Obstacle avoidance processing method for cleaning device, cleaning device, medium, and electronic device

Abstract

The present application relates to the technical field of smart home, and provides an obstacle avoidance processing method for a cleaning device, a cleaning device, a computer storage medium, and an electronic device. The obstacle avoidance processing method for a cleaning device comprises: receiving a position indication signal of a cleaning brush, wherein the position indication signal comprises a first out-of-position signal, and the first out-of-position signal indicates that the cleaning brush has deviated from a default position due to an applied pressing force; and when the position indication signal is the first out-of-position signal, executing a preset obstacle avoidance strategy to perform obstacle avoidance processing. The method of the present application can prevent the device from being stuck or damaged by collision due to obstacles at the position of the cleaning brush, thereby ensuring the safe operation of the cleaning device and prolonging the service life of the cleaning device.

Description

Obstacle avoidance processing method of cleaning device, cleaning device, medium and electronic device

[0001] Cross-reference to Related Applications

[0002] The present disclosure claims priority to Chinese Patent Application No. 202411031114.2, filed on July 30, 2024, entitled “Obstacle avoidance processing method of cleaning device, cleaning device, medium and electronic device”, the entire contents of which are incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of smart home, and in particular, to an obstacle avoidance processing method of a cleaning device, a cleaning device, a computer storage medium and an electronic device. BACKGROUND

[0004] With the rapid development and progress of computer and Internet technology, related smart home devices are constantly innovating and breaking through, and various cleaning devices have emerged as the times require.

[0005] In the related art, the cleaning device generally performs obstacle avoidance processing through signals transmitted by a collision detection sensor. However, the position of the cleaning brush is not covered by the collision detection sensor, so that the cleaning device cannot avoid some obstacles located at the position.

[0006] In view of this, there is an urgent need in the art to develop a new obstacle avoidance processing method of a cleaning device and a cleaning device.

[0007] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present disclosure. SUMMARY

[0008] The purpose of the present disclosure is to provide an obstacle avoidance processing method of a cleaning device, a cleaning device, a computer storage medium and an electronic device, thereby at least partially overcoming the technical problem that the cleaning device cannot avoid some obstacles due to the position of the cleaning brush not being covered by the collision detection sensor.

[0009] Other characteristics and advantages of the present disclosure will become apparent from the following detailed description, or will be learned by practice of the present disclosure.

[0010] According to a first aspect of the present disclosure, an obstacle avoidance processing method of a cleaning device is provided, the cleaning device being provided with a cleaning brush, and the method comprising:

[0011] receiving a position indication signal of the cleaning brush; the position indication signal comprising a first out-of-position signal; the first out-of-position signal representing that the cleaning brush deviates from a default position due to being subjected to a pressing force;

[0012] When the position indication signal is the first off-site signal, a preset obstacle avoidance strategy is executed to perform obstacle avoidance processing.

[0013] In an example embodiment of the present disclosure, when the position indication signal is the first off-site signal, a preset obstacle avoidance strategy is executed to perform obstacle avoidance processing, including:

[0014] When the position indication signal is the first off-site signal, auxiliary decision information is obtained;

[0015] According to the auxiliary decision information, it is determined whether a preset obstacle avoidance processing condition is met;

[0016] If the obstacle avoidance processing condition is met, the preset obstacle avoidance strategy is executed to perform obstacle avoidance processing.

[0017] In an example embodiment of the present disclosure, the auxiliary decision information includes a duration of the first off-site signal;

[0018] According to the auxiliary decision information, it is determined whether a preset obstacle avoidance processing condition is met, including:

[0019] It is determined whether the duration of the first off-site signal is less than a first preset time threshold;

[0020] If the duration is less than the first preset time threshold, it is determined that the preset obstacle avoidance processing condition is not met;

[0021] If the duration is greater than or equal to the first preset time threshold, it is determined that the preset obstacle avoidance processing condition is met.

[0022] In an example embodiment of the present disclosure, the auxiliary decision information includes configuration information for representing whether to perform obstacle avoidance processing according to the first off-site signal;

[0023] According to the auxiliary decision information, it is determined whether a preset obstacle avoidance processing condition is met, including:

[0024] If the configuration information represents that obstacle avoidance processing is not needed according to the first off-site signal, it is determined that the preset obstacle avoidance processing condition is not met;

[0025] If the configuration information represents that obstacle avoidance processing is needed according to the first off-site signal, it is determined that the preset obstacle avoidance processing condition is met.

[0026] In an example embodiment of the present disclosure, the auxiliary decision information includes a first position currently occupied by the cleaning brush;

[0027] According to the auxiliary decision information, it is determined whether a preset obstacle avoidance processing condition is met, including:

[0028] determine whether the first position of the cleaning brush currently located is a non-obstacle avoidance position;

[0029] if the first position of the cleaning brush currently located is the non-obstacle avoidance position, determine that the preset obstacle avoidance processing condition is not met;

[0030] if the first position of the cleaning brush currently located is not the non-obstacle avoidance position, determine that the preset obstacle avoidance processing condition is met;

[0031] The non-obstacle avoidance position includes: a position of a ground cover, a position of a non-key obstacle detected in a historical period, a pre-configured non-alert position, and a position of a charging device of the cleaning device.

[0032] In an example embodiment of the present disclosure, when the auxiliary decision information includes the first position of the cleaning brush currently located, the determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information further includes:

[0033] determining whether there is the non-obstacle avoidance position within a preset distance range of the first position;

[0034] if there is the non-obstacle avoidance position, determining that the preset obstacle avoidance processing condition is not met;

[0035] if there is no non-obstacle avoidance position, determining that the preset obstacle avoidance processing condition is met.

[0036] In an example embodiment of the present disclosure, when the auxiliary information includes the first position of the cleaning brush currently located, the determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information further includes:

[0037] detecting whether there is a target object with a height greater than a preset height threshold within the preset distance range of the first position;

[0038] if there is no target object, determining that the preset obstacle avoidance processing condition is not met;

[0039] if there is the target object, determining that the preset obstacle avoidance processing condition is met.

