Obstacle identification method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of cleaning equipment, and discloses an obstacle recognition method and device, electronic equipment and a storage medium. The method is applied to the self-moving cleaning equipment, the self-moving cleaning equipment comprises a sensor assembly and a moving part, and the sensor assembly is used for transmitting a signal to the surface of an obstacle and receiving a signal reflected by the surface of the obstacle; the method comprises the steps that when the moving part stops moving, whether the moving part blocks a signal path of the sensor assembly or not is determined; and if the moving part blocks the signal path of the sensor assembly, controlling the moving part to move, so that the moving part does not block the signal path of the sensor assembly. The problem that the sensor assembly cannot detect a cliff and the risk of falling occurs due to the fact that the sensor assembly is shielded when the moving part stops can be avoided.

Description

Technical Field

[0001] The present disclosure relates to the technical field of cleaning equipment, and in particular to an obstacle recognition method and device, an electronic device, and a storage medium. Background Art

[0002] As people's living standards improve, self-propelled cleaning devices (such as sweeping robots) have gradually become part of their daily lives. Currently, sweeping robots are typically equipped with a side brush and a cliff sensor on their bottom. The side brush is sometimes mounted below the cliff sensor. Under normal operating conditions, the side brush begins rotating as soon as the robot is turned on for cleaning, while the cliff sensor simultaneously detects and determines whether there are any cliffs nearby. Summary of the Invention

[0003] In response to the above situation, the embodiments of the present application provide an obstacle recognition method and device, an electronic device, and a storage medium, which aim to solve the above problems or at least partially solve the above problems.

[0004] In a first aspect, an embodiment of the present application provides an obstacle identification method, which is applied to a self-moving cleaning device, wherein the self-moving cleaning device includes a sensor assembly and a moving part, wherein the sensor assembly is used to transmit a signal to the surface of an obstacle and receive a signal reflected by the surface of the obstacle; the method includes: when the moving part stops moving, determining whether the moving part blocks the signal path of the sensor assembly; if the moving part blocks the signal path of the sensor assembly, controlling the movement of the moving part so that the moving part does not block the signal path of the sensor assembly.

[0005] In some embodiments, the sensor component is a time-of-flight (TOF) sensor, an ultrasonic sensor, an infrared sensor, or a radar sensor.

[0006] In some embodiments, determining whether the moving part blocks the signal path of the sensor assembly includes: determining a first distance between the sensor assembly and the obstacle surface based on a signal emitted by the sensor assembly to the obstacle surface and a signal reflected by the obstacle surface; if the first distance is less than or equal to a preset threshold and the first distance is within a preset threshold range, determining that the moving part blocks the signal path of the sensor assembly.

[0007] In some embodiments, controlling the movement of the moving part so that the moving part does not block the signal path of the sensor component includes: controlling the movement of the moving part and determining a second distance between the sensor component and the obstacle surface; when the second distance is greater than a preset threshold, determining that the moving part does not block the signal path of the sensor component.

[0008] In some embodiments, the method further includes: determining whether the second distance is greater than a preset cliff threshold; if the second distance is greater than the preset cliff threshold, determining that the sensor assembly detects a cliff.

[0009] In some embodiments, the method further includes: determining N times when the distance between the sensor assembly and the obstacle surface is less than a preset threshold or is within a preset threshold range, where N is determined based on the number of cleaning arms of the moving part, and N is a positive integer; and determining the actual rotational speed of the moving part based on the N times.

[0010] In some embodiments, the method further includes: determining a target rotational speed of the moving part based on a current cleaning scenario; and adjusting an actual rotational speed of the moving part to the target rotational speed.

[0011] In a second aspect, an embodiment of the present application further provides an obstacle identification device, characterized in that the device includes: a processing module for determining whether the moving part blocks the signal path of the sensor assembly when the moving part stops moving; if the moving part blocks the signal path of the sensor assembly, controlling the movement of the moving part so that the moving part does not block the signal path of the sensor assembly; wherein the sensor assembly is used to transmit a signal to the obstacle surface and receive a signal reflected by the obstacle surface.

