Automatic obstacle avoidance control method and device and cleaning equipment

Abstract

The invention discloses an automatic obstacle avoidance control method and device and cleaning equipment, and the method comprises the steps: obtaining a current distance between the cleaning equipment and an obstacle; whether the current distance is smaller than a first distance threshold value or not and whether the current distance tends to be gradually reduced or not are judged; if the current distance is smaller than a first distance threshold value and the current distance tends to be gradually reduced, the rotating speed of a rolling brush and / or the rotating speed of a power assisting wheel of the cleaning equipment are / is reduced; and if the current distance is not smaller than a first distance threshold value or the current distance does not tend to be gradually reduced, a rolling brush and a power-assisted wheel of the cleaning equipment are controlled to operate according to original parameters. According to the embodiment of the invention, the beneficial effect that the cleaning equipment is prevented from being damaged or other articles (such as furniture) are prevented from being damaged is achieved.

Description

Technical Field

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

[0002] With the continuous development of technology, more and more cleaning devices are entering the public's lives, bringing great convenience to daily household cleaning. Common cleaning devices such as vacuum cleaners and floor scrubbers require users to hold them and push and pull them back and forth to complete floor vacuuming or mopping operations. However, these devices are often heavy, requiring users to exert considerable force when pushing and pulling. This is especially difficult when switching between forward and backward push and pull movements, making it difficult to accurately control the force and stop the device in a timely manner.

[0003] To reduce the burden on users, some products are equipped with power assist devices, designed to provide assistance and reduce labor intensity. However, these products have significant shortcomings in direction switching detection, resulting in detection lag. This lag prevents the power output and direction from being adjusted in a timely manner, making it difficult for users to control the force and stop the device in a timely manner when switching between forward pushing and backward pulling.

[0004] In this way, since the user cannot accurately control the force when pushing and pulling the cleaning equipment, the equipment cannot stop in time. In narrow spaces or corners, collisions are very likely to occur, causing damage to furniture or the cleaning equipment itself. Summary of the Invention

[0005] The purpose of the present invention is to provide a control method, device and cleaning equipment for automatic obstacle avoidance, aiming to solve the problem in the prior art that cleaning equipment is prone to damage to itself or other items.

[0006] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0007] The present invention provides an automatic obstacle avoidance control method, which is applied to cleaning equipment and includes the following steps:

[0008] Obtaining the current distance between the cleaning device and the obstacle;

[0009] Determining whether the current distance is less than a first distance threshold and whether the current distance shows a trend of gradually decreasing;

[0010] If the current distance is less than the first distance threshold and the current distance shows a trend of gradually decreasing, reducing the rotation speed of the roller brush and / or the power-assisted wheel of the cleaning device;

[0011] If the current distance is not less than the first distance threshold, or the current distance does not show a trend of gradually decreasing, the roller brush and the power-assisted wheel of the cleaning device are controlled to operate according to the original parameters.

[0012] Optionally, if the current distance is less than a first distance threshold and the current distance shows a trend of gradually decreasing, then at least the speed of the power-assisted wheel of the cleaning device is reduced, and after the speed of the power-assisted wheel of the cleaning device is reduced, the following steps are included:

[0013] detecting whether the moving speed of the cleaning device decreases;

[0014] If the moving speed of the cleaning device does not decrease, the power-assisted wheel of the cleaning device is controlled to reverse.

[0015] Optionally, if the current distance is less than a first distance threshold and the current distance shows a trend of gradually decreasing, then at least the speed of the power-assisted wheel of the cleaning device is reduced, and after the speed of the power-assisted wheel of the cleaning device is reduced, the following steps are included:

[0016] detecting a decrease in the moving speed of the cleaning device;

[0017] If the decrease in the moving speed of the cleaning device is less than a preset range, the power-assisted wheel of the cleaning device is controlled to reverse.

[0018] Optionally, controlling the power-assisted wheel of the cleaning device to reverse comprises the following steps:

[0019] detecting a current moving speed of the cleaning device;

[0020] The reverse speed of the power-assisted wheel is controlled according to the current moving speed; wherein the reverse speed of the power-assisted wheel is positively correlated with the current moving speed.