[0040] In an example embodiment of the present disclosure, the auxiliary decision information further includes a current timestamp, a second position of the cleaning brush when the preset obstacle avoidance strategy is last executed, and a corresponding first timestamp;

[0041] The determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information includes:

[0042] an interval distance between the first position and the second position is obtained, and a first interval duration between the current timestamp and the first timestamp is obtained;

[0043] if the interval distance is less than a preset distance threshold and the first interval duration is less than a second preset duration threshold, it is determined that the preset obstacle avoidance processing condition is not met;

[0044] if the interval distance is greater than or equal to the preset distance threshold or the interval duration is greater than or equal to the second preset duration threshold, it is determined that the preset obstacle avoidance processing condition is met.

[0045] In an example embodiment of the present disclosure, the auxiliary decision information further includes a second timestamp when the cleaning device passes through a last non-obstacle avoidance position;

[0046] The determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information includes:

[0047] a second interval duration between the current timestamp and the second timestamp is obtained;

[0048] if the second interval duration is less than a third preset duration threshold, it is determined that the preset obstacle avoidance processing condition is not met;

[0049] if the second interval duration is greater than or equal to the third preset duration threshold, it is determined that the preset obstacle avoidance processing condition is met.

[0050] In an example embodiment of the present disclosure, the auxiliary decision information includes a working instruction currently executed by the cleaning brush;

[0051] The determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information includes:

[0052] determining whether the working instruction currently executed by the cleaning brush is a specified working instruction;

[0053] if the working instruction currently executed by the cleaning brush is the specified working instruction, it is determined that the preset obstacle avoidance processing condition is not met;

[0054] if the working instruction currently executed by the cleaning brush is not the specified working instruction, it is determined that the preset obstacle avoidance processing condition is met.

[0055] In an example embodiment of the present disclosure, the auxiliary decision information includes an action currently executed by the cleaning device;

[0056] The determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information includes:

[0057] determining whether an action currently performed by the cleaning device is a specified action;

[0058] if the action currently performed by the cleaning device is the specified action, determining that the preset obstacle avoidance processing condition is not met;

[0059] if the action currently performed by the cleaning device is not the specified action, determining that the preset obstacle avoidance processing condition is met.

[0060] In an example embodiment of the present disclosure, if the obstacle avoidance processing condition is met, a preset obstacle avoidance strategy is executed to perform obstacle avoidance processing, including:

[0061] if the obstacle avoidance processing condition is met, a retreat action is executed to perform obstacle avoidance processing.

[0062] In an example embodiment of the present disclosure, the position indication signal further includes a position abnormal signal, and the method further includes:

[0063] when the position indication signal is the position abnormal signal, at least one action in a preset action set is executed until the position abnormal signal changes to a position normal signal;

[0064] wherein the preset action set includes a retreat action, a rotation action, and a position adjustment action for the cleaning brush;

[0065] the position normal signal includes an in-position signal, a first out-of-position signal, and a second out-of-position signal, the in-position signal representing that the cleaning brush is in the default position, and the second out-of-position signal representing that the cleaning brush deviates from the default position due to its own movement.

[0066] According to a second aspect of the present disclosure, a cleaning device is provided, the cleaning device being provided with a cleaning brush, and the cleaning device including:

[0067] a signal receiving module configured to receive a position indication signal of the cleaning brush, the position indication signal including a first out-of-position signal representing that the cleaning brush deviates from a default position due to a pressing force;

[0068] an obstacle avoidance processing module configured to execute a preset obstacle avoidance strategy to perform obstacle avoidance processing when the position indication signal is the first out-of-position signal.

[0069] According to a third aspect of the present disclosure, a computer storage medium is provided, the computer storage medium storing a computer program, the computer program being executed by a processor to implement the obstacle avoidance processing method of the cleaning device according to the first aspect.

[0070] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the obstacle avoidance processing method of the cleaning device according to the first aspect above via execution of the executable instructions.

[0071] From the above technical solutions, the obstacle avoidance processing method of the cleaning device, the cleaning device, the computer storage medium and the electronic device in the example embodiments of the present disclosure at least have the following advantages and positive effects:

[0072] In the technical solutions provided in some embodiments of the present disclosure, by receiving the position indication signal of the cleaning brush, when the position indication signal is the first off-site signal representing that the cleaning brush deviates from the default position due to the extrusion force, the preset obstacle avoidance strategy is executed to perform the obstacle avoidance processing. On the one hand, a new technical solution for obstacle avoidance processing based on the position indication signal of the cleaning brush is provided, so as to solve the technical problem that the obstacle located at the position of the cleaning brush cannot be detected due to the fact that the position of the cleaning brush is not covered by the collision detection sensor in the related art, so that the cleaning device can bypass the obstacle in the detection blind area and avoid being blocked by the cleaning device. On the other hand, the obstacle avoidance strategy can be executed when the cleaning brush is subjected to the extrusion force, so as to reduce the possibility of collision between the cleaning device and the obstacle, improve the operation safety of the cleaning device, and prolong the service life of the cleaning device.

[0073] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0074] The drawings incorporated into the specification and forming a part of the specification, show embodiments consistent with the present disclosure, and together with the specification, serve to explain the principles of the present disclosure. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0075] FIG. 1 shows a flowchart of the obstacle avoidance processing method of the cleaning device in the embodiments of the present disclosure;

[0076] FIG. 2 shows a position diagram of the cleaning brush in the embodiments of the present disclosure;

[0077] FIG. 3 shows a flowchart of executing the preset obstacle avoidance strategy to perform the obstacle avoidance processing when the position indication signal is the first off-site signal in the embodiments of the present disclosure;

[0078] FIG. 4 shows a flowchart of judging whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information in the embodiments of the present disclosure;

[0079] FIG. 5 shows another flowchart for determining whether a preset obstacle avoidance processing condition is met according to auxiliary decision information, according to an embodiment of the present disclosure;

[0080] FIG. 6 shows another flowchart for determining whether a preset obstacle avoidance processing condition is met according to auxiliary decision information, according to an embodiment of the present disclosure;

[0081] FIG. 7 shows another flowchart for determining whether a preset obstacle avoidance processing condition is met according to auxiliary decision information, according to an embodiment of the present disclosure;

[0082] FIG. 8 shows a flowchart of an obstacle avoidance processing method of a cleaning device, according to an embodiment of the present disclosure;

[0083] FIG. 9 shows a schematic diagram of a structure of a cleaning device, according to an example embodiment of the present disclosure;

[0084] FIG. 10 shows a schematic diagram of a structure of an electronic device, according to an example embodiment of the present disclosure. DETAILED DESCRIPTION

[0085] Example implementations are now described with reference to the drawings; however, these implementations are merely examples of implementations and are not intended to be limiting on the scope of what can be claimed. Rather, these implementations are intended to demonstrate example implementations considered by the inventors to be most useful, the inventors being aware of other ways to make and use the subject matter. Such examples are merely representative of ways in which the principles disclosed herein can be employed and the present disclosure is intended to include within its scope any and all combinations of the features described herein. One skilled in the relevant art will recognize that the examples provided can have more or fewer elements or steps than as described, and these elements or steps can work in combination with other elements or steps in other examples. It will be appreciated that some features are shown in various drawings and are described in the specification by way of example only and not limitation.

