Obstacle avoidance control method and device for cleaning equipment, electronic equipment and storage medium

Abstract

The invention relates to the technical field of cleaning equipment, and provides an obstacle avoidance control method and device for cleaning equipment, electronic equipment and a storage medium. The cleaning equipment comprises an equipment body and a distance measuring sensor located on the middle rear portion of the equipment body in the advancing direction. The method comprises the steps that when the cleaning equipment advances towards a target point, if a distance measuring sensor encounters an obstacle, the cleaning equipment retreats by a first preset distance; rotating the cleaning equipment; the cleaning equipment advances forwards by a second preset distance; the cleaning device continues to travel toward the target point. An obstacle avoidance control mode is provided for a rear distance measuring sensor, so that the distance measuring sensor is prevented from being stuck, and the coverage rate of a cleaning path is increased.

Description

Technical Field

[0001] This application relates to the technical field of cleaning equipment, and particularly to an obstacle avoidance control method, device, electronic device and storage medium for a cleaning equipment. Background Art

[0002] For a cleaning equipment with an LDS (Laser Distance Sensor) sensor, the LDS sensor is usually arranged at the front side or the middle of the upper surface of the equipment body.

[0003] When the LDS sensor is arranged at the rear side of the upper surface of the equipment body (i.e., a rear-mounted LDS sensor), the traditional obstacle avoidance method of the cleaning equipment cannot effectively enable the LDS sensor to avoid obstacles. That is, during the obstacle avoidance process of the existing obstacle avoidance method, the rear-mounted LDS sensor will still collide with obstacles.

[0004] How to enable the rear-mounted LDS sensor to effectively avoid obstacles has become a technical problem to be urgently solved. Summary of the Invention

[0005] To solve the above problems, this application provides an obstacle avoidance control method, device, electronic device and storage medium for a cleaning equipment, provides an obstacle avoidance control method for the rear-mounted LDS sensor, thereby avoiding the LDS sensor from jamming and improving the coverage rate of the cleaning path.

[0006] This application adopts the following technical solutions:

[0007] In a first aspect, this application provides an obstacle avoidance control method for a cleaning equipment. The cleaning equipment includes: an equipment body, and a distance measuring sensor located in the middle and rear part of the equipment body in the advancing direction;

[0008] The method includes:

[0009] When the cleaning equipment travels towards a target point, if the distance measuring sensor encounters an obstacle, the cleaning equipment retreats a first preset distance;

[0010] The cleaning equipment rotates;

[0011] The cleaning equipment advances a second preset distance forward;

[0012] The cleaning equipment continues to travel towards the target point.

[0013] In a second aspect, this application provides an obstacle avoidance control device for a cleaning equipment. The cleaning equipment includes: an equipment body, and a distance measuring sensor located in the middle and rear part of the equipment body in the advancing direction;

[0014] The device includes:

[0015] A backward control unit, which is configured to control the cleaning device to retreat a first preset distance when the distance measuring sensor encounters an obstacle during the movement of the cleaning device towards the target point;

[0016] A rotation control unit, which is configured to control the rotation of the cleaning device;

[0017] A forward movement control unit, which is configured to control the cleaning device to move forward a second preset distance and continue to move towards the target point.

[0018] In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the obstacle avoidance control method of the above-mentioned cleaning device are implemented.

[0019] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is instructed by the processor, the steps of the obstacle avoidance control method of the above-mentioned cleaning device are implemented.

[0020] At least one of the above technical solutions adopted by the present application can achieve the following beneficial effects:

[0021] The present application provides an obstacle avoidance control method for a cleaning device. The cleaning device includes: a device body and a distance measuring sensor located in the middle and rear of the device body in the forward direction; the method includes: when the cleaning device moves towards the target point, if the distance measuring sensor encounters an obstacle, the cleaning device retreats a first preset distance; the cleaning device rotates; the cleaning device moves forward a second preset distance; the cleaning device continues to move towards the target point. The method provided by the present application provides an obstacle avoidance control method for a rear LDS sensor, thereby avoiding the jamming of the LDS sensor and improving the coverage rate of the cleaning path. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0023] Figure 1 Shows an external schematic diagram of a cleaning device according to an embodiment of the present application;

