Obstacle avoidance control method and device of cleaning equipment, cleaning 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, the cleaning equipment and a storage medium, and the method comprises the steps: judging whether an obstacle is a movable obstacle or not; if yes, the cleaning equipment is controlled to move the obstacle; and judging whether the obstacle is successfully moved or not. According to the method provided by the invention, whether the obstacle is movable or not is judged, and whether the obstacle is successfully moved or not is verified after the obstacle which is judged to be the movable obstacle is moved, so that the problem of walking omission in a movable obstacle area is effectively solved.

Description

Technical Field

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

[0002] With the continuous development of science and technology, automatic cleaning equipment is increasingly entering our daily lives, replacing manpower to complete floor cleaning tasks.

[0003] Existing cleaning equipment usually calculates a travel path based on a map and then moves along the path. However, during the movement of the cleaning equipment, it may encounter dynamic obstacles that block the path.

[0004] In some cases, dynamic obstacles can be movable rigid objects such as small toys, or movable flexible objects such as hanging curtains. In these cases, if the cleaning equipment adopts a detour avoidance strategy, it will cause missed objects and affect the cleaning effect.

[0005] Therefore, there is an urgent need to propose an obstacle avoidance control method for cleaning equipment against movable obstacles. Summary of the Invention

[0006] To solve the above problems, the present application provides an obstacle avoidance control method, device, cleaning equipment and storage medium for cleaning equipment. By judging whether the obstacle is movable, the obstacle judged as a movable obstacle is moved and then verifying whether the obstacle is successfully moved. The obstacles that are successfully moved continue to move, and the obstacles that are not successfully moved give up moving, thereby effectively solving the problem of walking omissions in the movable obstacle area.

[0007] This application adopts the following technical solutions:

[0008] In a first aspect, the present application provides an obstacle avoidance control method for a cleaning device, the method comprising:

[0009] Determine whether the obstacle is a movable obstacle;

[0010] If so, control the cleaning equipment to move the obstacle;

[0011] Determine whether the obstacle has been moved successfully.

[0012] In a second aspect, the present application provides an obstacle avoidance control device for a cleaning device, the device comprising:

[0013] a first judging unit, configured to judge whether the obstacle is a movable obstacle;

[0014] A moving unit for controlling the cleaning equipment to move obstacles;

[0015] The second judging unit is used to judge whether the obstacle is successfully moved.

[0016] In a third aspect, the present application provides a cleaning device, comprising 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 for the cleaning device are implemented.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, which implements the steps of the above-mentioned obstacle avoidance control method for cleaning equipment when instructed by a processor.

[0018] At least one of the above technical solutions adopted in this application can achieve the following beneficial effects:

[0019] The obstacle avoidance control method for cleaning equipment proposed in this application determines whether an obstacle is movable; if so, controls the cleaning equipment to move the obstacle; and determines whether the obstacle has been successfully moved. The method proposed in this application determines whether an obstacle is movable, moves an obstacle determined to be movable, and then verifies whether the obstacle has been successfully moved. Obstacles that have been successfully moved continue to move, while obstacles that have not been successfully moved abandon their movement, thereby effectively solving the problem of missed paths in areas with movable obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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:

[0021] Figure 1 A schematic flow chart showing an obstacle avoidance control method for a cleaning device according to an embodiment of the present application is shown;

[0022] Figure 2 A schematic flow chart showing an obstacle avoidance control method for a cleaning device according to another embodiment of the present application is shown;

[0023] Figure 3 A schematic structural diagram of an obstacle avoidance control device for a cleaning device according to an embodiment of the present application is shown;

[0024] Figure 4 A schematic structural diagram of a cleaning device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] 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.

[0026] The idea of this application is to address the problem that existing cleaning equipment always adopts a detour avoidance strategy when facing obstacles, resulting in walking omissions and affecting the cleaning effect. A method is proposed to judge whether an obstacle is movable, and after moving the obstacle judged to be a movable obstacle, it is verified whether the obstacle has been successfully moved. The obstacles that have been successfully moved continue to move, and the obstacles that have not been successfully moved give up moving, thereby effectively solving the walking omission problem in the movable obstacle area.

[0027] In this application, the cleaning device is equipped with sensors (including visual sensors, radar sensors, ranging sensors, gyroscopes, etc.), drives, interfaces, databases, and other intelligent modules commonly found in existing cleaning devices (including cleaning robots), thereby realizing functions commonly found in existing cleaning devices, such as sensing the environment, driving the cleaning device to move, and interacting with map information. This will not be described in detail in the embodiments of this application.