[0012] In some embodiments, the sensor component is a time-of-flight (TOF) sensor, an ultrasonic sensor, an infrared sensor, or a radar sensor.

[0013] In some embodiments, the processing module is specifically used to determine a first distance between the sensor component and the obstacle surface based on a signal emitted by the sensor component to the obstacle surface and a signal reflected by the obstacle surface; if the first distance is less than or equal to a preset threshold and the first distance is within a preset threshold range, it is determined that the moving part blocks the signal path of the sensor component.

[0014] In some embodiments, the processing module is specifically used to control the movement of the moving part and determine a second distance between the sensor component and the obstacle surface; when the second distance is greater than a preset threshold, it is determined that the moving part does not block the signal path of the sensor component.

[0015] In some embodiments, the processing module is further configured to determine whether the second distance is greater than a preset cliff threshold; if the second distance is greater than the preset cliff threshold, it is determined that the sensor assembly detects a cliff.

[0016] In some embodiments, the processing module is also used to determine N times when the distance between the sensor component and the obstacle surface is less than a preset threshold or is within a preset threshold range, where N is determined based on the number of cleaning arms of the moving part, and N is a positive integer; based on the N times, the actual rotational speed of the moving part is determined.

[0017] In some embodiments, the processing module is further configured to determine a target rotational speed of the moving part based on a current cleaning scenario; and adjust the actual rotational speed of the moving part to the target rotational speed.

[0018] In a third aspect, an embodiment of the present application further provides an electronic device comprising: a processor; and a memory arranged to store computer-executable instructions, wherein the executable instructions, when executed, cause the processor to perform the steps of the first aspect described above.

[0019] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple applications, the electronic device performs the steps of the first aspect above.

[0020] At least one of the above-mentioned technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: by configuring the sensor assembly of the self-moving cleaning device to be able to transmit a signal to the surface of an obstacle and receive a signal reflected by the surface of the obstacle, when the moving part stops moving, it is possible to determine whether the moving part has blocked the sensor assembly by judging whether the moving part has blocked the signal path of the sensor assembly. When it is determined that the moving part has blocked the sensor assembly, the moving part is controlled to continue moving until the moving part no longer blocks the signal path of the sensor assembly. Therefore, through this solution, the moving part can be stopped at a position where it does not block the sensor assembly, so that the sensor assembly can accurately detect the cliff in real time and avoid the risk of falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0022] Figure 1 A schematic structural diagram of a self-moving cleaning device provided in an embodiment of the present application is shown;

[0023] Figure 2 A schematic diagram of the process of the obstacle identification method provided in an embodiment of the present application is shown;

[0024] Figure 3 A flowchart of an obstacle identification method provided by another embodiment of the present application is shown;

[0025] Figure 4 A flowchart of a cliff determination method provided by an embodiment of the present application is shown;

[0026] Figure 5 A flow chart of a method for determining a rotational speed according to an embodiment of the present application is shown;

[0027] Figure 6 The following is a structural diagram of an obstacle recognition device provided in an embodiment of the present application;

[0028] Figure 7 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0030] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that such usage is interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the term "including" and its variations are to be interpreted as open-ended terms meaning "including but not limited to."

[0031] As described in the background technology, when the side brush is installed under the cliff sensor, if the side brush is in an inappropriate position when it stops rotating, it may block the detection path of the cliff sensor, causing the emitted or reflected light to be blocked and intercepted by the cleaning arm of the side brush, making the received signal weak or no received signal, causing the machine to mistakenly judge it as a cliff, resulting in a misjudgment.

[0032] Based on this, the present invention proposes an obstacle recognition method, which determines whether a moving part blocks the sensor component through the signal sent by the sensor component to the obstacle surface and the signal reflected by the obstacle.

