Obstacle avoidance processing method, device, computer equipment, medium and program product

Abstract

The application relates to an obstacle avoidance processing method and device, a computer device, a medium and a program product. The method comprises the following steps: acquiring an identifiable range of a current position of a cleaning device on a target cleaning area, the identifiable range comprising a plurality of sub-ranges; if point cloud information of an obstacle in a target sub-range is identified, generating pre-warning indication information and obstacle indication information corresponding to the target sub-range; and sending the obstacle indication information and the pre-warning indication information to a terminal device, so that the terminal device renders the obstacle indication information, displays an obstacle visual element on a target map corresponding to the target cleaning area, and renders the pre-warning indication information and displays a pre-warning visual element on the target map. The method can realize dynamic obstacle avoidance and pre-warning in different regions, and thus intuitively and accurately grasp the real-time obstacle avoidance situation in each sub-range.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method, apparatus, computer equipment, medium, and program product for obstacle avoidance processing. Background Technology

[0002] With the rapid development of technologies such as smart homes and artificial intelligence, cleaning equipment such as robotic vacuum cleaners, driverless sweepers, floor scrubbers, and mopping robots have become important cleaning tools in various scenarios, including homes and commercial spaces. These cleaning devices are typically equipped with sensors such as LiDAR, binocular cameras, and ultrasonic sensors to achieve environmental perception and obstacle avoidance.

[0003] However, in related solutions, cleaning equipment typically uses binocular cameras to identify obstacles and then triggers an obstacle avoidance strategy to achieve obstacle avoidance. But this method only provides a hint about the presence or absence of obstacles and cannot provide obstacle avoidance warnings for different ranges; moreover, the human-computer interaction is not intelligent enough, leaving users without intuitive visual feedback, thus making it impossible to simultaneously achieve both cleaning efficiency and safety. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, computer equipment, medium, and program product for obstacle avoidance processing to address the above-mentioned technical problems, so as to realize dynamic obstacle avoidance early warning in different areas, and thus intuitively and accurately grasp the real-time obstacle avoidance status of obstacles in each sub-area.

[0005] Firstly, this application provides an obstacle avoidance method applicable to cleaning equipment. The method includes:

[0006] The identifiable range of the current position of the cleaning device in the target cleaning area is obtained, and the identifiable range includes multiple sub-ranges;

[0007] If point cloud information of obstacles in the target sub-range is identified, warning indication information and obstacle indication information corresponding to the target sub-range are generated. Each warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning device in the corresponding sub-range, and each obstacle indication information is used to indicate the obstacle situation in the corresponding sub-range. The target sub-range is at least one of the multiple sub-ranges.

[0008] The obstacle indication information and the warning indication information are sent to the terminal device so that the terminal device can render the obstacle indication information and display obstacle visual elements on the target map corresponding to the target cleaning area, and render the warning indication information and display warning visual elements on the target map.

[0009] In one embodiment, if point cloud information of an obstacle within the target sub-range is identified, warning indication information and obstacle indication information corresponding to the target sub-range are generated, including:

[0010] If point cloud information of N obstacles in the first sub-range is identified, the positions of the N obstacles are obtained from the point cloud information of the N obstacles. The first sub-range is one of the target sub-ranges, and N is an integer greater than or equal to 1.

[0011] Calculate the distance difference between the current position and the positions of N obstacles;

[0012] Based on N distance differences, generate early warning indication information corresponding to the first sub-range, as well as obstacle indication information for N obstacles in the first sub-range.

[0013] In one embodiment, based on N distance differences, warning indication information corresponding to a first sub-range and obstacle indication information for N obstacles in the first sub-range are generated, including:

[0014] When the first distance difference meets the first threshold interval, a first warning indication information is generated for the first sub-range, and a first obstacle indication information is generated for the first obstacle in the first sub-range. The first distance difference is the distance difference between the position of the first obstacle and the current position. The position of the first obstacle is obtained from the point cloud information of the first obstacle. The point cloud information of the first obstacle is one or more of the point cloud information of N obstacles.

[0015] When the second distance difference meets the second threshold range, second obstacle indication information is generated for the second obstacle in the first sub-range. The second distance difference is the distance difference between the position of the second obstacle and the current position. The position of the second obstacle is obtained from the point cloud information of the second obstacle. The obstacle point cloud information of the second obstacle is one or more of N obstacle point cloud information.

[0016] Among them, the upper limit of the first threshold interval is less than the lower limit of the second threshold interval, and the obstacle avoidance indication level determined by the first obstacle indication information is higher than the obstacle avoidance indication level determined by the second obstacle indication information.

[0017] In one embodiment, when the first distance difference meets a first threshold interval, a first warning indication is generated for the first sub-range, and a first obstacle indication is generated for the first obstacle in the first sub-range, including:

[0018] When the first distance difference meets the first threshold interval, the obstacle type of the first obstacle in the first sub-range is identified;

[0019] Based on the obstacle type of the first obstacle, determine the risk coefficient that matches the obstacle type of the first obstacle from the preset obstacle type set;

[0020] Based on the risk factor, first obstacle indication information is generated for the first obstacle, and first warning indication information corresponding to the first sub-range is generated.

[0021] In one embodiment, if point cloud information of an obstacle within the target sub-range is identified, warning indication information and obstacle indication information corresponding to the target sub-range are generated, including:

[0022] If the point cloud information of a third obstacle is identified in the second sub-range, the position of the third obstacle is obtained from the point cloud information of the third obstacle. The second sub-range is one of the target sub-ranges.

[0023] If the point cloud information of the fourth obstacle in the third sub-range is identified, the position of the fourth obstacle is obtained from the point cloud information of the fourth obstacle. The third sub-range is one of the target sub-ranges, and the second sub-range is different from the third sub-range.

[0024] Calculate the distance difference between the position of the third obstacle and the current position to obtain the third distance difference; and calculate the distance difference between the position of the fourth obstacle and the current position to obtain the fourth distance difference.

[0025] Based on the third distance difference and the fourth distance difference, obstacle indication information for the third obstacle and warning indication information corresponding to the second sub-range are generated, as well as obstacle indication information for the fourth obstacle and warning indication information corresponding to the third sub-range.

[0026] In one embodiment, obstacle indication information for a third obstacle and warning indication information corresponding to a second sub-range are generated based on a third distance difference and a fourth distance difference, including:

[0027] When the third distance difference and the fourth distance difference are the same, obstacle indication information of the third obstacle and warning indication information corresponding to the second sub-range are generated based on the third distance difference, as well as obstacle indication information of the fourth obstacle and warning indication information corresponding to the third sub-range. The obstacle avoidance indication degree determined by the obstacle indication information of the third obstacle is the same as the obstacle avoidance indication degree determined by the obstacle indication information of the fourth obstacle, and the warning indication degree of the warning indication information corresponding to the second sub-range is the same as the warning indication degree of the warning indication information corresponding to the third sub-range.

[0028] or,

[0029] When the third distance difference is greater than the fourth distance difference, obstacle indication information for the third obstacle and warning indication information corresponding to the second sub-range are generated based on the third distance difference. Also, obstacle indication information for the fourth obstacle and warning indication information corresponding to the third sub-range are generated based on the fourth distance difference. The obstacle avoidance indication level determined by the obstacle indication information of the third obstacle is less than the obstacle avoidance indication level determined by the obstacle indication information of the fourth obstacle, and the warning indication level of the warning indication information corresponding to the second sub-range is less than the warning indication level of the warning indication information corresponding to the third sub-range.

[0030] In one embodiment, after obtaining the identifiable range of the cleaning device at its current location, the method further includes: dividing the identifiable range into multiple sub-ranges.

[0031] In one embodiment, the identifiable range is divided into multiple sub-ranges, including:

[0032] Calculate the size of the identifiable region;

[0033] Based on a preset division angle, the size of the identifiable area is divided into multiple sub-ranges.

[0034] In one embodiment, the identifiable range is divided into multiple sub-ranges, including:

[0035] Determine the maximum boundary location of the identifiable range;

[0036] Calculate the distance difference between the maximum boundary location and the current location;

[0037] Based on the preset division distance and distance difference, the identifiable range is divided into regions to obtain multiple sub-ranges. Among them, the risk level of the sub-range closer to the current location is higher than the risk level of the sub-range farther from the current location.

[0038] In one embodiment, the method further includes:

[0039] Based on the warning indication information and obstacle indication information, obstacle avoidance is performed on the obstacles in the corresponding target sub-range, and an obstacle avoidance processing path is generated.

[0040] Send the obstacle avoidance path to the terminal device so that the terminal device can render the obstacle avoidance path and display the obstacle avoidance process of the cleaning device at its current location.

[0041] In one embodiment, based on warning indication information and obstacle indication information, obstacle avoidance is performed on obstacles in the corresponding target sub-range to generate an obstacle avoidance processing path, including:

[0042] Extract the current pose status of the cleaning equipment from the early warning indication information, and extract the position and type of obstacles in the corresponding sub-range from the obstacle indication information;

[0043] Based on the local path planning algorithm, the location and type of obstacles, as well as the current pose of the cleaning equipment, are used to perform path planning and generate obstacle avoidance paths.

[0044] Secondly, this application also provides another obstacle avoidance method applied to a terminal device. This method includes:

[0045] The system receives warning indication information and obstacle indication information corresponding to the target sub-range sent by the cleaning device. The warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning device in the corresponding target sub-range, and the obstacle indication information is used to indicate the obstacle situation in the corresponding target sub-range. The target sub-range is at least one of multiple sub-ranges, and the multiple sub-ranges are included in the identifiable range of the current position of the cleaning device in the target cleaning area.

[0046] Render the warning indication information corresponding to the target sub-range, display the warning visual elements of the corresponding target sub-range on the target map corresponding to the target cleaning area, and render the obstacle indication information corresponding to the target sub-range, display the obstacle visual elements of the corresponding target sub-range on the target map.

[0047] In one embodiment, rendering warning indication information corresponding to the target sub-range, displaying warning visual elements of the corresponding target sub-range on the target map corresponding to the target cleaning area, and rendering obstacle indication information corresponding to the target sub-range, displaying obstacle visual elements of the corresponding target sub-range on the target map, including:

[0048] When the first distance difference satisfies the first threshold interval and the second distance difference satisfies the second threshold interval, the first obstacle indication information corresponding to the first obstacle in the first sub-range is rendered, and the first obstacle visual element is displayed on the target map. The second obstacle indication information corresponding to the second obstacle in the first sub-range is also rendered, and the second obstacle visual element is displayed on the target map. The rendering intensity of the first obstacle visual element is stronger than that of the second obstacle visual element. The first distance difference is the distance difference between the position of the first obstacle and the current position. The second distance difference is the distance difference between the position of the second obstacle and the current position. The upper limit of the first threshold interval is less than the lower limit of the second threshold interval. The first sub-range is one of the target sub-ranges.

