Obstacle avoidance control method and apparatus for cleaning device, and electronic device and storage medium

Abstract

Provided in the present disclosure are an obstacle avoidance control method and apparatus for a cleaning device, and an electronic device and a storage medium. The cleaning device comprises a device body and a ranging sensor located at a middle-rear portion of the device body in an advancing direction. The method comprises: when a cleaning device moves towards a target point, if a ranging sensor encounters an obstacle, the cleaning device retreating by a first preset distance; the cleaning device rotating; the cleaning device advancing by a second preset distance; and the cleaning device continuing to move towards the target point. The obstacle avoidance control method is provided for a rear-mounted ranging sensor, thereby avoiding jamming of the ranging sensor, and increasing the coverage rate of a cleaning path.

Description

Obstacle avoidance control methods, devices, electronic equipment and storage media for cleaning equipment Cross-references to related applications

[0001] This application is based on and claims priority to Chinese Patent Application No. 202510128646.6, filed on January 27, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning equipment technology, specifically to an obstacle avoidance control method, device, electronic equipment, and storage medium for cleaning equipment. Background Technology

[0003] Cleaning equipment equipped with an LDS (Laser Distance Sensor) typically has the LDS sensor located on the front or middle of the upper surface of the cleaning equipment body. Summary of the Invention

[0004] This disclosure provides an obstacle avoidance control method, device, electronic equipment, and storage medium for cleaning equipment, providing an obstacle avoidance control mode for rear-mounted LDS sensors, thereby avoiding LDS sensor jamming and improving the coverage of the cleaning path.

[0005] In a first aspect, this disclosure provides an obstacle avoidance control method for a cleaning device. The cleaning device includes: a device body and a ranging sensor located at the rear of the device body in the forward direction. The method includes: when the cleaning device moves toward a target point, if the ranging sensor encounters an obstacle, the cleaning device retreats a first preset distance along the forward direction; the cleaning device rotates; the cleaning device moves forward a second preset distance along the rotated forward direction; and the cleaning device continues to move toward the target point.

[0006] Secondly, this disclosure provides an obstacle avoidance control device for a cleaning equipment. The cleaning equipment includes: a device body and a ranging sensor located at the rear of the device body in the forward direction. The device includes: a reversing control unit, used to control the cleaning equipment to reverse a first preset distance in the forward direction if the ranging sensor encounters an obstacle when the cleaning equipment is moving towards a target point; a rotation control unit, used to control the cleaning equipment to rotate; and a traveling control unit, used to control the cleaning equipment to travel forward a second preset distance in the rotated forward direction and continue moving towards the target point.

[0007] Thirdly, this disclosure provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the obstacle avoidance control method for the cleaning device described above.

[0008] Fourthly, this disclosure provides a computer-readable storage medium storing a computer program that, when instructed by a processor, implements the steps of the obstacle avoidance control method for the cleaning equipment described above.

[0009] The above-mentioned technical solutions adopted in this disclosure can achieve the following beneficial effects:

[0010] This disclosure provides an obstacle avoidance control method for a cleaning device. The cleaning device includes a device body and a ranging sensor located at the rear of the device body in the forward direction. The method includes: when the cleaning device moves towards a target point, if the ranging sensor encounters an obstacle, the cleaning device retreats a first preset distance; the cleaning device rotates; the cleaning device moves forward a second preset distance; and the cleaning device continues moving towards the target point. The method provided in this disclosure offers obstacle avoidance control for a rear-mounted LDS sensor, thereby preventing LDS sensor jamming and improving the coverage of the cleaning path. Attached Figure Description

[0011] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:

[0012] Figure 1 shows a schematic diagram of the appearance of a cleaning device according to an embodiment of the present disclosure;

[0013] Figure 2 shows a flowchart illustrating an obstacle avoidance control method for a cleaning device according to an embodiment of the present disclosure;

[0014] Figure 3 shows a schematic diagram of a cleaning device traveling toward a target point according to an embodiment of the present disclosure;

[0015] Figure 4 shows a schematic diagram of a ranging sensor encountering an obstacle according to an embodiment of the present disclosure;

[0016] Figure 5 shows a schematic diagram of a cleaning device retracting a first preset distance in the forward direction according to an embodiment of the present disclosure;

[0017] Figure 6 shows a schematic diagram of the rotation of a cleaning device according to an embodiment of the present disclosure;