[0033] The present application is described in detail below through specific embodiments.

[0034] Figure 1 The structure diagram of the self-moving cleaning device according to an embodiment of the present application is shown. The obstacle recognition method provided by the embodiment of the present application can be realized by Figure 1 Device implementation. Figure 1 It can be seen that the self-moving cleaning device includes a moving part and a sensor assembly.

[0035] In some embodiments, the moving part includes a plurality of cleaning arms ( Figure 1 The moving parts shown include three cleaning arms, but it is worth noting that the moving arms in the embodiment of the present application are not limited to three cleaning arms), and the moving parts rotate along an axis perpendicular to the base of the self-moving cleaning device for cleaning the floor.

[0036] In some embodiments, the sensor assembly is configured to transmit a signal to the surface of an obstacle and receive a signal reflected by the surface of the obstacle. In one embodiment, the sensor assembly is a time-of-flight (TOF) sensor, an ultrasonic sensor, an infrared sensor, or a radar sensor. For example, when the sensor assembly is a TOF sensor, the TOF sensor transmits an infrared light signal, which is reflected after encountering an obstacle. The distance between the TOF sensor and the obstacle is determined by the time difference or phase difference between the transmitted signal and the reflected signal. For another example, when the sensor assembly is an ultrasonic sensor, the ultrasonic sensor transmits an ultrasonic wave, which is reflected after encountering an obstacle. The distance between the ultrasonic sensor and the obstacle is determined by the time difference or phase difference between the transmitted signal and the reflected signal.

[0037] In the embodiment of the present application, since the TOF sensor has a high measurement frequency and high measurement accuracy, it can detect the distance between the TOF sensor and the obstacle at a detection frequency of 125HZ, and the resolution can reach the millimeter level. Therefore, the TOF sensor can more accurately and in real time determine whether the moving part blocks the sensor component. Therefore, the sensor component in the embodiment of the present application preferably uses a TOF sensor.

[0038] It should be noted that this application is not limited to Figure 1 The self-moving cleaning device shown can be any system, device, or framework that can implement the business logic of this application. Figure 1 This is for illustrative purposes only.

[0039] Figure 2 A schematic diagram of a flow chart of an obstacle identification method according to an embodiment of the present application is shown. Figure 2 It can be seen that the method may include steps S101-S102:

[0040] Step S101: When the moving part stops moving, determine whether the moving part blocks the signal path of the sensor component.

[0041] The sensor assembly can transmit a signal to the surface of the obstacle and receive a signal reflected by the obstacle. In one embodiment, the sensor's transmitted signal and the obstacle's reflected signal are used to determine whether the moving part blocks the sensor assembly's signal path.

[0042] In some embodiments, the sensor assembly includes a ranging sensor, such as a TOF sensor, an ultrasonic sensor, an infrared sensor, or a radar sensor.

[0043] It should be noted that the moving member in the embodiment of the present application has both lifting and retracting functions. While the moving member is lifting, retracting, and retracting, it must stop rotating. However, the detection frequency for determining whether the moving member is blocking the sensor assembly's signal path is very high in the embodiment of the present application. Therefore, the self-propelled cleaning device does not need to stop moving when the moving member stops. Step S102: If the moving member is blocking the sensor assembly's signal path, the moving member is controlled to move so that it does not block the sensor assembly's signal path.

[0044] In an embodiment of the present application, whether the moving part blocks the sensor component is determined by judging whether the moving part blocks the signal path of the sensor component. If it is determined that the moving part blocks the sensor component, the moving part is controlled to move until the moving part no longer blocks the sensor component, so that the sensor component can continuously detect the cliff in real time to avoid the risk of falling.

[0045] In another embodiment of the present application, if it is determined that the moving part does not block the sensor assembly when it stops, it proves that the sensor assembly can normally detect the cliff, and the moving part does not need to move.