[0049] When the first distance difference meets the first threshold interval and the second distance difference meets the second threshold interval, the first warning indication information corresponding to the first sub-range is rendered, and the warning visual elements of the first sub-range are displayed on the target map.

[0050] In one embodiment, rendering warning indication information corresponding to the target sub-range, displaying warning visual elements of the corresponding target sub-range on the target map corresponding to the target cleaning area, and rendering obstacle indication information corresponding to the target sub-range, displaying obstacle visual elements of the corresponding target sub-range on the target map, including:

[0051] When the third distance difference and the fourth distance difference are the same, render the obstacle indication information corresponding to the third obstacle in the second sub-range, display the visual element of the third obstacle on the target map, and render the obstacle indication information corresponding to the fourth obstacle in the third sub-range, display the visual element of the fourth obstacle on the target map. The rendering intensity of the visual element of the third obstacle is equal to the rendering intensity of the visual element of the fourth obstacle. The third distance difference is the distance difference between the position of the third obstacle and the current position. The fourth distance difference is the distance difference between the position of the fourth obstacle and the current position. The second sub-range is one of the target sub-ranges, and the third sub-range is one of the target sub-ranges. The second sub-range is different from the third sub-range.

[0052] When the third distance difference is the same as the fourth distance difference, render the warning indication information corresponding to the second sub-range, display the warning visual elements of the second sub-range on the target map, and render the warning indication information corresponding to the third sub-range, display the warning visual elements of the third sub-range on the target map. The rendering intensity of the warning visual elements of the second sub-range is equal to the rendering intensity of the warning visual elements of the third sub-range.

[0053] or,

[0054] When the third distance difference is greater than the fourth distance difference, render the obstacle indication information corresponding to the third obstacle in the second sub-range, display the visual element of the third obstacle on the target map, and render the obstacle indication information corresponding to the fourth obstacle in the third sub-range, display the visual element of the fourth obstacle on the target map. The rendering intensity of the visual element of the third obstacle is less than the rendering intensity of the visual element of the fourth obstacle.

[0055] When the third distance difference is greater than the fourth distance difference, render the warning indication information corresponding to the second sub-range and display the warning visual elements of the second sub-range on the target map. Render the warning indication information corresponding to the third sub-range and display the warning visual elements of the third sub-range on the target map. The rendering intensity of the warning visual elements of the second sub-range is less than the rendering intensity of the warning visual elements of the third sub-range.

[0056] Thirdly, this application also provides a cleaning device, comprising:

[0057] The acquisition unit is used to acquire the identifiable range of the current position of the cleaning device on the target cleaning area, and the identifiable range includes multiple sub-ranges;

[0058] The processing unit is used to generate warning indication information and obstacle indication information corresponding to the target sub-range when point cloud information of obstacles in the target sub-range is identified. The warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning equipment in the corresponding target sub-range, and the obstacle indication information is used to indicate the obstacle situation in the corresponding target sub-range.

[0059] The sending unit is used to send obstacle indication information and warning indication information to the terminal device, so that the terminal device can render the obstacle indication information and display obstacle visual elements, and render the warning indication information and display warning visual elements.

[0060] Fourthly, this application also provides a terminal device, including:

[0061] The receiving module is used to receive warning indication information and obstacle indication information corresponding to the target sub-range sent by the cleaning device. The warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning device in the corresponding target sub-range, and the obstacle indication information is used to indicate the obstacle situation in the corresponding target sub-range. The target sub-range is at least one of multiple sub-ranges, and the multiple sub-ranges are included in the identifiable range of the current position of the cleaning device in the target cleaning area.

[0062] The rendering and display module is used to render the warning indication information corresponding to the target sub-range, display the warning visual elements of the corresponding target sub-range, and render the obstacle indication information corresponding to the target sub-range, display the obstacle visual elements of the corresponding target sub-range.

[0063] Fifthly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the obstacle avoidance processing method described in the first or second aspect above.

[0064] Sixthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is used to perform the obstacle avoidance processing method described in the first or second aspect above.

[0065] In a seventh aspect, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the obstacle avoidance processing method described in the first or second aspect above.

[0066] The aforementioned obstacle avoidance methods, apparatus, computer equipment, media, and computer program products identify obstacles within multiple sub-ranges of the identifiable area where the cleaning device is currently located in the target cleaning area. If point cloud information of obstacles within a target sub-range is identified, warning indication information and obstacle indication information corresponding to that sub-range are generated. The described warning indication information can be used to indicate the obstacle avoidance safety boundary of the cleaning device within the corresponding target sub-range; additionally, the described obstacle indication information can be used to indicate the obstacle situation within the corresponding target sub-range. The cleaning device then sends the obstacle indication information and warning indication information to a terminal device for rendering the obstacle indication information, displaying obstacle visual elements on the target map corresponding to the target cleaning area, and rendering the warning indication information, displaying warning visual elements on the target map. By utilizing the warning and obstacle indication information corresponding to different sub-ranges, dynamic obstacle avoidance warnings are achieved for different areas. Then, the warning and obstacle indication information of the corresponding sub-ranges are rendered by the terminal device, and the warning visual elements and obstacle visual elements of the corresponding sub-ranges are displayed visually on the target map. This allows users to intuitively and accurately grasp the real-time obstacle avoidance situation of obstacles in each sub-range, significantly improving the efficiency of human-machine collaborative decision-making and cleaning safety. Attached Figure Description

[0067] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 An application environment diagram of an obstacle avoidance processing method in one embodiment is shown;

[0069] Figure 2 A flowchart illustrating an obstacle avoidance method in one embodiment is shown;

[0070] Figure 3A This invention illustrates a schematic diagram of the identifiable range defined in this application.

[0071] Figure 3B This invention illustrates a schematic diagram of the identifiable range defined in this application.

[0072] Figure 4 A flowchart of step 202 in one embodiment is shown;

[0073] Figure 5Another flowchart of step 202 in one embodiment is shown;

[0074] Figure 6 A visual schematic diagram of a visual element provided in one embodiment is shown;

[0075] Figure 7 Another visual illustration of a visual element provided in one embodiment is shown;

[0076] Figure 8 Another visual illustration of a visual element provided in one embodiment is shown;

[0077] Figure 9 A block diagram of the cleaning device structure in one embodiment is shown;

[0078] Figure 10 A device structure block diagram of a terminal device in one embodiment is shown;

[0079] Figure 11 An internal structural diagram of a computer device in one embodiment is shown. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0081] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0082] The use of cleaning equipment not only frees up users' hands during the cleaning process but also improves cleaning efficiency. For example, in a home setting, after a user initiates a cleaning task via a terminal device (such as a mobile application, APP), for instance, a robot vacuum cleaner is triggered from its charging dock and enters the living room to begin automatic cleaning. The living room floor may be littered with obstacles such as slippers, toys, and table and chair legs. As the robot vacuum cleaner moves along its path, it uses LiDAR and cameras to perceive its surroundings in real time, detecting a pair of slippers 30 centimeters ahead.

[0083] However, according to the relevant solutions, if the system detects an obstacle such as a "slipper," it will immediately perform obstacle avoidance operations such as detouring to complete the obstacle avoidance process. But this only provides a prompt about the presence or absence of obstacles and cannot provide obstacle avoidance warnings for different ranges; moreover, the human-computer interaction is not intelligent enough, so users lack intuitive visual feedback, which leads to a situation where the efficiency and safety of cleaning operations cannot be simultaneously achieved.

[0084] To address the aforementioned technical issues, this application provides an obstacle avoidance method. By utilizing warning information and obstacle indication information corresponding to different sub-ranges, dynamic obstacle avoidance warnings can be achieved across different areas. Furthermore, through rendering, the warning visual elements, obstacle visual elements, and obstacles corresponding to different sub-ranges can be visually displayed on the target map, allowing users to intuitively perceive and understand the real-time status and risk level of obstacles within different ranges. This enhances the intelligence level of human-machine collaborative operations while ensuring cleaning safety.

[0085] The obstacle avoidance method provided in this application embodiment can be applied to, for example, Figure 1 The application environment shown. For example... Figure 1 As shown, the application environment provided in this application includes at least: a terminal device 101 and a cleaning device 102. The cleaning device 102 can communicate with the terminal device 101 via a communication network 103. A data storage system can store the data that the terminal device 101 and the cleaning device 102 need to process. The data storage system can be integrated into the terminal device 101 or placed in the cloud or on another network server. In this application, the cleaning device 102 obtains the identifiable range of its current location in the target cleaning area, which includes multiple sub-ranges. Then, if the cleaning device 102 identifies point cloud information of obstacles in the target sub-range, it generates warning indication information and obstacle indication information corresponding to the target sub-range. It should be understood that the warning indication information mentioned in this application is used to indicate the obstacle avoidance safety boundary of the cleaning device within the corresponding target sub-range. Additionally, the described obstacle indication information is used to indicate the obstacle situation within the corresponding target sub-range. Thus, after generating warning indication information and obstacle indication information corresponding to the target sub-range, the cleaning device 102 sends the obstacle indication information and warning indication information to the terminal device 101 through the communication network 103. Upon receiving this information, the terminal device 101 renders the obstacle indication information and displays the obstacle visual elements on the target map corresponding to the target cleaning area; similarly, the terminal device 101 also renders each warning indication information and displays the warning visual elements on the target map.

[0086] It should be noted that terminal device 101 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart in-vehicle devices, projection devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Head-mounted devices can include virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0087] The cleaning equipment 102 can be a sweeping robot, an unmanned sweeping vehicle, a floor cleaning robot, or other similar equipment, and is not limited in this application.

[0088] To clearly describe the solution of this application, it will be described in detail with reference to the accompanying drawings. In an exemplary embodiment, as shown... Figure 2 As shown, an obstacle avoidance method is provided, which is applied to... Figure 2 This will be illustrated using the interaction between the terminal device and the cleaning equipment as an example. Figure 2 As shown, it includes at least the following steps:

[0089] 201. The cleaning equipment obtains the identifiable range of its current location on the target cleaning area, which includes multiple sub-ranges.

[0090] In one or more embodiments, the target cleaning area can be understood as the space to be cleaned specified by the user, such as a family living room, office corridor, shopping mall atrium, or industrial plant. The current location can be understood as the real-time coordinates of the cleaning device within the target cleaning area.

[0091] The described identifiable range can be understood as the range obtained in real-time by the cleaning device at its current location through its built-in binocular camera module, or a combination of a binocular camera module and a LiDAR. This identifiable range can be understood as the maximum effective range that the cleaning device can capture at its current location. It should be understood that the described binocular camera module can include a binocular camera module located at the front of the cleaning device, or a binocular camera module added at the rear. The front binocular camera module can identify the range of the field of view in front of the cleaning device; the rear binocular camera module can identify the range of the field of view behind the cleaning device; and both the front and rear binocular camera modules can identify the range of the field of view in both directions. Furthermore, the combination of the built-in binocular camera module and a LiDAR (such as a dual-line LiDAR) enables an all-around field of view.

