Obstacle identification method and apparatus, and electronic device and storage medium

Abstract

An obstacle identification method and apparatus, and an electronic device and a storage medium, which are applied to a self-moving cleaning device. The self-moving cleaning device comprises a sensor assembly and a moving part, wherein the sensor assembly is used for transmitting a signal to the surface of an obstacle and receiving a signal reflected by the surface of the obstacle. The obstacle identification method comprises: when a moving part stops moving, determining whether the moving part obstructs a signal path of a sensor assembly (S101); and if the moving part obstructs the signal path of the sensor assembly, controlling the moving part to move, such that the moving part does not obstruct the signal path of the sensor assembly (S102). The obstacle identification method can avoid the problem of it being impossible for a sensor assembly to detect a cliff and there thus being a fall risk due to the sensor assembly being obstructed when a moving part stops.

Description

Obstacle identification method and device, electronic device, and storage medium

[0001] The present application claims priority to the Chinese patent application No. 202410635225.8, filed on May 21, 2024, and entitled "Obstacle identification method and device, electronic device, and storage medium", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of cleaning devices, in particular, to an obstacle identification method and device, an electronic device, and a storage medium. BACKGROUND

[0003] With the improvement of people's living standards, self-moving cleaning devices (such as sweeping robots) have gradually entered people's daily life. At present, the bottom of the sweeping robot is usually provided with a side brush and a cliff sensor. The side brush is sometimes installed below the cliff sensor. In the normal working state, the side brush starts to rotate after starting cleaning, and the cliff sensor synchronously detects whether there is a cliff around. SUMMARY

[0004] In view of the above, the embodiments of the present application provide an obstacle identification method and device, an electronic device, and a storage medium, which are aimed at solving the above problems or at least partially solving the above problems.

[0005] In a first aspect, the embodiments of the present application provide an obstacle identification method applied to a self-moving cleaning device, the self-moving cleaning device comprising a sensor assembly and a moving part, the sensor assembly being configured to emit a signal to an obstacle surface and receive a signal reflected by the obstacle surface; the method comprising: determining whether the moving part blocks a signal path of the sensor assembly when the moving part stops moving; and if the moving part blocks the signal path of the sensor assembly, controlling the moving part to move so that the moving part does not block the signal path of the sensor assembly.

[0006] In some embodiments, the sensor assembly is a time-of-flight (TOF) sensor, an ultrasonic sensor, an infrared sensor, or a radar sensor.

[0007] In some embodiments, the determination of whether the moving part blocks the signal path of the sensor assembly comprises: determining a first distance between the sensor assembly and the obstacle surface based on the signal emitted by the sensor assembly to the obstacle surface and the signal reflected by the obstacle surface; and if the first distance is less than or equal to a preset threshold value or the first distance is within a preset threshold value range, it is determined that the moving part blocks the signal path of the sensor assembly.

[0008] In some embodiments, the controlling the movement of the moving member so that the moving member does not block the signal path of the sensor assembly comprises: controlling the movement of the moving member, and determining a second distance between the sensor assembly and the surface of the obstacle; determining that the moving member does not block the signal path of the sensor assembly when the second distance is greater than a preset threshold.

[0009] In some embodiments, the method further comprises: determining whether the second distance is greater than a preset cliff threshold; and determining that the sensor assembly detects a cliff when the second distance is greater than the preset cliff threshold.

[0010] In some embodiments, the method further comprises: determining N times when the distance between the sensor assembly and the surface of the obstacle is less than or within a preset threshold range, N being determined based on the number of cleaning arms of the moving member, N being a positive integer; and determining the actual rotating speed of the moving member based on the N times.

[0011] In some embodiments, the method further comprises: determining a target rotating speed of the moving member based on a current cleaning scene; and adjusting the actual rotating speed of the moving member to the target rotating speed.

[0012] In a second aspect, the embodiments of the present application also provide an obstacle identification device, characterized in that the device comprises: a processing module configured to: determine whether the moving member blocks the signal path of the sensor assembly when the moving member stops moving; and control the movement of the moving member so that the moving member does not block the signal path of the sensor assembly when the moving member blocks the signal path of the sensor assembly; wherein the sensor assembly is configured to emit a signal to the surface of the obstacle and receive a signal reflected by the surface of the obstacle.

