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

Abstract

Provided in the present disclosure are an obstacle avoidance processing method for a cleaning device, and a cleaning device, a cleaning system, a computer-readable storage medium and an electronic device. The obstacle avoidance processing method for a cleaning device comprises: detecting the surrounding environment of a cleaning device by means of an obstacle sensor, so as to generate a low-obstacle map corresponding to the surrounding environment, wherein the low-obstacle map is at least used for indicating a boundary contour of a low obstacle in the surrounding environment; on the basis of the boundary contour of the low obstacle in the surrounding environment, determining an obstacle avoidance path for the low obstacle; and when the cleaning device approaches to the low obstacle, the cleaning device moving along the obstacle avoidance path.

Description

Obstacle avoidance processing method of cleaning device, cleaning device, cleaning system, and medium Cross-reference to Related Applications

[0001] This application claims priority to the application with the application number 202411280819.8 and the application name "Obstacle avoidance processing method of cleaning device, cleaning device, cleaning system, and medium" filed with the China National Intellectual Property Office on September 12, 2024, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of smart home, in particular to an obstacle avoidance processing method of a cleaning device, a cleaning device, a cleaning system, a computer readable storage medium, and an electronic device. BACKGROUND

[0003] With the development of technology and the increasing demand for the quality of life, smart home gradually appears in people's daily life, among which, the representative cleaning device is more and more loved by people. Due to the complexity of the cleaning environment, the cleaning device may encounter various obstacles during the execution of the cleaning work.

[0004] 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

[0005] 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.

[0006] According to a first aspect of the present disclosure, an obstacle avoidance processing method of a cleaning device is provided, the cleaning device is provided with an obstacle sensor, and the method comprises:

[0007] detecting the surrounding environment of the cleaning device by the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment; the low obstacle map is used at least to indicate the boundary profile of the low obstacle in the surrounding environment;

[0008] determining an obstacle avoidance path for the low obstacle according to the boundary profile of the low obstacle in the surrounding environment;

[0009] when the cleaning device is close to the low obstacle, the cleaning device moves along the obstacle avoidance path.

[0010] In an exemplary embodiment of the present disclosure, the detecting the surrounding environment of the cleaning device by the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment comprises:

[0011] The obstacle sensor is configured to detect the surrounding environment of the cleaning device from multiple angles to generate an initial obstacle map corresponding to the surrounding environment, wherein the initial obstacle map is used to indicate at least a boundary contour of an obstacle in the surrounding environment, and the obstacle includes a low obstacle and a non-low obstacle, wherein the height of the low obstacle is less than a preset height threshold, and the height of the non-low obstacle is greater than or equal to the preset height threshold.

[0012] The obstacle information associated with the non-low obstacle in the initial obstacle map is filtered to obtain a low obstacle map corresponding to the surrounding environment.

[0013] In an example embodiment of the present disclosure, the obstacle sensor includes a basic sensor, and the basic sensor is a three-dimensional depth sensor and / or a multi-angle laser ranging sensor.

[0014] In an example embodiment of the present disclosure, the obstacle sensor further includes an auxiliary sensor, and the auxiliary sensor includes at least one of a visual sensor, a wall-following sensor, a cliff sensor, and a collision detection sensor.

[0015] In an example embodiment of the present disclosure, the cleaning device is provided with the visual sensor, and the avoidance path for the low obstacle is determined according to the boundary contour of the low obstacle in the surrounding environment, including:

[0016] The obstacle type corresponding to the low obstacle is identified by the visual sensor.

[0017] The target avoidance distance associated with the obstacle type is determined according to the corresponding relationship between different obstacle types and their avoidance distances which are pre-configured.

[0018] The avoidance path for the low obstacle is determined according to the boundary contour of the low obstacle in the surrounding environment in combination with the target avoidance distance.

[0019] In an example embodiment of the present disclosure, when the cleaning device approaches the low obstacle, the cleaning device moves along the avoidance path, including:

[0020] When the cleaning device approaches the low obstacle, the cleaning device performs a preset avoidance action and moves along the avoidance path.

[0021] The preset avoidance action has a preset association relationship with the obstacle type corresponding to the low obstacle.

[0022] In the example embodiment of the present disclosure, the contour similarity between the contour of the obstacle-avoiding path and the boundary contour is greater than a preset similarity threshold.

[0023] In the example embodiment of the present disclosure, the along-wall sensor is arranged on the cleaning device, and the method further comprises:

[0024] detecting, by the along-wall sensor, a non-low obstacle in the surrounding environment of the cleaning device, and obtaining a boundary contour of the non-low obstacle;

[0025] when the cleaning device is close to the non-low obstacle, moving along the boundary contour of the non-low obstacle.

[0026] According to a second aspect of the present disclosure, a cleaning device is provided, wherein the cleaning device is arranged with an obstacle sensor, and the cleaning device comprises:

[0027] a map generation module configured to detect, by the obstacle sensor, a surrounding environment of the cleaning device, to generate a low obstacle map corresponding to the surrounding environment; the low obstacle map is used at least to indicate a boundary contour of a low obstacle in the surrounding environment;

[0028] an obstacle-avoiding path determination module configured to determine an obstacle-avoiding path for the low obstacle according to the boundary contour of the low obstacle in the surrounding environment;

[0029] an obstacle-avoiding processing module configured to control the cleaning device to move along the obstacle-avoiding path when the cleaning device is close to the low obstacle.

[0030] According to a third aspect of the present disclosure, a cleaning system is provided, wherein the cleaning system is used for a cleaning device, and the cleaning system comprises:

[0031] an obstacle sensor configured to detect a surrounding environment of the cleaning device, to generate a low obstacle map corresponding to the surrounding environment; the low obstacle map is used at least to indicate a boundary contour of a low obstacle in the surrounding environment;

[0032] an obstacle-avoiding controller configured to determine an obstacle-avoiding path for the low obstacle according to the boundary contour of the low obstacle in the surrounding environment; and control the cleaning device to move along the obstacle-avoiding path when the cleaning device is close to the low obstacle.