[0092] For example, the identifiable range can be a semi-circular area within a 180° field of view in front, centered on the current position of the cleaning device and captured by the binocular camera module. Alternatively, the identifiable range can be a circular area within a 360° field of view obtained by scanning with the binocular camera module and LiDAR, centered on the current position of the cleaning device. Or, the identifiable range can be a semi-circular area within a 180° field of view behind, centered on the current position of the cleaning device and captured by the binocular camera module at the rear. In practical applications, it can also be an area of ​​other angles and shapes, which are not limited in this application.

[0093] Optionally, after obtaining the identifiable range, this application may further divide the identifiable range into multiple sub-ranges. It should be understood that these multiple sub-ranges can be understood as a set of non-overlapping sub-ranges that can cover the entire region.

[0094] As an illustrative description, when dividing the identifiable area into zones, the cleaning device first calculates the size of that area. Then, using a preset dividing angle, the device further divides the identifiable area into multiple sub-zones. This preset dividing angle ensures equiangular division of the identifiable area, enabling uniform coverage and precise sensing of each sub-zone.

[0095] For example, Figure 3A This is a schematic diagram illustrating the delineation of the identifiable area for this application. For example... Figure 3A As shown, taking a semi-circular area as an example where the identifiable range is 180°, and assuming the preset division angle is 30°, the semi-circular area can be divided into 6 30° sector sub-ranges, such as arc area A1 to arc area A6, with the central angle of each arc area being 30°.

[0096] It should be understood that the preset division angle mentioned above can be dynamically adjusted according to the moving speed and performance of the cleaning equipment. For example, the faster the moving speed, the smaller the preset division angle can be, to ensure sufficient environmental awareness during high-speed movement, thereby improving the real-time response in dynamic environments. For example, its value can also be 15°, 45°, or 90°, etc., and is not limited in this application.

[0097] In another illustrative description, when dividing the identifiable area into zones, the cleaning device can first determine the maximum boundary position of the identifiable area. Then, the cleaning device calculates the distance difference between the maximum boundary position and its current position. Based on the preset division distance and distance difference, the cleaning device further divides the identifiable area into multiple sub-areas. The sub-areas closer to the current position have a higher risk level than those farther away. This method, utilizing the preset division distance and distance difference, achieves equidistant ring-shaped division of the identifiable area, resulting in sub-areas closer to the current position receiving a higher risk level and those farther away receiving a lower risk level, thus enabling tiered risk perception and early warning.

[0098] For example, Figure 3B Another schematic diagram illustrating the delineation of the identifiable scope of this application. For example... Figure 3B As shown, taking the current position of the cleaning equipment as position A, its identifiable range is a semi-circular area with an angle of 180° as an example. After calculation, the maximum boundary of this identifiable range is arc B, and the distance difference between arc B and position A is D. Based on this, if the preset division distance is 1 / 6, it can be divided into 6 sub-ranges, for example, (0, D / 6), (D / 6, 2D / 6), (2D / 6, 3D / 6), (3D / 6, 4D / 6), (4D / 6, 5D / 6), (5D / 6, D). The risk levels corresponding to these 6 sub-ranges decrease sequentially.

[0099] It should be noted that the preset division distance of 1 / 6 is only an illustrative description, and other values ​​can be used in actual applications. Furthermore, other methods can be used to divide the identifiable range in practical applications, and this application does not limit such methods.

[0100] 202. When the cleaning equipment identifies point cloud information of obstacles in the target sub-range, it generates warning indication information and obstacle indication information corresponding to the target sub-range. The warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning equipment in the corresponding target sub-range, and the obstacle indication information is used to indicate the obstacle situation in the corresponding target sub-range.

[0101] In one or more embodiments, after dividing the identifiable range into multiple sub-ranges, the cleaning device can perform point cloud recognition processing on obstacles within each sub-range to identify the point cloud information of obstacles in the target sub-range. Through the point cloud information of the obstacles, information such as their geometry, size, and location can be obtained. Thus, if the cleaning device identifies the point cloud information of obstacles in the target sub-range, it further generates warning indication information and obstacle indication information corresponding to each target sub-range.

[0102] It should be understood that the warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning equipment within the corresponding target sub-range. Additionally, the obstacle indication information is used to indicate the obstacle situation within the corresponding target sub-range, such as the type and location of the obstacles.

[0103] For example, as mentioned above Figure 3A Taking the six sub-ranges (e.g., arc-shaped areas A1 to A6) as an example, the cleaning device can sequentially perform point cloud scanning on arc-shaped areas A1 to A6 to identify the point cloud information of obstacles in the target sub-ranges. For example, if the point cloud information of obstacle B11 in arc-shaped area A1 is identified, then warning indication information for arc-shaped area A1 and obstacle indication information for obstacle B11 can be generated. Similarly, the point cloud information of obstacle B21 in arc-shaped area A2 can be identified, generating warning indication information for arc-shaped area A2 and obstacle indication information for obstacle B21. Likewise, the point cloud information of obstacle B31 in arc-shaped area A3 can be identified, generating warning indication information for arc-shaped area A3 and obstacle indication information for obstacle B31. If no obstacles are identified in arc-shaped areas A4 to A6, then arc-shaped areas A4 to A6 do not belong to the target sub-range, and therefore warning indication information and obstacle indication information corresponding to these sub-ranges do not need to be generated.

[0104] 203. The cleaning equipment sends obstacle indication information and early warning indication information to the terminal equipment.

[0105] In one or more embodiments, after generating obstacle indication information and warning indication information corresponding to the target sub-range, the cleaning device sends the obstacle indication information and warning indication information to the terminal device through a communication network. At this point, the terminal device can receive the obstacle indication information and warning indication information.

[0106] It should be noted that the obstacle indication information and warning indication information described here can be understood with reference to the content described in step 202 above, and will not be repeated here.

[0107] 204. The terminal device renders obstacle indication information and displays obstacle visual elements on the target map corresponding to the target cleaning area, and renders warning indication information and displays warning visual elements on the target map.

[0108] In one or more embodiments, after receiving obstacle indication information and various warning indication information, the terminal device can render the obstacle indication information to display obstacle visual elements on the target map corresponding to the target cleaning area.

[0109] It should be understood that the described obstacle visual elements can be interpreted as graphical symbols that visually represent the spatial location and type characteristics of obstacles on a target map. These can be icons of different colors and shapes; the intensity of the color reflects the degree of obstacle avoidance instruction indicated by the obstacle's information, while the shape reflects the obstacle's form and type. For example, taking the obstacle instruction information for an obstacle (e.g., a pet) as an example, if its obstacle avoidance instruction degree is high urgency (e.g., red), then the rendered obstacle visual element would be a red pet icon. In this way, users can visually view the obstacle visual element (e.g., the red pet icon) on the terminal device's interface.

[0110] Similarly, the terminal device also needs to render each warning indication information and then display the warning visual elements on the target map. It should be understood that the described warning visual elements can be understood as icons that visually present the obstacle avoidance warning range on the target map. These can be graphic symbols of different colors and shapes, with the shade of color reflecting the warning level (e.g., green represents low risk, yellow represents medium risk, and red represents high risk). For example, taking the warning indication information for the sub-range where an obstacle (e.g., a pet) is located (e.g., about to enter a high-risk area), if its warning level is high risk (e.g., red), then the warning visual element rendered by the cleaning device will be a red arc.

[0111] In this embodiment, by utilizing the warning indication information and obstacle indication information corresponding to different sub-ranges, dynamic obstacle avoidance warnings are realized in different areas. Then, the warning indication information and obstacle indication information of the corresponding sub-ranges are rendered by the terminal device, and the warning visual elements, obstacle visual elements and obstacles of the corresponding sub-ranges are displayed visually on the target map. This allows users to intuitively and accurately grasp the real-time obstacle avoidance situation of obstacles in each sub-range, significantly improving the efficiency of human-machine collaborative decision-making and cleaning safety.

[0112] Optionally, in the foregoing Figure 2 Based on the one or more embodiments described, in other embodiments, the implementation methods used to generate the warning indication information and obstacle indication information corresponding to each target sub-range in step 202 vary in different scenarios. For example, when there are one or more obstacles in the same target sub-range, the cleaning device will dynamically set the obstacle avoidance safety boundary for different obstacles in the target sub-range based on the distance relationship between each obstacle and the current position of the cleaning device. Alternatively, when there are different obstacles in different target sub-ranges, the cleaning device will also dynamically set the warning indication information for each sub-range based on the distance relationship between the obstacles in each sub-range and the current position of the cleaning device. For details, please refer to the descriptions in cases ① and ② below:

[0113] Scenario ①: The presence of one or more obstacles within the same target sub-area;

[0114] Optionally, regarding how to process the obtained warning indication information and obstacle indication information in step 202, it can be referred to Figure 4 The illustrated embodiments are used for understanding. Figure 4 As shown, step 202, as described above, includes at least steps 401 to 403. Wherein,

[0115] 401. If point cloud information of N obstacles in the first sub-range is identified, obtain the positions of the N obstacles from the point cloud information of the N obstacles. The first sub-range is one of multiple sub-ranges, and N is an integer greater than or equal to 1.

[0116] 402. Calculate the distance difference between the current position and the positions of N obstacles;

[0117] 403. Based on N distance differences, generate early warning indication information corresponding to the first sub-range, and obstacle indication information for N obstacles in the first sub-range.

[0118] It should be understood that the obstacle identification process and the process of generating corresponding warning indication information and obstacle indication information for each sub-range are basically similar. Therefore, in this embodiment, only one of these sub-ranges (i.e., the first sub-range) is used as an example for illustration.

[0119] Taking the first sub-range as the target sub-range as an example, the first sub-range may contain one or more obstacles. The cleaning device can then identify the point cloud information of N obstacles within this first sub-range. The point cloud information of each obstacle in this first sub-range includes attributes such as its position. Therefore, if the cleaning device identifies the point cloud information of N obstacles in the first sub-range, it can extract the position of each obstacle from the point cloud information and then calculate the distance difference between the current position of the cleaning device and the position of each obstacle. In this way, the cleaning device can generate warning indication information corresponding to the first sub-range, as well as obstacle indication information for the N obstacles within the first sub-range, based on the N distance differences.

[0120] For example, as mentioned above Figure 3ATaking the arc-shaped region A1 as the first sub-range as an example, two obstacle point cloud clusters are identified within this region, corresponding to obstacles B11 and B12 respectively. At this time, the cleaning device will calculate the distance differences, such as d11 and d12, between its current position and the positions of obstacles B11 and B12. Based on this, the cleaning device can generate warning indication information corresponding to the arc-shaped region A1, as well as obstacle indication information for obstacles B11 and B12, according to the distance differences d11 and d12.