[0013] In some embodiments, the sensor assembly is a time-of-flight (TOF) sensor, an ultrasonic sensor, an infrared sensor, or a radar sensor.

[0014] In some embodiments, the processing module is specifically configured to: determine a first distance between the sensor assembly and the surface of the obstacle based on the signal emitted by the sensor assembly to the surface of the obstacle and the signal reflected by the surface of the obstacle; and determine that the moving member blocks the signal path of the sensor assembly when the first distance is less than or equal to a preset threshold or within a preset threshold range.

[0015] In some embodiments, the processing module is specifically configured to: control the movement of the moving member, and determine a second distance between the sensor assembly and the surface of the obstacle; and determine that the moving member does not block the signal path of the sensor assembly when the second distance is greater than a preset threshold.

[0016] In some embodiments, the processing module is further configured to determine whether the second distance is greater than a preset cliff threshold; and if the second distance is greater than the preset cliff threshold, determine that the sensor assembly detects a cliff.

[0017] In some embodiments, the processing module is further configured to determine N times when the distance between the sensor assembly and the surface of the obstacle is less than or within a preset threshold range, N being determined based on the number of cleaning arms of the moving member, N being a positive integer; and determine the actual rotating speed of the moving member based on the N times.

[0018] In some embodiments, the processing module is further configured to determine a target rotating speed of the moving member based on a current cleaning scene; and adjust the actual rotating speed of the moving member to the target rotating speed.

[0019] In a third aspect, an electronic device is provided, including: a processor; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to perform the steps of the first aspect.

[0020] In a fourth aspect, a computer-readable storage medium is provided, which stores one or more programs that, when executed by an electronic device including a plurality of applications, cause the electronic device to perform the steps of the first aspect.

[0021] The above at least one technical solution adopted by the embodiments of the present application can achieve the following beneficial effects: by configuring the sensor assembly of the self-moving cleaning device to be capable of emitting signals to the surface of the obstacle and receiving signals reflected by the surface of the obstacle, when the moving member stops moving, whether the moving member blocks the signal path of the sensor assembly can be determined by judging whether the moving member blocks the signal path of the sensor assembly, and when it is determined that the moving member blocks the sensor assembly, the moving member is controlled to continue moving until the moving member no longer blocks the signal path of the sensor assembly. Therefore, by the present solution, the moving member can be stopped at a position that does not block the sensor assembly, so that the sensor assembly can accurately detect a cliff in real time and avoid the risk of falling. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which are included to provide a further understanding of the present application, constitute a part of the present application and illustrate the illustrative embodiments of the present application and its description, which serve to explain the present application, and do not constitute improper limitations on the present application. In the drawings:

[0023] FIG. 1 shows a structural schematic diagram of a self-moving cleaning device according to an embodiment of the present application;

[0024] FIG. 2 shows a flowchart of an obstacle identification method according to an embodiment of the present application;

[0025] Fig. 3 shows a flow chart of a method for identifying an obstacle according to an embodiment of the present application;

[0026] Fig. 4 shows a flow chart of a method for determining a cliff according to an embodiment of the present application;

[0027] Fig. 5 shows a flow chart of a method for determining a rotating speed according to an embodiment of the present application;

[0028] Fig. 6 shows a structure diagram of an obstacle identification device according to an embodiment of the present application;

[0029] Fig. 7 shows a structure diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described clearly and completely below with reference to the embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without any creative work fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", and the like in the description of the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that such use can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the term "comprising" and its variants are to be interpreted as meaning "including but not limited to" an open term.

[0032] As described in the background, when the side brush is installed below the cliff sensor, if the side brush stops rotating in an inappropriate position, it may block the detection path of the cliff sensor, causing the emitted or reflected light to be blocked and cut off by the cleaning arm of the side brush, so that the received signal is weak or no signal is received, resulting in a false judgment of the machine as a cliff, causing a false judgment.