[0024] Figure 2 Shows a flowchart of an obstacle avoidance control method for a cleaning device according to an embodiment of the present application;

[0025] Figure 3 Shows a schematic diagram of a cleaning device moving towards a target point according to an embodiment of the present application;

[0026] Figure 4Schematic diagram showing a distance measurement sensor encountering an obstacle according to an embodiment of the present application;

[0027] Figure 5 Schematic diagram showing a cleaning device retreating a first preset distance according to an embodiment of the present application;

[0028] Figure 6 Schematic diagram showing a cleaning device rotating according to an embodiment of the present application;

[0029] Figure 7 Schematic diagram showing a cleaning device moving forward a second preset distance according to an embodiment of the present application;

[0030] Figure 8 First schematic diagram showing a cleaning device continuing to move towards a target point according to an embodiment of the present application;

[0031] Figure 9 Second schematic diagram showing a cleaning device continuing to move towards a target point according to an embodiment of the present application;

[0032] Figure 10 Schematic diagram showing the structure of an obstacle avoidance control device of a cleaning device according to an embodiment of the present application;

[0033] Figure 11 Schematic diagram showing the structure of an electronic device according to an embodiment of the present application. Detailed implementation manners

[0034] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0035] The concept of the present application lies in: for a cleaning device with an LDS sensor, the LDS sensor is usually arranged on the front side or the middle of the upper surface of the device body. When the LDS sensor is arranged on the rear side of the upper surface of the device body (i.e., a rear-mounted LDS sensor), the traditional obstacle avoidance method of the cleaning device cannot effectively enable the LDS sensor to avoid obstacles. That is, in the existing obstacle avoidance method, during the obstacle avoidance process, the rear-mounted LDS sensor will still collide with obstacles. Therefore, an obstacle avoidance control method is proposed for the rear-mounted LDS sensor to achieve the purpose of avoiding the LDS sensor from jamming, preventing cleaning interruption, and ensuring a complete cleaning path coverage.

[0036] In this application, the cleaning device is equipped with intelligent modules commonly found in existing cleaning devices (including cleaning robots), such as cameras, gyroscopes, and drives, so as to achieve functions commonly found in existing cleaning devices, such as sensing the surrounding environment, driving the movement of the cleaning device, and interacting with the map. The embodiments of this application will not be described in detail herein.

[0037] The following describes this application in detail through specific embodiments.

[0038] Figure 1 The schematic diagram of the appearance of the cleaning device proposed in an embodiment of this application is shown. The cleaning device includes: a device body (1), and a ranging sensor (2) located in the middle and rear of the device body (1) in the forward direction.

[0039] Referring to Figure 1 as shown, Figure 1 What is shown is a top view of the cleaning device. Figure 1 The circular device body (1) is used as an illustration, but this application does not limit the appearance shape of the device body (1). In addition to circular, rectangular or other irregular shapes can also be included.

[0040] In Figure 1 , the first driving wheel (3) and the second driving wheel (4) are schematically shown in dotted lines. The first driving wheel (3) and the second driving wheel (4) are arranged on the lower surface of the device body (1). That is to say, in the top view of the cleaning device shown in Figure 1 , the first driving wheel (3) and the second driving wheel (4) should not be seen, but in order to illustrate the arrangement of the first driving wheel (3) and the second driving wheel (4), they are shown in dotted lines.

[0041] In this application, the forward direction is a fixed direction based on the device body (1), the first driving wheel (3), and the second driving wheel (4). The forward direction is used to indicate the movement direction of the device body (1) when the first driving wheel (3) and the second driving wheel (4) drive the device body (1) forward at the same speed in the positive direction. In Figure 1 the situation shown, the forward direction is vertically upward.

[0042] The ranging sensor (2) is arranged on the upper surface of the device body (1) and is located at half the body position of the device body (1) away from the forward direction. The ranging sensor (2) can be an LDS sensor. In Figure 1 the situation shown, the ranging sensor (2) is arranged at the lower half of the body position of the device body (1). Figure 1 The circular ranging sensor (2) is used as an illustration, but this application does not limit the appearance shape of the ranging sensor (2). In addition to circular, rectangular or other irregular shapes can also be included.