[0033] According to a fourth aspect of the present disclosure, a computer readable storage medium is provided, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to implement the obstacle-avoiding processing method of the cleaning device according to the first aspect.

[0034] In a fifth aspect, the present disclosure provides an electronic device, 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 via execution of the executable instructions.

[0035] It should be understood that the general description above and the following detailed description are only exemplary and explanatory, and are not limiting of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and serve to explain the principles of the present disclosure. It is readily apparent to one of ordinary skill in the art that the accompanying drawings only illustrate some embodiments of the present disclosure, and other drawings can be obtained by one of ordinary skill in the art without creative effort based on the accompanying drawings.

[0037] FIG. 1 shows a flowchart of the obstacle avoidance processing method of the cleaning device according to an embodiment of the present disclosure;

[0038] FIG. 2 shows a flowchart of how to detect the surrounding environment of the cleaning device by the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment according to an embodiment of the present disclosure;

[0039] FIG. 3 shows a flowchart of how to determine the obstacle avoidance path for the low obstacle according to the boundary profile of the low obstacle in the surrounding environment when the cleaning device is provided with a visual sensor according to an embodiment of the present disclosure;

[0040] FIG. 4 shows a flowchart of how to perform the obstacle avoidance processing for the non-low obstacle according to an embodiment of the present disclosure;

[0041] FIG. 5 shows a structural diagram of the cleaning device according to an exemplary embodiment of the present disclosure;

[0042] FIG. 6 shows a structural diagram of the cleaning system according to an exemplary embodiment of the present disclosure;

[0043] FIG. 7 shows a structural diagram of the electronic device according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0044] Example implementations are now described with reference to the drawings. Example implementations can, however, be implemented in many different forms and should not be construed as limited to the examples set forth herein; rather, these implementations are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example implementations to those skilled in the art. The features, structures, or characteristics described can be combined in one or more implementations in any suitable manner. In the following description, numerous specific details are provided, such as examples of programming, software modules, user selections, etc., to provide a thorough understanding of implementations of the disclosure. One skilled in the relevant art will recognize, however, that the implementations can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. Some features, structures, or characteristics can be described as being "enabled" to indicate that they can be included in one or more implementations, but are not required in all implementations.

[0045] 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" and the term "including" means "including, but not limited to". The term "based on" means "based, at least in part, on" unless expressly specified otherwise.

[0046] In addition, the accompanying drawings are included to provide a thorough understanding of the present disclosure and are not intended to be exhaustive or to limit the present disclosure to a specific illustrated implementation. Identical reference numerals denote components in the various drawings. In some instances, details of certain features can have been omitted in order to not obscure the related descriptions. Some embodiments of the present disclosure can be used in conjunction with computer systems and / or computer readable media as described herein. The term "computer" is used herein to refer to any processor-based device that can fetch and execute computer-readable instructions. Similarly, the term "computer-readable medium" is used herein to refer to any tangible computer- readable medium that stores computer-readable instructions, such as a floppy disk, a floppy disk drive, a CD-ROM, a CD-R, a CD-RW, a DVD-ROM, a DVD-R, a DVD-RW, a hard disk drive, a solid state drive, a magnetic tape, a flash memory device, a microcomputer, a ROM, a RAM, and the like. The term "computer-readable medium" is used herein to refer to any computer program product, device, and / or storage medium that stores instructions that can be used to program a computer.

[0047] In the related art, when avoiding low obstacles, the cleaning device can only roughly estimate the position of the obstacle, and when the distance to the obstacle is less than a certain threshold, the cleaning device turns to bypass the obstacle. However, the above scheme is too harsh in the obstacle avoidance process because the distance to the obstacle is far when the obstacle avoidance action is performed, and the turning angle is large, and thus a smooth obstacle avoidance behavior cannot be achieved.

[0048] In an embodiment of the present disclosure, a cleaning device obstacle avoidance processing method is first provided, which at least partially overcomes the defect that a smooth obstacle avoidance behavior cannot be achieved for low obstacles in the related art.

[0049] FIG. 1 shows a flowchart of a cleaning device obstacle avoidance processing method in an embodiment of the present disclosure. The execution subject of the cleaning device obstacle avoidance processing method can be a cleaning device.

[0050] Referring to FIG. 1, the cleaning device obstacle avoidance processing method according to one embodiment of the present disclosure includes the following steps:

[0051] In step S110, the surrounding environment of the cleaning device is detected by the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment; the low obstacle map is used at least to indicate the boundary profile of the low obstacle in the surrounding environment.

[0052] In step S120, an obstacle avoidance path for the low obstacle is determined according to the boundary profile of the low obstacle in the surrounding environment.

[0053] In step S130, when the cleaning device approaches the low obstacle, the cleaning device moves along the obstacle avoidance path.

[0054] In the technical solution provided in the embodiment shown in FIG. 1, on the one hand, the obstacle sensor is arranged on the cleaning device, and the surrounding environment of the cleaning device is detected by the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment (the low obstacle map is used at least to indicate the boundary profile of the low obstacle in the surrounding environment), so that the cleaning device can accurately locate the low obstacle, so as to subsequently determine a more accurate obstacle avoidance path according to the boundary profile of the low obstacle, thereby avoiding collision or entanglement with the low obstacle, reducing unnecessary contact between the cleaning device and the obstacle, reducing the risk of damage to the cleaning device, and also reducing potential damage to furniture and other household items. On the other hand, the obstacle avoidance path for the low obstacle is determined according to the boundary profile of the low obstacle in the surrounding environment, and when the cleaning device approaches the low obstacle, the cleaning device smoothly avoids the low obstacle along the planned obstacle avoidance path, so that the problem of too harsh obstacle avoidance process caused by only being able to roughly estimate the position of the obstacle in the related art and turning to bypass the obstacle when the distance from the obstacle is less than a certain threshold value can be solved on the premise of avoiding the cleaning device from being stuck, so that the operation of the cleaning device is more intelligent, the need for manual intervention is reduced, and the user experience is optimized.