[0086] The terms "one", "a", "an", and "the" as used herein mean "at least one" or "one or more" unless expressly specified otherwise. The term "includes" means "includes but is not limited to". The symbol " / " is used to denote "or". The terms "first", "second", and the like, do not limit the quantity or order of the elements to which they refer, but rather, indicate that different features are being referred to.

[0087] In addition, the drawings are merely schematic and are not necessarily drawn to scale. Like reference numerals designate like elements throughout the several views, and the use thereof is understood to refer to a common element or function between the different drawings. Some of the blocks in the drawings are function blocks that represent functions implemented by a physical or logical device, and do not necessarily correspond to physical or logical devices.

[0088] In the related art, the telescopic side brush structure on the cleaning device occupies the space of the collision detection sensor, resulting in that the cleaning brush position is not covered by the collision detection sensor. Therefore, the cleaning device may not be able to avoid some obstacles located at the cleaning brush position, resulting in that the device is stuck.

[0089] In an embodiment of the present disclosure, a method for obstacle avoidance processing of a cleaning device is first provided, which at least partially overcomes the defect that the cleaning device cannot avoid obstacles located at the cleaning brush position in the related art.

[0090] FIG. 1 shows a flowchart of a method for obstacle avoidance processing of a cleaning device in an embodiment of the present disclosure. The execution subject of the method for obstacle avoidance processing of the cleaning device can be the cleaning device.

[0091] Referring to FIG. 1, the method for obstacle avoidance processing of a cleaning device according to one embodiment of the present disclosure includes the following steps:

[0092] Step S110, receiving a position indication signal of a cleaning brush; the position indication signal includes a first out-of-position signal, the first out-of-position signal representing that the cleaning brush deviates from a default position due to a pressing force;

[0093] Step S120, when the position indication signal is the first out-of-position signal, executing a preset obstacle avoidance strategy to perform obstacle avoidance processing.

[0094] In the technical solution provided in the embodiment shown in FIG. 1, by receiving a position indication signal of a cleaning brush, when the position indication signal is a first out-of-position signal representing that the cleaning brush deviates from a default position due to a pressing force, a preset obstacle avoidance strategy is executed to perform obstacle avoidance processing. On the one hand, a new technical solution for obstacle avoidance processing based on the position indication signal of the cleaning brush is provided, thereby solving the technical problem that in the related art, the cleaning brush position is not covered by the collision detection sensor, so that obstacles located at the cleaning brush position cannot be detected, so that the cleaning device can bypass the obstacles in the detection blind area and avoid being blocked during operation. On the other hand, the obstacle avoidance strategy can be executed when the cleaning brush is subjected to a pressing force, thereby reducing the possibility of collision between the cleaning device and the obstacle, improving the operation safety of the cleaning device, and prolonging the service life of the cleaning device.

[0095] The specific implementation process of each step in FIG. 1 is described in detail as follows:

[0096] Before step S110, it should be noted that the cleaning device in the present disclosure can be a sweeping robot, a sweeping and mopping robot, etc. having a cleaning function, which can be self-set according to actual conditions, and the present disclosure does not make special limitations thereon.

[0097] The cleaning device in the present disclosure can be provided with a cleaning brush. Exemplarily, the cleaning brush in the present disclosure can be a telescopic edge brush, which is generally mainly used for cleaning garbage at wall corners and obstacle roots. The edge brush is designed to sweep dust, dirt and the like around the wall corners and obstacles to the suction port of the cleaning device or a place that can be cleaned by the main brush, so as to improve the cleaning efficiency.

[0098] In step S110, a position indication signal of the cleaning brush is received.

[0099] In this step, the position indication signal of the cleaning brush (which is a signal formed based on the change of the light caused by the change of the position of the cleaning brush) can be received. Exemplarily, the position indication signal can include a normal position indication signal and an abnormal position indication signal (which represents an abnormal situation that the cleaning brush is stuck for a long time).

[0100] The normal position indication signal can include three signals: an in-position signal (which represents that the cleaning brush is located at a default position), a first off-position signal (which represents that the cleaning brush deviates from the default position due to a pressing force), and a second off-position signal (which represents that the cleaning brush deviates from the default position due to an active telescopic movement of the cleaning brush).

[0101] Referring to FIG. 2, FIG. 2 shows a position diagram of the cleaning brush in an embodiment of the present disclosure. As shown in FIG. 2, in a non-working state, the cleaning brush is usually located at a first position, and if subjected to a pressing force, it will move to a second position. After the pressing force is removed, the resilient damping on the cleaning brush will make it rebound to the first position.

[0102] Referring to FIG. 1, in step S120, when the position indication signal is the first off-position signal, a preset obstacle avoidance strategy is executed to perform obstacle avoidance processing.

[0103] In this step, when the position indication signal is the first off-position signal, the cleaning device can execute a preset obstacle avoidance strategy (for example, retreat by a preset distance) to perform obstacle avoidance processing.

[0104] Preferably, referring to FIG. 3, FIG. 3 shows a flowchart of executing a preset obstacle avoidance strategy to perform obstacle avoidance processing when the position indication signal is the first off-position signal in an embodiment of the present disclosure, which includes steps S301-S303.

[0105] In step S301, when the position indication signal is the first off-position signal, auxiliary decision information is acquired.

[0106] In this step, the auxiliary decision information can include the following information:

[0107] ① The duration of the first off-position signal;

[0108] ②configuration information representing whether to perform obstacle avoidance processing according to the first off-site signal (i.e., whether the function of performing obstacle avoidance processing according to the first off-site signal is enabled);

[0109] ③a first position where the cleaning brush currently locates, for example, a position coordinate where the cleaning brush currently locates in a map established by the cleaning device;

[0110] ④a first position where the cleaning brush currently locates and a current timestamp, a second position where the cleaning brush locates when the preset obstacle avoidance strategy is last executed and a corresponding first timestamp;

[0111] ⑤a current timestamp and a second timestamp when the cleaning device passes through a last non-obstacle avoidance position;

[0112] ⑥a working instruction currently executed by the cleaning brush;

[0113] ⑦an action currently executed by the cleaning device.

