Obstacle avoidance method and device during water line flat scanning, computer equipment and storage medium

Abstract

The invention relates to the technical field of robots, in particular to an obstacle avoidance method and device during horizontal scanning of a water level, computer equipment and a storage medium. When the cleaning robot moves along the water line and one side of an ultrasonic sensor faces the right, detection information collected forwards by the ultrasonic sensor along the water line and the operation state when the detection information is collected are obtained, whether an obstacle exists in front of the cleaning robot or not is judged according to the operation state and the detection information, and if yes, the cleaning robot is started. If yes, the cleaning robot is controlled to go down the wall and go up the wall through the determined next wall-up point so as to avoid the obstacle. Whether an obstacle exists or not is judged according to the running state of the cleaning robot and the detection information of the ultrasonic sensor, and if yes, the obstacle is avoided. Therefore, obstacles in the water pool can be recognized in the water line translation process, and the water line cleaning work can be automatically completed.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to an obstacle avoidance method, device, computer equipment and storage medium during water level sweeping. Background Art

[0002] Cleaning robots are increasingly used in daily life. For example, cleaning robots can greatly reduce the burden of manual cleaning of swimming pools. However, the pool cleaning process is relatively cumbersome, and the operation of cleaning robots is not stable enough.

[0003] Currently, most cleaning robots use a random cleaning method. They have no clear plan and will move and turn randomly. They change direction by constantly colliding with obstacles and repeatedly cover the cleaning surface to clean. This cleaning method is inefficient and may cause some areas to be cleaned repeatedly while others are missed. Alternatively, some cleaning robots may use a fixed path for cleaning. However, this cleaning method is easily hindered by blind spots that the robot cannot observe, making it difficult to operate continuously and stably.

[0004] Therefore, how to identify obstacles in the pool during the translation of the water level line and automatically complete the cleaning of the water level line has become an urgent problem to be solved. Summary of the Invention

[0005] The embodiments of the present invention provide an obstacle avoidance method, device, computer equipment and storage medium for water level line horizontal sweeping, so as to solve the problem of how to identify obstacles in a pool during the horizontal movement of the water level line and automatically complete the cleaning of the water level line.

[0006] In a first aspect, an embodiment of the present invention provides an obstacle avoidance method during a water level sweep. The obstacle avoidance method during a water level sweep is applied to a cleaning robot, wherein an ultrasonic sensor is provided on the side of the cleaning robot. The obstacle avoidance method during a water level sweep includes: When the cleaning robot moves along the water level line and one side of the ultrasonic sensor faces right, acquiring detection information collected by the ultrasonic sensor forward along the water level line and the operating state when the detection information is collected; Determining whether there is an obstacle in front of the cleaning robot according to the operating state and the detection information; If there is an obstacle, the cleaning robot is controlled to go down the wall and go up the wall through the next determined wall-climbing point to avoid the obstacle.

[0007] In a second aspect, an embodiment of the present invention provides an obstacle avoidance device for a water level line during a horizontal sweep. The obstacle avoidance device for a water level line during a horizontal sweep is applied to the cleaning robot. An ultrasonic sensor is provided on the side of the cleaning robot. The obstacle avoidance device for a water level line during a horizontal sweep includes: an information collection module, configured to obtain, when the cleaning robot moves along the water level line and one side of the ultrasonic sensor faces right, detection information collected forward along the water level line by the ultrasonic sensor, and an operating state when the detection information is collected; a judgment module, configured to judge whether there is an obstacle in front of the cleaning robot according to the operating state and the detection information; The control module is used to control the cleaning robot to go down the wall if there is an obstacle, and to go up the wall through the next determined wall-climbing point to avoid the obstacle.

[0008] In a third aspect, an embodiment of the present invention provides a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned obstacle avoidance method during water level line scanning when executing the computer program.

[0009] In a fourth aspect, an embodiment of the present invention 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 obstacle avoidance method during the above-mentioned water level line scanning is implemented.