[0121] By using the above method, different obstacle indication information is generated for obstacles with different distance differences within the same sub-range. This enables differentiated and accurate identification of obstacles within the same range, avoiding the confusion of obstacles at different distances as the same risk and improving the accuracy of environmental perception information. Furthermore, the warning indication information for this sub-range is determined based on the closer distance difference, avoiding interference caused by excessive warnings for distant obstacles. This significantly improves the decision-making efficiency and warning accuracy of the cleaning equipment in complex environments.

[0122] It should be noted that the obstacle recognition and indication information generation for other sub-ranges can be implemented by analogy with the processing logic of the first sub-range mentioned above, and will not be elaborated here.

[0123] Optionally, in the foregoing Figure 4 Based on one or more embodiments shown, in other embodiments, the cleaning device in this application does not simply set the same obstacle indication information for all obstacles in the first sub-range, but instead constructs a differentiated response strategy based on the real-time distance difference between the obstacle and the device. Based on this, regarding the above... Figure 4 In step 403 of this application, in another optional embodiment, based on N distance differences, warning indication information corresponding to the first sub-range and obstacle indication information of N obstacles in the first sub-range are generated, including:

[0124] When the first distance difference meets the first threshold interval, a first warning indication information is generated for the first sub-range, and a first obstacle indication information is generated for the first obstacle in the first sub-range. The first distance difference is the distance difference between the position of the first obstacle and the current position. The position of the first obstacle is obtained from the point cloud information of the first obstacle. The point cloud information of the first obstacle is one or more of the point cloud information of N obstacles.

[0125] When the second distance difference meets the second threshold range, second obstacle indication information is generated for the second obstacle in the first sub-range. The second distance difference is the distance difference between the position of the second obstacle and the current position. The position of the second obstacle is obtained from the point cloud information of the second obstacle. The obstacle point cloud information of the second obstacle is one or more of N obstacle point cloud information.

[0126] Among them, the upper limit of the first threshold interval is less than the lower limit of the second threshold interval, and the obstacle avoidance indication level determined by the first obstacle indication information is higher than the obstacle avoidance indication level determined by the second obstacle indication information.

[0127] Specifically, threshold ranges can be pre-configured for different distance differences. The larger the upper limit of the threshold range, the farther the obstacle is from the cleaning device at the current location, and the obstacle avoidance indication level can be reduced accordingly. Conversely, the smaller the upper limit of the threshold range, the closer the obstacle is to the cleaning device, and the obstacle avoidance indication level needs to be increased to trigger a more urgent obstacle avoidance response.

[0128] Thus, when the first sub-range includes both a first obstacle and a second obstacle, the cleaning device calculates the distance difference between the position of the first obstacle and its current position (e.g., the first distance difference) and the distance difference between the position of the second obstacle and its current position (e.g., the second distance difference), and then compares the first and second distance differences within threshold intervals. If the upper limit of the first threshold interval is less than the lower limit of the second threshold interval, and the first distance difference falls within the first threshold interval while the second distance difference falls within the second threshold interval, it indicates that the first obstacle is closer to the cleaning device than the second obstacle, and will pose a certain degree of cleaning obstacle. Therefore, the cleaning device needs to generate first obstacle indication information for the first obstacle and second obstacle indication information for the second obstacle. Furthermore, the obstacle avoidance indication level determined by the first obstacle indication information is higher than the obstacle avoidance indication level determined by the second obstacle indication information.

[0129] Furthermore, since the first obstacle is closer to the cleaning device and thus poses a greater threat, the generation of warning indication information for the first sub-range can specifically involve generating first warning indication information for the first sub-range based on the first distance difference when the first distance difference meets a first threshold range. This ensures that the warning level represented by the warning indication information for the first sub-range matches the obstacle avoidance indication level of the first obstacle indication information, thereby simultaneously strengthening the perception of high-priority obstacles in the visual feedback.

[0130] It should be understood that the level of obstacle avoidance instruction mentioned in this application can be interpreted as the urgency level of the obstacle avoidance response. For example, it can be characterized by visual intensity such as color depth, with red representing high urgency, yellow representing medium urgency, and green representing low urgency. In addition, it can also be quantified through multimodal methods such as icon size or sound cue intensity.

[0131] For example, taking obstacles B11 and B12 in the aforementioned first sub-range (such as arc-shaped area A1) as examples, the calculated distance difference d11 between obstacle B11 and the cleaning equipment is 0.3 meters, falling into the first threshold range [0.2, 0.5]; the distance difference d12 between obstacle B12 and the cleaning equipment is 0.6 meters, falling into the second threshold range [0.5, 0.8]. Based on this, obstacle indication information C11 can be generated for obstacle B11, with an obstacle avoidance indication level of high urgency (e.g., red), and obstacle indication information C12 can be generated for obstacle B12, with an obstacle avoidance indication level of medium urgency (e.g., yellow). In addition, a first warning indication information is generated for the arc-shaped area A1, with its warning level also correspondingly set to high urgency (e.g., red).

[0132] Through this graded response mechanism, the cleaning equipment can avoid ineffective pauses caused by overreaction in complex dynamic environments, while ensuring millisecond-level avoidance decisions for nearby obstacles.

[0133] Optionally, based on one or more of the foregoing embodiments, in another embodiment provided by this application, when the first distance difference satisfies a first threshold interval, a first warning indication information is generated for the first sub-range, and a first obstacle indication information is generated for the first obstacle in the first sub-range, including:

[0134] When the first distance difference meets the first threshold interval, the obstacle type of the first obstacle in the first sub-range is identified;

[0135] Based on the obstacle type of the first obstacle, determine the risk coefficient that matches the obstacle type of the first obstacle from the preset obstacle type set;

[0136] Based on the risk factor, first obstacle indication information is generated for the first obstacle, and first warning indication information corresponding to the first sub-range is generated.

[0137] Specifically, a corresponding hazard factor can be configured in advance for different types of obstacles. This hazard factor indicates the level of threat the obstacle may pose to the cleaning equipment. A higher hazard factor indicates that the obstacle is more likely to cause high-risk events such as collisions; conversely, a lower hazard factor indicates that the potential risk of the obstacle is more controllable. For example, a lower hazard factor (e.g., 0.2) can be configured for stationary obstacles with low mobility or fixed structures such as tables, furniture, and door frames, while a higher hazard factor (e.g., 0.8) can be configured for dynamic obstacles with high mobility such as pets, children, and mobile toy cars. Alternatively, a medium hazard factor (e.g., 0.5) can be configured for special obstacles such as fragile items, valuables, and electrical equipment. This application does not impose limitations on these specific examples.

[0138] Based on this, in the process of generating first obstacle indication information for a first obstacle and generating first warning indication information corresponding to a first sub-range in this embodiment, the obstacle type of the first obstacle can be identified, and then the danger coefficient matching the obstacle type of the first obstacle can be determined from a preset obstacle type set. Thus, based on the danger coefficient, corresponding first obstacle indication information and first warning indication information corresponding to the first sub-range can be generated for the first obstacle.

[0139] The above methods enable dynamic adjustment of obstacle avoidance and warning levels, facilitating differentiated obstacle avoidance and warning strategies for different types of obstacles at different levels, and significantly improving the adaptability and safety of cleaning equipment in real home environments.

[0140] Scenario 2: Different obstacles exist within different target sub-ranges;

[0141] Optionally, the method for processing the obtained warning indication information and obstacle indication information in step 202 can also refer to... Figure 5 The illustrated embodiments are used for understanding. Figure 5 As shown, step 202, as described above, includes at least steps 501 to 504. Wherein,

[0142] 501. If the point cloud information of a third obstacle in the second sub-range is identified, the position of the third obstacle is obtained from the point cloud information of the third obstacle. The second sub-range is one of the target sub-ranges.

[0143] 502. If the point cloud information of the fourth obstacle in the third sub-range is identified, the position of the fourth obstacle is obtained from the point cloud information of the fourth obstacle. The third sub-range is one of the target sub-ranges, and the second sub-range is different from the third sub-range.

[0144] 503. Calculate the distance difference between the position of the third obstacle and the current position to obtain the third distance difference; and calculate the distance difference between the position of the fourth obstacle and the current position to obtain the fourth distance difference.

[0145] 504. Based on the third distance difference and the fourth distance difference, generate obstacle indication information for the third obstacle, warning indication information corresponding to the second sub-range, obstacle indication information for the fourth obstacle, and warning indication information corresponding to the third sub-range.

[0146] It should be understood that the obstacle identification process and the process of generating corresponding warning indication information and obstacle indication information for different sub-ranges are basically similar. Therefore, in this embodiment, only any two sub-ranges (i.e., the second sub-range and the third sub-range) are used as examples for illustration.

[0147] Taking a scenario where both the second and third sub-ranges are target sub-ranges as an example, if the second sub-range contains a third obstacle and the third sub-range contains a fourth obstacle, the cleaning device can extract the position of the third obstacle from its point cloud information and the position of the fourth obstacle from its point cloud information. It can then calculate the distance difference between the third obstacle and the cleaning device's current position (i.e., the third distance difference) and the distance difference between the fourth obstacle and the cleaning device's current position (i.e., the fourth distance difference). Based on these third and fourth distance differences, the cleaning device can generate obstacle indication information for each obstacle and warning indication information for each sub-range.

[0148] By using the above method, the distance difference between obstacles in different sub-ranges is used to determine the early warning indication information and obstacle indication information of each sub-range, thus realizing a refined hierarchical response to obstacle risks in multiple areas.

[0149] Optionally, in the foregoing Figure 5 Based on the described embodiments, in another embodiment provided by this application, the process of generating warning indication information and obstacle indication information of corresponding sub-ranges based on the third distance difference and the fourth distance difference in step 504 can be implemented by adopting different processing methods based on the magnitude of the difference between the third distance difference and the fourth distance difference. Specifically, this can be understood as follows:

[0150] Method 1: The third distance difference is the same as the fourth distance difference;

[0151] In one optional embodiment, when the third distance difference is the same as the fourth distance difference, obstacle indication information of the third obstacle, warning indication information corresponding to the second sub-range, obstacle indication information of the fourth obstacle, and warning indication information corresponding to the third sub-range are generated based on the third distance difference.

[0152] It should be understood that when the third distance difference is equal to the fourth distance difference, the obstacle avoidance indication level determined by the obstacle indication information of the third obstacle is the same as the obstacle avoidance indication level determined by the obstacle indication information of the fourth obstacle, and the warning indication level of the warning indication information corresponding to the second sub-range is the same as the warning indication level of the warning indication information corresponding to the third sub-range.