[0028] The present application is described in detail below through specific embodiments.

[0029] Figure 1 The flowchart of the obstacle avoidance control method for cleaning equipment proposed in one embodiment of the present application is shown. Figure 1 As shown, the method includes steps S110 to S130:

[0030] Step S110: Determine whether the obstacle is a movable obstacle.

[0031] During the cleaning process, obstacles may appear in areas not covered by the cleaning device. Conventional technology uses a detour strategy to avoid obstacles when the cleaning device senses them. However, in reality, obstacles can be easily moved, such as small toys, or soft objects, such as curtains. When faced with easily moved or soft obstacles, the cleaning device can move the obstacle and then continue its journey to the area where the obstacle is located to avoid missing it.

[0032] Therefore, it is possible to first determine whether the obstacle is a movable obstacle. This determination is a subjective preliminary judgment of the cleaning device. That is, the cleaning device determines that the obstacle is a movable obstacle or an immovable obstacle, which does not mean that the obstacle can or cannot be moved by the cleaning device.

[0033] For example: if the cleaning device senses that the obstacle is relatively small, it can be determined that the obstacle is a movable obstacle; if the cleaning device senses that the obstacle is an obstacle that has never appeared in the historical walking process, it can be determined that the obstacle is a movable obstacle; if the cleaning device attempts to move the obstacle and determines that the obstacle is soft, it can be determined that the obstacle is a movable obstacle.

[0034] Step S120: If yes, control the cleaning device to move the obstacle.

[0035] If the cleaning device determines that the obstacle is a movable obstacle, the cleaning device is controlled to move the obstacle. The cleaning device can move the obstacle by pushing the obstacle with a certain driving power.

[0036] Step S130: Determine whether the obstacle is successfully moved.

[0037] Since whether an obstacle is a movable obstacle is a subjective preliminary judgment of the cleaning device, when the cleaning device moves the obstacle, the obstacle may or may not be moved.

[0038] Therefore, it is further determined whether the obstacle has been successfully moved. If so, the cleaning device can continue to move the obstacle to a location such as an already traveled area, exposing the area where the obstacle is located before continuing to travel, thereby preventing omissions. If the obstacle is not successfully moved, the cleaning device abandons the obstacle movement and switches to a method such as edge-following mode to circumvent the obstacle before continuing to travel.

[0039] The obstacle avoidance control method for cleaning equipment proposed in this application determines whether an obstacle is movable; if so, controls the cleaning equipment to move the obstacle; and determines whether the obstacle has been successfully moved. The method proposed in this application determines whether an obstacle is movable, moves an obstacle determined to be movable, and then verifies whether the obstacle has been successfully moved. Obstacles that have been successfully moved continue to move, while obstacles that have not been successfully moved abandon their movement, thereby effectively solving the problem of missed paths in areas with movable obstacles.

[0040] In some optional embodiments, in the above method, step S110 determines whether the obstacle is a movable obstacle, including: determining whether the obstacle is a movable obstacle through appearance recognition; or, determining whether the obstacle is a movable obstacle by determining whether it is a newly appeared obstacle in the historical path; or, determining whether the obstacle is a movable obstacle by attempting to move the obstacle to determine the scale of change of the obstacle's point cloud information.

[0041] Whether an obstacle is a movable obstacle can be determined in one of the following ways.

[0042] One way is to determine whether the obstacle is a movable obstacle through appearance recognition.

[0043] Specifically, determining whether an obstacle is a movable obstacle through appearance recognition includes: collecting appearance information of the obstacle, determining appearance semantic information of the obstacle based on the appearance information; and determining whether the obstacle is a movable obstacle based on the appearance semantic information.

[0044] Cleaning equipment can use its onboard sensors to comprehensively collect information about the appearance of obstacles. This information may include, but is not limited to, image information of the obstacle's appearance and information about its three-dimensional dimensions. For example, a visual sensor (which may include an iToF camera and / or an RGB camera) onboard the cleaning equipment can be used to capture images of obstacles and obtain information about their appearance. A range-finding sensor (including an infrared range-finding sensor, a laser range-finding sensor, and / or an ultrasonic range-finding sensor) onboard the cleaning equipment can be used to capture coordinate information about the obstacle and obtain information about its three-dimensional dimensions.