[0010] Compared with the prior art, the present invention has the following advantages: when the cleaning robot moves along the water level line with one side of the ultrasonic sensor facing right, the detection information collected by the ultrasonic sensor along the water level line and the operating status when the detection information is collected are obtained. Based on the operating status and the detection information, it is determined whether there is an obstacle in front of the cleaning robot. If there is an obstacle, the cleaning robot is controlled to descend the wall and ascend the wall through the next determined ascending point to avoid the obstacle. The presence of an obstacle is determined based on the operating status of the cleaning robot and the detection information of the ultrasonic sensor. If there is an obstacle, the obstacle is avoided. Thus, obstacles in the pool are identified during the translation of the water level line, and the water level cleaning operation is completed automatically. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0012] Figure 1 This is a schematic diagram of an application environment of an obstacle avoidance method during water level scanning provided by the first embodiment of the present invention; Figure 2 This is a flow chart of an obstacle avoidance method during a water level sweep provided by the second embodiment of the present invention; Figure 3 This is a flow chart of an obstacle avoidance method during a water level sweep provided by a third embodiment of the present invention; Figure 4 This is a flow chart of an obstacle avoidance method during a water level sweep provided by a fourth embodiment of the present invention; Figure 5 This is a flow chart of an obstacle avoidance method during a water level sweep provided by a fifth embodiment of the present invention; Figure 6 This is a flow chart of an obstacle avoidance method during a water level sweep provided by a sixth embodiment of the present invention; Figure 7 This is a structural schematic diagram of an obstacle avoidance device for level sweeping a water level provided by a seventh embodiment of the present invention; Figure 8 This is a structural diagram of a computer device provided in Example 8 of the present invention. DETAILED DESCRIPTION

[0013] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0014] like Figure 1 As shown, it is a schematic diagram of the application environment of an obstacle avoidance method during a water level sweep provided by the first embodiment of the present invention, wherein the client and the server are connected for communication, and the server is connected for communication with the cleaning robot. The user can provide the server with conditions, requirements and operation instructions for obstacle avoidance during a water level sweep by operating the client, and the server is used to generate relevant control instructions for the cleaning robot according to the relevant content sent by the client, so that the user can remotely control the cleaning robot. The client includes but is not limited to various computer devices such as personal computers, laptops, smart phones, tablet computers and portable wearable devices. The computer device corresponding to the server can be implemented with an independent server or a server cluster composed of multiple servers.

[0015] like Figure 2 FIG2 is a flow chart of an obstacle avoidance method for a water level line sweep provided by a second embodiment of the present invention, wherein the obstacle avoidance method for a water level line sweep is applied to a cleaning robot, an ultrasonic sensor is provided on the side of the cleaning robot, and the obstacle avoidance method for a water level line sweep is applied to a cleaning robot. Figure 1 The obstacle avoidance method during the water level sweep may include the following steps: Step S201 , when the cleaning robot moves along the water level line with one side of the ultrasonic sensor facing right, the detection information collected by the ultrasonic sensor forward along the water level line and the operating status when the detection information is collected are obtained.

[0016] The cleaning robot is equipped with a control system, a computer system designed specifically for a specific application. It integrates hardware components such as a processor, memory, and input / output interfaces, as well as corresponding control software. During cleaning tasks, the control system coordinates and controls the robot's various components, including the ultrasonic sensor.

[0017] The cleaning robot moves along the water level line, and the side equipped with the ultrasonic sensor is facing to the right. Here you can imagine that the cleaning robot is performing cleaning operations at a water level position similar to the edge of a pool. The ultrasonic sensor is facing right to adapt to the special environmental layout around the water level line, so as to better detect the situation ahead.

[0018] At this point, the control system will acquire detection information collected by the ultrasonic sensor. The ultrasonic sensor works by emitting ultrasonic waves and receiving reflected waves. Detection information includes the time from emission to reception of the ultrasonic wave and the intensity of the reflected wave. This information can reflect characteristics such as the distance and general shape of the object in front. It also records the operating status of the cleaning robot when the detection information is collected. This status may include the cleaning robot's movement speed, direction, and whether it is performing a cleaning action.

[0019] Step S202: Determine whether there is an obstacle in front of the cleaning robot based on the operating status and detection information.