[0153] For example, as mentioned above Figure 3A Taking the arc-shaped region A2 as the second sub-range and the arc-shaped region A3 as the third sub-range as an example, arc-shaped region A2 contains a third obstacle (such as obstacle B21), and arc-shaped region A3 contains a fourth obstacle (such as obstacle B31). If the distance difference d21 between obstacle B21 and the current position of the cleaning device and the distance difference d31 between obstacle B31 and the current position of the cleaning device are calculated, and d21=d31=0.4, then the cleaning device can fall into the corresponding threshold interval based on the distance difference d21, generating obstacle indication information C21 for obstacle B21 and obstacle indication information C31 for obstacle B31. Moreover, the obstacle avoidance indication levels determined by obstacle indication information C21 and C31 are the same.

[0154] For example, if the distance difference d21 = 0.4, falling within the range [0.2, 0.5), then the obstacle avoidance indication level is high urgency (e.g., red). Similarly, the cleaning device also generates warning indication information D21 for the arc-shaped area A2 and warning indication information D31 for the arc-shaped area A3 based on the distance difference d21 falling within the corresponding threshold range. Moreover, the warning indication information D21 and D31 correspond to the same warning level; for example, if the distance difference d21 falls within the range [0.2, 0.5), then the warning level is also high urgency (e.g., red).

[0155] By using the above methods, when the distance difference is equal, the cleaning equipment can uniformly adopt the same obstacle avoidance and early warning strategies, which can achieve higher processing efficiency and ensure that the early warning and obstacle avoidance response logic can still be maintained in multi-obstacle scenarios.

[0156] Method 2: The third distance difference is greater than the fourth distance difference;

[0157] In one optional embodiment, when the third distance difference is greater than the fourth distance difference, obstacle indication information of the third obstacle and warning indication information corresponding to the second sub-range are generated based on the third distance difference, and obstacle indication information of the fourth obstacle and warning indication information corresponding to the third sub-range are generated based on the fourth distance difference.

[0158] It should be understood that when the third distance difference is greater than the fourth distance difference, the obstacle avoidance indication level determined by the obstacle indication information of the third obstacle is less than the obstacle avoidance indication level determined by the obstacle indication information of the fourth obstacle, and the warning indication level of the warning indication information corresponding to the second sub-range is less than the warning indication level of the warning indication information corresponding to the third sub-range.

[0159] For example, taking the arc-shaped area A2 mentioned in Method 1 as containing a third obstacle (such as obstacle B21) and the arc-shaped area A3 containing a fourth obstacle (such as obstacle B31) as an example, if the calculated distance difference d21 = 0.8 > d31 = 0.4, the cleaning device can generate obstacle indication information E21 for obstacle B21 and warning indication information F21 for arc-shaped area A2 based on the distance difference d21 falling within the corresponding threshold range. Similarly, based on the distance difference d31 falling within the corresponding threshold range, obstacle indication information E31 is generated for obstacle B31 and warning indication information F31 is generated for arc-shaped area A3.

[0160] For example, if the distance difference d21 falls within the range of [0.5, 0.8], the obstacle avoidance indication information E21 is determined to be of medium urgency (e.g., yellow), and the corresponding warning indication information F21 is also of medium urgency (e.g., yellow). For an obstacle B31 that is closer, based on its smaller distance difference d31 falling within the range of [0.2, 0.5), an obstacle avoidance indication information E31 with high urgency (e.g., red) and a warning indication information F31 of the same level are generated.

[0161] By utilizing the distance differences between different obstacles in different sub-ranges, differentiated obstacle avoidance and early warning responses can be achieved. This enables accurate identification of risk gradients in complex dynamic environments, improving response and early warning accuracy, and providing more reliable data support for subsequent intelligent decision-making.

[0162] Method 3: The third distance difference is less than the fourth distance difference;

[0163] In one optional embodiment, when the third distance difference is less than the fourth distance difference, obstacle indication information of the third obstacle and warning indication information corresponding to the second sub-range are generated based on the third distance difference. Also, obstacle indication information of the fourth obstacle and warning indication information corresponding to the third sub-range are generated based on the fourth distance difference. The obstacle avoidance indication level determined by the obstacle indication information of the third obstacle is greater than the obstacle avoidance indication level determined by the obstacle indication information of the fourth obstacle, and the pre-warning level of the warning indication information corresponding to the third sub-range is greater than the warning level of the warning indication information corresponding to the third sub-range.

[0164] For example, taking the arc-shaped area A2 mentioned in Method 1 as containing a third obstacle (such as obstacle B21) and the arc-shaped area A3 containing a fourth obstacle (such as obstacle B31) as an example, if the calculated distance difference d21 is less than the distance difference d31, the cleaning device can generate obstacle indication information E21 for obstacle B21 and warning indication information F21 for arc-shaped area A2 based on the distance difference d21 falling within the corresponding threshold range. Similarly, based on the distance difference d31 falling within the corresponding threshold range, obstacle indication information E31 is generated for obstacle B31 and warning indication information F31 is generated for arc-shaped area A3.

[0165] For example, if the distance difference d31 falls within [0.8, 1.2], the obstacle avoidance indication information E31 will be classified as low urgency (e.g., green), and the corresponding warning indication information F31 will also be classified as low urgency (e.g., green). However, for a closer obstacle B21, based on its smaller distance difference d21 falling within the [0.2, 0.5] range, obstacle avoidance indication information E21 with a high urgency (e.g., red) will be generated, along with a warning indication information F21 of the same level.

[0166] By utilizing the distance differences between different obstacles in different sub-ranges, differentiated obstacle avoidance and early warning responses can be achieved. This enables accurate identification of risk gradients in complex dynamic environments, improving response and early warning accuracy, and providing more reliable data support for subsequent intelligent decision-making.

[0167] Optionally, based on one or more of the foregoing embodiments, another embodiment provided in this application may further include:

[0168] Based on the warning indication information and obstacle indication information, obstacle avoidance is performed on the obstacles in the corresponding target sub-range, and an obstacle avoidance processing path is generated.

[0169] Send the obstacle avoidance path to the terminal device so that the terminal device can render the obstacle avoidance path and display the obstacle avoidance process of the cleaning device at its current location.

[0170] For example, in generating an obstacle avoidance path, the cleaning device can first extract its current pose from the warning indication information, and extract the position and type of obstacles in the corresponding sub-range from the obstacle indication information. Then, based on a local path planning algorithm, the cleaning device performs path planning processing on the position and type of obstacles and the current pose of the cleaning device to generate an obstacle avoidance path.

[0171] It should be noted that the obstacle avoidance process described in this application may include the current location of the cleaning equipment, the corresponding sub-range, the location and classification of obstacles, and the dynamic changes of the obstacle avoidance path.

[0172] By utilizing warning and obstacle indication information, obstacle avoidance is achieved, and corresponding obstacle avoidance paths are generated. This not only enhances the autonomous navigation capabilities of the cleaning equipment in complex environments but also realizes closed-loop control of obstacle avoidance through multi-dimensional information fusion. Furthermore, the obstacle avoidance path can be visualized on the terminal device, helping operators to visually review key nodes, thus balancing intelligence and controllability.

[0173] Optionally, in the foregoing Figure 2 In one or more embodiments shown, and in another embodiment provided in this application, regarding step 204 above, how the terminal device renders and displays the corresponding visual elements can employ different rendering strategies under the aforementioned situations ① and ②. Specifically, this can be understood with reference to the following:

[0174] Scenario ①: The presence of one or more obstacles within the same target sub-area;

[0175] Optionally, the system renders warning indication information corresponding to the target sub-range, displays the warning visual elements of the corresponding target sub-range on the target map corresponding to the target cleaning area, and renders obstacle indication information corresponding to the target sub-range, displays the obstacle visual elements of the corresponding target sub-range on the target map, including:

[0176] When the first distance difference satisfies the first threshold interval and the second distance difference satisfies the second threshold interval, the first obstacle indication information corresponding to the first obstacle in the first sub-range is rendered, and the visual element of the first obstacle is displayed on the target map. The second obstacle indication information corresponding to the second obstacle in the first sub-range is also rendered, and the visual element of the second obstacle is displayed on the target map. The first distance difference is the distance difference between the position of the first obstacle and the current position, and the second distance difference is the distance difference between the position of the second obstacle and the current position. The upper limit of the first threshold interval is less than the lower limit of the second threshold interval. The first sub-range is one of the target sub-ranges.

[0177] When the first distance difference meets the first threshold interval and the second distance difference meets the second threshold interval, the first warning indication information corresponding to the first sub-range is rendered, and the warning visual elements of the first sub-range are displayed on the target map.

[0178] It should be understood that the first distance difference, first threshold interval, second distance difference, second threshold interval, first sub-range, first obstacle, first obstacle indication information, first warning indication information, second obstacle, second obstacle indication information and second warning indication information described here can be understood with reference to the content described in the aforementioned situation ①, and will not be repeated here.

[0179] Furthermore, since the first obstacle is closer to the cleaning device at its current location, while the second obstacle is farther away, the rendering intensity of the first obstacle visual element is stronger than that of the second obstacle visual element. This rendering intensity can be understood as the degree of display of a visual element, i.e., how strongly it is displayed. Additionally, the rendering intensity of the second obstacle and its visual element can be visually observed from the second obstacle visual element. Similarly, the rendering intensity of the first obstacle and its visual element can be visually observed from the first obstacle visual element.

[0180] For example, Figure 6 A visual schematic diagram of a visual element provided in one embodiment is shown. For example... Figure 6 As shown above, Figure 3A Taking obstacles B11 and B12 in the arc-shaped area A1 as an example, obstacle B11 is closer to the cleaning device. Therefore, the terminal device renders the corresponding obstacle visual element P11 of obstacle B11 based on the obstacle indication information C11 corresponding to obstacle B11. The rendering intensity of P11 of obstacle B11 will be stronger than that of the corresponding obstacle visual element P12 of obstacle B12. For example, the rendering intensity of obstacle visual element P11 can be represented by a darker color and lower transparency (e.g., red), while obstacle visual element P12 is presented by a lighter color and higher transparency (e.g., orange), thereby forming a clear distance perception gradient in the visual perception.

[0181] Similarly, for the same first sub-range, there will only be one corresponding first warning indication message. Therefore, after receiving the first warning indication message, the terminal device can render the first warning indication message and display the warning visual elements of the first sub-range on the target map. It should be understood that the warning visual elements can be understood as visual markers used to alert the user to the potential risks of obstacles, and their intensity is the same as the intensity of the obstacle visual elements of the nearest obstacle to the cleaning device in the corresponding sub-range. For example, such as... Figure 6As shown, obstacle B11 is closer to the cleaning device. Therefore, when the terminal device renders the warning visual element Q11 corresponding to the arc area A1, its rendering intensity will be consistent with that of the obstacle visual element P11, that is, a darker color and lower transparency will be used to enhance the user's immediate recognition of high-risk areas and improve the safety of the operation.