[0043] Figure 2 The flowchart shows the obstacle avoidance control method of the cleaning device proposed in an embodiment of the present application. Refer to Figure 1 the appearance of the cleaning device shown, the obstacle avoidance control method of the cleaning device includes steps S210 to S240:

[0044] Step S210, when the cleaning device moves towards the target point, if the distance measuring sensor encounters an obstacle, the cleaning device retreats a first preset distance.

[0045] When the first driving wheel and the second driving wheel of the cleaning device drive the device body forward at the same speed, the device body moves forward in the forward direction. This is the most basic moving mode of the cleaning device. The cleaning device can move along the cleaning trajectory towards the target point in the forward direction. Take Figure 1 the situation shown as an example, the cleaning device moves vertically upward towards the target point.

[0046] Since the distance measuring sensor is arranged on the upper surface of the device body, the upper surface of the distance measuring sensor is higher than the upper surface of the device body. Therefore, during the process of the cleaning device moving forward in the forward direction, it is possible that the device body can pass through the space obstacle, but the space obstacle will collide with the distance measuring sensor.

[0047] For example: the height of a space obstacle from the ground is 8 cm, the height of the upper surface of the device body from the ground is 7 cm, and the height of the upper surface of the distance measuring sensor from the ground is 9 cm. Then the device body can pass through the space obstacle, but the space obstacle will trigger the collision of the distance measuring sensor.

[0048] Once the distance measuring sensor encounters an obstacle, the cleaning device needs to retreat to leave a space for the distance measuring sensor to avoid. Therefore, control the first driving wheel and the second driving wheel of the cleaning device to drive the device body in the reverse direction at the same speed, so that the cleaning device moves in the reverse direction of the forward direction.

[0049] The retreat distance of the cleaning device should ensure that there is enough space for the distance measuring sensor to avoid, so as to prevent the distance measuring sensor from colliding with the space obstacle again during the subsequent rotation of the cleaning device. The retreat distance of the cleaning device should be as short as possible to avoid excessive useless movement of the cleaning device resulting in repeated cleaning and reducing the cleaning efficiency.

[0050] Therefore, in some optional embodiments, the length of the first preset distance is: the first preset distance ≥ the sum of the distance from the inner side of the distance measuring sensor to the center of the in-situ rotation of the device body and the distance from the outer side of the distance measuring sensor to the center of the in-situ rotation of the device body. Preferably, the first preset distance ≥ the difference between 2 times the length of the body position of the device body, the length in the forward direction or the maximum length from the edge of the device body to the center of the in-situ rotation and 2 times the distance from the inner edge of the distance measuring sensor to the rear edge of the device body.

[0051] Step S220, the cleaning device rotates.

[0052] After the cleaning device retreats to ensure sufficient clearance for the ranging sensor, control the cleaning device to rotate.

[0053] The rotation of the cleaning device can be achieved by driving the device body in different directions at the same speed with the first driving wheel and the second driving wheel. For Figure 1 example, in the shown situation: if the cleaning device is to be rotated counterclockwise, control the first driving wheel in the reverse direction, control the second driving wheel in the forward direction, and the speeds of the first driving wheel and the second driving wheel are the same; if the cleaning device is to be rotated clockwise, control the first driving wheel in the forward direction, control the second driving wheel in the reverse direction, and the speeds of the first driving wheel and the second driving wheel are the same.

[0054] In addition, in some cases, the cleaning device may further include a caster wheel, which is disposed at the center of the lower surface of the device body. At this time, the cleaning device can be rotated by the caster wheel of the cleaning device.

[0055] Step S230, the cleaning device travels forward a second preset distance.

[0056] After the cleaning device rotates, it travels forward a second preset distance. Since the forward direction is a fixed direction based on the device body, when the cleaning device rotates, the forward direction changes relative to the spatial coordinates. For Figure 1 example, in the shown situation: after the cleaning device rotates counterclockwise by 90°, the current forward direction of the cleaning device is horizontally to the left; after the cleaning device rotates clockwise by 90°, the current forward direction of the cleaning device is horizontally to the right; and so on for other situations, which will not be elaborated here. That is to say, the forward direction in step S220 changes relative to the spatial coordinates compared with the forward direction in step S210, but remains unchanged relative to the device body.