[0020] The control system uses the operating status and detection information obtained in the previous step to determine whether there is an obstacle ahead of the cleaning robot. For example, if the detection information shows a short ultrasonic reflection time, it indicates that the object ahead is very close. Combined with the operating status, if the cleaning robot is moving forward, there is a possibility of an obstacle ahead. The control system comprehensively analyzes the detection information and various operating status parameters and determines the presence of an obstacle ahead when certain conditions are met.

[0021] Optionally, after determining whether there is an obstacle in front of the cleaning robot according to the operating status and detection information in step S202, the following steps may be further included: If the obstacle does not exist, the process returns to the step of acquiring the detection information collected forward by the ultrasonic sensor and the operating status when the detection information is collected, until the cleaning robot completes cleaning the pool.

[0022] If the robot determines there are no obstacles ahead, it means the robot's current path is safe and free of obstacles that could hinder its normal operation. In this case, the control system returns to the process of acquiring the ultrasonic sensor's forward detection information and the robot's operating status at the time of that information acquisition. This is a cyclical detection process, and by continuously acquiring new detection information and operating status, the robot can monitor changes in the environment ahead in real time. Because the pool environment can be dynamic, new obstacles may appear at any time during the cleaning process.

[0023] Step S203: If there is an obstacle, the cleaning robot is controlled to go down the wall and go up the wall through the next determined wall-climbing point to avoid the obstacle.

[0024] When step S202 determines that an obstacle exists in front of the cleaning robot, an obstacle avoidance operation is performed, controlling the cleaning robot to descend the wall. The "wall" here can be understood as a location where the water level is located, such as the edge of a pool. Descending the wall means that the cleaning robot leaves its current path along the water level and then ascends the wall via the next determined ascending point. The next ascending point is a new location calculated by the control system based on map information, obstacle location, and other factors after the cleaning robot descends the wall. The cleaning robot moves to this location and then returns to the water level to continue cleaning, thus avoiding the obstacle in front.

[0025] In an embodiment of the present application, when the cleaning robot moves along the water level line with one side of the ultrasonic sensor facing downward, the detection information collected by the ultrasonic sensor in the forward direction and the operating status when the detection information is collected are obtained. Based on the operating status and the detection information, it is determined whether there is an obstacle in front of the cleaning robot. If there is an obstacle, the cleaning robot is controlled to descend the wall and ascend the wall through the next determined ascending point to avoid the obstacle. The operating status of the cleaning robot and the detection information of the ultrasonic sensor are used to determine whether there is an obstacle. If there is an obstacle, the obstacle is avoided. In this way, obstacles in the pool are identified during the translation of the water level line, so that the cleaning of the water level line can be completed automatically.

[0026] like Figure 3 FIG. 2 is a flow chart of an obstacle avoidance method for water level sweeping provided in a third embodiment of the present invention. In step S201, it is determined whether there is an obstacle in front of the cleaning robot based on the operating status and detection information. The following steps may be included: Step S301: extract the real-time distance of the ultrasonic feedback in the detection information, and determine whether the real-time distance is less than a preset first fixed distance.

[0027] Step S302: If the real-time distance is less than the preset first fixed distance, the cleaning robot is controlled to go down the wall and go up the wall through the next determined wall-climbing point to avoid obstacles.

[0028] Among them, the control system first extracts the real-time distance of ultrasonic feedback from the detection information collected by the ultrasonic sensor. As mentioned earlier, the ultrasonic sensor works by emitting ultrasonic waves and receiving reflected waves. Based on the time it takes for the ultrasonic wave to be transmitted and received, combined with the propagation speed of the ultrasonic wave in the air, the distance between the object in front and the sensor can be calculated. This distance is the real-time distance.

[0029] The control system compares the extracted real-time distance with a preset first fixed distance. This first fixed distance is a safety threshold set during the cleaning robot's design or programming phase. It represents the minimum safe distance the cleaning robot must maintain from any obstacles ahead. By determining whether the real-time distance is less than this preset first fixed distance, the control system can preliminarily determine whether there might be an obstacle ahead. For example, if the preset fixed distance is 3 meters, a real-time distance of 2 meters would qualify as less than the preset fixed distance.