[0033] Based on this, the present application proposes an obstacle identification method, which determines whether the moving part blocks the sensor assembly by the signal sent to the surface of the obstacle by the sensor assembly and the signal reflected by the obstacle.

[0034] The present application will be described in detail below through specific embodiments.

[0035] Figure 1 shows a structural schematic diagram of a self-moving cleaning device according to an embodiment of the present application. The obstacle identification method provided by the embodiment of the present application can be implemented by the device as shown in Figure 1. As can be seen from Figure 1, the self-moving cleaning device comprises a moving member and a sensor assembly.

[0036] In some embodiments, the moving member comprises a plurality of sweeping arms (the moving member shown in Figure 1 comprises three sweeping arms, but it should be noted that the moving arms in the embodiments of the present application are not limited to three sweeping arms), and the moving member rotates along an axis perpendicular to the base of the self-moving cleaning device for sweeping the ground.

[0037] In some embodiments, the sensor assembly is configured to be capable of emitting a signal to the surface of the obstacle and receiving the signal reflected by the surface of the obstacle. In an implementation, the sensor assembly is a time-of-flight (TOF) sensor, an ultrasonic sensor, an infrared sensor or a radar sensor. For example, when the sensor assembly is a TOF sensor, the TOF sensor emits an infrared light signal, which is reflected after encountering an obstacle, and the distance from the TOF sensor to the obstacle is determined by the time difference or phase difference between the emitted signal and the reflected signal. For another example, when the sensor assembly is an ultrasonic sensor, the ultrasonic sensor emits an ultrasonic wave, which is reflected after encountering an obstacle, and the distance from the ultrasonic sensor to the obstacle is determined by the time difference or phase difference between the emitted signal and the reflected signal.

[0038] In the embodiments of the present application, since the measurement frequency of the TOF sensor is high and the measurement accuracy is high, the distance between the TOF sensor and the obstacle can be detected at a detection frequency of 125 HZ, and the resolution can reach millimeter level. Therefore, the moving member can be more accurately and in real time determined whether it blocks the sensor assembly by the TOF sensor. Therefore, the sensor assembly in the embodiments of the present application preferably adopts the TOF sensor.

[0039] It should be noted that the present application is not limited to the self-moving cleaning device shown in Figure 1, but any system, device or framework that can implement the business logic of the present application can be used. Figure 1 is only an exemplary illustration.

[0040] Figure 2 shows a flowchart of an obstacle identification method according to an embodiment of the present application. As can be seen from Figure 2, the method can comprise steps S101-S102:

[0041] Step S101: When the moving member stops moving, it is determined whether the moving member blocks the signal path of the sensor assembly.

[0042] In some embodiments, the sensor assembly is capable of emitting a signal to the surface of the obstacle and receiving the signal reflected by the obstacle. In an implementation, whether the moving member blocks the signal path of the sensor assembly is determined by the emitted signal of the sensor and the reflected signal of the obstacle.

[0043] In some embodiments, the sensor assembly comprises a ranging sensor. For example, a TOF sensor, an ultrasonic sensor, an infrared sensor, or a radar sensor.

[0044] It should be noted that the moving part in the embodiments of the present application has the functions of lifting and telescoping. When the moving part is lifting or telescoping, the moving part needs to stop rotating, but the detection frequency of the signal path of the sensor assembly blocked by the moving part in the embodiments of the present application is very high, so when the moving part stops moving, the self-moving cleaning device does not need to stop moving. Step S102: If the moving part blocks the signal path of the sensor assembly, the movement of the moving part is controlled so that the moving part does not block the signal path of the sensor assembly.

[0045] In the embodiments of the present application, whether the moving part blocks the sensor assembly is determined by judging whether the moving part blocks the signal path of the sensor assembly. If it is determined that the moving part blocks the sensor assembly, the movement of the moving part is controlled until the moving part no longer blocks the sensor assembly, so that the sensor assembly can continuously detect the cliff in real time to avoid the risk of falling.

[0046] In another embodiment of the present application, if it is determined that the moving part does not block the sensor assembly when the moving part stops, it is proved that the sensor assembly can normally detect the cliff, and at this time the moving part does not need to move.