[0021] Optionally, the following steps are also included:

[0022] Determining whether the current distance is less than a second distance threshold; wherein the second distance threshold is less than the first distance threshold;

[0023] If so, the power-assisted wheel of the cleaning device is controlled to stop running.

[0024] Optionally, the following steps are also included:

[0025] Determining whether the current distance is less than a second distance threshold; wherein the second distance threshold is less than the first distance threshold;

[0026] If so, the cleaning equipment is controlled to sound an alarm.

[0027] Optionally, the moving speed of the cleaning device is acquired by a speed sensor.

[0028] Optionally, the current distance is acquired through a distance sensor.

[0029] The present invention also provides a control device for automatic obstacle avoidance, comprising:

[0030] an acquiring unit, configured to acquire a current distance between the cleaning device and an obstacle;

[0031] a judging unit, configured to judge whether the current distance is less than a first distance threshold, and whether the current distance shows a trend of gradually decreasing;

[0032] a deceleration unit, configured to reduce a rotational speed of the roller brush and / or the power-assisted wheel of the cleaning device if the current distance is less than a first distance threshold and the current distance shows a trend of gradually decreasing;

[0033] An operating unit is configured to control the roller brush and the power-assisting wheel of the cleaning device to operate according to original parameters if the current distance is not less than a first distance threshold, or if the current distance does not show a trend of gradually decreasing.

[0034] The present invention also provides a cleaning device comprising the automatic obstacle avoidance control device as described above.

[0035] Embodiments of the present invention provide a control method, device, and cleaning device for automatic obstacle avoidance. The embodiments of the present invention obtain the current distance between the cleaning device and an obstacle; determine whether the current distance is less than a first distance threshold and whether the current distance is decreasing; and if the current distance is less than the first distance threshold and the current distance is decreasing, reduce the speed of the cleaning device's roller brush and / or power-assisted wheel. By reducing the roller brush cleaning speed and / or power-assisted wheel speed, the risk of collision with the obstacle is reduced or the intensity of the collision is mitigated. If the current distance is not less than the first distance threshold or the current distance is not decreasing, control the roller brush and power-assisted wheel of the cleaning device to operate according to predetermined parameters. That is, when the cleaning device maintains a safe distance from the obstacle or is not approaching the obstacle, the cleaning device maintains a normal cleaning operation state to ensure cleaning efficiency. Through the above method, the cleaning device can automatically identify the distance to the obstacle and the approach trend, and promptly adjust operating parameters to avoid collision with the obstacle, prevent damage to the cleaning device itself, or damage to other objects (such as furniture), further improving the safety and reliability of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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. Obviously, the drawings described below are 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 work.

[0037] Figure 1 A schematic flow chart of an automatic obstacle avoidance control method provided by an embodiment of the present invention;

[0038] Figure 2 A schematic diagram of a sub-flow chart of the automatic obstacle avoidance control method provided by an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of another sub-flow chart of the automatic obstacle avoidance control method provided by an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of another sub-flow chart of the automatic obstacle avoidance control method provided by an embodiment of the present invention;

[0041] Figure 5 A schematic diagram of another sub-flow chart of the automatic obstacle avoidance control method provided by an embodiment of the present invention;

[0042] Figure 6 A schematic diagram of another sub-flow chart of the automatic obstacle avoidance control method provided by an embodiment of the present invention;

[0043] Figure 7 A schematic flow chart of the control logic of the automatic obstacle avoidance control method provided by an embodiment of the present invention;

[0044] Figure 8 A schematic structural diagram of a control device for automatic obstacle avoidance provided by an embodiment of the present invention;

[0045] Figure 9 A schematic structural diagram of a cleaning device provided in an embodiment of the present invention.

[0046] Description of the symbols in the figure:

[0047] 10. Cleaning equipment. DETAILED DESCRIPTION

[0048] 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.