[0057] In order to move the ranging sensor away from the spatial obstacle position, in some alternative embodiments, the length of the second preset distance is: the second preset distance is 2 times the length of the body of the device, the length along the forward direction, or the maximum length from the edge of the device body to the center of the in-situ rotation.

[0058] Step S240, the cleaning device continues to travel towards the target point.

[0059] After the previous steps, the ranging sensor has moved away from the spatial obstacle. At this time, control the cleaning device to return with the target point as the target.

[0060] Although the cleaning device has gone through the above steps of moving the ranging sensor away from the spatial obstacle, the ultimate goal of the cleaning device is to continue moving towards the target point after avoiding the spatial obstacle. Therefore, the cleaning device can continue to move in a rotation curve.

[0061] In some alternative embodiments, if the ranging sensor encounters an obstacle, the method further includes: determining a rotation angle.

[0062] In some alternative embodiments, determining the rotation angle includes: determining the rotation angle based on the position of the collision point of the ranging sensor.

[0063] If the ranging sensor encounters an obstacle, the rotation angle is determined according to the position of the collision point of the ranging sensor.

[0064] Take Figure 1 the situation shown as an example: when the cleaning device moves vertically upward, if the ranging sensor encounters an obstacle, the position of the collision point is on the semicircular edge facing upward of the ranging sensor. The position of the collision point can be at the uppermost end of the ranging sensor, can be on the quarter - circular edge between the uppermost end and the leftmost end of the ranging sensor, or can be on the quarter - circular edge between the uppermost end and the rightmost end of the ranging sensor.

[0065] When determining the rotation angle of the cleaning device according to the position of the collision point, if the position of the collision point is at the uppermost end of the ranging sensor, the rotation angle can be 90° clockwise or 90° counterclockwise; if the position of the collision point is on the quarter - circular edge between the uppermost end and the leftmost end of the ranging sensor, the rotation angle can be less than 90° clockwise or greater than 90° counterclockwise; if the position of the collision point is on the quarter - circular edge between the uppermost end and the rightmost end of the ranging sensor, the rotation angle can be greater than 90° clockwise or less than 90° counterclockwise. In some alternative embodiments, determining the rotation angle based on the position of the collision point of the ranging sensor includes: determining the angle between the line connecting the position of the collision point and the center of the ranging sensor and the forward direction; determining the rotation angle according to the angle.

[0066] To determine the rotation angle, first determine the angle between the line connecting the position of the collision point and the center of the ranging sensor and the forward direction.

[0067] Regardless of the shape of the appearance of the ranging sensor, determine the center of the ranging sensor and connect the position of the collision point with the center of the ranging sensor. Use the angle between this line and the forward direction to determine the rotation angle.

[0068] In some optional embodiments, the rotation angle is determined based on the included angle, including: if the included angle is greater than 0° and less than 90° and is located on the first side of the forward direction, the rotation angle is: rotation angle = 90° + included angle; if the included angle is greater than 0° and less than 90° and is located on the second side of the forward direction, the rotation angle is: rotation angle = 90° - included angle; if the included angle is equal to 0°, the rotation angle is 90°.

[0069] The first side surface and the second side surface are two side surfaces located on both sides of the forward direction relative to the forward direction. The present application only defines that the first side surface and the second side surface are corresponding to each other.

[0070] exist Figure 1 In the case shown, the first side surface can be identified as the left side of the forward direction and the second side surface can be identified as the right side of the forward direction; or the first side surface can be identified as the right side of the forward direction and the second side surface can be identified as the left side of the forward direction. Once one of the above cases is identified, no matter how the cleaning device rotates (how the forward direction changes relative to the spatial coordinates), the first side surface and the second side surface remain unchanged relative to the forward direction.

[0071] The first side Figure 1 Take the left side of the forward direction as an example. If the included angle is greater than 0° and less than 90° and is located on the left side of the forward direction, the rotation angle is: rotation angle = 90° + included angle; if the included angle is greater than 0° and less than 90° and is located on the right side of the forward direction, the rotation angle is: rotation angle = 90° - included angle; if the included angle is equal to 0°, the rotation angle is 90°.