[0055] The specific implementation process of each step in FIG. 1 is described in detail as follows:

[0056] It should be noted that the cleaning device in the present disclosure can be a sweeping robot or a sweeping and mopping robot with cleaning function, and the cleaning device is provided with a cleaning assembly. Specifically, when the cleaning device is a sweeping robot, the cleaning assembly can be a sweeping brush thereof, and when the cleaning device is a sweeping and mopping robot, the cleaning assembly can be a sweeping brush and / or a mop assembly thereof, which can be set according to actual conditions, and the present disclosure does not make special limitations thereon.

[0057] The cleaning device in the present disclosure is provided with an obstacle sensor, which at least needs to include a basic sensor. The basic sensor can be a three-dimensional depth sensor (3D TOF camera) and / or a multi-angle laser ranging sensor, that is, the basic sensor can only contain a three-dimensional depth sensor, or only contain a multi-angle laser ranging sensor, or contain both a three-dimensional depth sensor and a multi-angle laser ranging sensor, which can be set by itself according to actual conditions, and the present disclosure does not make special limitations on this.

[0058] The ToF camera is a kind of depth imaging camera. Its working principle is to send light to the target object by the camera, and then measure the time required for the light to propagate back and forth between the lens and the object. This time difference can be used to calculate the distance of the object. In this way, the depth camera can capture depth information and create a 3D (3 Dimensions) stereo depth sensing map. This technology can be applied in various occasions to provide accurate distance measurement, such as obstacle avoidance in autonomous vehicles, application in mobile phone AR (Augmented Reality) / VR (Virtual Reality), etc.

[0059] The multi-angle laser ranging sensor refers to a sensor device that can emit laser beams from multiple different angles or directions at the same time or in sequence, and receive signals reflected back from the target object, and then calculate the distance. For example, the above-mentioned multi-angle laser ranging sensor can include a vertical line laser ranging sensor, a horizontal line laser ranging sensor and an inclined line laser ranging sensor, which can be set by itself according to actual conditions, and the present disclosure does not make special limitations on this.

[0060] By setting the obstacle sensor as the above-mentioned basic sensor, the present disclosure can obtain high-precision three-dimensional information of obstacles in the surrounding environment, help the cleaning device accurately determine the specific position, size and shape of the obstacle, etc., so that the cleaning device can more accurately perceive the surrounding environment and generate a more precise obstacle map.

[0061] In some embodiments, the obstacle sensor provided on the cleaning device in the present disclosure can also include an auxiliary sensor, which can include at least one of the following: a visual sensor, a wall-following sensor, a cliff sensor and a bumper sensor.

[0062] The visual sensor can be an RGB visual sensor, for example, an RGB camera. The RGB camera is a sensor that captures images of multiple colors at high speed, identifies and measures the color and brightness of the object surface. RGB refers to the three colors of red, green and blue. The increase and decrease of these three colors form a variety of colors, so the RGB camera can capture very rich color images and videos. By setting the visual sensor, the probability of misjudging the obstacle can be reduced, and the accuracy of obstacle type judgment can be increased.

[0063] The wall-following sensor can be a wall-following laser sensor. The wall-following laser sensor is a sensor designed to help the cleaning device navigate along the edge of the wall. This sensor uses laser technology to detect the position of the wall and determines the distance between the device and the wall based on the received reflected light signals.

[0064] The cliff sensor is usually a sensor used to detect changes in ground height, especially to prevent the cleaning device from falling off the edge of the stairs. These sensors are usually located at the bottom of the cleaning device and can detect the gap or height difference between the floor and the stairs. When the sensor detects that there is no supporting surface in front, it will send a signal to the cleaning device to stop moving forward and change direction. This can protect the cleaning device from falling damage and ensure its safe operation.

[0065] The bumper is usually a collision detection sensor made of elastic or cushioning material installed on the front or side of the cleaning device. This sensor can help the cleaning device detect obstacles and provide feedback before or during a collision, allowing the cleaning device to stop moving forward or change direction. The bumper is usually a mechanical tactile sensor that triggers an internal switch when it is pressed (i.e., when it hits an obstacle), notifying the cleaning device to take appropriate action.

[0066] The present disclosure combines the base sensor and the auxiliary sensor to provide multi-dimensional information about the obstacle to the base sensor, thereby utilizing the complementary advantages of multiple sensors and data fusion to more reliably identify obstacle information in the surrounding environment, ensuring the accuracy and precision of the environmental perception of the cleaning device, and improving the safety of the cleaning device.

[0067] Referring to FIG. 1, in step S110, the surrounding environment of the cleaning device is detected by the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment.

[0068] In this step, the cleaning device can detect the surrounding environment by the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment.

[0069] For example, referring to FIG. 2, FIG. 2 shows a flowchart illustrating how to detect the surrounding environment of the cleaning device by the obstacle sensor to generate the low obstacle map corresponding to the surrounding environment in the embodiment of the present disclosure, including steps S201-S202:

[0070] In step S201, the surrounding environment of the cleaning device is detected by the obstacle sensor from multiple angles to generate an initial obstacle map corresponding to the surrounding environment.

[0071] In this step, the cleaning device can detect the surrounding environment by the obstacle sensor from multiple angles to model the surrounding environment and generate an initial obstacle map corresponding to the surrounding environment. The initial obstacle map at least indicates the boundary profile of the obstacle in the surrounding environment, which refers to the shape, size, and spatial position relationship of the obstacle in the environment it is located in.

[0072] It should be noted that the above-mentioned obstacles can include low obstacles and non-low obstacles. The above-mentioned low obstacles refer to obstacles with a height less than a preset height threshold (for example: 10 cm), such as wires (for example: electric wires, ropes, etc.), low chair legs, small building blocks on the ground, etc. The above-mentioned non-low obstacles refer to obstacles with a height greater than or equal to the above-mentioned preset height threshold (10 cm), such as walls, high chair legs, garbage cans, etc. It should be noted that the above-mentioned preset height threshold can be set according to actual conditions, and the present disclosure does not make special limitations on this.