[0049] It will be understood that when used in this specification and the appended claims, the terms “comprises” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0050] It should also be understood that the terms used in the present specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0051] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0052] See also Figure 1 , Figure 1 A flow chart of an automatic obstacle avoidance control method provided by an embodiment of the present invention includes steps S101 to S104:

[0053] S101, obtaining the current distance between the cleaning device and the obstacle;

[0054] In this embodiment, a sensor (such as a laser radar, an ultrasonic sensor, an infrared sensor, etc.) is provided on the cleaning device to monitor the distance between the cleaning device and surrounding obstacles in real time. The sensor transmits a signal (such as a laser beam, an ultrasonic beam, etc.) and receives a reflected signal, and calculates the current distance using a time difference or a phase difference. The sensor transmits the acquired current distance data to the central processing unit (CPU) or microcontroller (MCU) of the cleaning device. The CPU / MCU performs filtering processing (such as Kalman filtering) on ​​the data to eliminate noise interference and improve data accuracy.

[0055] Specifically, the ultrasonic sensor consists of a transmitter and a receiver. The transmitter emits a beam of ultrasonic pulses. When this ultrasonic beam encounters an obstacle, it will be reflected back, and the receiver receives the reflected wave. In the process of the sensor transmitting the signal and receiving the reflected signal, and using the phase difference to calculate the current distance, the continuous wave radar transmits a frequency-stable continuous wave signal, such as a sine wave signal Asin(ωt), where A is the amplitude, ω is the angular frequency, and t is time. When the continuous wave signal encounters an obstacle and is reflected back, the receiver receives the reflected signal. Since there is a time delay in the round trip of the signal, the reflected signal can be expressed as Asin[ω(t-τ)], where τ is the time delay of the round trip of the signal. The transmitted signal and the reflected signal are mixed to obtain a difference frequency signal. By analyzing the difference frequency signal, the phase difference between the transmitted signal and the reflected signal can be obtained. Phase difference The relationship between the time delay τ is

[0056] Furthermore, the angular frequency ω and phase difference of the known signal The time delay can be calculated Then, based on the signal propagation speed v, the current distance s between the cleaning device and the obstacle can be calculated using the formula s=2v×τ.

[0057] S102: Determine whether the current distance is less than a first distance threshold, and whether the current distance shows a trend of gradually decreasing;

[0058] In this embodiment, the first distance threshold is determined based on a combination of factors such as the physical size of the cleaning device, safety margin, and cleaning efficiency. For example, if the cleaning device is 30 cm wide, the first distance threshold may be set to 50 cm, taking into account the swing range and safety distance of the cleaning device during operation.

[0059] The current distance calculated in step S101 is numerically compared with a preset first distance threshold. For example, if the first distance threshold is 50 cm and the calculated current distance is 40 cm, then 40 cm < 50 cm is true, meaning the current distance is less than the first distance threshold. If the current distance is 60 cm, then 60 cm < 50 cm is not true, meaning the current distance is not less than the first distance threshold.

[0060] If the current distance is less than the first distance threshold, it means that the cleaning device is close to the obstacle and there is a potential collision risk, so timely action is required. If the current distance is not less than the first distance threshold, it means that the device is within a relatively safe distance range and can continue to operate according to the original cleaning parameters to ensure cleaning efficiency.

[0061] Furthermore, in order to determine the current trend of distance changes, it is necessary to sample the distance between the cleaning equipment and the obstacle multiple times. The sampling frequency can be determined according to the operating speed and accuracy requirements of the equipment, for example, 10 samples per second. The distance difference between two adjacent samples is calculated, that is, Δd = d n -d n-1 , where d n is the distance of the nth sampling, d n-1 is the distance of the n-1th sampling. If within a period of time, the distance difference Δd for many consecutive times is negative, that is, d n <d n-1 , it can be considered that the current distance is gradually decreasing. For example, if the distance differences obtained from 5 consecutive samplings are all negative, it is determined that the current distance is gradually decreasing.