[0072] In some optional embodiments, the cleaning device rotates, including: controlling the cleaning device to rotate in situ by a rotation angle in a rotation direction from a forward direction toward the first side surface.

[0073] The direction in which the cleaning device rotates in situ corresponds to the previously determined rotation angle.

[0074] The first side Figure 1 Take the left side of the forward direction as an example. If the angle is 45° and it is on the left side of the forward direction, the rotation angle is 135°, and the cleaning device is controlled to rotate 135° counterclockwise; if the angle is 60° and it is on the right side of the forward direction, the rotation angle is 30°, and the cleaning device is controlled to rotate 30° counterclockwise; if the angle is 0°, the rotation angle is 90°, and the cleaning device is controlled to rotate 90° counterclockwise.

[0075] In some optional embodiments, continuing to move toward the target point includes: the cleaning device continuing to move toward the target point along a curved path.

[0076] Curved path travel is used to indicate that the cleaning device moves while rotating, and the travel path formed is a curve. Figure 1In the case shown, the curved path travel can be achieved as follows:

[0077] If the cleaning device rotates counterclockwise and travels a second preset distance, control the first driving wheel of the cleaning device to move forward at a first speed, and control the second driving wheel of the cleaning device to move forward at a second speed, where the first speed is greater than the second speed, so that the cleaning device returns to traveling towards the target point in a clockwise curve.

[0078] If the cleaning device rotates clockwise and travels a second preset distance, control the first driving wheel of the cleaning device to move forward at a first speed, and control the second driving wheel of the cleaning device to move forward at a second speed, where the first speed is less than the second speed, so that the cleaning device returns to traveling towards the target point in a counterclockwise curve.

[0079] In some alternative embodiments, the cleaning device continues to travel towards the target point in a curve, including: controlling the cleaning device to travel in a curve in a direction gradually deflecting towards the second side in the forward direction.

[0080] The direction of the curved travel of the cleaning device corresponds to the direction of the in-situ rotation of the cleaning device.

[0081] If the cleaning device rotates in-situ in the rotation direction from the forward direction towards the first side, the cleaning device travels in a curve in a direction gradually deflecting towards the second side in the forward direction.

[0082] For example, if the cleaning device rotates counterclockwise in-situ, the cleaning device travels in a clockwise curve.

[0083] In addition, in some alternative embodiments, the cleaning device continues to travel towards the target point in a curved path, and further includes: if the distance measurement sensor encounters an obstacle again during the travel of the cleaning device in a curved path, the cleaning device retreats a first preset distance; the cleaning device rotates; the cleaning device travels forward a second preset distance; the cleaning device continues to travel towards the target point.

[0084] In some cases, during the travel of the cleaning device in a curved path, a new spatial obstacle triggers a collision with the distance measurement sensor. The new spatial obstacle can be continuous with the previous spatial obstacle or independent of the previous spatial obstacle.

[0085] After the distance measurement sensor collides with the new spatial obstacle again, the process of traveling in a curved path terminates, and the cleaning device starts to execute a new round of obstacle avoidance control method to avoid the new spatial obstacle.

[0086] The new round of obstacle avoidance control method is the same as the previous obstacle avoidance control method. Although the cleaning device executes a new round of obstacle avoidance control method, the ultimate goal of the cleaning device is still to continue traveling towards the target point. Therefore, the goal of the cleaning device is still to return to continue traveling towards the target point.

[0087] That is to say, once other spatial obstacles are encountered during the process of the cleaning device returning to moving towards the target point, obstacle avoidance is carried out according to the above-mentioned obstacle avoidance control method until all spatial obstacles are avoided, and then it returns to moving towards the target point. Figures 3 to 9 It shows the schematic diagram of the cleaning device after passing through each step under the obstacle avoidance control method of the cleaning device proposed in this application. Combining Figures 3 to 9 , a specific embodiment is used to elaborate in detail on the obstacle avoidance control method of the cleaning device proposed in this application.

[0088] Figure 3 It shows the schematic diagram of the cleaning device moving towards the target point.