[0073] In step S202, the obstacle information associated with the non-low obstacles in the initial obstacle map is filtered to obtain a low obstacle map corresponding to the surrounding environment.

[0074] In this step, since the above-mentioned initial obstacle map can include obstacle information related to non-low obstacles, the present disclosure can filter the obstacle information associated with non-low obstacles in the initial obstacle map to obtain a low obstacle map corresponding to the surrounding environment, which at least indicates the boundary profile of the low obstacle in the surrounding environment.

[0075] Then referring to FIG. 1, in step S120, the obstacle avoidance path for the low obstacle is determined according to the boundary profile of the low obstacle in the surrounding environment.

[0076] In this step, after the boundary contour of the low obstacle in the surrounding environment is determined according to the low obstacle map, the disclosure can determine an obstacle avoidance path for the low obstacle according to the boundary contour of the low obstacle in the surrounding environment. Since the obstacle avoidance path is determined based on the boundary contour of the low obstacle in the surrounding environment, when the cleaning device is close to the low obstacle, a smooth obstacle avoidance process can be directly performed based on the obstacle avoidance path, thereby avoiding the problem that the cleaning device in the related art can only turn at a position far away from the low obstacle to avoid obstacles, resulting in an obstacle avoidance action that is not smooth enough and causes the cleaning near the low obstacle to be missed. The problem of cleaning is solved, and efficient and smooth obstacle avoidance is achieved.

[0077] It should be noted that the contour similarity between the contour of the obstacle avoidance path and the boundary contour in the disclosure can be greater than a preset similarity threshold. The specific value of the preset similarity threshold can be set according to the actual situation. The greater the value of the preset similarity threshold, the higher the contour similarity between the contour of the obstacle avoidance path and the boundary contour, and the closer the geometric shape of the determined obstacle avoidance path to the boundary contour of the low obstacle. Therefore, when the cleaning device is close to the low obstacle, the smoothness of the obstacle avoidance process is higher.

[0078] In the first optional embodiment, the boundary contour of the low obstacle in the surrounding environment can be directly used as the obstacle avoidance path of the cleaning device, that is, the cleaning device can directly run along the boundary contour of the low obstacle when it is close to the low obstacle. However, this scheme can cause the cleaning device to be too close to the low obstacle, thereby causing the cleaning device to be stuck by the low obstacle.

[0079] In order to avoid the problem that the cleaning device is stuck by the low obstacle, the disclosure also provides a second optional embodiment to determine the obstacle avoidance path for the low obstacle. Specifically, after the boundary contour of the low obstacle in the surrounding environment is determined, a preset obstacle avoidance distance (for example, 5 cm) can be spaced from the above boundary contour to determine the obstacle avoidance path for the low obstacle.

[0080] For the case where the visual sensor is provided on the cleaning device, the disclosure also provides a third optional embodiment to determine the obstacle avoidance path for the low obstacle. Specifically, referring to FIG. 3, FIG. 3 shows a flowchart of how to determine the obstacle avoidance path for the low obstacle according to the boundary contour of the low obstacle in the surrounding environment when the visual sensor is provided on the cleaning device in the embodiment of the disclosure, which includes steps S301-S303:

[0081] In step S301, the obstacle type corresponding to the low obstacle is recognized by the visual sensor.

[0082] In this step, the visual sensor can be used to identify the type of low obstacle in the surrounding environment. For example, the type of obstacle can include: wire, low chair leg, small block, carpet bump, threshold, toy, shoe, book, sliding door track, floor crack, etc. The actual situation can be set by itself, and the present disclosure does not make special limitations.

[0083] In step S302, the corresponding relationship between different obstacle types and their obstacle avoidance distances is looked up according to the obstacle type, and the target obstacle avoidance distance associated with the obstacle type is determined.

[0084] In this step, the corresponding relationship between different obstacle types and their obstacle avoidance distances can be preconfigured. For example, when the obstacle type is wire (long and easy to entangle), the obstacle avoidance distance is 4 cm; when the obstacle type is low chair leg (small gap, easy to get stuck with the wheels or moving parts of the cleaning device), the obstacle avoidance distance is 2 cm; when the obstacle type is small block (may be scattered on the ground, if the cleaning device is too close to these small objects, it may be directly pressed, causing the block to be pushed or even damaged), the obstacle avoidance distance is 3 cm. It should be noted that the corresponding relationship can be set according to the actual situation, and the present disclosure does not make special limitations.

[0085] By configuring the corresponding relationship, the differences in physical characteristics of different low obstacles can be considered, and different safety distances can be set for different low obstacles, so as to help the cleaning device move more intelligently and safely in complex environments.

[0086] Therefore, after identifying the obstacle type of the low obstacle through step S301, the corresponding relationship between different obstacle types and their obstacle avoidance distances can be looked up to determine the target obstacle avoidance distance associated with the obstacle type, for example: when the obstacle type is wire, the target obstacle avoidance distance can be determined as 4 cm.

[0087] In step S303, the obstacle avoidance path for the low obstacle is determined according to the boundary contour of the low obstacle in the surrounding environment and the target obstacle avoidance distance.

[0088] In this step, the obstacle avoidance path for the low obstacle can be determined based on the boundary contour of the low obstacle in the surrounding environment and the target obstacle avoidance distance (e.g. 4 cm).

[0089] After determining the obstacle avoidance path for the low obstacle, step S130 can be entered, in which the cleaning device moves along the obstacle avoidance path when it approaches the low obstacle.

[0090] In this step, when the cleaning device is close to the low obstacle, the cleaning device can directly move along the above-mentioned obstacle avoidance path, so that the cleaning device does not need to turn at a position far away from the low obstacle to avoid the obstacle, thereby causing the problem of failing to achieve smooth obstacle avoidance behavior and causing cleaning failure near the low obstacle, achieving efficient and smooth obstacle avoidance behavior, and ensuring the cleaning effect of the cleaning device.