[0114] In step S302, it is determined whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information.

[0115] In this step, it can be determined whether the preset obstacle avoidance processing condition is met according to the acquired auxiliary decision information.

[0116] In an optional embodiment, when the acquired auxiliary decision information is the first information (i.e., the duration of the first off-site signal) in step S301, it can be determined whether the duration of the first off-site signal is less than a first preset duration threshold (for example, 150 ms, which can be set according to actual conditions, and the present disclosure does not make special limitations thereon). If the duration is less than the first preset duration threshold, it can be determined that the preset obstacle avoidance processing condition is not met. If the duration is greater than or equal to the first preset duration threshold, it can be determined that the preset obstacle avoidance processing condition is met.

[0117] In an optional embodiment, when the acquired auxiliary decision information is the second information (i.e., the configuration information representing whether to perform obstacle avoidance processing according to the first off-site signal) in step S301, it can be determined that the preset obstacle avoidance processing condition is not met when the configuration information represents that the obstacle avoidance processing is not needed according to the first off-site signal (i.e., the function of performing obstacle avoidance processing according to the first off-site signal is logically disabled and is in a disable state). It can be determined that the preset obstacle avoidance processing condition is met when the configuration information represents that the obstacle avoidance processing is needed according to the first off-site signal (i.e., the function of performing obstacle avoidance processing according to the first off-site signal is not disabled and is in an enable state).

[0118] In an optional embodiment, when the acquired auxiliary decision information is the third information in step S301 (i.e., the first position currently occupied by the cleaning brush), a flowchart for determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information can be referred to FIG. 4, which shows another flowchart for determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information in the embodiment of the present disclosure, including steps S401-S403.

[0119] In step S401, it is determined whether the first position currently occupied by the cleaning brush is a non-obstacle avoidance position.

[0120] In this step, it can be determined whether the first position currently occupied by the cleaning brush is a non-obstacle avoidance position. The non-obstacle avoidance position refers to a position that does not need to be subjected to obstacle avoidance processing.

[0121] For example, the non-obstacle avoidance position can include a position where a ground cover (e.g., a carpet) is located, a position where a non-critical obstacle (e.g., a protrusion with a height less than 2 cm, but does not affect the passage of the device) detected in a historical period is located, a pre-configured non-alert position (e.g., a position that does not need to be subjected to obstacle avoidance processing added by a user in advance), and a position where a charging device (e.g., a charging pile) of the cleaning device is located.

[0122] In step S402, if the first position currently occupied by the cleaning brush is a non-obstacle avoidance position, it is determined that the preset obstacle avoidance processing condition is not met.

[0123] In this step, if the first position currently occupied by the cleaning brush is the non-obstacle avoidance position, it can be determined that the preset obstacle avoidance processing condition is not met.

[0124] In step S403, if the first position currently occupied by the cleaning brush is not a non-obstacle avoidance position, it is determined that the preset obstacle avoidance processing condition is met.

[0125] In this step, if the first position currently occupied by the cleaning brush is not the non-obstacle avoidance position, it can be determined that the preset obstacle avoidance processing condition is met.

[0126] In an optional embodiment, when the acquired auxiliary decision information is the third information in step S301 (i.e., the first position currently occupied by the cleaning brush), another flowchart for determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information can be referred to FIG. 5, which shows another flowchart for determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information in the embodiment of the present disclosure, including steps S501-S503.

[0127] In step S501, it is determined whether there is a non-obstacle avoidance position within a preset distance range of the first position.

[0128] In this step, it can be determined whether the non-obstacle-avoiding position exists within the preset distance range (for example, 5 cm, which can be set according to actual conditions, and the present disclosure does not make special limitations thereon) of the first position, that is, whether the cleaning device is close to the non-obstacle-avoiding position.

[0129] In step S502, if the non-obstacle-avoiding position exists, it is determined that the preset obstacle-avoiding processing condition is not met.

[0130] In this step, if the non-obstacle-avoiding position exists within the preset distance range of the first position, it can be determined that the preset obstacle-avoiding processing condition is not met.

[0131] In step S503, if the non-obstacle-avoiding position does not exist, it is determined that the preset obstacle-avoiding processing condition is met.

[0132] In this step, if the non-obstacle-avoiding position does not exist within the preset distance range of the first position, it can be determined that the preset obstacle-avoiding processing condition is met.

[0133] In an optional embodiment, when the obtained auxiliary decision information is the third information in step S301 (that is, the first position currently occupied by the cleaning brush), whether a target object with a height greater than a preset height threshold (for example, 2.5 cm, which can be set according to actual conditions) exists within the preset distance range of the first position can also be detected by the obstacle line machine (that is, the laser radar). If the target object does not exist, it can be determined that the preset obstacle-avoiding processing condition is not met, and if the target object exists, it can be determined that the preset obstacle-avoiding processing condition is met.

[0134] In an optional embodiment, when the obtained auxiliary decision information is the fourth information in step S301 (that is, the first position currently occupied by the cleaning brush and the current timestamp, the second position occupied by the cleaning brush when the preset obstacle-avoiding strategy is last executed and the corresponding first timestamp), reference can be made to FIG. 6, which shows another flow diagram for determining whether the preset obstacle-avoiding processing condition is met according to the auxiliary decision information in the embodiment of the present disclosure, including steps S601-S603.

[0135] In step S601, the interval distance between the first position and the second position is obtained, and the first interval time length between the current timestamp and the first timestamp is obtained.

[0136] In this step, the interval distance between the first position and the second position (for example, 50 m) can be obtained, and the first interval time length between the current timestamp and the first timestamp (for example, 1 s) can be obtained.

[0137] In step S602, if the interval distance is less than the preset distance threshold, and the first interval duration is less than the second preset duration threshold, it is determined that the preset obstacle avoidance processing condition is not met.

[0138] In this step, the preset distance threshold can be set as the body radius of the cleaning device, and the second preset duration threshold can be set as 10s (which can also be set according to actual conditions, and the present disclosure does not make special limitations thereon). Thus, if the above interval distance is less than the body radius, and the first interval duration is less than 10s, it can be determined that the above preset obstacle avoidance processing condition is not met.