[0089] In Figure 3 , the target point is A, the forward direction of the cleaning device is vertically upward, the spatial obstacle is B, and this spatial obstacle B will collide with the ranging sensor (2) but will not collide with the device body (1). The first driving wheel (3) and the second driving wheel (4) move forward (upward) and have the same speed.

[0090] Figure 4 It shows the schematic diagram of the ranging sensor encountering an obstacle.

[0091] In Figure 4 , the spatial obstacle B collides with the ranging sensor (2), and the collision point position is the uppermost end of the ranging sensor (2). Therefore, the rotation angle is 90° counterclockwise.

[0092] Figure 5 It shows the schematic diagram of the cleaning device retreating the first preset distance.

[0093] In Figure 5 , the first driving wheel (3) and the second driving wheel (4) move backward (downward) and have the same speed, so that the cleaning device retreats the first preset distance.

[0094] Figure 6 It shows the schematic diagram of the cleaning device rotating in place.

[0095] In Figure 6 , the first driving wheel (3) moves backward, the second driving wheel (4) moves forward, and they have the same speed, so that the cleaning device rotates 90° counterclockwise.

[0096] Figure 7 It shows the schematic diagram of the cleaning device moving forward the second preset distance.

[0097] In Figure 7 , the first driving wheel (3) and the second driving wheel (4) move forward (leftward) and have the same speed, so that the cleaning device moves forward the second preset distance.

[0098] Figure 8 The first schematic diagram showing the cleaning device continuing to move towards the target point.

[0099] In Figure 8 , the first driving wheel (3) and the second driving wheel (4) move forward, and the speed of the first driving wheel (3) is greater than that of the second driving wheel (4), causing the cleaning device to move forward in a curve towards the upper right while rotating clockwise.

[0100] Figure 9 The second schematic diagram showing the cleaning device continuing to move towards the target point.

[0101] In Figure 9 , the cleaning device returns to the vertical upward direction of the forward direction and continues to move towards the target point A.

[0102] Figure 10 The structural schematic diagram of the obstacle avoidance control device of the cleaning device according to an embodiment of the present application is shown. Referring to Figure 1 the appearance of the cleaning device shown, the cleaning device includes: a device body, and a distance measuring sensor located in the middle and rear of the device body in the forward direction; the device 1000 includes:

[0103] A backward control unit 1010, configured to control the cleaning device to retreat a first preset distance when the distance measuring sensor encounters an obstacle when the cleaning device moves towards the target point;

[0104] A rotation control unit 1020, configured to control the cleaning device to rotate;

[0105] A travel control unit 1030, configured to control the cleaning device to move forward a second preset distance and continue to move towards the target point.

[0106] In some alternative embodiments, the above device 1000 further includes: an angle determination unit, configured to determine the rotation angle.

[0107] In some alternative embodiments, the angle determination unit is specifically configured to: determine the rotation angle based on the position of the collision point of the distance measuring sensor.

[0108] In some alternative embodiments, the angle determination unit is specifically configured to: determine the included angle between the line connecting the position of the collision point and the center of the distance measuring sensor and the forward direction; determine the rotation angle according to the included angle.

[0109] In some alternative embodiments, the angle determination unit is specifically configured to: if the included angle is greater than 0°, less than 90° and located on the first side of the forward direction, the rotation angle is: rotation angle = 90° + included angle; if the included angle is greater than 0°, less than 90° and located on the second side of the forward direction, the rotation angle is: rotation angle = 90° - included angle; if the included angle is equal to 0°, the rotation angle is 90°.

[0110] In some alternative embodiments, the rotation unit 1020 is specifically configured to: control the cleaning device to rotate in place by a rotation angle in a rotation direction from the forward direction towards the first side.

[0111] In some alternative embodiments, the travel control unit 1030 is specifically configured to: control the cleaning device to continue traveling along a curved path towards the target point.

[0112] In some alternative embodiments, the travel control unit 1030 is specifically configured to: control the cleaning device to travel in a curve in a direction in which the forward direction deflects towards the second side.