[0046] In some embodiments of the present application, if the moving part obstructs the sensor assembly, the signal transmitted by the sensor assembly will be reflected back by the moving part when it reaches the moving part. If the moving part does not obstruct the sensor assembly, the sensor assembly transmits the signal to the ground or other obstruction surface. Since both the moving part and the sensor assembly are located on the self-propelled cleaning device, the distance from the sensor assembly to the moving part should be significantly less than the distance from the sensor assembly to the ground or other obstruction. Therefore, by determining the distance between the sensor assembly and the obstacle that reflects the signal, it is possible to determine whether the obstacle that reflects the signal is the moving part or another object.

[0047] Figure 3 A schematic diagram of a flow chart of an obstacle identification method according to an embodiment of the present application is shown. Figure 3 It can be seen that the method may include steps S201-S202:

[0048] Step S201: determining a first distance between the sensor component and the obstacle surface based on a signal transmitted by the sensor component to the obstacle surface and a signal reflected by the obstacle surface.

[0049] In some embodiments, the first distance is determined based on a time difference between a signal transmitted by the sensor assembly to the obstacle surface and a signal reflected by the obstacle surface.

[0050] Step S202: If the first distance is less than or equal to a preset threshold, or the first distance is within a preset threshold range, it is determined that the moving part blocks the signal path of the sensor assembly.

[0051] In some embodiments, the preset threshold is a distance value preset based on the distance from the moving part to the sensor assembly.

[0052] In some embodiments, the preset threshold range is a distance range pre-set based on the distance from the moving part to the sensor component. Considering that there may be measurement errors when the sensor component performs distance measurement, a preset threshold range needs to be set. When the first distance is within the preset threshold range, it is determined that the moving part has blocked the sensor component.

[0053] In the embodiment of the present application, if the first distance is less than or equal to the preset threshold, it means that the obstacle that reflects the signal is a moving part, so it can be determined that the moving part blocks the sensor component.

[0054] Figure 4 A schematic diagram of a cliff determination method according to an embodiment of the present application is shown. Figure 4 It can be seen that the cliff determination method of this embodiment includes the following steps S301-S302:

[0055] Step S301: controlling the movement of the moving part and determining a second distance between the sensor component and the obstacle surface.

[0056] Step S302: When the second distance is greater than a preset threshold, determine that the moving part does not block the signal path of the sensor assembly.

[0057] In the embodiment of the present application, if the second distance is greater than the preset threshold, it means that the obstacle that reflects the signal is no longer a moving part, that is, the moving part no longer blocks the sensor component, and the sensor component can detect the cliff normally.

[0058] In some embodiments, when the second distance is greater than a preset threshold, it is further determined whether the second distance is greater than a preset cliff threshold. If the second distance is greater than the preset cliff threshold, it means that the sensor component has detected a cliff. At this time, the self-moving cleaning device can be controlled to slow down or change the moving path to avoid the self-moving cleaning device from falling.

[0059] Figure 5 A flow chart of a method for determining a rotational speed according to another embodiment of the present application is shown. Figure 5 It can be seen that the rotation speed determination method of this embodiment includes the following steps S401-S402:

[0060] Step S401: Determine N times when the distance between the sensor component and the obstacle surface is less than a preset threshold or is within a preset threshold range.

[0061] Wherein, N is determined based on the number of cleaning arms of the moving part, and N is a positive integer.

[0062] Step S402: Based on N times, determine the actual rotation speed of the moving part.

[0063] by Figure 1 For example, if the moving part has three cleaning arms and the preset threshold is 10 mm, the moving part will block the sensor assembly three times when the moving part rotates one circle. In one embodiment, by determining three consecutive time points at which the distance between the sensor assembly and the obstacle surface is less than 10 mm, the time it takes for the moving part to rotate one circle can be determined, and the rotational speed of the moving part can be further determined. In another embodiment, by determining the first and fourth time points at which the distance between the sensor assembly and the obstacle surface is less than 10 mm, the time it takes for the moving part to rotate one circle can be determined, and the rotational speed of the moving part can be further determined.