[0062] S103: If the current distance is less than a first distance threshold and the current distance shows a decreasing trend, reducing the rotation speed of the roller brush and / or the power-assisted wheel of the cleaning device;

[0063] In this embodiment, when the current distance between the cleaning device and an obstacle is less than a preset first distance threshold and the distance is gradually decreasing, this indicates that the device is close to the obstacle and is approaching it, posing a potential collision risk. To effectively avoid collisions while minimizing the impact on cleaning efficiency, the device's roller brush speed and / or power-assisted wheel speed need to be reduced.

[0064] In a specific embodiment, the roller brush of the cleaning device may be the part that contacts the obstacle (such as a rotating brush). Reducing the speed of the roller brush can reduce the impact and possible damage to the obstacle caused by high-speed rotation, as well as reduce the damage to the roller brush itself caused by collision during high-speed rotation. Reducing the speed of the power-assisted wheel can slow down the movement speed of the device, thereby extending the time to reach the obstacle and providing more reaction time, thereby reducing the risk of collision with the obstacle or reducing the intensity of the collision. Assuming that the first distance threshold is 50cm, the current distance is 40cm, and 5 consecutive samples show that the distance is decreasing: the roller brush speed can be reduced alone from 2000rpm to 1500rpm, the power-assisted wheel speed can be reduced alone from 100rpm to 75rpm, or the roller brush speed can be reduced to 1500rpm and the power-assisted wheel speed can be reduced to 75rpm at the same time.

[0065] In one embodiment, if the current distance is less than the first distance threshold and the current distance shows a decreasing trend, the speed of the power-assisted wheel of the cleaning device is at least reduced, thereby extending the time to reach the obstacle. Figure 2 As shown, after reducing the speed of the power-assisted wheel of the cleaning device, the process includes steps S201 to S202:

[0066] S201, detecting whether the moving speed of the cleaning device decreases;

[0067] S202: If the moving speed of the cleaning device does not decrease, control the power-assisted wheels of the cleaning device to reverse.

[0068] The present embodiment preferably at least adopts the mode of reducing the booster wheel speed of the cleaning device to avoid or alleviate the collision with the obstacle. Of course, more preferably, also reduces the roller brush speed at the same time.

[0069] In this embodiment, an encoder is installed on the power wheel (which can be understood as a speed sensor used to obtain the moving speed of the cleaning device in this embodiment). The speed is calculated by measuring the number of pulses per unit time, thereby inferring the moving speed of the cleaning device. Specifically, the pulse signal provided by the encoder can be converted into the speed n (unit: rpm). Combined with the radius r of the wheel, the moving speed v = 2πr × n / 60 can be calculated. The speed difference between two adjacent samples, that is, Δv = v m -v m-1 , where v m is the moving speed of the mth sampling, v m-1 is the moving speed of the m-1th sampling. If the speed difference Δv is negative, that is, v m <v m-1 , it can be considered that the moving speed is decreasing.

[0070] Furthermore, by real-time monitoring of the moving speed, it is possible to promptly perceive resistance or obstacles encountered by the device during the cleaning process. Since the rotation speed of the power-assisted wheels of the cleaning device has been reduced before, the moving speed of the cleaning device will decrease under normal circumstances. Therefore, when the detection result is a decrease in the moving speed, it indicates that the cleaning device is executing the operating instructions normally. If the moving speed of the cleaning device has not decreased, it indicates that the cleaning device may have executed the operating instructions normally, but the user is still pushing / pulling the cleaning device towards the obstacle. The cleaning device is held and pushed / pulled by the user, and the actual moving speed of the entire device depends on the user's pushing and pulling speed. There is still a high probability that the cleaning device will collide, so the power-assisted wheels are controlled to reverse. Reversing the power-assisted wheels can change the moving direction of the device, thereby avoiding the occurrence of collisions with the cleaning device.