[0018] Figure 7 shows a schematic diagram of a cleaning device according to an embodiment of the present disclosure traveling a second preset distance forward along the rotated forward direction;

[0019] Figure 8 shows a first schematic diagram of a cleaning device continuing to travel toward a target point according to an embodiment of the present disclosure;

[0020] Figure 9 shows a second schematic diagram of a cleaning device continuing to travel toward a target point according to an embodiment of the present disclosure;

[0021] Figure 10 shows a schematic diagram of the obstacle avoidance control device of a cleaning equipment according to an embodiment of the present disclosure;

[0022] Figure 11 shows a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of this disclosure will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0024] Cleaning equipment equipped with LDS sensors typically has the sensors positioned at the front or center of the upper surface of the equipment body. When the LDS sensor is located at the rear of the upper surface of the equipment body (i.e., a rear-mounted LDS sensor), traditional obstacle avoidance methods in cleaning equipment are ineffective in preventing the LDS sensor from colliding with obstacles. In other words, existing obstacle avoidance methods still result in the rear-mounted LDS sensor colliding with obstacles during the obstacle avoidance process. Therefore, how to enable the rear-mounted LDS sensor to effectively avoid obstacles has become a pressing technical problem to be solved.

[0025] Therefore, this disclosure proposes an obstacle avoidance control method for rear-mounted LDS sensors to avoid LDS sensor jamming, prevent cleaning interruptions, and ensure complete cleaning path coverage.

[0026] In this disclosure, the cleaning equipment is equipped with existing cleaning equipment (including intelligent modules commonly found in cleaning robots), such as cameras, gyroscopes, and drives, thereby realizing functions commonly found in existing cleaning equipment, such as sensing the surrounding environment, driving the cleaning equipment to move, and interacting with maps. These will not be described in detail in the embodiments of this disclosure.

[0027] The present disclosure will now be described in detail through specific embodiments.

[0028] Figure 1 shows a schematic diagram of the appearance of a cleaning device according to an embodiment of the present disclosure. The cleaning device includes: a device body 1 and a ranging sensor 2 located at the rear of the device body 1 in the forward direction.

[0029] Referring to Figure 1, which shows a top view of the cleaning equipment, Figure 1 uses a circular equipment body 1 as an illustration, but this disclosure does not limit the appearance shape of the equipment body 1. In addition to a circle, rectangular or other irregular shapes may also be included.

[0030] In Figure 1, the first traveling wheel 3 and the second traveling wheel 4 are schematically represented by dashed lines. The first traveling wheel 3 and the second traveling wheel 4 are disposed on the lower surface of the equipment body 1. That is to say, in the top view of the cleaning equipment shown in Figure 1, the first traveling wheel 3 and the second traveling wheel 4 should not be visible, but they are represented by dashed lines to illustrate the arrangement of the first traveling wheel 3 and the second traveling wheel 4.

[0031] In this disclosure, the forward direction is a fixed direction based on the device body 1, the first traveling wheel 3, and the second traveling wheel 4. The forward direction indicates the direction of movement of the device body 1 when the first traveling wheel 3 and the second traveling wheel 4 drive the device body 1 forward at the same speed. In the case shown in Figure 1, the forward direction is vertically upward.

[0032] The ranging sensor 2 is disposed on the upper surface of the device body 1, and is located halfway away from the forward direction of the device body 1. The ranging sensor 2 can be an LDS sensor. In the case shown in Figure 1 (i.e., the forward direction is vertically upward), the ranging sensor 2 is disposed on the lower half of the device body 1. Figure 1 illustrates a circular ranging sensor 2, but this disclosure does not limit the appearance shape of the ranging sensor 2, and rectangular or other irregular shapes may also be included in addition to circular shapes.

[0033] Figure 2 shows a flowchart illustrating an obstacle avoidance control method for a cleaning device according to an embodiment of this disclosure. Referring to the appearance of the cleaning device shown in Figure 1, the obstacle avoidance control method for the cleaning device includes steps S210 to S240.

[0034] In step S210, when the cleaning equipment moves toward the target point, if the ranging sensor encounters an obstacle, the cleaning equipment will retreat a first preset distance along the forward direction.

[0035] When the first and second wheels of the cleaning equipment drive the equipment body forward at the same speed, the equipment body moves in the forward direction. This is the most basic mode of movement for the cleaning equipment. The cleaning equipment can move towards the target point along the cleaning trajectory in the forward direction. Taking the situation shown in Figure 1 as an example, the cleaning equipment moves vertically upward towards the target point.