[0091] In some embodiments, when the cleaning device is close to the low obstacle, the cleaning device can perform a preset obstacle avoidance action and move along the obstacle avoidance path to further avoid the problem of the cleaning device being stuck, wherein the preset obstacle avoidance action can include: retracting the cleaning assembly to a default position in the standby state, or stopping the cleaning operation and lifting the cleaning assembly to a specified height.

[0092] In some embodiments, a preset association relationship between the preset obstacle avoidance action and the obstacle type corresponding to the low obstacle can also be pre-configured, for example: when the obstacle type corresponding to the low obstacle is a wire, the preset obstacle avoidance action can be configured as retracting the cleaning assembly to a default position in the standby state; when the obstacle type corresponding to the low obstacle is a low chair leg, the preset obstacle avoidance action can be configured as stopping the cleaning operation and lifting the cleaning assembly to a specified height. The above-mentioned preset association relationship can be set according to actual conditions, and the present disclosure does not make special limitations thereon.

[0093] When the along-wall sensor is arranged on the cleaning device, the present disclosure further provides an obstacle avoidance processing method for non-low obstacles. Specifically, referring to FIG. 4, FIG. 4 shows a flowchart of how to process the obstacle avoidance for non-low obstacles in the embodiment of the present disclosure, including steps S401-S402:

[0094] In step S401, the along-wall sensor is used to detect the non-low obstacle in the surrounding environment of the cleaning device, and the boundary profile of the non-low obstacle is obtained.

[0095] In this step, the cleaning device can detect the non-low obstacle in the surrounding environment of the cleaning device through the along-wall sensor, and obtain the boundary profile of the non-low obstacle.

[0096] In step S402, when the cleaning device is close to the non-low obstacle, the cleaning device moves along the boundary profile of the non-low obstacle.

[0097] In this step, when the cleaning device is close to the non-low obstacle, since the non-low obstacle generally does not cause the cleaning device to be stuck, the cleaning device can directly move along the boundary contour of the non-low obstacle, so that, on the one hand, by accurately moving along the edge of the obstacle, the cleaning device can more effectively cover the entire area to be cleaned, reduce cleaning dead angles, and improve cleaning efficiency; further, it can help the cleaning device to avoid direct collision with the higher obstacle, protect the cleaning device from damage, and also avoid damaging furniture and other articles; on the other hand, for the user, it means that they can set the cleaning device without too much intervention, and the device can autonomously complete the cleaning task, thereby improving the intelligent degree of the device.

[0098] Based on the above technical solutions, the present disclosure can at least achieve the following technical effects:

[0099] First, for the case where an RGB vision sensor is provided on the cleaning device, the present disclosure can use a three-dimensional depth sensor and / or a multi-angle laser ranging sensor to supplement the three-dimensional point cloud data of the obstacle, so as to more accurately locate the position and edge contour of the obstacle, avoiding the problem of inaccurate position or incomplete edge contour;

[0100] Second, for the case where the lower object cannot be recognized by the RGB vision sensor, the present disclosure can also locate the edge contour thereof through the obstacle sensor (basic sensor combined with auxiliary sensor), so as to ensure comprehensive obstacle avoidance;

[0101] Third, by setting different preset obstacle avoidance distances for low obstacles of different obstacle types, the probability of missing scanning or the cleaning device being entangled with the wire can be reduced, and the cleaning quality and safe operation of the cleaning device can be ensured;

[0102] Fourth, the obstacle avoidance path for multiple low obstacles in the surrounding environment can be generated at one time, so that the obstacle avoidance process is more continuous, and the problem of affecting the cleaning effect caused by the cleaning device needing to frequently avoid obstacles due to the frequent triggering of the physical bumper in the related art is avoided.

[0103] The present disclosure also provides a cleaning device, which is provided with an obstacle sensor, and FIG. 5 shows a structural schematic diagram of the cleaning device in an exemplary embodiment of the present disclosure; as shown in FIG. 5, the cleaning device 500 can include a map generation module 510, an obstacle avoidance path determination module 520, and an obstacle avoidance processing module 530. Among them:

[0104] The map generation module 510 is configured to detect the surrounding environment of the cleaning device through the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment;

[0105] The obstacle avoidance path determination module 520 is configured to determine an obstacle avoidance path for the low-height obstacle according to a boundary contour of the low-height obstacle in the surrounding environment; and a contour similarity between a contour of the obstacle avoidance path and the boundary contour is greater than a preset similarity threshold.

[0106] The obstacle avoidance processing module 530 is configured to control the cleaning device to move along the obstacle avoidance path when the cleaning device is close to the low-height obstacle.

[0107] In an example embodiment of the present disclosure, the map generation module 510 detects the surrounding environment of the cleaning device by using the obstacle sensor to generate a low-height obstacle map corresponding to the surrounding environment, including:

[0108] The obstacle sensor is used to detect the surrounding environment of the cleaning device from multiple angles to generate an initial obstacle map corresponding to the surrounding environment; the initial obstacle map is used to indicate at least a boundary contour of an obstacle in the surrounding environment, the obstacle including a low-height obstacle and a non-low-height obstacle, the height of the low-height obstacle being less than a preset height threshold, and the height of the non-low-height obstacle being greater than or equal to the preset height threshold.

[0109] The obstacle information associated with the non-low-height obstacle in the initial obstacle map is filtered to obtain a low-height obstacle map corresponding to the surrounding environment.

[0110] In an example embodiment of the present disclosure, the obstacle sensor includes a basic sensor, and the basic sensor is a three-dimensional depth sensor and / or a multi-angle laser ranging sensor.

[0111] In an example embodiment of the present disclosure, the obstacle sensor further includes an auxiliary sensor, and the auxiliary sensor includes at least one of a vision sensor, a wall-following sensor, a cliff sensor, and a collision detection sensor.