[0139] In step S603, if the interval distance is greater than or equal to the preset distance threshold, or the interval duration is greater than or equal to the second preset duration threshold, it is determined that the preset obstacle avoidance processing condition is met.

[0140] In this step, if the above interval distance is greater than or equal to the above body radius, or the above interval duration is greater than or equal to 10s, it can be determined that the above preset obstacle avoidance processing condition is met.

[0141] In an optional embodiment, when the obtained auxiliary decision information is the fifth information in step S301 (i.e., the current timestamp and the second timestamp when the cleaning device passes the last non-obstacle avoidance position), reference can be made to FIG. 7, which shows another flowchart for determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information, including steps S701-S703.

[0142] In step S701, a second interval duration between the current timestamp and the second timestamp is obtained.

[0143] In this step, the second interval duration between the current timestamp and the second timestamp when the cleaning device passes the last non-obstacle avoidance position can be obtained.

[0144] In step S702, if the second interval duration is less than a third preset duration threshold, it is determined that the preset obstacle avoidance processing condition is not met.

[0145] In this step, for example, the third preset duration threshold can be set as 6s (which can also be set according to actual conditions, and the present disclosure does not make special limitations thereon). Thus, if the above second interval duration is less than 6s, it can be determined that the preset obstacle avoidance processing condition is not met.

[0146] In step S703, if the second interval duration is greater than or equal to the third preset duration threshold, it is determined that the preset obstacle avoidance processing condition is met.

[0147] In this step, if the above second interval duration is greater than or equal to 6s, it can be determined that the preset obstacle avoidance processing condition is met.

[0148] In an optional embodiment, when the acquired auxiliary decision information is the seventh information in step S301 (i.e., the working instruction currently executed by the cleaning brush), it can be determined whether the working instruction currently executed by the cleaning brush is a specified working instruction (e.g., a working instruction of outward extension); if the working instruction currently executed by the cleaning brush is the specified working instruction, it can be determined that the preset obstacle avoidance processing condition is not met; and if the working instruction currently executed by the cleaning brush is not the specified working instruction, it can be determined that the preset obstacle avoidance processing condition is met.

[0149] In an optional embodiment, when the acquired auxiliary decision information is the seventh information in step S301 (i.e., the working instruction currently executed by the cleaning brush), it can be determined whether the working instruction currently executed by the cleaning brush is a specified working instruction (e.g., a working instruction of outward extension); if the working instruction currently executed by the cleaning brush is the specified working instruction, it can be determined that the preset obstacle avoidance processing condition is not met; and if the working instruction currently executed by the cleaning brush is not the specified working instruction, it can be determined that the preset obstacle avoidance processing condition is met.

[0150] The present disclosure determines whether to start the obstacle avoidance strategy by combining the first off-site signal with the auxiliary decision information, can not execute the obstacle avoidance strategy when the position of the cleaning brush appears a non-critical obstacle (e.g., a low object such as a diatom mud pad) that does not affect the operation of the cleaning device or does not need to be bypassed, thereby avoiding the situation of missing cleaning, i.e., not leaving a cleaning dead angle; and executes the obstacle avoidance strategy when the position of the cleaning brush appears a critical obstacle that may affect the operation of the cleaning device or get stuck, thereby avoiding the situation that the critical obstacle causes the cleaning device to be stuck or the cleaning device to be damaged by collision, ensuring the safe operation of the cleaning device and prolonging the service life of the cleaning device.

[0151] After it is determined whether the preset obstacle avoidance processing condition is met, the method can further include the following step S303 of referring to FIG. 3, if the obstacle avoidance processing condition is met, executing a preset obstacle avoidance strategy to perform obstacle avoidance processing.

[0152] In this step, if the obstacle avoidance processing condition is met, the cleaning device can execute a preset obstacle avoidance strategy to perform obstacle avoidance processing. For example, the preset obstacle avoidance strategy can be to retreat a preset distance, or to trigger an alarm information to prompt a user to remove the obstacle, etc., which can be set according to actual conditions, and the present disclosure does not make special limitations thereon.

[0153] In addition, it should be noted that, for the case that the position indication signal is a position abnormal signal (for example, the cleaning brush is stuck and cannot be used), in order to avoid the position abnormal signal interfering with the normal operation of the device, the present disclosure also provides a scheme for converting the position abnormal signal into a position normal signal. Specifically, when the position indication signal is a position abnormal signal, the cleaning device can perform at least one action in the preset action set in a preset order until the position abnormal signal is converted into a position normal signal.

[0154] The preset action set includes a backward action, a rotation action, and a position adjustment action for the cleaning brush. For example, the preset order can be: backward action-rotation action-position adjustment action for the cleaning brush. Thus, the cleaning device can first perform the backward action. If the cleaning brush cannot be removed after moving backward by a certain distance (for example, 10 cm), the rotation action (for example, clockwise and / or counterclockwise rotation) can be performed. If the position abnormal signal cannot be removed during the rotation, it can be considered that the cleaning brush is stuck, and thus the cleaning brush can be adjusted in position, such as extension and contraction. If the position abnormal signal cannot be removed after the action is performed, an alarm can be triggered to convert the position abnormal signal into a position normal signal through manual assistance of the user.

[0155] The position normal signal includes the in-position signal, the first out-of-position signal, and the second out-of-position signal. The in-position signal indicates that the cleaning brush is in a default position, and the second out-of-position signal indicates that the cleaning brush deviates from the default position due to its own movement.

[0156] Referring to FIG. 8, FIG. 8 shows a schematic diagram of the overall flow of the obstacle avoidance processing method of the cleaning device in the embodiment of the present disclosure, including steps S801-S806:

[0157] In step S801, a position indication signal of the cleaning brush is received.

[0158] In step S802, the position indication signal is an in-position signal.

[0159] In step S803, no obstacle avoidance processing is performed.

[0160] In step S804, the position indication signal is a first out-of-position signal.

[0161] In step S805, it is determined whether the obstacle avoidance processing condition is met.

[0162] If the obstacle avoidance processing condition is not met, the process jumps to step S803, and no obstacle avoidance processing is performed.

[0163] If the obstacle avoidance processing condition is met, the process proceeds to step S806 to perform obstacle avoidance processing.