[0064] Still Figure 1 For example, if the moving part has three cleaning arms and the preset threshold range is 9.8 mm to 10.2 mm, the moving part will block the sensor assembly three times during one rotation. In one embodiment, by determining three consecutive time points when the distance between the sensor assembly and the obstacle surface is between 9.8 mm and 10.2 mm, the time it takes for the moving part to rotate once can be determined, and the speed of the moving part can be further determined.

[0065] In some embodiments, after determining the actual rotational speed of the moving part, the actual rotational speed of the moving part is adjusted to a target rotational speed corresponding to the current cleaning scene based on the current cleaning scene to adapt to the current cleaning scene.

[0066] In the embodiment of the present application, since the self-moving cleaning device cannot directly control the rotation speed of the moving part, it can only control the rotation speed of the moving part by controlling the gear position. Through the rotational speed measurement of the embodiment of the present application, it can be adjusted to the preset target rotational speed according to the actual rotational speed to adapt to different cleaning occasions. For example, for the wall cleaning scenario, a target rotational speed is set in advance to avoid damaging the side brush by rotating too fast. During actual cleaning, the rotational speed of the moving part is finely controlled according to the determined actual rotational speed of the moving part so that the rotational speed of the moving part reaches the target speed.

[0067] In some embodiments of the present application, an obstacle recognition device is provided, which corresponds one-to-one with the obstacle recognition method in the above embodiment. Figure 6 As shown, the obstacle recognition device includes: a processing module 501. The detailed description of each functional module is as follows:

[0068] The processing module 501 is used to determine whether the moving part blocks the signal path of the sensor assembly when the moving part stops moving; if the moving part blocks the signal path of the sensor assembly, control the movement of the moving part so that the moving part does not block the signal path of the sensor assembly; wherein the sensor assembly is used to transmit a signal to the obstacle surface and receive a signal reflected by the obstacle surface.

[0069] In some embodiments of the present application, in the above device, the sensor component is a time-of-flight TOF sensor, an ultrasonic sensor, an infrared sensor, or a radar sensor.

[0070] In some embodiments of the present application, in the above-mentioned device, the processing module 501 is specifically used to determine a first distance between the sensor component and the obstacle surface based on a signal emitted by the sensor component to the obstacle surface and a signal reflected by the obstacle surface; if the first distance is less than or equal to a preset threshold, or the first distance is within a preset threshold range, it is determined that the moving part blocks the signal path of the sensor component.

[0071] In some embodiments of the present application, the processing module 501 is specifically used to control the movement of the moving part and determine a second distance between the sensor component and the obstacle surface; when the second distance is greater than a preset threshold, it is determined that the moving part does not block the signal path of the sensor component.

[0072] In some embodiments of the present application, the processing module 501 is further configured to determine whether the second distance is greater than a preset cliff threshold; if the second distance is greater than the preset cliff threshold, it is determined that the sensor assembly detects a cliff.

[0073] In some embodiments of the present application, in the above-mentioned device, the processing module 501 is also used to determine N times when the distance between the sensor component and the obstacle surface is less than a preset threshold or is within a preset threshold range, where N is determined based on the number of cleaning arms of the moving part, and N is a positive integer; based on the N times, the actual rotational speed of the moving part is determined.

[0074] In some embodiments of the present application, in the above-mentioned device, the processing module 501 is further used to determine the target rotational speed of the moving part based on the current cleaning scene; and adjust the actual rotational speed of the moving part to the target rotational speed.

[0075] It should be noted that any of the above-mentioned obstacle recognition devices can implement the above-mentioned obstacle recognition method in a one-to-one correspondence, which will not be repeated here.

[0076] Figure 7 FIG. 1 shows a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 7As shown, at the hardware level, the electronic device includes a processor and, optionally, an internal bus, a network interface, and memory. The memory may include internal memory, such as high-speed random-access memory (RAM), and may also include non-volatile memory, such as at least one disk storage device. Of course, the electronic device may also include other hardware required for its services.