[0071] Reversing the power-assisted wheel is a dynamic adjustment strategy that can change the direction of movement of the equipment without stopping the operation of the cleaning equipment (that is, the roller brush can continue to work). Specifically, when it is detected that the moving speed has not decreased, a reversal instruction is sent to the power-assisted wheel motor driver. The reversal time can be set according to actual conditions, such as reversing for 1 second and then restoring the original direction. The amplitude of the reversal can be adjusted by the control signal of the motor driver, which is usually 100% reversal (that is, complete reverse rotation). During the reversal process, the moving speed and distance sensor data continue to be monitored to ensure that the reversal does not cause the cleaning equipment to collide with other obstacles. Suppose the cleaning equipment enters a narrow passage at a normal moving speed, detects that the speed has not decreased, controls the power-assisted wheel to reverse for 1 second, and the equipment moves backward, thereby adjusting the direction and continuing to clean other areas.

[0072] In one embodiment, if the current distance is less than a first distance threshold and the current distance shows a decreasing trend, then at least the power wheel speed of the cleaning device is reduced, such as Figure 3 As shown, after reducing the speed of the power-assisted wheel of the cleaning equipment, the process includes steps S301 to S302:

[0073] S301, detecting a decrease in the moving speed of the cleaning device;

[0074] S302: If the decrease in the moving speed of the cleaning device is less than a preset decrease, control the power-assisted wheels of the cleaning device to reverse.

[0075] In this embodiment, an encoder or an inertial measurement unit (IMU) is used to periodically sample the moving speed of the cleaning device. The sampling frequency can be determined according to the moving speed and accuracy requirements of the device, for example, 10 samples per second. Unlike the above embodiment, this embodiment uses a decrease in amplitude to determine whether to control the power-assisted wheel of the cleaning device to reverse. Specifically, the decrease in amplitude can be obtained by calculating the difference in moving speed before and after a predetermined time period and dividing the difference by the moving speed before the predetermined time, that is, Δv = (v1-v2) / v1×100%, where v1 is the moving speed before the predetermined time period, and v2 is the moving speed after the predetermined time period, that is, the current moving speed.

[0076] If the speed reduction of the cleaning device is greater than the preset speed, it is considered that the cleaning device has normally executed the instruction to reduce the speed of the power-assisted wheel, and the user has not applied a large push or pull force.

[0077] If the speed of the cleaning device decreases by less than a preset amount, it indicates that the cleaning device is encountering significant resistance during movement (caused by the user pushing or pulling the device). There's a high probability that the cleaning device will collide with an obstacle. In this case, the power-assisted wheels can be reversed to help the cleaning device escape this predicament. By reversing the power-assisted wheels, the cleaning device's direction of movement can be changed, reducing the risk of collision with obstacles or lessening the intensity of any collision.

[0078] In a specific embodiment, when it is detected that the movement speed has decreased by less than a preset amplitude, a reversal instruction is sent to the power-assisted wheel motor driver. The reversal time can be set according to actual conditions, such as reversing for 1 second and then returning to the original direction. The reversal amplitude can be adjusted by the control signal of the motor driver, usually 100% reversal (i.e., complete reverse rotation). During the reversal process, the movement speed and distance sensor data continue to be monitored to ensure that the reversal does not cause the device to collide with other obstacles.

[0079] Compared with directly comparing whether the moving speed has decreased, judging by the speed decrease rate as an indicator and ultimately determining whether to control the power-assisted wheel to reverse can improve safety redundancy. Because the speed decrease can only be qualitative but not quantitative, if the speed decrease rate is small, the cleaning equipment still has a high collision risk. However, judging by the speed decrease rate can ensure that the cleaning equipment will not collide with other obstacles.

[0080] In one embodiment, if Figure 4 As shown, the method of controlling the power-assisted wheel of the cleaning device to reverse includes steps S401 to S402:

[0081] S401, detecting the current moving speed of the cleaning device;

[0082] S402: Control the reverse speed of the power-assisted wheel according to the current moving speed; wherein the reverse speed of the power-assisted wheel is positively correlated with the current moving speed.