[0047] In some embodiments of the present application, if the moving part blocks the sensor assembly, the signal emitted by the sensor assembly to the moving part will be reflected back by the moving part; if the moving part does not block the sensor assembly, the signal emitted by the sensor assembly is to the ground or the surface of other obstacles; and since the moving part and the sensor assembly are both located on the self-moving cleaning device, the distance from the sensor assembly to the moving part should be obviously smaller than the distance from the sensor assembly to the ground or other obstacles. Therefore, by judging the distance between the sensor assembly and the obstacle reflecting the signal, it can be determined whether the obstacle reflecting the signal is the moving part or other objects.

[0048] FIG. 3 shows a flowchart of an obstacle recognition method according to an embodiment provided by the present application. As can be seen from FIG. 3, the method can comprise steps S201-S202:

[0049] Step S201: determining a first distance between the sensor assembly and the surface of the obstacle based on the signal emitted by the sensor assembly to the surface of the obstacle and the signal reflected by the surface of the obstacle.

[0050] In some embodiments, the first distance is determined based on the time difference between the signal emitted by the sensor assembly to the surface of the obstacle and the signal reflected by the surface of the obstacle.

[0051] Step S202: If the first distance is less than or equal to the preset threshold value, or the first distance is within the preset threshold range, it is determined that the moving member blocks the signal path of the sensor assembly.

[0052] In some embodiments, the preset threshold value is a distance value preset based on the distance from the moving member to the sensor assembly.

[0053] In some embodiments, the preset threshold range is a distance range preset based on the distance from the moving member to the sensor assembly. Considering that there may be measurement errors when the sensor assembly measures the distance, a preset threshold range needs to be set. When the first distance is within the preset threshold range, it is determined that the moving member blocks the sensor assembly.

[0054] In the embodiments of the present application, if the first distance is less than or equal to the preset threshold value, it is determined that the obstacle of the reflected signal is the moving member, so that it can be determined that the moving member blocks the sensor assembly.

[0055] FIG. 4 shows a flowchart of a cliff determination method according to an embodiment provided by the present application. As shown in FIG. 4, the cliff determination method of the present embodiment includes the following steps S301-S302:

[0056] Step S301: Control the moving member to move, and determine a second distance between the sensor assembly and the surface of the obstacle.

[0057] Step S302: When the second distance is greater than the preset threshold value, it is determined that the moving member does not block the signal path of the sensor assembly.

[0058] In the embodiments of the present application, if the second distance is greater than the preset threshold value, it is determined that the obstacle of the reflected signal is no longer the moving member, that is, the moving member no longer blocks the sensor assembly at this time, and the sensor assembly can normally detect the cliff.

[0059] In some embodiments, when the second distance is greater than the preset threshold value, it is further determined whether the second distance is greater than a preset cliff threshold value. If the second distance is greater than the preset cliff threshold value, it is determined that the sensor assembly detects the cliff. At this time, the self-moving cleaning device can be controlled to slow down or change the moving path to avoid falling.

[0060] FIG. 5 shows a flowchart of a rotation speed determination method according to another embodiment provided by the present application. As shown in FIG. 5, the rotation speed determination method of the present embodiment includes the following steps S401-S402:

[0061] Step S401: Determine N times when the distance between the sensor assembly and the surface of the obstacle is less than a preset threshold value or within a preset threshold range.

[0062] Wherein, N is determined based on the number of cleaning arms of the moving member, and N is a positive integer.

[0063] Step S402: determining the actual rotating speed of the moving part based on the N times.

[0064] For example, as shown in FIG. 1, the moving part has three cleaning arms, and if the preset threshold is 10 mm, the moving part will block the sensor assembly three times when the moving part rotates one round. In an embodiment, the time taken by the moving part to rotate one round can be determined by determining three continuous time points at which the distance between the sensor assembly and the surface of the obstacle is less than 10 mm, and the rotating speed of the moving part can be further determined. In another embodiment, the time taken by the moving part to rotate one round can be determined by determining the first time point and the fourth time point at which the distance between the sensor assembly and the surface of the obstacle is less than 10 mm, and the rotating speed of the moving part can be further determined.