[0030] Among them, when it is determined in step S301 that the real-time distance is less than the preset first fixed distance, it means that the distance between the cleaning robot and the object in front is too close and there may be a risk of collision. At this time, it is necessary to trigger the obstacle avoidance operation.

[0031] Similar to step S203 above, the control system directs the cleaning robot to descend the wall, essentially moving it off its current path along the waterline. It then ascends the wall via the previously determined next ascending point. This is determined based on various factors, including the robot's map information and the location and range of obstacles. After reaching this point, the robot returns to the waterline and resumes its cleaning operation, thus avoiding obstacles ahead and ensuring its safety while continuing its cleaning task.

[0032] In this embodiment, whether obstacle avoidance is required is determined simply and directly by comparing the real-time distance with the preset fixed distance, thereby providing conditions for subsequent obstacle avoidance actions.

[0033] like Figure 4 FIG. 2 is a flow chart of an obstacle avoidance method during a water level sweep provided by a fourth embodiment of the present invention. After the real-time distance is less than a preset fixed distance in step S301, the obstacle avoidance method during a water level sweep may further include the following steps: Step S401: Obtain a preset first detection time, and determine a target detection time within the first detection time range according to the preset first detection time.

[0034] Step S402: within a preset first detection time, perform continuous detection using an ultrasonic sensor to obtain N relative distances detected by the sensor, where N is an integer greater than zero.

[0035] Step S403: Obtain the second detection time of the N detected relative distances, and determine whether the second detection time meets the target detection time.

[0036] Step S404: If the preset target detection time is met, determine whether the N detected relative distances are less than the preset second fixed distance. If the N detected relative distances are less than the preset second fixed distance, there is an obstacle in front of the cleaning robot.

[0037] In the cleaning robot's obstacle avoidance system, developers pre-set a first detection time for targeted obstacle detection. This time can be determined based on factors such as the cleaning robot's operating scenario and movement speed. For example, if the cleaning robot is operating in a complex environment, a relatively long first detection time may be set to allow for a more comprehensive detection of the surroundings. If the environment is relatively simple, the detection time can be set shorter.

[0038] According to the preset first detection time, determine the target detection time within this time range. This step is equivalent to defining a time window, and subsequent detection data will be screened and analyzed within this time window. During the preset first detection time, the ultrasonic sensor will perform continuous detection and continuously collect information on the relative distance to the object in front. During this period of time, the ultrasonic sensor will measure multiple times. If the total second detection time of the N detected relative distances meets the target detection time, and the relative distances are all less than the preset second fixed distance, then it can be determined that there is an obstacle in front of the cleaning robot. At this time, the obstacle avoidance system of the cleaning robot will take corresponding obstacle avoidance measures based on this judgment result, such as changing the direction of movement, stopping forward, etc., to avoid collision with obstacles. For example, to solve the problem of ultrasonic noise values causing the robot to falsely trigger the logic, the robot's translation speed v is used, the strategy controls the distance to 2 meters, and calculates the theoretical time t required for the robot to reach the detected obstacle position. Only when the right ultrasonic value is detected to be less than 2 meters for more than 20% of the time within time t is it considered to be close to the obstacle. Otherwise, it is considered to be the ultrasonic sensor noise value.

[0039] Optionally, after an obstacle exists in front of the cleaning robot in step S404, the obstacle avoidance method during the water level sweep may further include the following steps: Obtain a preset fixed time, and within the preset fixed time, detect whether the detection information has a relative distance; If there is no relative distance, the cleaning robot is controlled to go down the wall and go up the wall through the next determined wall-climbing point to avoid the obstacle.

[0040] First, a preset fixed time is obtained. This fixed time is a period of time set in advance during the design phase. Its purpose is to give the control system a specific amount of time to continuously observe the situation ahead. For example, this fixed time can be set to 3 seconds, which defines the time range for subsequent detection operations.

[0041] During this preset fixed time, the control system continuously checks the detection information collected by the ultrasonic sensor for the presence of the relative distance described in the above steps. The relative distance is calculated based on the propagation time between the ultrasonic sensor and the object in front of it. Detecting the relative distance depends on whether the ultrasonic sensor can properly receive the reflected wave and calculate a valid distance value.