[0083] In this embodiment, small cleaning equipment, such as sweepers, generally do not have the ability to counteract human push or pull forces, and their movement speed is generally determined by the speed at which the person pushes or pulls. Therefore, the reversal speed of the power-assisted wheel can be adjusted in real time based on the push or pull speed of the person. However, since the human thrust is not fixed, reversing only according to a preset value may not achieve a counteracting effect. Therefore, in this application, the reversal speed of the power-assisted wheel is adjusted in real time based on the current movement speed of the cleaning equipment. If the current movement speed of the cleaning equipment is higher, the reversal speed of the power-assisted wheel will also be higher, and vice versa, the reversal speed of the power-assisted wheel will be lower, thereby minimizing collisions between the cleaning equipment and the user.

[0084] In a specific embodiment, the reversal speed can be defined as a ratio of the current moving speed, for example, the reversal speed vreverse =k×v current , where k is a proportional coefficient. The proportional coefficient k is a positive number and can be adjusted based on actual needs. Dynamic adjustment of the reversal speed ensures that the device can reverse at an appropriate speed when encountering varying thrusts or pulls, preventing device jamming or excessive reversal. During the reversal process, the movement speed and distance sensor data are continuously monitored to ensure that the reversal does not cause the device to collide with other obstacles.

[0085] Furthermore, according to the current moving speed v current And the preset proportional coefficient k, calculate the reverse speed v reverse =k×v current Send a reverse command to the power steering wheel motor driver and set the reverse speed to v reverse The reversal time can be set according to the actual situation. The proportional coefficient k can be adjusted according to the characteristics of the equipment and environmental conditions to optimize the reversal effect. Assuming that the current moving speed of the cleaning equipment is 0.9m / s and the proportional coefficient k is set to 0.5, the reversal speed is 0.5×0.9=0.45m / s. Assuming that the current moving speed of the cleaning equipment is 1m / s, the reversal speed is 0.5×1=0.5m / s, that is, the greater the moving speed, the greater the reversal speed, and conversely, the smaller the moving speed, the smaller the reversal speed.

[0086] S104: If the current distance is not less than the first distance threshold, or the current distance does not show a gradually decreasing trend, controlling the roller brush and the power-assisted wheel of the cleaning device to operate according to original parameters.

[0087] In this embodiment, if the current distance is not less than the first distance threshold, or if the current distance is not decreasing, the roller brush and power-assisted wheels of the cleaning device are controlled to operate according to the original parameters. This means that when the cleaning device maintains a safe distance from the obstacle or has no tendency to approach the obstacle, normal cleaning operations are maintained to ensure cleaning efficiency.

[0088] If the distance between the cleaning machine and the obstacle is large, the cleaning machine can safely continue operating at its original parameters without adjusting its motion parameters. A lack of a decreasing distance may indicate that the machine is not moving toward the obstacle or that the obstacle is outside the cleaning machine's path. Maintaining the cleaning machine's original operating parameters without detecting a potential collision ensures that cleaning efficiency is not compromised.

[0089] In one embodiment, if Figure 5 As shown, the automatic obstacle avoidance control method further includes steps S501 to S502:

[0090] S501: Determine whether the current distance is less than a second distance threshold; wherein the second distance threshold is less than the first distance threshold;

[0091] S502: If yes, control the power-assisted wheel of the cleaning device to stop running.

[0092] In this embodiment, during the operation of the cleaning device, the distance between the cleaning device and the obstacle is detected by a distance sensor. In order to ensure that the cleaning device can respond in time when approaching an obstacle, two distance thresholds can be set, a first distance threshold and a second distance threshold. The first distance threshold is used to preliminarily determine whether the device is close to an obstacle. If the current distance is less than the first distance threshold, some preliminary measures can be taken, such as slowing down or adjusting the moving direction of the cleaning device. The second distance threshold is set to be less than the first distance threshold, and is used to determine whether the device is very close to the obstacle. If the current distance is less than the second distance threshold, more urgent measures need to be taken at this time, such as stopping the operation of the power-assisted wheel, to avoid the cleaning device from colliding with the obstacle or getting stuck.