[0112] In an example embodiment of the present disclosure, when the vision sensor is arranged on the cleaning device, the obstacle avoidance path determination module 520 determines the obstacle avoidance path for the low-height obstacle according to the boundary contour of the low-height obstacle in the surrounding environment, including:

[0113] The vision sensor is used to identify an obstacle type corresponding to the low-height obstacle;

[0114] The vision sensor is used to identify an obstacle type corresponding to the low-height obstacle;

[0115] The low-obstacle avoidance path is determined according to the boundary contour of the low obstacle in the surrounding environment and the target obstacle avoidance distance.

[0116] In the example embodiments of the present disclosure, the obstacle avoidance processing module 530 is configured to:

[0117] When the cleaning device approaches the low obstacle, the cleaning device is controlled to perform a preset obstacle avoidance action and move along the obstacle avoidance path.

[0118] The preset obstacle avoidance action has a preset correlation with the obstacle type corresponding to the low obstacle.

[0119] In the example embodiments of the present disclosure, the contour similarity between the contour of the obstacle avoidance path and the boundary contour is greater than a preset similarity threshold.

[0120] In the example embodiments of the present disclosure, when the along-wall sensor is arranged on the cleaning device, the obstacle avoidance processing module 530 is configured to:

[0121] The boundary contour of a non-low obstacle in the surrounding environment of the cleaning device is detected by the along-wall sensor, and the boundary contour of the non-low obstacle is obtained.

[0122] When the cleaning device approaches the non-low obstacle, the cleaning device moves along the boundary contour of the non-low obstacle.

[0123] The specific details of the modules in the above cleaning device have been described in detail in the corresponding obstacle avoidance processing method of the cleaning device, and thus will not be described here again.

[0124] The present disclosure also provides a cleaning system for a cleaning device. FIG. 6 shows a structural schematic diagram of the cleaning system in the example embodiments of the present disclosure. As shown in FIG. 6, the cleaning system 600 can include an obstacle sensor 610 and an obstacle avoidance controller 620. Wherein:

[0125] The obstacle sensor 610 is configured to detect the surrounding environment of the cleaning device to generate a low-obstacle map corresponding to the surrounding environment. The low-obstacle map is used to at least indicate the boundary contour of the low obstacle in the surrounding environment.

[0126] The obstacle avoidance controller 620 is configured to determine an obstacle avoidance path for the low obstacle according to the boundary contour of the low obstacle in the surrounding environment, and control the cleaning device to move along the obstacle avoidance path when the cleaning device approaches the low obstacle.

[0127] In an example embodiment of the present disclosure, the obstacle sensor 610 detects the surrounding environment of the cleaning device to generate a low obstacle map corresponding to the surrounding environment, including:

[0128] detecting the surrounding environment of the cleaning device from multiple angles to generate an initial obstacle map corresponding to the surrounding environment; the initial obstacle map is used at least to indicate a boundary profile of obstacles in the surrounding environment, the obstacles including low obstacles and non-low obstacles, the low obstacles having a height less than a preset height threshold, and the non-low obstacles having a height greater than or equal to the preset height threshold;

[0129] filtering obstacle information associated with the non-low obstacles in the initial obstacle map to obtain a low obstacle map corresponding to the surrounding environment.

[0130] In an example embodiment of the present disclosure, the obstacle sensor includes a basic sensor, the basic sensor being a three-dimensional depth sensor and / or a multi-angle laser ranging sensor.

[0131] In an example embodiment of the present disclosure, the obstacle sensor further includes an auxiliary sensor, the auxiliary sensor including at least one of a vision sensor, a wall-following sensor, a cliff sensor, and a collision detection sensor.

[0132] In an example embodiment of the present disclosure, when the obstacle sensor includes the vision sensor, the obstacle avoidance controller 620 determines an obstacle avoidance path for the low obstacle according to the boundary profile of the low obstacle in the surrounding environment, including:

[0133] identifying, by the vision sensor, an obstacle type corresponding to the low obstacle;

[0134] looking up a preset correspondence between different obstacle types and their obstacle avoidance distances according to the obstacle type to determine a target obstacle avoidance distance associated with the obstacle type;

[0135] determining the obstacle avoidance path for the low obstacle according to the boundary profile of the low obstacle in the surrounding environment in combination with the target obstacle avoidance distance.

[0136] In an example embodiment of the present disclosure, the obstacle avoidance controller 620 is configured to:

[0137] when the cleaning device is close to the low obstacle, control the cleaning device to perform a preset obstacle avoidance action and move along the obstacle avoidance path;

[0138] The preset obstacle avoidance action has a preset association relationship with the obstacle type corresponding to the low obstacle.

[0139] In the example embodiment of the present disclosure, a contour similarity between the contour of the obstacle avoidance path and the boundary contour is greater than a preset similarity threshold.

[0140] In the example embodiment of the present disclosure, when the obstacle sensor includes the wall-following sensor, the obstacle avoidance controller 620 is configured to:

[0141] detect, by the wall-following sensor, a non-low obstacle in the surrounding environment of the cleaning device, and obtain a boundary contour of the non-low obstacle;

[0142] move along the boundary contour of the non-low obstacle when the cleaning device is close to the non-low obstacle.

[0143] The specific details of the components in the above cleaning system have been described in detail in the obstacle avoidance processing method of the corresponding cleaning device, and thus will not be described here again.

[0144] 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 for embodiment.

[0145] In addition, although the steps of the method in the present disclosure are described in a specific order in the accompanying 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 results. Additionally 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.

[0146] From the above description of the embodiments, those skilled in the art can easily understand that the example embodiments described herein 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, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.) or a network, and includes a number of instructions to make a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) execute the method according to the embodiments of the present disclosure.

[0147] The present disclosure 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.

[0148] The computer readable storage medium may, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, 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.

[0149] The computer readable storage medium can send, propagate or transfer a program 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, wire line, optical fiber cable, RF, etc., or any suitable combination of the above.

[0150] The computer readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to implement the methods described in the above embodiments.

[0151] In addition, an electronic device capable of implementing the above method is also provided in the embodiments of the present disclosure.