[0113] In some alternative embodiments, the length of the first preset distance is: the first preset distance ≥ the sum of the distance from the inner side of the distance measuring sensor to the center of the in-place rotation of the device body and the distance from the outer side of the distance measuring sensor to the center of the in-place rotation of the device body. Preferably, the first preset distance ≥ the difference between twice the length of the body position of the device body, the length in the forward direction, or the maximum length from the edge of the device body to the center of the in-place rotation and twice the distance from the inner edge of the distance measuring sensor to the rear edge of the device body.

[0114] In some alternative embodiments, the length of the second preset distance is: the second preset distance is twice the length of the body position of the device body, the length in the forward direction, or the maximum length from the edge of the device body to the center of the in-place rotation.

[0115] It should be noted that the obstacle avoidance control device 1000 of the above cleaning device can implement the aforementioned obstacle avoidance control method of the cleaning device one by one, and details are not described herein again.

[0116] Figure 11 The structural schematic diagram of an electronic device according to an embodiment of the present application is shown. Referring to Figure 11 As shown, the internal structure of the electronic device may include a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external client through a network connection. When the computer program is executed by the processor, it realizes the functions or steps of the obstacle avoidance control method of the cleaning device.

[0117] In one embodiment, the electronic device provided by the present application includes a memory and a processor. The memory stores a database and a computer program that can run on the processor. When the processor executes the computer program, the following steps are realized:

[0118] When the cleaning device moves towards the target point, if the ranging sensor encounters an obstacle, the cleaning device retreats a first preset distance;

[0119] The cleaning device rotates;

[0120] The cleaning device moves forward a second preset distance;

[0121] The cleaning device continues to move towards the target point.

[0122] In one embodiment, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0123] When the cleaning device moves towards the target point, if the ranging sensor encounters an obstacle, the cleaning device retreats a first preset distance;

[0124] The cleaning device rotates;

[0125] The cleaning device moves forward a second preset distance;

[0126] The cleaning device continues to move towards the target point.

[0127] It should be noted that for the functions or steps that the above-mentioned electronic device or computer-readable storage medium can achieve, reference can be made to the relevant descriptions in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0128] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in this application can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0129] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0130] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; 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 invention, and should all be included in the protection scope of the present invention.

Claims

1. An obstacle avoidance control method for a cleaning device, the cleaning device comprising: A device body, and a distance measuring sensor located at the middle and rear part of the device body in the forward direction; The method comprises: When the cleaning device moves toward the target point, if the distance measuring sensor encounters an obstacle, the cleaning device retreats a first preset distance; The cleaning device rotates; The cleaning device moves forward a second preset distance; The cleaning device continues to move toward the target point.

2. The obstacle avoidance control method for cleaning equipment according to claim 1, wherein: If the ranging sensor encounters an obstacle, the method further includes: Determine the rotation angle.

3. The obstacle avoidance control method for cleaning equipment according to claim 2, wherein: The determining of the rotation angle comprises: The rotation angle is determined according to the collision point position of the distance measuring sensor.

4. The obstacle avoidance control method for cleaning equipment according to claim 3, wherein: The step of determining the rotation angle according to the collision point position of the ranging sensor comprises: Determine the angle between the line connecting the collision point position and the center of the ranging sensor and the forward direction; The rotation angle is determined according to the included angle.

5. The obstacle avoidance control method for cleaning equipment according to claim 4, wherein: The determining the rotation angle according to the included angle comprises: If the angle is greater than 0° and less than 90° and is located on the first side of the forward direction, the rotation angle is: The rotation angle = 90° + the included angle; If the angle is greater than 0° and less than 90° and is located on the second side of the forward direction, the rotation angle is: The rotation angle = 90° - the included angle; If the included angle is equal to 0°, the rotation angle is 90°.

6. The obstacle avoidance control method for cleaning equipment according to claim 5, wherein: The cleaning device rotates, comprising: The cleaning device is controlled to rotate in situ by the rotation angle in a rotation direction from the forward direction toward the first side surface.

7. The obstacle avoidance control method for cleaning equipment according to claim 5, wherein: The continuing to move toward the target point includes: The cleaning device continues to travel along a curved path toward the target point.