[0093] In one embodiment, if Figure 6 As shown, the automatic obstacle avoidance control method further includes steps S601 to S602:

[0094] S601: Determine whether the current distance is less than a second distance threshold; wherein the second distance threshold is less than the first distance threshold;

[0095] S602: If yes, control the cleaning device to sound an alarm.

[0096] In this embodiment, the judgment condition in step S601 is the same as step S501 and will not be described in detail here. In step S602, when it is detected that the distance between the device and the obstacle is less than the second distance threshold, an alarm needs to be issued immediately to remind the user that the cleaning device is about to collide with the obstacle. An alarm is issued by means of sound, light or vibration to remind the user or operator that the device is about to collide with an obstacle. By reminding the user, the user can manually intervene in the operation of the device to avoid the device from colliding with an obstacle or getting stuck. At the same time as the alarm is issued, other measures can be taken, such as stopping the operation of the power-assisted wheels or reversing the power-assisted wheels, to help the device out of trouble. The user can manually adjust the operating parameters or moving path of the device based on the alarm information to avoid the device from colliding with obstacles.

[0097] like Figure 7As shown, it is a control logic flow chart of the automatic obstacle avoidance control method, which describes in detail the strategy of the cleaning device to adjust the speed according to the distance from the obstacle during operation: first, the current distance between the cleaning device and the obstacle is obtained, and then it is determined whether the current distance is less than the first distance threshold and the distance is gradually getting closer. If this condition is not met, the cleaning device runs according to the originally set roller brush speed and / or power-assisted wheel speed; if the condition is met, the roller brush speed and / or power-assisted wheel speed of the cleaning device are reduced, and then it is detected whether the moving speed of the cleaning device is reduced, and the speed reduction of the cleaning device is detected. If the moving speed of the cleaning device has not been reduced, or the reduction is not large, the power-assisted wheel is controlled to reverse, and finally the process returns to end this round of judgment and operation, and the current distance between the cleaning device and the obstacle can be obtained again, and the starting point of the process is returned to continue the above process.

[0098] like Figure 8 As shown, an embodiment of the present invention further provides a control device for automatic obstacle avoidance, characterized in that it includes an acquisition unit 701, a judgment unit 702, a speed reduction unit 703 and an operation unit 704:

[0099] An acquisition unit 701 is configured to acquire a current distance between the cleaning device and an obstacle;

[0100] A judging unit 702 is configured to judge whether the current distance is less than a first distance threshold and whether the current distance is gradually decreasing;

[0101] a deceleration unit 703 for reducing a rotational speed of a roller brush and / or a rotational speed of a power-assisted wheel of the cleaning device if the current distance is less than a first distance threshold and the current distance shows a trend of gradually decreasing;

[0102] The operation unit 704 is configured to control the roller brush and the power-assisted wheel of the cleaning device to operate according to predetermined parameters if the current distance is not less than a first distance threshold, or if the current distance does not show a trend of gradually decreasing.

[0103] The device obtains the current distance between the cleaning device and the obstacle; determines whether the current distance is less than a first distance threshold and whether the current distance is gradually decreasing; if the current distance is less than the first distance threshold and the current distance is gradually decreasing, the rotational speed of the cleaning device's roller brush and / or the rotational speed of the power-assisted wheel are reduced. By reducing the rotational speed, the movement speed of the cleaning device, the cleaning speed of the roller brush and / or the rotational speed of the power-assisted wheel are slowed down, thereby reducing the risk of collision with the obstacle or reducing the intensity of the collision. If the current distance is not less than the first distance threshold, or the current distance is not gradually decreasing, the roller brush and the power-assisted wheel of the cleaning device are controlled to operate according to the original parameters. This means that when the cleaning device maintains a safe distance from the obstacle or has no tendency to approach the obstacle, the normal cleaning operation state is maintained to ensure cleaning efficiency. Through the above method, the cleaning device can automatically identify the distance to the obstacle and the tendency to approach the obstacle, and adjust the operating parameters in a timely manner to avoid collision with the obstacle, avoid damage to the cleaning device itself or damage to other objects (such as furniture), and further improve the safety and reliability of the device.