[0045] Appearance semantic information can be identified and determined based on appearance image information and three-dimensional size information. Combining appearance image information with three-dimensional size information can more accurately determine the appearance semantic information of the obstacle. Appearance semantic information can be used to describe the type of obstacle (i.e., what kind of object the obstacle is). When determining the appearance semantic information, a trained artificial intelligence model can be used to perform target detection on the appearance image information with three-dimensional size information to determine the type of obstacle. For example, the type of obstacle can be a police car toy, a scale, a large flower pot, a small flower pot, etc.

[0046] The cleaning device may store a database containing information about obstacles marked as movable or immovable. Based on the appearance semantic information of the obstacle, a search is performed in the database to determine whether the obstacle is movable or immovable.

[0047] If the obstacle's appearance semantics information finds information in the database that is marked as movable, the obstacle is determined to be a movable obstacle. If the obstacle's appearance semantics information finds information in the database that is marked as immovable, the obstacle is determined to be an immovable obstacle.

[0048] For example: if the obstacle is determined to be a sock based on the appearance semantic information of the obstacle, and a sock is marked as movable in the database, then the obstacle is a movable obstacle; if the obstacle is determined to be a desk based on the appearance semantic information of the obstacle, and a desk is marked as immovable in the database, then the obstacle is an immovable obstacle.

[0049] One way is to determine whether the obstacle is a movable obstacle by judging whether it is a new obstacle in the historical path.

[0050] Specifically, whether the obstacle is a movable obstacle is determined by determining whether it is a new obstacle in the historical path, including: obtaining historical path information, determining a passable area based on the historical path information; if there is a new obstacle in the passable area, it is assumed that the obstacle is a movable obstacle.

[0051] After each cleaning machine completes a walk, it updates its historical route information based on the results. This updated historical route information records the areas where the cleaning machine can traverse. Before the next cleaning machine run, the updated historical route information can be used to determine the traversable areas and plan the route accordingly.

[0052] As the cleaning equipment moves along its route, it uses sensors to monitor the environment in real time to determine whether the environmental information is consistent with the traversable area. Due to human factors and other factors, the cleaning equipment may encounter obstacles in the traversable area, blocking the route. In this case, the newly appeared obstacle can be assumed to be a movable obstacle.

[0053] One way is to determine whether the obstacle is movable by trying to move the obstacle to determine the change in the obstacle's point cloud information.

[0054] Specifically, the obstacle is determined to be a movable obstacle by attempting to move the obstacle to determine the scale of change in the obstacle's point cloud information, including: collecting first point cloud information of the obstacle; controlling the cleaning device to attempt to move the obstacle, and then collecting second point cloud information of the obstacle; if the scale of change between the second point cloud information and the first point cloud information is greater than a specified threshold, then determining that the obstacle is a movable obstacle.

[0055] The first point cloud information is used to indicate the point cloud information of the obstacle before the cleaning device contacts and attempts to move the obstacle. The obstacle can be detected using the cleaning device's onboard radar to generate the first point cloud information, describing the obstacle's shape, position, and other aspects before the cleaning device attempts to move it.

[0056] The cleaning device is driven to travel along the travel route until it contacts an obstacle. Whether the cleaning device contacts the obstacle can be determined, but is not limited to, by sensors on the cleaning device, such as a distance measuring sensor on the cleaning device.

[0057] When the cleaning device contacts an obstacle, it is driven to attempt to move the obstacle. Methods for attempting to move the obstacle may include, but are not limited to: driving the cleaning device at a certain speed, at a certain acceleration, or with a certain force. For example, the cleaning device may be driven at maximum power to attempt to move the obstacle for a preset duration. The preset duration can be flexibly determined based on actual circumstances, such as 5 seconds or 10 seconds.

[0058] After the cleaning device attempts to move the obstacle, it determines the second point cloud information of the obstacle. The obstacle can be detected by the radar on the cleaning device, and the second point cloud information of the obstacle is generated, which describes the shape and position of the obstacle after the cleaning device attempts to move it.

[0059] The second point cloud information is compared with the first point cloud information, and whether the obstacle is a movable obstacle is determined based on the comparison result.

[0060] Movable obstacles can include flexible, deformable obstacles and rigid, non-deformable obstacles. For flexible, deformable obstacles, their shape changes significantly when the cleaning equipment attempts to move them. For rigid, non-deformable obstacles, their shape remains unchanged when the cleaning equipment attempts to move them, but their overall position does shift. Therefore, the scale of change between the second point cloud information and the first point cloud information can include both shape change and position change.