[0065] For example, as shown in FIG. 1, the moving part has three cleaning arms, and if the preset threshold range is 9.8 mm-10.2 mm, the moving part will block the sensor assembly three times when the moving part rotates one round. In an embodiment, the time taken by the moving part to rotate one round can be determined by determining three continuous time points at which the distance between the sensor assembly and the surface of the obstacle is within the range of 9.8 mm-10.2 mm, and the rotating speed of the moving part can be further determined.

[0066] In some embodiments, after the actual rotating speed of the moving part is determined, the actual rotating speed of the moving part is adjusted to a target rotating speed corresponding to the current cleaning scene based on the current cleaning scene, so as to adapt to the current cleaning scene.

[0067] In the embodiments of the present application, since the self-moving cleaning device cannot directly control the rotating speed of the moving part, it can only control the rotating speed of the moving part by controlling the gear, and through the rotating speed measurement of the embodiments of the present application, the actual rotating speed can be adjusted to the preset target rotating speed to adapt to different cleaning occasions. For example, for the wall-following cleaning scene, a target rotating speed is set in advance to avoid damaging the edge brush due to too fast rotation, and in actual cleaning, the rotating speed of the moving part is finely controlled according to the actual rotating speed of the moving part, so that the rotating speed of the moving part reaches the target rotating speed.

[0068] In some embodiments of the present application, a kind of obstacle identification device is provided, which corresponds to the obstacle identification method in the above-mentioned embodiments one by one. As shown in FIG. 6, the obstacle identification device includes a processing module 501. Each functional module is described in detail as follows:

[0069] The processing module 501 is configured to determine whether the moving part blocks a signal path of the sensor assembly when the moving part stops moving; if the moving part blocks the signal path of the sensor assembly, control the moving part to move so that the moving part does not block the signal path of the sensor assembly; wherein the sensor assembly is configured to emit a signal to a surface of an obstacle and receive a signal reflected by the surface of the obstacle.

[0070] In some embodiments of the present application, in the device described above, the sensor assembly is a time-of-flight (TOF) sensor, an ultrasonic sensor, an infrared sensor, or a radar sensor.

[0071] In some embodiments of the present application, in the device described above, the processing module 501 is specifically configured to determine a first distance between the sensor assembly and the surface of the obstacle based on the signal emitted by the sensor assembly to the surface of the obstacle and the signal reflected by the surface of the obstacle; if the first distance is less than or equal to a preset threshold or the first distance is within a preset threshold range, it is determined that the moving part blocks the signal path of the sensor assembly.

[0072] In some embodiments of the present application, the processing module 501 is specifically configured to control the moving part to move and determine a second distance between the sensor assembly and the surface of the obstacle; when the second distance is greater than the preset threshold, it is determined that the moving part does not block the signal path of the sensor assembly.

[0073] In some embodiments of the present application, the processing module 501 is further configured to determine whether the second distance is greater than a preset cliff threshold; if the second distance is greater than the preset cliff threshold, it is determined that the sensor assembly detects a cliff.

[0074] In some embodiments of the present application, in the device described above, the processing module 501 is further configured to determine N times when the distance between the sensor assembly and the surface of the obstacle is less than the preset threshold or within the preset threshold range, N is determined based on the number of cleaning arms of the moving part, and N is a positive integer; based on the N times, determine an actual rotating speed of the moving part.

[0075] In some embodiments of the present application, in the device described above, the processing module 501 is further configured to determine a target rotating speed of the moving part based on a current cleaning scene; and adjust the actual rotating speed of the moving part to the target rotating speed.

[0076] It should be noted that any of the above obstacle identification devices can correspond to the implementation of the above obstacle identification method, which will not be described here.

[0077] Fig. 7 shows a structural schematic diagram of an electronic device provided by an embodiment of the present application. As shown in Fig. 7, at the hardware level, the electronic device comprises a processor, and optionally further comprises an internal bus, a network interface, and a memory. The memory can include a memory, such as a random-access memory (RAM), and can further include a non-volatile memory, such as at least one disk memory. Of course, the electronic device can further include other hardware required by a business.