[0042] If the detection information does not contain a relative distance within a preset fixed time, this could indicate a variety of situations. For example, ultrasound itself has a blind spot at close range, preventing detection; or the obstacle ahead may be a highly absorbent object, resulting in almost no reflected waves returning after the ultrasound is transmitted; or the ultrasonic sensor may be faulty and not functioning properly. In either case, the current detection situation is abnormal, and it may be dangerous for the cleaning robot to continue along its original route. When the relative distance does not exist, the control system controls the cleaning robot to descend the wall.

[0043] In this embodiment, by extracting relative distances multiple times within a certain period of time and making comprehensive judgments, the cleaning robot can make more accurate and reliable judgments on obstacles ahead when sweeping the water level line, reducing the possibility of misjudgment, thereby better ensuring the effectiveness of obstacle avoidance and the smooth progress of cleaning work.

[0044] like Figure 5 FIG. 2 is a flow chart of an obstacle avoidance method for a water level line sweep provided in a fifth embodiment of the present invention. After the cleaning robot moves along the water level line with one side of the ultrasonic sensor facing right in step S201, the obstacle avoidance method for a water level line sweep may further include the following steps: Step S501 : within a preset fixed frequency, controlling the cleaning robot to dive into the water so that the ultrasonic sensor acquires underwater information collected forward by the ultrasonic sensor below the water level line.

[0045] Enter this step after the cleaning robot moves along the water level line with the ultrasonic sensor side facing downward. The control system controls the robot's movements at a preset fixed frequency. This frequency is a pre-set interval, such as every minute. This allows for regular monitoring of the underwater environment to ensure that no obstacles are missed. The robot then dives into the water at a fixed frequency. During this submersion, it uses ultrasonic sensors to collect underwater information.

[0046] Step S502: extracting the underwater feedback distance of the ultrasonic feedback in the underwater information, and determining whether the underwater feedback distance is less than a preset obstacle distance.

[0047] The underwater feedback distance of the ultrasonic feedback is extracted from the collected underwater information. This underwater feedback distance is calculated based on the propagation time of the ultrasonic wave in water and reflects the distance between the ultrasonic sensor and the underwater object in front. The extracted underwater feedback distance is compared with the preset obstacle distance, which is a safety threshold determined during the design phase. If the underwater feedback distance is less than this preset obstacle distance, it means that there is an object close to the cleaning robot in front of it, which may pose a collision risk to the cleaning robot.

[0048] Step S503: If the underwater feedback distance is less than the preset obstacle distance, the cleaning robot is controlled to go down the wall and go up the wall through the next determined wall-climbing point to avoid the obstacle.

[0049] When the underwater feedback distance is less than the preset obstacle distance, it indicates an obstacle ahead and the robot could collide with it if it continues on its original route. The control system then directs the robot to descend the wall, moving it away from its current path along the waterline. The robot then ascends the wall via the determined next ascending point, avoiding the underwater obstacle and ensuring its safety while continuing its cleaning task.

[0050] In this embodiment, by regularly inspecting the underwater environment and judging obstacles while the cleaning robot is operating along the water level line, and taking timely obstacle avoidance measures when underwater obstacles are found, it is ensured that the cleaning robot can complete the cleaning task safely and efficiently in a complex water level environment.

[0051] like Figure 6 FIG. 1 is a flow chart of an obstacle avoidance method for level sweeping a water level provided by a sixth embodiment of the present invention. In step S202, judging whether there is an obstacle in front of the cleaning robot based on the operating status and detection information may further include the following steps: Step S601: extract the vertical acceleration of the robot in the running state.

[0052] Step S602 , detecting whether the vertical acceleration meets the preset acceleration value. If the vertical acceleration does not meet the preset acceleration value, detecting whether the running time of the cleaning robot at the vertical acceleration meets the preset standard time.

[0053] Step S603: If the running time does not meet the preset standard time, the cleaning robot is controlled to go down the wall and go up the wall through the next determined wall-climbing point to avoid obstacles.