[0036] Because the ranging sensor is located on the upper surface of the device body, the upper surface of the ranging sensor is higher than the upper surface of the device body. Therefore, as the cleaning device moves in the forward direction, it is possible that the device body can pass through spatial obstacles, but those obstacles may collide with the ranging sensor.

[0037] For example, if an obstacle is 8cm above the ground, the top surface of the device is 7cm above the ground, and the top surface of the ranging sensor is 9cm above the ground, the device can pass through the obstacle, but the obstacle will trigger a collision with the ranging sensor.

[0038] If the ranging sensor encounters an obstacle, the cleaning equipment needs to reverse to make room for the sensor to avoid it. Therefore, the first and second wheels of the cleaning equipment are controlled to drive the equipment body in the opposite direction at the same speed, so that the cleaning equipment travels in the opposite direction to its forward direction.

[0039] The distance the cleaning equipment retracts must be sufficient to allow the ranging sensor to avoid collisions with obstacles during subsequent rotation of the equipment. Furthermore, the retraction distance should be as short as possible to avoid unnecessary travel, which could lead to repeated cleaning and reduced efficiency.

[0040] Therefore, in some optional embodiments, the length of the first preset distance is: the first preset distance is greater than or equal to the sum of the distance from the inner side of the ranging sensor to the center of rotation of the device body and the distance from the outer side of the ranging sensor to the center of rotation of the device body. Preferably, the first preset distance is ≥ (twice the length of the device body, the length along the forward direction, or twice the maximum length from the edge of the device body to the center of rotation) - (twice the distance from the inner edge of the ranging sensor to the rear edge of the device body).

[0041] Step S220: The cleaning equipment rotates.

[0042] Once the cleaning equipment has moved backward to ensure sufficient clearance for the ranging sensors, control the rotation of the cleaning equipment.

[0043] The rotation of the cleaning equipment can be achieved by driving the first and second traveling wheels in opposite directions at the same speed. Taking Figure 1 as an example: to make the cleaning equipment rotate counterclockwise, the first traveling wheel is controlled to rotate in the opposite direction, and the second traveling wheel is controlled to rotate in the forward direction, with the speeds of the first and second traveling wheels being the same; to make the cleaning equipment rotate clockwise, the first traveling wheel is controlled to rotate in the forward direction, and the second traveling wheel is controlled to rotate in the opposite direction, with the speeds of the first and second traveling wheels being the same.

[0044] Additionally, in some cases, the cleaning equipment may include casters, which are located at the center of the lower surface of the equipment body. In this case, the cleaning equipment can be rotated using the casters.

[0045] Step S230: The cleaning equipment moves forward a second preset distance along the forward direction after rotation.

[0046] After the cleaning equipment rotates, it travels forward a second preset distance. Since the direction of movement is a fixed direction based on the equipment body, the direction of movement changes relative to the spatial coordinates after the cleaning equipment rotates. Taking the situation shown in Figure 1 as an example: after the cleaning equipment rotates 90° counterclockwise, the current direction of movement is horizontal to the left; after the cleaning equipment rotates 90° clockwise, the current direction of movement is horizontal to the right; other cases follow the same pattern and will not be elaborated further. That is to say, the direction of movement in step S220 and the direction of movement in step S210 change relative to the spatial coordinates, but remain unchanged relative to the equipment body.

[0047] In order to move the ranging sensor away from the location of spatial obstacles, in some optional embodiments, the length of the second preset distance is: the second preset distance is twice the length of the device body, the length along the forward direction, or the maximum length from the edge of the device body to the center of rotation in place.

[0048] Step S240: The cleaning equipment continues to move towards the target point.

[0049] After the previous steps, the ranging sensor has moved away from the spatial obstacle. At this point, the cleaning equipment is controlled to return to the target point.

[0050] Although the cleaning equipment has gone through the steps described above to move the ranging sensor away from the spatial obstacles, the ultimate goal of the cleaning equipment is to return to the target point after avoiding the spatial obstacles. Therefore, the cleaning equipment can continue to move in a rotating curve.

[0051] In some alternative implementations, if the ranging sensor encounters an obstacle, the method further includes determining a rotation angle.

[0052] In some alternative implementations, determining the rotation angle includes: determining the rotation angle based on the collision point position of the ranging sensor.