[0164] Based on the above technical solutions, the present disclosure has at least the following technical effects:

[0165] First, some low obstacles can be effectively avoided during the operation of the cleaning device, thereby avoiding the situation of missed cleaning and improving the cleaning quality.

[0166] Second, key obstacles and non-key obstacles can be effectively distinguished, so that when a non-key obstacle (such as a low object such as a diatom mud pad) that does not affect the operation of the cleaning device or does not need to be bypassed appears at the position of the cleaning brush, the obstacle avoidance strategy is not executed, thereby avoiding the situation of missed cleaning, i.e., no cleaning dead angle is left. When a key obstacle that may affect the operation of the cleaning device or get stuck appears at the position of the cleaning brush, the obstacle avoidance strategy is executed, thereby avoiding the situation that the key obstacle causes the cleaning device to be stuck or the cleaning device to be damaged by collision, ensuring the safe operation of the cleaning device and prolonging the service life of the cleaning device.

[0167] The present disclosure also provides a cleaning device provided with a cleaning brush. FIG. 9 shows a structural schematic diagram of the cleaning device in an exemplary embodiment of the present disclosure. As shown in FIG. 9, the cleaning device 900 can include a signal receiving module 910 and an obstacle avoidance processing module 920. Wherein:

[0168] The signal receiving module 910 is configured to receive a position indication signal of the cleaning brush. The position indication signal includes a first out-of-position signal, and the first out-of-position signal represents that the cleaning brush deviates from a default position due to a pressing force.

[0169] The obstacle avoidance processing module 920 is configured to execute a preset obstacle avoidance strategy to perform obstacle avoidance processing when the position indication signal is the first out-of-position signal.

[0170] In an exemplary embodiment of the present disclosure, the obstacle avoidance processing module 920 executes a preset obstacle avoidance strategy to perform obstacle avoidance processing when the position indication signal is the first out-of-position signal, including:

[0171] When the position indication signal is the first out-of-position signal, auxiliary decision information is obtained.

[0172] The auxiliary decision information is used to determine whether a preset obstacle avoidance processing condition is met.

[0173] If the obstacle avoidance processing condition is met, the preset obstacle avoidance strategy is executed to perform obstacle avoidance processing.

[0174] In an exemplary embodiment of the present disclosure, the auxiliary decision information includes a duration of the first out-of-position signal.

[0175] The obstacle avoidance processing module 920 determines whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information, including:

[0176] determining whether the duration of the first off-site signal is less than a first preset duration threshold;

[0177] If the duration is less than the first preset duration threshold, it is determined that the preset obstacle avoidance processing condition is not met;

[0178] If the duration is greater than or equal to the first preset duration threshold, it is determined that the preset obstacle avoidance processing condition is met.

[0179] In an example embodiment of the present disclosure, the auxiliary decision information includes configuration information for representing whether to perform obstacle avoidance processing according to the first off-site signal;

[0180] The obstacle avoidance processing module 920 determines whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information, including:

[0181] If the configuration information represents that obstacle avoidance processing is not required according to the first off-site signal, it is determined that the preset obstacle avoidance processing condition is not met;

[0182] If the configuration information represents that obstacle avoidance processing is required according to the first off-site signal, it is determined that the preset obstacle avoidance processing condition is met.

[0183] In an example embodiment of the present disclosure, the auxiliary decision information includes a first position currently occupied by the cleaning brush;

[0184] The obstacle avoidance processing module 920 determines whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information, including:

[0185] determining whether the first position currently occupied by the cleaning brush is a non-obstacle avoidance position;

[0186] If the first position currently occupied by the cleaning brush is the non-obstacle avoidance position, it is determined that the preset obstacle avoidance processing condition is not met;

[0187] If the first position currently occupied by the cleaning brush is not the non-obstacle avoidance position, it is determined that the preset obstacle avoidance processing condition is met;

[0188] The non-obstacle avoidance position includes a position of a ground cover, a position of a non-critical obstacle detected in a historical period, a pre-configured non-alert position, and a position of a charging device of the cleaning device.

[0189] In an example embodiment of the present disclosure, when the auxiliary decision information comprises a first position currently occupied by the cleaning brush, the obstacle avoidance processing module 920 determines whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information, and further comprises:

[0190] determining whether the non-obstacle avoidance position exists within a preset distance range of the first position;

[0191] if the non-obstacle avoidance position exists, it is determined that the preset obstacle avoidance processing condition is not met;

[0192] if the non-obstacle avoidance position does not exist, it is determined that the preset obstacle avoidance processing condition is met.

[0193] In an example embodiment of the present disclosure, when the auxiliary information comprises a first position currently occupied by the cleaning brush, the obstacle avoidance processing module 920 determines whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information, and further comprises:

[0194] detecting whether a target object with a height greater than a preset height threshold exists within a preset distance range of the first position;

[0195] if the target object does not exist, it is determined that the preset obstacle avoidance processing condition is not met;

[0196] if the target object exists, it is determined that the preset obstacle avoidance processing condition is met.

[0197] In an example embodiment of the present disclosure, the auxiliary decision information further comprises a current timestamp, a second position of the cleaning brush when the preset obstacle avoidance strategy was last executed, and a corresponding first timestamp;

[0198] The obstacle avoidance processing module 920 determines whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information, comprising:

[0199] obtaining an interval distance between the first position and the second position, and obtaining a first interval time length between the current timestamp and the first timestamp;

[0200] if the interval distance is less than a preset distance threshold, and the first interval time length is less than a second preset time threshold, it is determined that the preset obstacle avoidance processing condition is not met;

[0201] if the interval distance is greater than or equal to the preset distance threshold, or the interval time length is greater than or equal to the second preset time threshold, it is determined that the preset obstacle avoidance processing condition is met.

[0202] In an example embodiment of the present disclosure, the auxiliary decision information further comprises a second time stamp of when the cleaning device passes through a last non-obstacle avoidance position;

[0203] The obstacle avoidance processing module 920 determines whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information, comprising:

[0204] obtaining a second interval duration between the current time stamp and the second time stamp;

[0205] If the second interval duration is less than a third preset time threshold, it is determined that the preset obstacle avoidance processing condition is not met;

[0206] If the second interval duration is greater than or equal to the third preset time threshold, it is determined that the preset obstacle avoidance processing condition is met.

