgment submodule is used to determine whether there is an obstacle in the area when the safety device provided on the laser ranging sensor is triggered, and the obstacle includes an object that triggers the safety device.

[0142] In a possible implementation, the descending module includes:

[0143] A distance determination submodule, used to determine the vertical distance between the obstacle and the upper shell surface of the cleaning robot;

[0144] The descending submodule is used to control the laser ranging sensor to descend to a position where the distance between the upper surface of the laser ranging sensor and the upper shell surface of the cleaning robot is less than the vertical distance.

[0145] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment part.

[0146] Fig.16 This is a schematic diagram of the structure of a sweeping robot provided in an embodiment of the present application. Fig.16 As shown, the cleaning robot 160 of this embodiment includes: at least one processor 1600 ( Fig.16 Only one is shown in the figure), a memory 1601, and a computer program 1602 stored in the memory 1601 and executable on the at least one processor 1600, wherein the processor 1600 implements the steps of any of the above-mentioned method embodiments when executing the computer program 1602.

[0147] The cleaning robot may include, but is not limited to, a processor 1600 and a memory 1601. Those skilled in the art will appreciate that Fig.16 This is only an example of the sweeping robot 160 and does not constitute a limitation of the sweeping robot 160 . The sweeping robot 160 may include more or fewer components than shown in the figure, or a combination of certain components, or different components, for example, it may also include input and output devices, network access devices, etc.

[0148] The processor 1600 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0149] In some embodiments, the memory 1601 may be an internal storage unit of the sweeping robot 160, such as a hard disk or memory of the sweeping robot 160. In other embodiments, the memory 1601 may also be an external storage device of the sweeping robot 160, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the sweeping robot 160. Further, the memory 1601 may also include both an internal storage unit of the sweeping robot 160 and an external storage device. The memory 1601 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 1601 may also be used to temporarily store data that has been output or is to be output.

[0150] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0151] An embodiment of the present application provides a computer program product. When the computer program product runs on a sweeping robot, the sweeping robot can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0152] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail with reference to the above-mentioned embodiments, a person skilled in the art should understand that the technical solutions described in the above-mentioned embodiments can still be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method for a laser ranging sensor, characterized in that: Applied to a sweeping robot, the sweeping robot is provided with a liftable laser ranging sensor, and the method comprises: When the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot, the laser ranging sensor is controlled to send a ranging laser to an optical component, where the optical component is arranged below the upper shell surface of the sweeping robot. The optical component is used to reflect the ranging laser onto the upper shell surface of the sweeping robot to measure the distance of objects on the upper shell surface of the sweeping robot.

2. The method according to claim 1, characterized in that The method further comprises: When the upper surface of the laser ranging sensor is not higher than the upper shell surface of the cleaning robot, determining whether there is an obstacle in a preset area above the laser ranging sensor; If there is no obstacle in the preset area, the laser ranging sensor is controlled to rise.

3. The method according to claim 2, characterized in that The determining whether there is an obstacle in a preset area above the laser ranging sensor includes: receiving the ranging laser reflected again by one or more objects on the upper shell surface of the cleaning robot; Determine the shortest vertical distance between one or more of the objects and the surface of the upper shell of the cleaning robot according to the ranging laser reflected again by the one or more objects; If the shortest vertical distance is greater than the preset height value, it is determined that there is no obstacle in the preset area.

4. The method according to claim 2, characterized in that The cleaning robot includes one or more photoelectric sensors, which are deployed around the laser ranging sensor. The determining whether there is an obstacle in a preset area above the laser ranging sensor includes: Determine the height of the open area above each of the photoelectric sensors by using each of the photoelectric sensors; If the height of each of the open areas is greater than the preset height value, it is determined that there is no obstacle in the preset area above the laser ranging sensor.

5. The method according to claim 1, characterized in that The method further comprises: When the upper surface of the laser ranging sensor is higher than the upper shell surface of the cleaning robot, obstacle detection is performed on the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the cleaning robot is located; If an obstacle is detected in the area, the laser ranging sensor is controlled to descend.

6. The method according to claim 5, characterized in that The obstacle detection of the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the cleaning robot is located includes: Control the laser ranging sensor to emit ranging laser to the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the cleaning robot is located; Based on the ranging laser obtained after reflection, it is detected whether there is an obstacle in the area.

7. The method according to claim 6, characterized in that The detecting whether there is an obstacle in the area according to the ranging laser obtained after reflection includes: Determine the shortest horizontal distance between one or more objects reflecting the ranging laser and the cleaning robot according to the ranging laser obtained after reflection; If the shortest horizontal distance is less than a preset value, it is determined that there is an obstacle in the area, and the obstacle includes an object corresponding to the shortest horizontal distance.