[0182] In this way, the terminal device can dynamically display obstacle avoidance visualization and warning effects with different intensities by rendering obstacle indication information of obstacles at different distances within the same sub-range, as well as rendering warning indication information of the corresponding sub-range, thereby providing users with clear-cut and risk-aware real-time obstacle avoidance decisions.

[0183] Scenario 2: Different obstacles exist within different target sub-ranges;

[0184] Optionally, based on one or more embodiments described above, in another embodiment provided by this application, during the execution of step 204, the terminal device may also employ different rendering methods for different obstacles within different sub-ranges. Specifically, this can be achieved as follows:

[0185] Method ①: The distance difference between obstacles within different target sub-ranges is the same;

[0186] Optionally, in other alternative solutions, the system renders warning indication information corresponding to the target sub-range, displays warning visual elements for the corresponding target sub-range on the target map corresponding to the target cleaning area, and renders obstacle indication information corresponding to the target sub-range, displays obstacle visual elements for the corresponding target sub-range on the target map, including:

[0187] When the third distance difference and the fourth distance difference are the same, render the obstacle indication information corresponding to the third obstacle in the second sub-range, display the visual element of the third obstacle on the target map, and render the obstacle indication information corresponding to the fourth obstacle in the third sub-range, display the visual element of the fourth obstacle on the target map. The rendering intensity of the visual element of the third obstacle is equal to the rendering intensity of the visual element of the fourth obstacle. The third distance difference is the distance difference between the position of the third obstacle and the current position. The fourth distance difference is the distance difference between the position of the fourth obstacle and the current position. The second sub-range is one of the target sub-ranges, and the third sub-range is one of the target sub-ranges. The second sub-range is different from the third sub-range.

[0188] When the third distance difference and the fourth distance difference are the same, render the warning indication information corresponding to the second sub-range, display the warning visual elements of the second sub-range on the target map, and render the warning indication information corresponding to the third sub-range, display the warning visual elements of the third sub-range on the target map. The rendering intensity of the warning visual elements of the second sub-range is equal to the rendering intensity of the warning visual elements of the third sub-range.

[0189] It should be understood that the third distance difference, the second sub-range, the third obstacle, the obstacle indication information corresponding to the third obstacle, the warning indication information corresponding to the second sub-range, the fourth distance difference, the third sub-range, the fourth obstacle, etc. described here can be understood with reference to the content described in Method 1 above, and will not be repeated here.

[0190] Furthermore, since the third distance difference and the fourth distance difference are the same, it indicates that the distance between the third obstacle and the cleaning device is equal to the distance between the fourth obstacle and the cleaning device, and these two distances may cause the same degree of obstruction to the cleaning device. Therefore, in the visual element of the third obstacle rendered using the obstacle indication information of the third obstacle, and the visual element of the fourth obstacle rendered using the obstacle indication information corresponding to the fourth obstacle, the rendering intensity of the third obstacle visual element is equal to the rendering intensity of the fourth obstacle visual element. Additionally, the rendering intensity of the third obstacle and its visual element can be visually viewed from the third obstacle visual element. Similarly, the rendering intensity of the fourth obstacle and its visual element can be visually viewed from the fourth obstacle visual element.

[0191] For example, Figure 7 Another visual illustration of a visual element provided in one embodiment is shown. For example... Figure 7 As shown above, Figure 3A Taking obstacle B21 in the arc-shaped area A2 and obstacle B31 in the arc-shaped area A3 as examples, obstacle B21 and obstacle B31 are at the same distance from the cleaning device. Therefore, the terminal device renders the corresponding obstacle visual element P21 for obstacle B21 based on the obstacle indication information C21. The rendering intensity of P21 for obstacle B21 will be the same as that for obstacle B31. For example, a darker red color with lower transparency can be used to display obstacle visual elements P21 and P31.

[0192] Similarly, for the second and third sub-ranges, since the distance between the obstacles and the cleaning equipment is the same in both sub-ranges, and the warning intensity of their respective warning indication information is also the same, the rendering intensity of the warning visual elements of the second sub-range rendered using the warning indication information corresponding to the second sub-range is consistent with that of the warning visual elements of the third sub-range rendered using the warning indication information corresponding to the third sub-range.

[0193] like Figure 7 As shown, since obstacles B21 and B31 are equidistant from the cleaning equipment, and the warning level of their arc-shaped area A2 is the same as that of their arc-shaped area A3, the rendering intensity of the warning visual elements Q21 and Q31 corresponding to the rendered arc-shaped areas A2 and A3 will be consistent with that of the obstacle visual elements P21 and P31, that is, a darker red color with lower transparency will be used to enhance the user's immediate identification of high-risk areas and improve operational safety.

[0194] In this way, the terminal device can dynamically display obstacle avoidance visualization and warning effects with the same intensity by rendering obstacle indication information of obstacles at the same distance in different sub-ranges, as well as rendering warning indication information of corresponding sub-ranges. This can avoid visual confusion caused by the convergence of presentation intensity and ensure that the user's spatial judgment in complex environments is both accurate and intuitive.

[0195] Method 2: The distance difference between obstacles in different sub-ranges is different;

[0196] Optionally, in other alternative solutions, the system renders warning indication information corresponding to each sub-range, displays the warning visual elements of the corresponding sub-range on the target map corresponding to the target cleaning area, and renders obstacle indication information corresponding to each sub-range, displaying obstacle visual elements and obstacles in the corresponding sub-range on the target map, including:

[0197] When the third distance difference is greater than the fourth distance difference, render the obstacle indication information corresponding to the third obstacle in the second sub-range, display the third obstacle visual element and the third obstacle on the target map, and render the obstacle indication information corresponding to the fourth obstacle in the third sub-range, display the fourth obstacle visual element and the fourth obstacle on the target map. The rendering intensity of the third obstacle visual element is less than the rendering intensity of the fourth obstacle visual element.

[0198] When the third distance difference is greater than the fourth distance difference, render the warning indication information corresponding to the second sub-range and display the warning visual elements of the second sub-range on the target map. Render the warning indication information corresponding to the third sub-range and display the warning visual elements of the third sub-range on the target map. The rendering intensity of the warning visual elements of the second sub-range is less than the rendering intensity of the warning visual elements of the third sub-range.

[0199] It should be understood that the third distance difference, the second sub-range, the third obstacle, the obstacle indication information corresponding to the third obstacle, the warning indication information corresponding to the second sub-range, the fourth distance difference, the third sub-range, the fourth obstacle, etc. described here can be understood with reference to the content described in the aforementioned Method 2, and will not be repeated here.

[0200] Furthermore, since the third distance difference is greater than the fourth distance difference, it indicates that the third obstacle is farther from the cleaning device than the fourth obstacle. Therefore, in the visual element of the third obstacle rendered using the obstacle indication information of the third obstacle, and the visual element of the fourth obstacle rendered using the obstacle indication information corresponding to the fourth obstacle, the rendering intensity of the third obstacle visual element is less than that of the fourth obstacle visual element.

[0201] For example, Figure 8 Another visual illustration of a visual element provided in one embodiment is shown. For example... Figure 8 As shown, if the distance difference d21 between obstacle B21 and the current position (i.e., the third distance difference) is greater than the distance difference d31 between obstacle B31 and the current position (i.e., the fourth distance difference), it indicates that obstacle B21 is relatively farther from the cleaning device than obstacle 31, and its collision risk to the cleaning device is weaker. Therefore, when the terminal device renders the corresponding obstacle visual element P21 for obstacle B21 based on the obstacle indication information C21, its rendering intensity will be less than that of the corresponding obstacle visual element P31 for obstacle B31. For example, obstacle visual element P21 can be represented using a lighter yellow color with higher transparency, while obstacle visual element P31 can be represented using a darker red color with lower transparency.

[0202] Similarly, regarding the second and third sub-ranges, since the third obstacle in the second sub-range is farther from the cleaning device than the fourth obstacle in the third sub-range, and the warning level of the warning indication information corresponding to the second sub-range is weaker than that corresponding to the third sub-range, the rendering intensity of the warning visual elements in the second sub-range rendered using the warning indication information corresponding to the second sub-range will be less than the rendering intensity of the warning visual elements in the third sub-range rendered using the warning indication information corresponding to the third sub-range.

[0203] like Figure 8 As shown, with Figure 3A Taking obstacles B21 in arc-shaped area A2 and B31 in arc-shaped area A3 as examples, because obstacle B21 is farther from the cleaning device than obstacle B31, and the warning level of arc-shaped area A2 is lower than that of arc-shaped area A3, the rendering intensity of the warning visual element Q21 corresponding to arc-shaped area A2 is lower than that of the warning visual element Q21 corresponding to arc-shaped area A3. Furthermore, the rendering intensity of warning visual element Q21 will be consistent with the rendering intensity of obstacle visual element P21, and the rendering intensity of warning visual element Q31 will be consistent with the rendering intensity of obstacle visual element P31. For example, warning visual element Q21 can be represented using a lighter yellow color with higher transparency, while warning visual element Q31 can be represented using a darker red color with lower transparency.

[0204] In this way, the terminal device can dynamically display obstacle avoidance visualization and warning effects with the same intensity by rendering obstacle indication information of obstacles at the same distance in different sub-ranges, as well as rendering warning indication information of corresponding sub-ranges. This can avoid visual confusion caused by the convergence of presentation intensity and ensure that the user's spatial judgment in complex environments is both accurate and intuitive.

[0205] It should be noted that, for the case where the third distance difference is less than the fourth distance difference, the same principle applies as for the case where the third distance difference is greater than the fourth distance difference, and this application will not elaborate further.

[0206] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0207] Based on the same inventive concept, this application also provides a cleaning device for implementing the obstacle avoidance method described above. The solution provided by this cleaning device is similar to the solution described in the above method; therefore, the specific limitations of one or more device embodiments of the cleaning device provided below can be found in the limitations of the obstacle avoidance method described above, and will not be repeated here.

[0208] In one exemplary embodiment, such as Figure 9 As shown, a cleaning device is provided, including: an acquisition unit 901, a processing unit 902, and a sending unit 903, wherein:

[0209] The acquisition unit 901 is used to acquire the identifiable range of the current position of the cleaning device on the target cleaning area, and the identifiable range includes multiple sub-ranges;

[0210] The processing unit 902 is used to generate warning indication information and obstacle indication information corresponding to the target sub-range when point cloud information of obstacles in the target sub-range is identified. The warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning equipment in the corresponding target sub-range, and the obstacle indication information is used to indicate the obstacle situation in the corresponding target sub-range.

[0211] The sending unit 903 is used to send obstacle indication information and warning indication information to the terminal device, so that the terminal device can render the obstacle indication information and display obstacle visual elements, and render the warning indication information and display warning visual elements.