[0207] In an example embodiment of the present disclosure, the auxiliary decision information comprises a working instruction currently executed by the cleaning brush;

[0208] The obstacle avoidance processing module 920 determines whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information, comprising:

[0209] determining whether the working instruction currently executed by the cleaning brush is a specified working instruction;

[0210] If the working instruction currently executed by the cleaning brush is the specified working instruction, it is determined that the preset obstacle avoidance processing condition is not met;

[0211] If the working instruction currently executed by the cleaning brush is not the specified working instruction, it is determined that the preset obstacle avoidance processing condition is met.

[0212] In an example embodiment of the present disclosure, the auxiliary decision information comprises an action currently executed by the cleaning device;

[0213] The obstacle avoidance processing module 920 determines whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information, comprising:

[0214] determining whether the action currently executed by the cleaning device is a specified action;

[0215] If the action currently executed by the cleaning device is the specified action, it is determined that the preset obstacle avoidance processing condition is not met;

[0216] If the action currently executed by the cleaning device is not the specified action, it is determined that the preset obstacle avoidance processing condition is met.

[0217] In the example embodiments of the present disclosure, if the obstacle avoidance processing condition is met, the obstacle avoidance processing module 920 performs a preset obstacle avoidance strategy to perform obstacle avoidance processing, including:

[0218] If the obstacle avoidance processing condition is met, a retreat action is performed to perform obstacle avoidance processing.

[0219] In the example embodiments of the present disclosure, the position indication signal further includes a position abnormal signal, and the obstacle avoidance processing module 920 is further configured to:

[0220] When the position indication signal is the position abnormal signal, at least one action in a preset action set is performed until the position abnormal signal changes to a position normal signal;

[0221] The preset action set includes a retreat action, a rotation action, and a position adjustment action for the cleaning brush.

[0222] The position normal signal includes an in-position signal, a first out-of-position signal, and a second out-of-position signal. The in-position signal indicates that the cleaning brush is in the default position, and the second out-of-position signal indicates that the cleaning brush deviates from the default position due to its own movement.

[0223] The specific details of the modules in the above cleaning device have been described in detail in the obstacle avoidance processing method of the corresponding cleaning device, and thus will not be described here.

[0224] It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, such division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into multiple modules or units.

[0225] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired result. In addition or alternatively, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be divided into multiple steps, etc.

[0226] Those skilled in the art can clearly understand that the example embodiments described in the present disclosure can be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash disk, a mobile hard disk, or the like) or a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the methods according to the embodiments of the present disclosure.

[0227] The present application also provides a computer-readable storage medium, which can be included in the electronic device described in the above embodiments, or can exist independently without being assembled into the electronic device.

[0228] The computer-readable storage medium may, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any suitable combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus, or device.

[0229] The computer-readable storage medium can send, propagate, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable storage medium can be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber, RF, etc., or any suitable combination of the above.

[0230] The computer-readable storage medium carries one or more programs, which, when executed by the electronic device, enable the electronic device to implement the methods described in the above embodiments.

[0231] In addition, an electronic device capable of implementing the above method is also provided in the embodiments of the present disclosure.

[0232] Those skilled in the art can understand that various aspects of the present disclosure can be implemented as a system, a method or a program product. Therefore, various aspects of the present disclosure can be embodied as a whole hardware implementation, a whole software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuitry", "module" or "system" herein.

[0233] The electronic device 1000 according to this embodiment of the present disclosure will be described below with reference to FIG. 10. FIG. 10 shows the electronic device 1000 only as an example, and should not bring any limitation to the functions and usage scope of the embodiments of the present disclosure.

[0234] As shown in FIG. 10, the electronic device 1000 is in the form of a general computing device. The components of the electronic device 1000 can include, but are not limited to, the at least one processing unit 1010 described above, the at least one storage unit 1020 described above, a bus 1030 connecting different system components (including the storage unit 1020 and the processing unit 1010), and a display unit 1040.

[0235] The storage unit stores program codes which can be executed by the processing unit 1010, so that the processing unit 1010 performs the steps according to various exemplary embodiments of the present disclosure described in the "Exemplary Method" part of the present specification. For example, the processing unit 1010 can perform the steps as shown in FIG. 1, i.e., step S110, receiving a position indication signal of the cleaning brush; the position indication signal includes a first off-site signal, the first off-site signal representing that the cleaning brush deviates from the default position due to the extrusion force; step S120, when the position indication signal is the first off-site signal, performing a preset obstacle avoidance strategy to perform obstacle avoidance processing.

[0236] The storage unit 1020 can include a readable medium in the form of a volatile storage unit, such as a random access memory (RAM) 10201 and / or a cache memory unit 10202, and can further include a read-only memory (ROM) 10203.

[0237] The storage unit 1020 can further include a program / utility 10204 having a set of program modules 10205, including but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof can include implementation of a network environment.

[0238] Bus 1030 can be one or more of several types of bus structure including a memory bus or memory controller, a peripheral bus, a graphics bus, a processor or local bus using any of a variety of bus architectures.

[0239] Electronic device 1000 can also communicate with one or more external devices 1100, such as a keyboard or pointing device, using one or more communication interfaces 1050. Communication interfaces 1050 can include, without limitation, a modem, a network interface card (e.g. an Ethernet card), a wireless network interface card, etc. One or more communication interfaces 1050 can enable electronic device 1000 to communicate with other devices and / or systems. For example, communication interfaces 1050 can enable electronic device 1000 to communicate with a local or wide area network, including, for example, the Internet. Communication interfaces 1050 can also include one or more wireless interfaces, such as a Bluetooth, Wi-Fi, or other wireless interface. Communication interfaces 1050 can also include one or more wired interfaces, such as a USB, Firewire, or other wired interface. Communication interfaces 1050 can also include one or more optical interfaces, such as an infrared interface. Communication interfaces 1050 can also include one or more audio interfaces, such as a microphone input or speaker output. Communication interfaces 1050 can also include one or more telephonic interfaces, such as a microphone input, speaker output, and / or a ringer.