[0152] Those skilled in the art can understand that each aspect of the present disclosure can be implemented as a system, a method or a program product. Therefore, each aspect of the present disclosure can be specifically implemented as follows: a complete hardware embodiment, a complete software embodiment (including firmware, microcode, etc.), or an embodiment combining software and hardware aspects, which can be collectively referred to as "circuitry", "module" or "system" here.

[0153] The electronic device 700 according to this embodiment of the present disclosure is described below with reference to FIG. 7. FIG. 7 shows only one example of the electronic device 700, and should not bring any limitation to the functions and use range of the embodiments of the present disclosure.

[0154] As shown in FIG. 7, electronic device 700 is in the form of a general-purpose computing device. Components of electronic device 700 can include, but are not limited to, at least one processor 710, at least one memory 720, a bus 730 connecting different system components, including the memory 720 and the processor 710, a display 740.

[0155] The memory stores program codes which can be executed by the processor 710, so that the processor 710 performs the steps described in the above "Exemplary Method" section according to various exemplary embodiments of the present disclosure. For example, the processor 710 can perform the steps as shown in FIG. 1: step S110, detecting the surrounding environment of the cleaning device by the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment; the low obstacle map is used at least to indicate the boundary profile of the low obstacle in the surrounding environment; step S120, determining an obstacle avoidance path for the low obstacle according to the boundary profile of the low obstacle in the surrounding environment; step S130, when the cleaning device is close to the low obstacle, the cleaning device moves along the obstacle avoidance path.

[0156] The memory 720 can include a readable medium in the form of volatile storage, such as a random access memory (RAM) 7201 and / or a cache memory 7202, and can further include a read-only memory (ROM) 7203.

[0157] The memory 720 can further include program / utility 7204 having a set of the program modules 7205, 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.

[0158] The bus 730 can represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or local bus using any of a variety of bus structures.

[0159] Electronic device 700 can also communicate with one or more external devices 800 (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 700, and / or with any device that enables electronic device 700 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 750. Furthermore, electronic device 700 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 760. As shown, network adapter 760 communicates with other modules of electronic device 700 via bus 730. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 700, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0160] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

Claims

1. A method for obstacle avoidance processing of a cleaning device, wherein an obstacle sensor is arranged on the cleaning device, and the method comprises: detecting a surrounding environment of the cleaning device by the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment; the low obstacle map is used at least to indicate a boundary contour of a low obstacle in the surrounding environment; determining an obstacle avoidance path for the low obstacle according to the boundary contour of the low obstacle in the surrounding environment; and moving the cleaning device along the obstacle avoidance path when the cleaning device is close to the low obstacle. 2.The method of claim 1, wherein the detecting a surrounding environment of the cleaning device by the obstacle sensor to generate a low obstacle map corresponding to the surrounding environment comprises: detecting the surrounding environment of the cleaning device from multiple angles by the obstacle sensor to generate an initial obstacle map corresponding to the surrounding environment; the initial obstacle map is used at least to indicate a boundary contour of an obstacle in the surrounding environment, the obstacle including a low obstacle and a non-low obstacle, the height of the low obstacle being less than a preset height threshold, and the height of the non-low obstacle being greater than or equal to the preset height threshold; and filtering obstacle information associated with the non-low obstacle in the initial obstacle map to obtain the low obstacle map corresponding to the surrounding environment. 3.The method of claim 1 or 2, wherein the obstacle sensor comprises a base sensor, and the base sensor is a three-dimensional depth sensor and / or a multi-angle laser ranging sensor. 4.The method of claim 3, wherein the obstacle sensor further comprises an auxiliary sensor, and the auxiliary sensor comprises at least one of a vision sensor, a wall-following sensor, a cliff sensor, and a collision detection sensor. 5.The method of claim 4, wherein the cleaning device is provided with the vision sensor, and the determining an obstacle avoidance path for the low obstacle according to the boundary contour of the low obstacle in the surrounding environment comprises: identifying an obstacle type corresponding to the low obstacle by the vision sensor; looking up a correspondence between different obstacle types and their obstacle avoidance distances according to the obstacle type to determine a target obstacle avoidance distance associated with the obstacle type; and determining the obstacle avoidance path for the low obstacle according to the boundary contour of the low obstacle in the surrounding environment in combination with the target obstacle avoidance distance. 6.The method of claim 5, wherein the moving the cleaning device along the obstacle avoidance path when the cleaning device is close to the low obstacle comprises: performing a preset obstacle avoidance action and moving the cleaning device along the obstacle avoidance path when the cleaning device is close to the low obstacle; and the preset obstacle avoidance action has a preset association relationship with the obstacle type corresponding to the low obstacle. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 7. The method of any one of claims 1-6, wherein a profile similarity between a profile of the obstacle-avoiding path and a profile of the boundary profile is greater than a preset similarity threshold.

8. The method of claim 4, wherein the along-wall sensor is disposed on the cleaning device, and the method further comprises: detecting, by the along-wall sensor, a non-low obstacle in a surrounding environment of the cleaning device, and obtaining a boundary profile of the non-low obstacle; moving along the boundary profile of the non-low obstacle when the cleaning device is close to the non-low obstacle.

9. A cleaning device, wherein the cleaning device is provided with an obstacle sensor, and the cleaning device comprises: a map generation module configured to detect a surrounding environment of the cleaning device by the obstacle sensor, and generate a low obstacle map corresponding to the surrounding environment; the low obstacle map is used to at least indicate a boundary profile of a low obstacle in the surrounding environment; an obstacle-avoiding path determination module configured to determine an obstacle-avoiding path for the low obstacle according to the boundary profile of the low obstacle in the surrounding environment; an obstacle-avoiding processing module configured to control the cleaning device to move along the obstacle-avoiding path when the cleaning device is close to the low obstacle.