[0212] In some other alternative embodiments, as described above Figure 9 Based on one or more of the described embodiments, the processing unit 902 is specifically used for:

[0213] If point cloud information of N obstacles in the first sub-range is identified, the positions of the N obstacles are obtained from the point cloud information of the N obstacles. The first sub-range is one of the target sub-ranges, and N is an integer greater than or equal to 1.

[0214] Calculate the distance difference between the current position and the positions of N obstacles;

[0215] Based on N distance differences, generate early warning indication information corresponding to the first sub-range, as well as obstacle indication information for N obstacles in the first sub-range.

[0216] In some other alternative embodiments, as described above Figure 9 Based on one or more of the described embodiments, the processing unit 902 is specifically used for:

[0217] When the first distance difference meets the first threshold interval, a first warning indication information is generated for the first sub-range, and a first obstacle indication information is generated for the first obstacle in the first sub-range. The first distance difference is the distance difference between the position of the first obstacle and the current position. The position of the first obstacle is obtained from the point cloud information of the first obstacle. The point cloud information of the first obstacle is one or more of the point cloud information of N obstacles.

[0218] When the second distance difference meets the second threshold range, second obstacle indication information is generated for the second obstacle in the first sub-range. The second distance difference is the distance difference between the position of the second obstacle and the current position. The position of the second obstacle is obtained from the point cloud information of the second obstacle. The obstacle point cloud information of the second obstacle is one or more of N obstacle point cloud information.

[0219] Among them, the upper limit of the first threshold interval is less than the lower limit of the second threshold interval, and the obstacle avoidance indication level determined by the first obstacle indication information is higher than the obstacle avoidance indication level determined by the second obstacle indication information.

[0220] In some other alternative embodiments, as described above Figure 9 Based on one or more of the described embodiments, the processing unit 902 is specifically used for:

[0221] When the first distance difference meets the first threshold interval, the obstacle type of the first obstacle in the first sub-range is identified;

[0222] Based on the obstacle type of the first obstacle, determine the risk coefficient that matches the obstacle type of the first obstacle from the preset obstacle type set;

[0223] Based on the risk factor, first obstacle indication information is generated for the first obstacle, and first warning indication information corresponding to the first sub-range is generated.

[0224] In some other alternative embodiments, as described above Figure 9 Based on one or more of the described embodiments, the processing unit 902 is specifically used for:

[0225] If the point cloud information of a third obstacle is identified in the second sub-range, the position of the third obstacle is obtained from the point cloud information of the third obstacle. The second sub-range is one of the target sub-ranges.

[0226] If the point cloud information of the fourth obstacle in the third sub-range is identified, the position of the fourth obstacle is obtained from the point cloud information of the fourth obstacle. The third sub-range is one of the target sub-ranges, and the second sub-range is different from the third sub-range.

[0227] Calculate the distance difference between the position of the third obstacle and the current position to obtain the third distance difference; and calculate the distance difference between the position of the fourth obstacle and the current position to obtain the fourth distance difference.

[0228] Based on the third distance difference and the fourth distance difference, obstacle indication information for the third obstacle and warning indication information corresponding to the second sub-range are generated, as well as obstacle indication information for the fourth obstacle and warning indication information corresponding to the third sub-range.

[0229] In some other alternative embodiments, as described above Figure 9 Based on one or more of the described embodiments, the processing unit 902 is specifically used for:

[0230] When the third distance difference and the fourth distance difference are the same, obstacle indication information of the third obstacle and warning indication information corresponding to the second sub-range are generated based on the third distance difference, as well as obstacle indication information of the fourth obstacle and warning indication information corresponding to the third sub-range. The obstacle avoidance indication degree determined by the obstacle indication information of the third obstacle is the same as the obstacle avoidance indication degree determined by the obstacle indication information of the fourth obstacle, and the warning indication degree of the warning indication information corresponding to the second sub-range is the same as the warning indication degree of the warning indication information corresponding to the third sub-range.

[0231] or,

[0232] When the third distance difference is greater than the fourth distance difference, obstacle indication information for the third obstacle and warning indication information corresponding to the second sub-range are generated based on the third distance difference. Also, obstacle indication information for the fourth obstacle and warning indication information corresponding to the third sub-range are generated based on the fourth distance difference. The obstacle avoidance indication level determined by the obstacle indication information of the third obstacle is less than the obstacle avoidance indication level determined by the obstacle indication information of the fourth obstacle, and the warning indication level of the warning indication information corresponding to the second sub-range is less than the warning indication level of the warning indication information corresponding to the third sub-range.

[0233] In some other alternative embodiments, as described above Figure 9 Based on one or more embodiments described, the processing unit 902 is further configured to:

[0234] After obtaining the identifiable range of the cleaning device at its current location, the identifiable range is divided into multiple sub-ranges.

[0235] In some other alternative embodiments, as described above Figure 9 Based on one or more of the described embodiments, the processing unit 902 is specifically used for:

[0236] Calculate the size of the identifiable region;

[0237] Based on a preset division angle, the size of the identifiable area is divided into multiple sub-ranges.

[0238] In some other alternative embodiments, as described above Figure 9 Based on one or more of the described embodiments, the processing unit 902 is specifically used for:

[0239] Determine the maximum boundary location of the identifiable range;

[0240] Calculate the distance difference between the maximum boundary location and the current location;

[0241] Based on the preset division distance and distance difference, the identifiable range is divided into regions to obtain multiple sub-ranges. Among them, the risk level of the sub-range closer to the current location is higher than the risk level of the sub-range farther from the current location.

[0242] In some other alternative embodiments, as described above Figure 9 Based on one or more of the described embodiments,

[0243] The processing unit 902 is also specifically used to: based on the warning indication information and obstacle indication information, avoid obstacles in the corresponding target sub-range and generate an obstacle avoidance processing path;

[0244] The sending unit 903 is also specifically used to send the obstacle avoidance processing path to the terminal device, so that the terminal device can render the obstacle avoidance processing path and display the obstacle avoidance process of the cleaning device at its current location.

[0245] In some other alternative embodiments, as described above Figure 9 Based on one or more of the described embodiments, the processing unit 902 is specifically used for:

[0246] Extract the current pose status of the cleaning equipment from the early warning indication information, and extract the position and type of obstacles in the corresponding sub-range from the obstacle indication information;

[0247] Based on the local path planning algorithm, the location and type of obstacles, as well as the current pose of the cleaning equipment, are used to perform path planning and generate obstacle avoidance paths.

[0248] In one exemplary embodiment, such as Figure 10 As shown, a terminal device is provided, including: a receiving module 1001 and a rendering and display module 1002, wherein:

[0249] The receiving module 1001 is used to receive warning indication information and obstacle indication information corresponding to the target sub-range sent by the cleaning device. The warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning device in the target sub-range, and the obstacle indication information is used to indicate the obstacle situation in the corresponding target sub-range. The target sub-range is at least one of multiple sub-ranges, and the multiple sub-ranges are included in the identifiable range of the current position of the cleaning device in the target cleaning area.

[0250] The rendering and display module 1002 is used to render the warning indication information corresponding to the target sub-range, display the warning visual elements of the corresponding target sub-range, and render the obstacle indication information corresponding to the target sub-range, display the obstacle visual elements in the corresponding target sub-range.

[0251] In some other alternative embodiments, as described above Figure 10 Based on one or more embodiments described, the rendering and display module 1002 is specifically used for:

[0252] When the first distance difference satisfies the first threshold interval and the second distance difference satisfies the second threshold interval, the first obstacle indication information corresponding to the first obstacle in the first sub-range is rendered, and the first obstacle visual element is displayed on the target map. The second obstacle indication information corresponding to the second obstacle in the first sub-range is also rendered, and the second obstacle visual element is displayed on the target map. The rendering intensity of the first obstacle visual element is stronger than that of the second obstacle visual element. The first distance difference is the distance difference between the position of the first obstacle and the current position. The second distance difference is the distance difference between the position of the second obstacle and the current position. The upper limit of the first threshold interval is less than the lower limit of the second threshold interval. The first sub-range is one of the target sub-ranges.

[0253] When the first distance difference meets the first threshold interval and the second distance difference meets the second threshold interval, the first warning indication information corresponding to the first sub-range is rendered, and the warning visual elements of the first sub-range are displayed on the target map.

[0254] In some other alternative embodiments, as described above Figure 10Based on one or more embodiments described, the rendering and display module 1002 is specifically used for:

[0255] When the third distance difference and the fourth distance difference are the same, render the obstacle indication information corresponding to the third obstacle in the second sub-range, display the visual element of the third obstacle on the target map, and render the obstacle indication information corresponding to the fourth obstacle in the third sub-range, display the visual element of the fourth obstacle on the target map. The rendering intensity of the visual element of the third obstacle is equal to the rendering intensity of the visual element of the fourth obstacle. The third distance difference is the distance difference between the position of the third obstacle and the current position. The fourth distance difference is the distance difference between the position of the fourth obstacle and the current position. The second sub-range is one of the target sub-ranges, and the third sub-range is one of the target sub-ranges. The second sub-range is different from the third sub-range.

[0256] When the third distance difference is the same as the fourth distance difference, render the warning indication information corresponding to the second sub-range, display the warning visual elements of the second sub-range on the target map, and render the warning indication information corresponding to the third sub-range, display the warning visual elements of the third sub-range on the target map. The rendering intensity of the warning visual elements of the second sub-range is equal to the rendering intensity of the warning visual elements of the third sub-range.

[0257] or,

[0258] When the third distance difference is greater than the fourth distance difference, render the obstacle indication information corresponding to the third obstacle in the second sub-range, display the visual element of the third obstacle on the target map, and render the obstacle indication information corresponding to the fourth obstacle in the third sub-range, display the visual element of the fourth obstacle on the target map. The rendering intensity of the visual element of the third obstacle is less than the rendering intensity of the visual element of the fourth obstacle.

[0259] When the third distance difference is greater than the fourth distance difference, render the warning indication information corresponding to the second sub-range and display the warning visual elements of the second sub-range on the target map. Render the warning indication information corresponding to the third sub-range and display the warning visual elements of the third sub-range on the target map. The rendering intensity of the warning visual elements of the second sub-range is less than the rendering intensity of the warning visual elements of the third sub-range.

[0260] The above Figure 9 Cleaning equipment in the middle, Figure 10 The various modules in the terminal device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0261] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 11 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When executed by the processor, the computer program implements an obstacle avoidance method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0262] Those skilled in the art will understand that Figure 11 The structure shown is only a block diagram of a part of the structure related to the present application and does not constitute a limitation on the computer device on which the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0263] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0264] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0265] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor reads the computer instructions from the computer-readable storage medium, and executes the computer instructions, causing the processor to perform the steps in the above method embodiments.