[0061] If the comparison result of the second point cloud information and the first point cloud information indicates that the shape change scale of the obstacle is greater than a first specified threshold, then the obstacle is a movable obstacle. The first specified threshold can be determined based on experience or actual conditions. The shape change scale can be determined by the following method: determining the first relative relationship of each point based on the first point cloud information, determining the second relative relationship of each point based on the second point cloud information, and using the change in the second relative relationship compared to the first relative relationship as the shape change scale. For example, the first sub-relative relationship of two points is determined based on the first point cloud information, and the second sub-relative relationship of the two points is determined based on the second point cloud information. The change in the second sub-relative relationship compared to the first sub-relative relationship is used as the sub-shape change scale, and the average of the sub-shape change scales of all non-repeating two points is used as the shape change scale.

[0062] If the comparison result of the second point cloud information and the first point cloud information indicates that the obstacle's position change scale is greater than a second specified threshold, the obstacle is considered a movable obstacle. The second specified threshold can be determined based on experience or actual conditions. The position change scale can be determined by: determining the obstacle's first point cloud center of gravity based on the first point cloud information, determining the obstacle's second point cloud center of gravity based on the second point cloud information, and using the change in the second point cloud center of gravity from the first point cloud center of gravity as the position change scale.

[0063] Generally speaking, obstacles whose shape can change are also likely to change their position; obstacles whose position can change are not necessarily shape-changing. Therefore, if the shape change scale exceeds a first specified threshold, or the position change scale exceeds a second specified threshold, or both the shape change scale and the position change scale exceed the first specified threshold and the second specified threshold, the obstacle is considered movable.

[0064] If the comparison result of the second point cloud information and the first point cloud information indicates that the shape change scale of the obstacle is not greater than the first prescribed threshold and the position change scale is not greater than the second prescribed threshold, the obstacle is determined to be an immovable obstacle.

[0065] In some optional embodiments, in the above method, step S130 determines whether the obstacle is successfully moved, including: determining whether the obstacle is successfully moved through a ranging sensor; or determining whether the obstacle is successfully moved through a collision sensor and point cloud tracking.

[0066] You can use one of the following methods to determine whether the obstacle has been successfully moved.

[0067] One way is to use a distance measuring sensor to determine whether the obstacle has been successfully moved.

[0068] The cleaning device can sense the location of the obstacle in real time using its onboard ranging sensor. If the ranging sensor determines that the obstacle's position before and after the cleaning device has moved it differs, the obstacle has been successfully moved. If the ranging sensor determines that the obstacle's position before and after the cleaning device has moved it does not differ, the obstacle has not been successfully moved.

[0069] One way is to use collision sensors and point cloud tracking to determine whether the obstacle has been successfully moved.

[0070] The cleaning equipment can detect collisions in real time using its onboard collision sensors. It can also detect obstacle point cloud information in real time using its onboard radar. If the collision sensors do not detect a collision and the obstacle's point cloud information changes scale, the obstacle has been successfully moved. If the collision sensors detect a collision and the obstacle's point cloud information does not change scale, the obstacle has not been successfully moved.

[0071] In some optional embodiments, in the above method, after step S130 determines whether the obstacle is successfully moved, the method further includes: driving the cleaning device to stop moving the obstacle or continue moving the obstacle.

[0072] If the obstacle is successfully moved, the cleaning device can completely remove the obstacle to expose the ground covered by the obstacle for walking. Therefore, the cleaning device is driven to continue moving the obstacle.

[0073] Continuing to move the obstacle may include: changing the shape of the obstacle to avoid the walking route, changing the position of the obstacle to avoid the walking route, or changing both the shape and the position of the obstacle to avoid the walking route.

[0074] For example, when an obstacle is successfully moved, the cleaning device's first position can be recorded. The continued movement path is determined based on the principle of prioritizing the movement of obstacles to areas previously visited. For example, if the cleaning device moves halfway through a room in a normal mode, with half the room already visited and the other half untraveled, the movement path will minimize the distance required to move the obstacle to the previously visited area. After the cleaning device continues to move the obstacle along the movement path, the second position of the cleaning device is recorded, and the device is returned from the second position to the first position.

[0075] If the obstacle is not successfully moved, the cleaning device gives up moving the obstacle and continues to move after going around the obstacle.