8. The obstacle avoidance control method for cleaning equipment according to claim 7, wherein: The cleaning device continues to move toward the target point along a curved path, including: The cleaning device is controlled to move in a curved manner with its forward direction gradually deflected toward the second side surface.

9. The obstacle avoidance control method for cleaning equipment according to claim 1, characterized in that: The length of the first preset distance is: The first preset distance is ≥ the sum of the distance from the inner side of the ranging sensor to the center of the device body's in-situ rotation and the distance from the outer side of the ranging sensor to the center of the device body's in-situ rotation. Preferably, the first preset distance is ≥ the difference between twice the length of the device body, the length along the forward direction, or the maximum length from the edge of the device body to the center of in-situ rotation and twice the distance from the inner edge of the ranging sensor to the rear edge of the device body.

10. The obstacle avoidance control method for cleaning equipment according to claim 1, characterized in that: The length of the second preset distance is: The second preset distance is the length of the device body, the length along the forward direction, or twice the maximum length from the edge of the device body to the center of rotation in situ.

11. An obstacle avoidance control device for cleaning equipment, characterized in that: The cleaning device comprises: a device body, and a distance measuring sensor located in the middle and rear part of the device body in the forward direction; the device comprises: A retreat control unit, used to control the cleaning device to retreat a first preset distance if the distance measuring sensor encounters an obstacle when the cleaning device moves toward the target point; A rotation control unit, used to control the rotation of the cleaning device; A travel control unit is used to control the cleaning device to move forward a second preset distance and continue to move toward the target point.

12. The obstacle avoidance control device for cleaning equipment according to claim 11, wherein: The device also includes: The angle determination unit determines the rotation angle.

13. The obstacle avoidance control device for cleaning equipment according to claim 12, wherein: The angle determination unit is further configured to: The rotation angle is determined according to the collision point position of the distance measuring sensor.

14. The obstacle avoidance control device for cleaning equipment according to claim 13, wherein: The angle determination unit is further configured to: Determine the angle between the line connecting the collision point position and the center of the ranging sensor and the forward direction; The rotation angle is determined according to the included angle.

15. The obstacle avoidance control device for cleaning equipment according to claim 14, wherein: The angle determination unit is further configured to: If the angle is greater than 0° and less than 90° and is located on the first side of the forward direction, the rotation angle is: The rotation angle = 90° + the included angle; If the angle is greater than 0° and less than 90° and is located on the second side of the forward direction, the rotation angle is: The rotation angle = 90° - the included angle; If the included angle is equal to 0°, the rotation angle is 90°.

16. The obstacle avoidance control device for cleaning equipment according to claim 15, wherein: The rotation control unit is further used for: The cleaning device is controlled to rotate in situ by the rotation angle in a rotation direction from the forward direction toward the first side surface.

17. The obstacle avoidance control device for cleaning equipment according to claim 15, wherein: The travel control unit is further used for: The cleaning device continues to travel along a curved path toward the target point.

18. The obstacle avoidance control device for cleaning equipment according to claim 15, wherein: The travel control unit is further used for: The cleaning device is controlled to move in a curved manner with its forward direction gradually deflected toward the second side surface.

19. The obstacle avoidance control device for cleaning equipment according to claim 11, characterized in that: The length of the first preset distance is: The first preset distance is ≥ the sum of the distance from the inner side of the ranging sensor to the center of the device body's in-situ rotation and the distance from the outer side of the ranging sensor to the center of the device body's in-situ rotation. Preferably, the first preset distance is ≥ the difference between twice the length of the device body, the length along the forward direction, or the maximum length from the edge of the device body to the center of in-situ rotation and twice the distance from the inner edge of the ranging sensor to the rear edge of the device body.

20. The obstacle avoidance control device for cleaning equipment according to claim 11, characterized in that: The length of the second preset distance is: The second preset distance = the length of the device body, the length along the forward direction, or twice the maximum length from the edge of the device body to the center of rotation in situ.

21. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the obstacle avoidance control method for a cleaning device as described in any one of claims 1 to 10 are implemented.

22. A computer-readable storage medium storing a computer program, characterized in that: The computer program, when instructed by a processor, implements the steps of the obstacle avoidance control method for a cleaning device as described in any one of claims 1 to 10.

Images