[0266] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0267] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0268] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0269] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for obstacle avoidance, characterized in that, Applied to cleaning equipment, the method includes: The identifiable range of the current position of the cleaning device in the target cleaning area is obtained, and the identifiable range includes multiple sub-ranges; If point cloud information of obstacles in the target sub-range is identified, warning indication information and obstacle indication information corresponding to the target sub-range are generated. Each warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning device in the corresponding sub-range, and each obstacle indication information is used to indicate the obstacle situation in the corresponding sub-range. The target sub-range is at least one of the plurality of sub-ranges. The obstacle indication information and the warning indication information are sent to the terminal device so that the terminal device can render the obstacle indication information and display obstacle visual elements on the target map corresponding to the target cleaning area, and render the warning indication information and display warning visual elements on the target map.

2. The method according to claim 1, characterized in that, If point cloud information of obstacles within the target sub-range is detected, warning indication information and obstacle indication information corresponding to the target sub-range are generated, including: If point cloud information of N obstacles in the first sub-range is identified, the positions of the N obstacles are obtained from the point cloud information of the N obstacles, where the first sub-range is one of the target sub-ranges, and N is an integer greater than or equal to 1; Calculate the distance difference between the current position and the positions of the N obstacles; Based on the N distance differences, generate warning indication information corresponding to the first sub-range and obstacle indication information for the N obstacles in the first sub-range.

3. The method according to claim 2, characterized in that, Based on the N distance differences, generate warning indication information corresponding to the first sub-range and obstacle indication information for the N obstacles in the first sub-range, including: When the first distance difference meets the first threshold interval, a first warning indication information is generated for the first sub-range, and a first obstacle indication information is generated for the first obstacle in the first sub-range. The first distance difference is the distance difference between the position of the first obstacle and the current position. The position of the first obstacle is obtained from the point cloud information of the first obstacle. The point cloud information of the first obstacle is one or more of the point cloud information of N obstacles. When the second distance difference meets the second threshold interval, second obstacle indication information is generated for the second obstacle in the first sub-range. The second distance difference is the distance difference between the position of the second obstacle and the current position. The position of the second obstacle is obtained from the point cloud information of the second obstacle. The obstacle point cloud information of the second obstacle is one or more of the N obstacle point cloud information. Wherein, the upper limit of the first threshold interval is less than the lower limit of the second threshold interval, and the obstacle avoidance indication level determined by the first obstacle indication information is higher than the obstacle avoidance indication level determined by the second obstacle indication information.

4. The method according to claim 3, characterized in that, When the first distance difference meets the first threshold interval, a first warning indication is generated for the first sub-range, and a first obstacle indication is generated for the first obstacle in the first sub-range, including: When the first distance difference meets the first threshold interval, the obstacle type of the first obstacle in the first sub-range is identified; Based on the obstacle type of the first obstacle, a risk factor matching the obstacle type of the first obstacle is determined from a preset obstacle type set; Based on the aforementioned risk factor, first obstacle indication information is generated for the first obstacle, and first warning indication information corresponding to the first sub-range is generated.

5. The method according to claim 1, characterized in that, If point cloud information of obstacles within the target sub-range is detected, warning indication information and obstacle indication information corresponding to the target sub-range are generated, including: If point cloud information of a third obstacle is identified in the second sub-range, the position of the third obstacle is obtained from the point cloud information of the third obstacle, and the second sub-range is one of the target sub-ranges; If point cloud information of a fourth obstacle is identified in the third sub-range, the position of the fourth obstacle is obtained from the point cloud information of the fourth obstacle. The third sub-range is one of the target sub-ranges, and the second sub-range is different from the third sub-range. Calculate the distance difference between the position of the third obstacle and the current position to obtain the third distance difference; and calculate the distance difference between the position of the fourth obstacle and the current position to obtain the fourth distance difference. Based on the third distance difference and the fourth distance difference, obstacle indication information of the third obstacle, warning indication information corresponding to the second sub-range, obstacle indication information of the fourth obstacle, and warning indication information corresponding to the third sub-range are generated.

6. The method according to claim 5, characterized in that, Based on the third distance difference and the fourth distance difference, obstacle indication information for the third obstacle, warning indication information corresponding to the second sub-range, obstacle indication information for the fourth obstacle, and warning indication information corresponding to the third sub-range are generated, including: When the third distance difference is the same as the fourth distance difference, obstacle indication information of the third obstacle and warning indication information corresponding to the second sub-range are generated based on the third distance difference, as well as obstacle indication information of the fourth obstacle and warning indication information corresponding to the third sub-range. The obstacle avoidance indication degree determined by the obstacle indication information of the third obstacle is the same as the obstacle avoidance indication degree determined by the obstacle indication information of the fourth obstacle, and the warning indication degree of the warning indication information corresponding to the second sub-range is the same as the warning indication degree of the warning indication information corresponding to the third sub-range. or, When the third distance difference is greater than the fourth distance difference, obstacle indication information for the third obstacle and warning indication information corresponding to the second sub-range are generated based on the third distance difference. Also, obstacle indication information for the fourth obstacle and warning indication information corresponding to the third sub-range are generated based on the fourth distance difference. The obstacle avoidance indication level determined by the obstacle indication information of the third obstacle is less than the obstacle avoidance indication level determined by the obstacle indication information of the fourth obstacle, and the warning indication level of the warning indication information corresponding to the second sub-range is less than the warning indication level of the warning indication information corresponding to the third sub-range.

7. A method for obstacle avoidance, characterized in that, Applied to a terminal device, the method includes: The system receives warning indication information and obstacle indication information corresponding to a target sub-range sent by the cleaning device. The warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning device within the corresponding target sub-range, and the obstacle indication information is used to indicate the obstacle situation within the corresponding target sub-range. The target sub-range is at least one of multiple sub-ranges, and the multiple sub-ranges are included in the identifiable range of the current position of the cleaning device in the target cleaning area. The warning indication information corresponding to the target sub-range is rendered, and the warning visual elements corresponding to the target sub-range are displayed on the target map corresponding to the target cleaning area. The obstacle indication information corresponding to the target sub-range is also rendered, and the obstacle visual elements corresponding to the target sub-range are displayed on the target map.

8. The method according to claim 7, characterized in that, Rendering the warning indication information corresponding to the target sub-range, displaying the warning visual elements corresponding to the target sub-range on the target map corresponding to the target cleaning area, and rendering the obstacle indication information corresponding to the target sub-range, displaying the obstacle visual elements corresponding to the target sub-range on the target map, including: When the first distance difference satisfies the first threshold interval and the second distance difference satisfies the second threshold interval, the first obstacle indication information corresponding to the first obstacle in the first sub-range is rendered, and the first obstacle visual element is displayed on the target map; and the second obstacle indication information corresponding to the second obstacle in the first sub-range is rendered, and the second obstacle visual element is displayed on the target map. The rendering intensity of the first obstacle visual element is stronger than the rendering intensity of the second obstacle visual element. The first distance difference is the distance difference between the position of the first obstacle and the current position. The second distance difference is the distance difference between the position of the second obstacle and the current position. The upper limit of the first threshold interval is less than the lower limit of the second threshold interval. The first sub-range is one of the target sub-ranges. When the first distance difference satisfies the first threshold interval and the second distance difference satisfies the second threshold interval, the first warning indication information corresponding to the first sub-range is rendered, and the warning visual elements of the first sub-range are displayed on the target map.

9. The method according to claim 7, characterized in that, Rendering the warning indication information corresponding to the target sub-range, displaying the warning visual elements corresponding to the target sub-range on the target map corresponding to the target cleaning area, and rendering the obstacle indication information corresponding to the target sub-range, displaying the obstacle visual elements corresponding to the target sub-range on the target map, including: When the third distance difference and the fourth distance difference are the same, the obstacle indication information corresponding to the third obstacle in the second sub-range is rendered, and the visual element of the third obstacle is displayed on the target map. Similarly, the obstacle indication information corresponding to the fourth obstacle in the third sub-range is rendered, and the visual element of the fourth obstacle is displayed on the target map. The rendering intensity of the third obstacle visual element is equal to the rendering intensity of the fourth obstacle visual element. The third distance difference is the distance difference between the position of the third obstacle and the current position. The fourth distance difference is the distance difference between the position of the fourth obstacle and the current position. The second sub-range is one of the target sub-ranges, and the third sub-range is one of the target sub-ranges. Furthermore, the second sub-range is different from the third sub-range. When the third distance difference is the same as the fourth distance difference, the warning indication information corresponding to the second sub-range is rendered, and the warning visual elements of the second sub-range are displayed on the target map. The warning indication information corresponding to the third sub-range is also rendered, and the warning visual elements of the third sub-range are displayed on the target map. The rendering intensity of the warning visual elements of the second sub-range is equal to the rendering intensity of the warning visual elements of the third sub-range. or, When the third distance difference is greater than the fourth distance difference, the obstacle indication information corresponding to the third obstacle in the second sub-range is rendered, and the visual element of the third obstacle is displayed on the target map. The obstacle indication information corresponding to the fourth obstacle in the third sub-range is also rendered, and the visual element of the fourth obstacle is displayed on the target map. The rendering intensity of the third obstacle visual element is less than the rendering intensity of the fourth obstacle visual element. When the third distance difference is greater than the fourth distance difference, the warning indication information corresponding to the second sub-range is rendered, and the warning visual elements of the second sub-range are displayed on the target map. The warning indication information corresponding to the third sub-range is also rendered, and the warning visual elements of the third sub-range are displayed on the target map. The rendering intensity of the warning visual elements of the second sub-range is less than the rendering intensity of the warning visual elements of the third sub-range.

10. A cleaning device, characterized in that, The cleaning equipment includes: The acquisition unit is used to acquire the identifiable range of the current position of the cleaning device on the target cleaning area, wherein the identifiable range includes multiple sub-ranges; The processing unit is configured to generate warning indication information and obstacle indication information corresponding to the target sub-range when point cloud information of obstacles in the target sub-range is identified. The warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning device in the corresponding target sub-range, and the obstacle indication information is used to indicate the obstacle situation in the corresponding target sub-range. The sending unit is configured to send the obstacle indication information and the warning indication information to the terminal device, so that the terminal device can render the obstacle indication information and display obstacle visual elements, and render the warning indication information and display warning visual elements.

11. A terminal device, characterized in that, include: The receiving module is used to receive warning indication information and obstacle indication information corresponding to the target sub-range sent by the cleaning device. The warning indication information is used to indicate the obstacle avoidance safety boundary of the cleaning device in the corresponding target sub-range, and the obstacle indication information is used to indicate the obstacle situation in the corresponding target sub-range. The target sub-range is at least one of multiple sub-ranges, and the multiple sub-ranges are included in the identifiable range of the current position of the cleaning device in the target cleaning area. The rendering and display module is used to render the warning indication information corresponding to the target sub-range, display the warning visual elements corresponding to the target sub-range, and render the obstacle indication information corresponding to the target sub-range, display the obstacle visual elements corresponding to the target sub-range.

12. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 9.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 9.

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