[0076] For example: when the obstacle is successfully moved, the walking program of the cleaning device is switched to walking along the side of the immovable obstacle. The cleaning device can turn in one direction by default to achieve walking along the side of the immovable obstacle. The cleaning device can also choose a suitable direction to turn according to the shape of the immovable obstacle (which can be determined based on the point cloud information of the obstacle) to achieve walking along the side of the immovable obstacle, such as choosing to turn in the direction of returning to the side that is closer to the walking route. As the cleaning device walks around the obstacle in the side-by-side mode, the cleaning device will always return to the walking route again. At this time, the walking program of the cleaning device is switched back to walking along the walking route.

[0077] Figure 2A flow chart showing an obstacle avoidance control method for a cleaning device according to another embodiment of the present invention is shown. Figure 2 As shown, the method includes:

[0078] Step S201: Collect appearance information of an obstacle, and determine appearance semantic information of the obstacle based on the appearance information. Then proceed to step S202.

[0079] Step S202: Determine whether the obstacle is a movable obstacle based on the appearance semantic information. If so, go to step S207; if not, go to step S211.

[0080] Step S203: Acquire historical route information and determine the passable area based on the historical route information.

[0081] Step S204: Determine whether there is a new obstacle in the passable area. If yes, go to step S207; if not, go to step S211.

[0082] In step S205, first point cloud information of the obstacle is collected, and after the cleaning device is controlled to attempt to move the obstacle, second point cloud information of the obstacle is collected.

[0083] Step S206: Determine whether the difference between the second point cloud information and the first point cloud information is greater than a predetermined threshold. If so, proceed to step S207; if not, proceed to step S211.

[0084] Step S207: Control the cleaning device to move the obstacle. Then go to step S208 or step S209.

[0085] Step S208: Determine whether the obstacle has been successfully moved by the distance measuring sensor. If so, go to step S210; if not, go to step S211.

[0086] Step S209: Determine whether the obstacle has been successfully moved by using the collision sensor and point cloud tracking. If so, go to step S210; if not, go to step S211.

[0087] Step S210: Continue moving the obstacle.

[0088] Step S211: Abandon moving the obstacle.

[0089] Figure 3 The schematic diagram of the structure of the obstacle avoidance control device of a cleaning device according to one embodiment of the present application is shown. Figure 3 As shown, the device 300 includes:

[0090] A first determining unit 310 is configured to determine whether the obstacle is a movable obstacle;

[0091] A moving unit 320 for controlling the cleaning device to move obstacles;

[0092] The second determining unit 330 is configured to determine whether the obstacle is successfully moved.

[0093] In some optional embodiments, in the above-mentioned device 300, the first judgment unit 310 includes: an appearance judgment unit, used to judge whether the obstacle is a movable obstacle through appearance recognition; a roadblock judgment unit, used to judge whether the obstacle is a movable obstacle by determining whether it is a newly appeared obstacle in the historical path; and a point cloud judgment unit, used to judge whether the obstacle is a movable obstacle by attempting to move the obstacle and determining the change in the point cloud information of the obstacle.

[0094] In some optional embodiments, in the above-mentioned device 300, the appearance judgment unit is specifically used to: collect appearance information of the obstacle, determine appearance semantic information of the obstacle based on the appearance information; and judge whether the obstacle is a movable obstacle based on the appearance semantic information.

[0095] In some optional embodiments, in the above-mentioned device 300, the roadblock judgment unit is specifically used to: obtain historical path information, determine the passable area based on the historical path information; if there is a new obstacle in the passable area, assume that the obstacle is a movable obstacle.

[0096] In some optional embodiments, in the above-mentioned device 300, the point cloud judgment unit is specifically used to: collect first point cloud information of the obstacle; control the cleaning equipment to try to move the obstacle, and then collect second point cloud information of the obstacle; if the change scale between the second point cloud information and the first point cloud information is greater than a specified threshold, then judge that the obstacle is a movable obstacle.

[0097] In some optional embodiments, in the above-mentioned device 300, the second judgment unit 330 includes: a ranging judgment unit, used to judge whether the obstacle is successfully moved through a ranging sensor; and a collision judgment unit, used to judge whether the obstacle is successfully moved through a collision sensor and point cloud tracking.

[0098] In some optional embodiments, the apparatus 300 further includes: a disposal unit, configured to drive the cleaning device to stop moving the obstacle or to continue moving the obstacle.