[0078] The processor, the network interface, and the memory can be connected to each other through the internal bus, which can be an industry standard architecture (ISA) bus, a peripheral component interconnect (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one bidirectional arrow is used in Fig. 7, but it does not mean that there is only one bus or only one type of bus.

[0079] The memory is configured to store a program. Specifically, the program can include program code, and the program code includes computer operation instructions. The memory can include a memory and a non-volatile memory, and provide instructions and data for the processor.

[0080] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs, and forms an obstacle identification device at the logical level. The processor executes the program stored in the memory, and is specifically configured to execute the foregoing method.

[0081] The processor can be an integrated circuit chip having a processing capability of signals. In the implementation process, each step of the above method can be completed by integrated logic circuits in hardware or instructions in software form in the processor. The processor described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. Each method, step and logic block diagram disclosed in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware to complete the steps of the above method.

[0082] The electronic device can execute the obstacle identification method provided by the embodiments of the present application, and realize the function of the obstacle identification device in the embodiment shown in FIG. 6. The embodiments of the present application will not be repeated here.

[0083] The embodiments of the present application also propose a computer readable storage medium storing one or more programs, the one or more programs including instructions that, when executed by an electronic device including a plurality of applications, can cause the electronic device to execute the obstacle identification method provided by the embodiments of the present application.

[0084] Those skilled in the art will appreciate that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0085] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0086] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks.

[0087] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0088] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0089] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, for storing, in general, data and / or program instructions. The memory can also include non-volatile memory, such as read-only memory (ROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or non-volatile random access memory (NVRAM) for storing, in general, data and / or program instructions. The memory is an example of computer readable media.

[0090] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0091] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0092] Those skilled in the art will appreciate that embodiments of the present application can be provided as a method, system or computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) containing computer usable program code.

[0093] The above merely provides embodiments of the present application and is not intended to limit the present application. Various modifications and changes can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method for obstacle recognition applied to a self-moving cleaning device, the method comprising: The self-moving cleaning device comprises a sensor assembly and a moving member, the sensor assembly is configured to emit a signal to an obstacle surface and receive a signal reflected by the obstacle surface; The method comprises: When the moving member stops moving, determining whether the moving member blocks a signal path of the sensor assembly; If the moving member blocks the signal path of the sensor assembly, controlling the moving member to move so that the moving member does not block the signal path of the sensor assembly.

2. The method of claim 1, wherein, The sensor assembly is a time-of-flight (TOF) sensor, an ultrasonic sensor, an infrared sensor or a radar sensor.

3. The method of claim 1, wherein, The determination of whether the moving member blocks the signal path of the sensor assembly comprises: Determining a first distance between the sensor assembly and the obstacle surface based on the signal emitted by the sensor assembly to the obstacle surface and the signal reflected by the obstacle surface; If the first distance is less than or equal to a preset threshold or the first distance is within a preset threshold range, it is determined that the moving member blocks the signal path of the sensor assembly.

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

5. The method of claim 4, wherein, The method further comprises: Determining whether the second distance is greater than a preset cliff threshold; If the second distance is greater than the preset cliff threshold, it is determined that the sensor assembly detects a cliff.

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

7. The method of claim 6, wherein, The method further comprises: Based on a current cleaning scenario, determining a target rotating speed of the moving member; Adjusting the actual rotating speed of the moving member to the target rotating speed.

8. An obstacle recognition device, characterized by The apparatus comprises: a processing module configured to, when the moving member stops moving, determine whether the moving member blocks a signal path of the sensor assembly, and if the moving member blocks the signal path of the sensor assembly, control the moving member to move so that the moving member does not block the signal path of the sensor assembly; The sensor assembly is configured to emit a signal to an obstacle surface and receive a signal reflected by the obstacle surface. 9.An electronic device comprising: a processor; and a memory arranged to store computer-executable instructions that, when executed, cause the processor to perform the steps of the obstacle identification method of any one of claims 1-7. 10.A computer-readable storage medium storing one or more programs, the one or more programs, when executed by an electronic device including multiple applications, causing the electronic device to perform the steps of the obstacle identification method of any one of claims 1-7. ​

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