[0077] The processor, network interface, and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 7 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0078] The memory is used to store programs. Specifically, the program may include program code, which includes computer operating instructions. The memory may include internal memory and non-volatile memory, and provides instructions and data to the processor.

[0079] The processor reads the corresponding computer program from the non-volatile memory into the internal memory and then runs it, forming an obstacle recognition device at the logical level. The processor executes the program stored in the memory and is specifically used to perform the aforementioned method.

[0080] The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor or by software instructions. The above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The various methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0081] The electronic device can execute the obstacle recognition method provided by multiple embodiments of the present application and realize an obstacle recognition device in Figure 6 The functions of the illustrated embodiment will not be described in detail in the embodiments of the present application.

[0082] An embodiment of the present application also proposes a computer-readable storage medium, which stores one or more programs, each of which includes instructions. When the instructions are executed by an electronic device including multiple application programs, the electronic device can execute the obstacle recognition method provided by multiple embodiments of the present application.

[0083] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0084] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0085] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0086] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0087] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0088] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0089] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0090] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0091] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. An obstacle recognition method, applied to a self-propelled cleaning device, characterized in that: The self-moving cleaning device includes a sensor assembly and a moving part, wherein the sensor assembly is used to transmit a signal to the obstacle surface and receive a signal reflected by the obstacle surface; The method comprises: When the moving member stops moving, determining whether the moving member blocks a signal path of the sensor assembly; If the moving part blocks the signal path of the sensor assembly, the moving part is controlled to move so that the moving part does not block the signal path of the sensor assembly.

2. The method according to claim 1, characterized in that The sensor component is a time-of-flight TOF sensor, an ultrasonic sensor, an infrared sensor or a radar sensor.

3. The method according to claim 1, characterized in that Determining that the moving part blocks the signal path of the sensor assembly includes: determining a first distance between the sensor assembly and the obstacle surface based on a signal transmitted by the sensor assembly to the obstacle surface and a signal reflected by the obstacle surface; If the first distance is less than or equal to a preset threshold, or the first distance is within a preset threshold range, it is determined that the moving part blocks the signal path of the sensor assembly.

4. The method according to claim 1, wherein The controlling the movement of the moving member so that the moving member does not block the signal path of the sensor assembly comprises: controlling the movement of the moving part and determining a second distance between the sensor assembly and the obstacle surface; When the second distance is greater than a preset threshold, it is determined that the moving part does not block the signal path of the sensor assembly.

5. The method according to claim 4, characterized in that The method further comprises: determining whether the second distance is greater than a preset cliff threshold; If the second distance is greater than the preset cliff threshold, it is determined that the sensor assembly detects a cliff.

6. The method according to claim 1, wherein The method further comprises: Determining N times when the distance between the sensor assembly and the obstacle surface is less than a preset threshold or within a preset threshold range, where N is determined based on the number of cleaning arms of the moving part, and N is a positive integer; Based on the N times, the actual rotation speed of the moving part is determined.

7. The method according to claim 6, characterized in that The method further comprises: Determining a target rotational speed of the moving part based on the current cleaning scenario; The actual rotational speed of the moving part is adjusted to the target rotational speed.

8. An obstacle recognition device, characterized in that: The device comprises: a processing module configured to determine, when the moving member stops moving, whether the moving member blocks a signal path of the sensor assembly; and if the moving member blocks the signal path of the sensor assembly, control the moving member to move so that the moving member does not block the signal path of the sensor assembly; The sensor assembly is used to transmit signals to the obstacle surface and receive signals reflected by the obstacle surface.

9. An electronic device comprising: processor; as well as A memory arranged to store computer-executable instructions, wherein when the instructions are executed, the processor performs the steps of the obstacle identification method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of application programs, causes the electronic device to perform the steps of the obstacle identification method according to any one of claims 1 to 7.

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