10. The cleaning device of claim 9, wherein the map generation module is configured to detect a surrounding environment of the cleaning device by the obstacle sensor, and generate a low obstacle map corresponding to the surrounding environment, comprising: detecting the surrounding environment of the cleaning device by the obstacle sensor from multiple angles, and generating an initial obstacle map corresponding to the surrounding environment; the initial obstacle map is used to at least indicate a boundary profile of an obstacle in the surrounding environment, the obstacle including a low obstacle and a non-low obstacle, the low obstacle having a height less than a preset height threshold, and the non-low obstacle having a height greater than or equal to the preset height threshold; filtering obstacle information associated with the non-low obstacle in the initial obstacle map, and obtaining the low obstacle map corresponding to the surrounding environment.

11. The cleaning device of claim 9 or 10, wherein the obstacle sensor comprises a base sensor, and the base sensor is a three-dimensional depth sensor and / or a multi-angle laser ranging sensor.

12. The cleaning device of claim 11, wherein the obstacle sensor further comprises an auxiliary sensor, and the auxiliary sensor comprises at least one of a vision sensor, an along-wall sensor, a cliff sensor, and a collision detection sensor.

13. The cleaning device of claim 12, wherein the cleaning device is provided with the vision sensor, and the obstacle-avoiding path determination module determines the obstacle-avoiding path for the low obstacle according to the boundary profile of the low obstacle in the surrounding environment, comprising: identifying, by the vision sensor, an obstacle type corresponding to the low obstacle; ​ According to the obstacle type, a pre-configured corresponding relationship between different obstacle types and their obstacle avoidance distances is looked up to determine a target obstacle avoidance distance associated with the obstacle type; According to the boundary contour of the low obstacle in the surrounding environment and the target obstacle avoidance distance, an obstacle avoidance path for the low obstacle is determined.

14. The cleaning device of claim 13, wherein the obstacle avoidance processing module is configured to: when the cleaning device approaches the low obstacle, control the cleaning device to perform a preset obstacle avoidance action and move along the obstacle avoidance path; the preset obstacle avoidance action has a preset association relationship with the obstacle type corresponding to the low obstacle.

15. The cleaning device of any one of claims 9 to 14, wherein a contour similarity between a contour of the obstacle avoidance path and the boundary contour is greater than a preset similarity threshold.

16. The cleaning device of claim 12, wherein the along-wall sensor is arranged on the cleaning device, and the obstacle avoidance processing module is configured to: obtain a boundary contour of a non-low obstacle in the surrounding environment of the cleaning device by detecting the non-low obstacle through the along-wall sensor; when the cleaning device approaches the non-low obstacle, move along the boundary contour of the non-low obstacle.

17. A cleaning system for a cleaning device, the cleaning system comprising: an obstacle sensor configured to detect a surrounding environment of the cleaning device and generate a low obstacle map corresponding to the surrounding environment; the low obstacle map is used to at least indicate a boundary contour of a low obstacle in the surrounding environment; an obstacle avoidance controller configured to determine an obstacle avoidance path for the low obstacle according to the boundary contour of the low obstacle in the surrounding environment, and control the cleaning device to move along the obstacle avoidance path when the cleaning device approaches the low obstacle.

18. The cleaning system of claim 17, wherein the obstacle sensor detects the surrounding environment of the cleaning device to generate a low obstacle map corresponding to the surrounding environment, including: detect the surrounding environment of the cleaning device from multiple angles to generate an initial obstacle map corresponding to the surrounding environment; the initial obstacle map is used to at least indicate a boundary contour of an obstacle in the surrounding environment, the obstacle including a low obstacle and a non-low obstacle, the height of the low obstacle being less than a preset height threshold, and the height of the non-low obstacle being greater than or equal to the preset height threshold; filter obstacle information associated with the non-low obstacle in the initial obstacle map to obtain the low obstacle map corresponding to the surrounding environment.

19. The cleaning system of claim 17 or 18, wherein the obstacle sensor includes a base sensor, and the base sensor is a three-dimensional depth sensor and / or a multi-angle laser ranging sensor. 20.The cleaning system of claim 19, wherein the obstacle sensor further comprises an auxiliary sensor, the auxiliary sensor comprising at least one of: a vision sensor, a wall-following sensor, a cliff sensor, and a collision detection sensor. 21.The cleaning system of claim 20, wherein the obstacle sensor comprises the vision sensor, and the obstacle avoidance controller determines the obstacle avoidance path for the low obstacle according to the boundary profile of the low obstacle in the surrounding environment, comprising: identifying an obstacle type corresponding to the low obstacle via the vision sensor; looking up a preconfigured correspondence between different obstacle types and their obstacle avoidance distances according to the obstacle type to determine a target obstacle avoidance distance associated with the obstacle type; determining the obstacle avoidance path for the low obstacle according to the boundary profile of the low obstacle in the surrounding environment in combination with the target obstacle avoidance distance. 22.The cleaning device of claim 21, wherein the obstacle avoidance controller is configured to: control the cleaning device to perform a preset obstacle avoidance action and move along the obstacle avoidance path when the cleaning device approaches the low obstacle; and the preset obstacle avoidance action has a preset association with the obstacle type corresponding to the low obstacle. 23.The cleaning system of any one of claims 17-23, wherein a profile similarity between the profile of the obstacle avoidance path and the boundary profile is greater than a preset similarity threshold. 24.The cleaning system of claim 20, wherein the obstacle sensor comprises the wall-following sensor, and the obstacle avoidance controller is configured to: obtain a boundary profile of a non-low obstacle in the surrounding environment of the cleaning device via the wall-following sensor detecting the non-low obstacle; move along the boundary profile of the non-low obstacle when the cleaning device approaches the non-low obstacle. The computer program, when executed by a processor, implements the obstacle avoidance processing method of the cleaning device of any one of claims 1-8. comprising: a processor; and a memory storing executable instructions of the processor; 25. A computer readable storage medium having stored thereon a computer program, characterized in that, wherein the processor is configured to implement the obstacle avoidance processing method of the cleaning device of any one of claims 1-8 via execution of the executable instructions.

26. An electronic device, comprising: ​ ​ ​ ​ ​

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