8. The method according to claim 5, characterized in that The obstacle detection of the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the cleaning robot is located includes: When the safety device provided on the laser ranging sensor is triggered, it is determined that an obstacle exists in the area, and the obstacle includes an object that triggers the safety device.

9. The method according to any one of claims 5 to 8, characterized in that: The step of controlling the laser ranging sensor to descend comprises: Determine a vertical distance between the obstacle and the upper shell surface of the cleaning robot; The laser ranging sensor is controlled to descend to a position where the distance between the upper surface of the laser ranging sensor and the upper shell surface of the cleaning robot is less than the vertical distance.

10. A control device for a laser ranging sensor, characterized in that: Applied to a sweeping robot, the sweeping robot is provided with a liftable laser ranging sensor, the device comprising: The reflection ranging module is used to control the laser ranging sensor to send a ranging laser to an optical component when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot. The optical component is arranged below the upper shell surface of the sweeping robot. The optical component is used to reflect the ranging laser onto the upper shell surface of the sweeping robot to measure the distance of objects on the upper shell surface of the sweeping robot.

11. The device according to claim 10, characterized in that The device also includes: A first judgment module, used for determining whether there is an obstacle in a preset area above the laser ranging sensor when the upper surface of the laser ranging sensor is not higher than the upper shell surface of the sweeping robot; The ascending module is used to control the laser ranging sensor to ascend if there is no obstacle in the preset area.

12. The device according to claim 11, characterized in that The first judgment module includes: A receiving submodule, used for receiving the ranging laser reflected again by one or more objects on the upper shell surface of the cleaning robot; A determination submodule, configured to determine the shortest vertical distance between one or more of the objects and the upper shell surface of the cleaning robot according to the ranging laser reflected again by the one or more of the objects; The first judgment submodule is used to determine that there is no obstacle in the preset area if the shortest vertical distance is greater than a preset height value.

13. The device according to claim 11, characterized in that The cleaning robot includes one or more photoelectric sensors, which are deployed around the laser ranging sensor. The first judgment module includes: An open area height detection submodule, used to determine the height of the open area above each of the photoelectric sensors through each of the photoelectric sensors; The second judgment submodule is used to determine that there is no obstacle in the preset area above the laser ranging sensor if the height of each of the open areas is greater than a preset height value.

14. The device according to claim 10, characterized in that The device also includes: A second judgment module is used to perform obstacle detection on the area between the plane where the upper surface of the laser ranging sensor is located and the plane where the upper shell surface of the cleaning robot is located when the upper surface of the laser ranging sensor is higher than the upper shell surface of the cleaning robot; The descending module is used to control the laser ranging sensor to descend if an obstacle is detected in the area.

15. The device according to claim 14, characterized in that The second judgment module includes: A laser emission submodule, used to control the laser ranging sensor to emit a ranging laser to an area between a plane where an upper surface of the laser ranging sensor is located and a plane where an upper shell surface of the sweeping robot is located; The obstacle monitoring submodule is used to detect whether there is an obstacle in the area based on the ranging laser obtained after reflection.

16. The device according to claim 15, characterized in that The obstacle monitoring submodule includes: A shortest horizontal distance determination unit, used to determine the shortest horizontal distance between one or more objects reflecting the ranging laser and the cleaning robot according to the ranging laser obtained after reflection; A judgment unit is used to determine that there is an obstacle in the area if the shortest horizontal distance is less than a preset value, and the obstacle includes an object corresponding to the shortest horizontal distance.

17. The device according to claim 14, characterized in that The second judgment module includes: The safety judgment submodule is used to determine whether there is an obstacle in the area when the safety device provided on the laser ranging sensor is triggered, and the obstacle includes an object that triggers the safety device.

18. The device according to any one of claims 14 to 17, characterized in that The descending module comprises: A distance determination submodule, used to determine the vertical distance between the obstacle and the upper shell surface of the cleaning robot; The descending submodule is used to control the laser ranging sensor to descend to a position where the distance between the upper surface of the laser ranging sensor and the upper shell surface of the cleaning robot is less than the vertical distance.

19. A sweeping robot, characterized in that: The sweeping robot is provided with a liftable laser ranging sensor, and the sweeping robot executes the method according to any one of claims 1 to 9 to control the laser ranging sensor.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

21. A computer program product, characterized in that When the computer program product runs on a cleaning robot, the cleaning robot executes the method according to any one of claims 1 to 9.

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