[0099] It should be noted that the obstacle avoidance control device 300 of the cleaning equipment can implement the aforementioned obstacle avoidance control methods for the cleaning equipment one by one, which will not be described in detail.

[0100] Figure 4 A schematic diagram of the structure of a cleaning device according to an embodiment of the present invention is shown. Figure 4As shown, the internal structure of the cleaning device may include a processor, memory, network interface, display screen, and input device connected via a system bus. The processor of the cleaning device is used to provide computing and control capabilities. The memory of the cleaning 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 computer program in the non-volatile storage medium. The network interface of the cleaning device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, the functions or steps of the obstacle avoidance control method of the cleaning device are implemented.

[0101] In one embodiment, the cleaning device provided by the present application includes a memory and a processor, wherein the memory stores a database and a computer program that can be run on the processor, and when the processor executes the computer program, the following steps are implemented:

[0102] Determine whether the obstacle is a movable obstacle;

[0103] If so, control the cleaning equipment to move the obstacle;

[0104] Determine whether the obstacle has been moved successfully.

[0105] 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 following steps are implemented:

[0106] Determine whether the obstacle is a movable obstacle;

[0107] If so, control the cleaning equipment to move the obstacle;

[0108] Determine whether the obstacle has been moved successfully.

[0109] It should be noted that the functions or steps that can be implemented by the cleaning device or computer-readable storage medium can be found in the corresponding descriptions in the aforementioned method embodiments. To avoid repetition, they will not be described one by one here.

[0110] Those skilled in the art will appreciate 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 can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory 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 (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0111] 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.

[0112] 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. An obstacle avoidance control method for cleaning equipment, characterized in that: The method comprises: Determine whether the obstacle is a movable obstacle; If so, controlling the cleaning device to move the obstacle; Determine whether the obstacle is successfully moved.

2. The obstacle avoidance control method for cleaning equipment according to claim 1, characterized in that: The determining whether the obstacle is a movable obstacle includes: Determining whether the obstacle is a movable obstacle through appearance recognition; Alternatively, determining whether the obstacle is a movable obstacle by determining whether it is a new obstacle that appears in the historical path; Alternatively, it is determined whether the obstacle is a movable obstacle by attempting to move the obstacle and determining a change in point cloud information of the obstacle.

3. The obstacle avoidance control method for cleaning equipment according to claim 2, characterized in that: The determining whether the obstacle is a movable obstacle by appearance recognition includes: collecting appearance information of the obstacle, and determining appearance semantic information of the obstacle based on the appearance information; Determine whether the obstacle is a movable obstacle according to the appearance semantic information.

4. The obstacle avoidance control method for cleaning equipment according to claim 2, characterized in that: The determining whether the obstacle is a movable obstacle by determining whether the obstacle is a new obstacle in the historical path includes: Obtain historical path information and determine the passable area based on the historical path information; If there is a new obstacle in the traversable area, it is assumed that the obstacle is a movable obstacle.

5. The obstacle avoidance control method for cleaning equipment according to claim 2, characterized in that: The determining whether the obstacle is a movable obstacle by attempting to move the obstacle and determining a change in point cloud information of the obstacle includes: Collecting first point cloud information of the obstacle; After controlling the cleaning device to attempt to move the obstacle, collecting second point cloud information of the obstacle; If the change scale between the second point cloud information and the first point cloud information is greater than a specified threshold, the obstacle is determined to be a movable obstacle.

6. The obstacle avoidance control method for cleaning equipment according to claim 1, characterized in that: Determining whether the obstacle is successfully moved includes: Determining whether the obstacle has been successfully moved by a distance measuring sensor; Alternatively, it is determined whether the obstacle is successfully moved by using a collision sensor and point cloud tracking.

7. The obstacle avoidance control method for cleaning equipment according to claim 1, characterized in that: After determining whether the obstacle is successfully moved, the method further includes: The cleaning device is driven to abandon moving the obstacle or to continue moving the obstacle.

8. An obstacle avoidance control device for cleaning equipment, characterized in that: The device comprises: a first judging unit, configured to judge whether the obstacle is a movable obstacle; A moving unit, configured to control the cleaning device to move the obstacle; The second judging unit is configured to judge whether the obstacle is successfully moved.

9. A cleaning 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 according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is instructed by the processor, it implements the steps of the obstacle avoidance control method for a cleaning device according to any one of claims 1 to 7.

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