[0054] The vertical acceleration can be obtained by the accelerometer installed inside the cleaning robot. Extracting the vertical acceleration provides a basis for determining whether there are obstacles ahead. When the cleaning robot encounters an obstacle, its motion state changes, and the vertical acceleration changes accordingly. By analyzing the vertical acceleration, it can be inferred whether the cleaning robot has encountered an abnormal situation.

[0055] The control system compares the extracted vertical acceleration with a preset acceleration value. The preset acceleration value is a standard range or specific value for the vertical acceleration of the cleaning robot during normal operation. If the detected vertical acceleration does not meet the preset acceleration value, this may indicate that the cleaning robot's operating state is abnormal, perhaps encountering an obstacle or other interference that has affected its normal movement. If the vertical acceleration does not meet the preset value, the control system further checks whether the cleaning robot's operating time at this abnormal vertical acceleration meets the preset standard time. The preset standard time is a time threshold for judgment. If the operating time is short, it may be just a brief interference. However, if the operating time exceeds the preset standard time, it is more likely that an obstacle ahead is causing the cleaning robot to continue in an abnormal state of motion. If the operating time does not meet the preset standard time, combined with the previous abnormal vertical acceleration, it can be more confidently determined that there may be an obstacle ahead of the cleaning robot, and continuing along the original route may pose a collision risk.

[0056] The process from steps S601 to S603 is designed to address situations where the ultrasonic sensor is likely invisible, such as in hollow scenes like swimming pool ladders. For example, if the robot spends more than 50% of its time in the vertical position within the first minute, it is considered to be stuck by an invisible obstacle, and the robot is controlled to climb down the wall and search for the next point to climb up.

[0057] In this embodiment, by monitoring and analyzing the vertical acceleration of the cleaning robot and its running time, a new method and basis is provided for judging whether there is an obstacle ahead, thereby increasing the accuracy and reliability of the cleaning robot's obstacle avoidance judgment.

[0058] like Figure 7The figure shows a schematic diagram of an obstacle avoidance device for horizontal sweeping of a water level provided by the seventh embodiment of the present invention. The obstacle avoidance device for horizontal sweeping of a water level corresponds one-to-one to the obstacle avoidance method for horizontal sweeping of a water level in the above embodiment. The obstacle avoidance device for horizontal sweeping of a water level is applied to a cleaning robot, and an ultrasonic sensor is provided on the side of the cleaning robot. The obstacle avoidance device for horizontal sweeping of a water level includes an information acquisition module 71, a judgment module 72, and a control module 73. The functional modules are described in detail as follows: The information collection module 71 is used to obtain the detection information collected by the ultrasonic sensor along the water level line and the operating status when the ultrasonic sensor collects the detection information when the cleaning robot moves along the water level line and faces the right side; The judgment module 72 is used to judge whether there is an obstacle in front of the cleaning robot according to the operating status and detection information; The control module 73 is used to control the cleaning robot to go down the wall if there is an obstacle, and to go up the wall through the next determined wall-climbing point to avoid the obstacle.

[0059] Optionally, the judgment module 72 includes: a distance determination unit, configured to extract the real-time distance of the ultrasonic feedback in the detection information and determine whether the real-time distance is less than a preset first fixed distance; The distance result execution unit is used to control the cleaning robot to go down the wall if the real-time distance is less than the preset first fixed distance, and to go up the wall through the determined next wall-climbing point to avoid obstacles.

[0060] Optionally, the judgment module 72 further includes: a target time determination unit, configured to obtain a preset first detection time, and determine a target detection time within the first detection time range according to the preset first detection time; A relative distance detection unit, configured to perform continuous detection using an ultrasonic sensor within a preset first detection time to obtain N relative distances detected by the sensor, where N is an integer greater than zero; a target time determination unit, configured to obtain second detection times of N detected relative distances and determine whether the second detection times meet the target detection time; The obstacle determination unit is used to determine whether the N detected relative distances are less than a preset second fixed distance if the preset target detection time is met. If the N detected relative distances are less than the preset second fixed distance, there is an obstacle in front of the cleaning robot.