[0240] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

Claims

1. An obstacle avoidance processing method of a cleaning device, the cleaning device being provided with a cleaning brush, the method comprising: receiving a position indication signal of the cleaning brush; the position indication signal comprising a first off-position signal; the first off-position signal representing that the cleaning brush deviates from a default position due to a pressing force; when the position indication signal is the first off-position signal, executing a preset obstacle avoidance strategy to perform obstacle avoidance processing. The when the position indication signal is the first off-position signal, executing a preset obstacle avoidance strategy to perform obstacle avoidance processing, comprises: when the position indication signal is the first off-position signal, obtaining auxiliary decision information; determining whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information; 2. The method of claim 1, wherein, if the preset obstacle avoidance processing condition is met, executing the preset obstacle avoidance strategy to perform obstacle avoidance processing. The auxiliary decision information comprises a duration of the first off-position signal. The determining whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information, comprises: determining whether the duration of the first off-position signal is less than a first preset time threshold; 3. The method of claim 2, wherein, if the duration is less than the first preset time threshold, determining that the preset obstacle avoidance processing condition is not met; if the duration is greater than or equal to the first preset time threshold, determining that the preset obstacle avoidance processing condition is met. The auxiliary decision information comprises configuration information for representing whether to perform obstacle avoidance processing according to the first off-position signal. The determining whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information, comprises: if the configuration information represents that obstacle avoidance processing is not needed according to the first off-position signal, determining that the preset obstacle avoidance processing condition is not met; 4. The method of claim 2, wherein, if the configuration information represents that obstacle avoidance processing is needed according to the first off-position signal, determining that the preset obstacle avoidance processing condition is met. The auxiliary decision information comprises a first position currently occupied by the cleaning brush. The determining whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information, comprises: determining whether the first position currently occupied by the cleaning brush is a non-obstacle avoidance position; 5. The method of claim 2, wherein, if the first position currently occupied by the cleaning brush is the non-obstacle avoidance position, determining that the preset obstacle avoidance processing condition is not met; if the first position currently occupied by the cleaning brush is not the non-obstacle avoidance position, determining that the preset obstacle avoidance processing condition is met; wherein the non-obstacle avoidance position comprises: a position of a ground cover, a position of a non-key obstacle detected in a historical period, a pre-configured non-alert position, and a position of a charging device of the cleaning device. When the auxiliary decision information comprises the first position currently occupied by the cleaning brush, the determining whether a preset obstacle avoidance processing condition is met according to the auxiliary decision information further comprises: determining whether the non-obstacle avoidance position exists within a preset distance range of the first position; if the non-obstacle avoidance position exists, determining that the preset obstacle avoidance processing condition is not met; 6. The method of claim 5, wherein, if the non-obstacle avoidance position does not exist, determining that the preset obstacle avoidance processing condition is met. ​ ​ ​ 7. The method of claim 6, wherein, When the auxiliary information comprises a first position currently occupied by the cleaning brush, the determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information further comprises: detecting whether a target object with a height greater than a preset height threshold exists within a preset distance range of the first position; if the target object does not exist, determining that the preset obstacle avoidance processing condition is not met; if the target object exists, determining that the preset obstacle avoidance processing condition is met.

8. The method of claim 7, wherein, The auxiliary decision information further comprises a current timestamp, a second position occupied by the cleaning brush when the preset obstacle avoidance strategy is last executed, and a corresponding first timestamp; The determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information comprises: obtaining an interval distance between the first position and the second position, and obtaining a first interval time length between the current timestamp and the first timestamp; if the interval distance is less than a preset distance threshold, and the first interval time length is less than a second preset time length threshold, it is determined that the preset obstacle avoidance processing condition is not met; if the interval distance is greater than or equal to the preset distance threshold, or the interval time length is greater than or equal to the second preset time length threshold, it is determined that the preset obstacle avoidance processing condition is met.

9. The method of claim 8, wherein, The auxiliary decision information further comprises a second timestamp when the cleaning device passes through a last non-obstacle avoidance position; The determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information comprises: obtaining a second interval time length between the current timestamp and the second timestamp; if the second interval time length is less than a third preset time length threshold, it is determined that the preset obstacle avoidance processing condition is not met; if the second interval time length is greater than or equal to the third preset time length threshold, it is determined that the preset obstacle avoidance processing condition is met.

10. The method of claim 2, wherein, The auxiliary decision information comprises a working instruction currently executed by the cleaning brush; The determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information comprises: determining whether the working instruction currently executed by the cleaning brush is a specified working instruction; if the working instruction currently executed by the cleaning brush is the specified working instruction, it is determined that the preset obstacle avoidance processing condition is not met; if the working instruction currently executed by the cleaning brush is not the specified working instruction, it is determined that the preset obstacle avoidance processing condition is met.

11. The method of claim 2, wherein, The auxiliary decision information comprises an action currently executed by the cleaning device; The determining whether the preset obstacle avoidance processing condition is met according to the auxiliary decision information comprises: determining whether the action currently executed by the cleaning device is a specified action; if the action currently executed by the cleaning device is the specified action, it is determined that the preset obstacle avoidance processing condition is not met; if the action currently executed by the cleaning device is not the specified action, it is determined that the preset obstacle avoidance processing condition is met.

12. The method of any one of claims 2 to 11, wherein, If the preset obstacle avoidance processing condition is met, a preset obstacle avoidance strategy is executed to perform obstacle avoidance processing, comprising: if the obstacle avoidance processing condition is met, a retreat action is executed to perform obstacle avoidance processing.

13. The method of any one of claims 1 to 12, wherein, The position indication signal further comprises a position abnormality signal, and the method further comprises: When the position indication signal is the position abnormal signal, at least one action in a preset action set is performed until the position abnormal signal is changed into a position normal signal; The preset action set includes a backward action, a rotation action, and a position adjustment action for the cleaning brush; The position normal signal includes an in-position signal, the first out-of-position signal, and a second out-of-position signal, the in-position signal representing that the cleaning brush is in the default position, and the second out-of-position signal representing that the cleaning brush deviates from the default position due to self motion.

14. A cleaning device, comprising: a cleaning brush; a signal receiving module configured to receive a position indication signal of the cleaning brush, the position indication signal including a first out-of-position signal representing that the cleaning brush deviates from a default position due to extrusion force; an obstacle avoidance processing module configured to perform a preset obstacle avoidance strategy to perform obstacle avoidance processing when the position indication signal is the first out-of-position signal.

15. A computer storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the obstacle avoidance processing method of the cleaning device according to any one of claims 1-13.

16. An electronic device, comprising: a processor; and a memory configured to store executable instructions of the processor; wherein the processor is configured to execute the obstacle avoidance processing method of the cleaning device according to any one of claims 1-13 by executing the executable instructions.

Images