[0104] like Figure 9 As shown, an embodiment of the present invention further provides a cleaning device 10, comprising the automatic obstacle avoidance control device as described above.

[0105] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above system and each unit can refer to the corresponding description in the aforementioned method embodiment. For the convenience and brevity of description, it will not be repeated here.

[0106] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A control method for automatic obstacle avoidance, applied to cleaning equipment, characterized in that: The following steps are involved: Obtaining the current distance between the cleaning device and the obstacle; Determining whether the current distance is less than a first distance threshold and whether the current distance shows a trend of gradually decreasing; If the current distance is less than the first distance threshold and the current distance shows a trend of gradually decreasing, reducing the rotation speed of the roller brush and / or the power-assisted wheel of the cleaning device; If the current distance is not less than the first distance threshold, or the current distance does not show a trend of gradually decreasing, the roller brush and the power-assisted wheel of the cleaning device are controlled to operate according to the original parameters.

2. The automatic obstacle avoidance control method according to claim 1, characterized in that: If the current distance is less than the first distance threshold and the current distance shows a trend of gradually decreasing, then at least the speed of the power-assisted wheel of the cleaning device is reduced. After the speed of the power-assisted wheel of the cleaning device is reduced, the following steps are included: detecting whether the moving speed of the cleaning device decreases; If the moving speed of the cleaning device does not decrease, the power-assisted wheel of the cleaning device is controlled to reverse.

3. The automatic obstacle avoidance control method according to claim 1, characterized in that: If the current distance is less than the first distance threshold and the current distance shows a trend of gradually decreasing, then at least the speed of the power-assisted wheel of the cleaning device is reduced, and after reducing the speed of the power-assisted wheel of the cleaning device, the following steps are further included: detecting a decrease in the moving speed of the cleaning device; If the decrease in the moving speed of the cleaning device is less than a preset range, the power-assisted wheel of the cleaning device is controlled to reverse.

4. The automatic obstacle avoidance control method according to claim 2 or 3, characterized in that: The method of controlling the power-assisted wheel of the cleaning device to reverse direction comprises the following steps: detecting a current moving speed of the cleaning device; The reverse speed of the power-assisted wheel is controlled according to the current moving speed; wherein the reverse speed of the power-assisted wheel is positively correlated with the current moving speed.

5. The automatic obstacle avoidance control method according to claim 1, characterized in that: The following steps are also included: Determining whether the current distance is less than a second distance threshold; wherein the second distance threshold is less than the first distance threshold; If so, the power-assisted wheel of the cleaning device is controlled to stop running.

6. The automatic obstacle avoidance control method according to claim 1, characterized in that: The following steps are also included: Determining whether the current distance is less than a second distance threshold; wherein the second distance threshold is less than the first distance threshold; If so, the cleaning device is controlled to sound an alarm.

7. The automatic obstacle avoidance control method according to claim 2 or 3, characterized in that: The moving speed of the cleaning device is acquired through a speed sensor.

8. The automatic obstacle avoidance control method according to claim 1, characterized in that: The current distance is acquired through a distance sensor.

9. A control device for automatic obstacle avoidance, characterized in that: include: an acquiring unit, configured to acquire a current distance between the cleaning device and an obstacle; a judging unit, configured to judge whether the current distance is less than a first distance threshold, and whether the current distance shows a trend of gradually decreasing; a deceleration unit, configured to reduce a rotational speed of the roller brush and / or the power-assisted wheel of the cleaning device if the current distance is less than a first distance threshold and the current distance shows a trend of gradually decreasing; An operating unit is configured to control the roller brush and the power-assisting wheel of the cleaning device to operate according to predetermined parameters if the current distance is not less than a first distance threshold, or if the current distance does not show a trend of gradually decreasing.

10. A cleaning device, characterized in that: The invention comprises the automatic obstacle avoidance control device as claimed in claim 9.

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