[0061] Optionally, the obstacle avoidance device during the water level sweep further includes: The distance detection module is used to obtain a preset fixed time after there is an obstacle in front of the cleaning robot, and detect whether there is a relative distance in the detection information within the preset fixed time; The control module is used to control the cleaning robot to go down the wall if there is no relative distance, and to go up the wall through the next determined wall-climbing point to avoid obstacles.

[0062] Optionally, the obstacle avoidance device during the water level sweep further includes: The underwater acquisition module is used to control the cleaning robot to dive into the water within a preset fixed frequency when the cleaning robot moves along the water level line and one side of the ultrasonic sensor faces right, so that the ultrasonic sensor can obtain underwater information collected by the ultrasonic sensor forward below the water level line; An underwater distance judgment module is used to extract the underwater feedback distance of the ultrasonic feedback in the underwater information and judge whether the underwater feedback distance is less than a preset obstacle distance; The underwater distance execution module is used to control the cleaning robot to go down the wall and climb up the wall through the next determined wall climbing point to avoid obstacles if the underwater feedback distance is less than the preset obstacle distance.

[0063] Optionally, the judgment module 72 further includes: A vertical velocity extraction unit, used to extract the vertical acceleration of the robot in the running state; an acceleration detection unit, configured to detect whether the vertical acceleration meets a preset acceleration value, and if the vertical acceleration does not meet the preset acceleration value, to detect whether the running time of the cleaning robot at the vertical acceleration meets a preset standard time; The time execution unit is used to control the cleaning robot to go down the wall and climb up the wall through the next determined climbing point to avoid obstacles if the running time does not meet the preset standard time.

[0064] Optionally, the obstacle avoidance device during the water level sweep further includes: The return execution module is used to determine whether there is an obstacle in front of the cleaning robot based on the operating status and detection information. If there is no obstacle, it returns to the step of obtaining the detection information collected by the ultrasonic sensor to the front and the operating status when the detection information is collected, until the cleaning robot completes cleaning the pool.

[0065] For the specific definition of the obstacle avoidance device during the horizontal sweep of the water level line, please refer to the definition of the obstacle avoidance method during the horizontal sweep of the water level line above, and will not be repeated here. The various modules in the above-mentioned obstacle avoidance device during the horizontal sweep of the water level line can be implemented in whole or in part by software, hardware, and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0066] like Figure 8 The figure shows a schematic diagram of the structure of a computer device provided in accordance with an eighth embodiment of the present invention. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, an obstacle avoidance method for water level scanning is implemented.

[0067] In one embodiment, a computer device is provided, 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 obstacle avoidance method during the water level line scanning in the above embodiment is implemented, for example Figures 2 to 6 Alternatively, when the processor executes the computer program, the functions of the modules / units in the embodiment of the obstacle avoidance device during water level sweeping are realized, such as Figure 7 The functions of the information collection module 71 , the judgment module 72 , and the control module 73 are not described here in detail to avoid repetition.

[0068] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the obstacle avoidance method during the water level sweep in the above embodiment is implemented, such as Figures 2 to 6 Alternatively, when the computer program is executed by the processor, the functions of the modules / units in the embodiment of the obstacle avoidance device during the water level sweep are realized, for example, Figure 7 The functions of the information collection module 71, the judgment module 72, and the control module 73 are not described here in detail to avoid repetition. The computer-readable storage medium may be non-volatile or volatile.

[0069] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the 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-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0070] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by 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.

[0071] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection of the present invention.

Claims

1. A method for avoiding obstacles during water level sweeping, characterized in that: The obstacle avoidance method during the horizontal sweep of the water level line is applied to a cleaning robot, wherein an ultrasonic sensor is provided on the side of the cleaning robot. The obstacle avoidance method during the horizontal sweep of the water level line includes: When the cleaning robot moves along the water level line and one side of the ultrasonic sensor faces right, acquiring detection information collected by the ultrasonic sensor forward along the water level line and the operating state when the detection information is collected; Determining whether there is an obstacle in front of the cleaning robot according to the operating state and the detection information; If there is an obstacle, the cleaning robot is controlled to go down the wall and go up the wall through the next determined wall-climbing point to avoid the obstacle.

2. The obstacle avoidance method during water level sweeping according to claim 1, characterized in that: The determining, based on the operating state and the detection information, whether there is an obstacle in front of the cleaning robot includes: Extracting the real-time distance of the ultrasonic feedback in the detection information, and determining whether the real-time distance is less than a preset first fixed distance; If the real-time distance is less than the preset first fixed distance, the cleaning robot is controlled to go down the wall and go up the wall through the determined next wall-climbing point to avoid the obstacle.

3. The obstacle avoidance method during water level sweeping according to claim 1, characterized in that: The determining, based on the operating state and the detection information, whether there is an obstacle in front of the cleaning robot further includes: Obtaining a preset first detection time, and determining a target detection time within the first detection time range based on the preset first detection time; During the preset first detection time, the ultrasonic sensor is used to continuously detect to obtain N relative distances detected by the sensor, where N is an integer greater than zero; Obtaining second detection times of the N detected relative distances, and determining whether the second detection times match the target detection time; If the preset target detection time is met, it is determined whether the N detected relative distances are less than the preset second fixed distance. If the N detected relative distances are less than the preset second fixed distance, there is an obstacle in front of the cleaning robot.

4. The obstacle avoidance method during water level sweeping according to claim 3, characterized in that: After an obstacle is encountered in front of the cleaning robot, the method further includes: Obtaining a preset fixed time, and detecting whether the detection information contains the relative distance within the preset fixed time; If the relative distance does not exist, the cleaning robot is controlled to go down the wall and go up the wall through the next determined wall-climbing point to avoid the obstacle.

5. The obstacle avoidance method during water level sweeping according to claim 1, characterized in that: After the cleaning robot moves along the water level line with one side of the ultrasonic sensor facing right, the method further includes: Controlling the cleaning robot to dive into the water within a preset fixed frequency so that the ultrasonic sensor acquires underwater information collected forward by the ultrasonic sensor below the water level line; Extracting the underwater feedback distance of the ultrasonic feedback in the underwater information, and determining whether the underwater feedback distance is less than a preset obstacle distance; If the underwater feedback distance is less than the preset obstacle distance, the cleaning robot is controlled to go down the wall and go up the wall through the determined next wall-climbing point to avoid the obstacle.

6. The obstacle avoidance method during water level sweeping according to claim 1, characterized in that: The determining, based on the operating state and the detection information, whether there is an obstacle in front of the cleaning robot further includes: extracting the vertical acceleration of the robot in the running state; detecting whether the vertical acceleration meets a preset acceleration value, and if the vertical acceleration does not meet the preset acceleration value, detecting whether the running time of the cleaning robot at the vertical acceleration meets a preset standard time; If the running time does not meet the preset standard time, the cleaning robot is controlled to go down the wall and go up the wall through the next determined wall-climbing point to avoid obstacles.

7. The obstacle avoidance method during water level sweeping according to claim 1, characterized in that: After determining whether there is an obstacle in front of the cleaning robot according to the operating state and the detection information, the method further includes: If the obstacle does not exist, the process returns to the step of obtaining the detection information collected forward by the ultrasonic sensor and the operating status when the detection information is collected, until the cleaning robot completes cleaning the pool.

8. An obstacle avoidance device for water level sweeping, characterized in that: The obstacle avoidance device during the horizontal sweep of the water level line is applied to the cleaning robot. An ultrasonic sensor is provided on the side of the cleaning robot. The obstacle avoidance device during the horizontal sweep of the water level line includes: an information collection module, configured to obtain, when the cleaning robot moves along the water level line and one side of the ultrasonic sensor faces right, detection information collected forward along the water level line by the ultrasonic sensor, and an operating state when the detection information is collected; a judgment module, configured to judge whether there is an obstacle in front of the cleaning robot according to the operating state and the detection information; The control module is used to control the cleaning robot to go down the wall if there is an obstacle, and to go up the wall through the next determined wall-climbing point to avoid the obstacle.

9. A computer 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 obstacle avoidance method during water level scanning according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the obstacle avoidance method during water level scanning according to any one of claims 1 to 7 is implemented.

Images