[0053] If the ranging sensor encounters an obstacle, the rotation angle is determined based on the location of the collision point of the ranging sensor.

[0054] Taking the situation shown in Figure 1 as an example: When the cleaning equipment moves vertically upwards, if the ranging sensor encounters an obstacle, the collision point will be located at the upward-facing semi-circular edge of the ranging sensor. The collision point can be located at the top of the ranging sensor, at the 1 / 4 circular edge between the top and leftmost ends of the ranging sensor, or at the 1 / 4 circular edge between the top and rightmost ends of the ranging sensor.

[0055] When determining the rotation angle of the cleaning equipment based on the collision point location, if the collision point is located at the top of the ranging sensor, the rotation angle can be 90° clockwise or 90° counterclockwise; if the collision point is located at the edge of the quarter circle between the top and leftmost ends of the ranging sensor, the rotation angle can be less than 90° clockwise or greater than 90° counterclockwise; if the collision point is located at the edge of the quarter circle between the top and rightmost ends of the ranging sensor, the rotation angle can be greater than 90° clockwise or less than 90° counterclockwise. In some optional embodiments, determining the rotation angle based on the collision point location of the ranging sensor includes: determining the angle between the line connecting the collision point location and the center of the ranging sensor and the forward direction; and determining the rotation angle based on the angle.

[0056] To determine the rotation angle, first determine the angle between the line connecting the collision point and the center of the ranging sensor and the direction of travel.

[0057] Regardless of the shape of the ranging sensor, determine its center and connect the collision point to the center of the ranging sensor. Use the angle between this line and the direction of travel to determine the rotation angle.

[0058] In some optional implementations, the rotation angle is determined based on the included angle, including: if the included angle is greater than 0° and less than 90° and is located on the first side in the forward direction, then the rotation angle is: rotation angle = 90° + included angle; if the included angle is greater than 0° and less than 90° and is located on the second side in the forward direction, then the rotation angle is: rotation angle = 90° - included angle; if the included angle is equal to 0°, then the rotation angle is 90°.

[0059] The first side and the second side are two sides located on either side of the direction of travel, relative to the direction of travel. This disclosure only limits the first side and the second side to being corresponding.

[0060] In the case shown in Figure 1: the first side can be considered as the left side of the forward direction and the second side as the right side of the forward direction; alternatively, the first side can be considered as the right side of the forward direction and the second side as the left side of the forward direction. Once one of these cases is determined, regardless of how the cleaning equipment rotates (how the forward direction changes relative to the spatial coordinates), the reference points of the first and second sides relative to the forward direction remain unchanged.

[0061] Taking the first side as the left side of the forward direction shown in Figure 1 as an example. If the included angle is greater than 0° and less than 90° and is located on the left side of the forward direction, the rotation angle is: rotation angle = 90° + included angle; if the included angle is greater than 0° and less than 90° and is located on the right side of the forward direction, the rotation angle is: rotation angle = 90° - included angle; if the included angle is equal to 0°, the rotation angle is 90°.

[0062] In some alternative implementations, the cleaning device rotates, including controlling the cleaning device to rotate in place by the rotation angle in a rotation direction from the forward direction toward the first side.

[0063] The direction in which the cleaning equipment rotates in place corresponds to the previously determined rotation angle.

[0064] Taking the first side as the left side of the forward direction shown in Figure 1 as an example. If the included angle is 45° and it is located on the left side of the forward direction, the rotation angle is 135°, controlling the cleaning device to rotate counterclockwise by 135°; if the included angle is 60° and it is located on the right side of the forward direction, the rotation angle is 30°, controlling the cleaning device to rotate counterclockwise by 30°; if the included angle is 0°, the rotation angle is 90°, controlling the cleaning device to rotate counterclockwise by 90°.

[0065] In some alternative implementations, continuing toward the target point includes: the cleaning equipment continuing toward the target point along a curved path.

[0066] Curved path travel indicates that the cleaning equipment moves while rotating, forming a curved path. In the case shown in Figure 1, curved path travel can be achieved in the following way:

[0067] If the cleaning equipment rotates counterclockwise and travels a second preset distance, the first traveling wheel of the cleaning equipment is controlled to move forward at a first speed, and the second traveling wheel of the cleaning equipment is controlled to move forward at a second speed. The first speed is greater than the second speed, so that the cleaning equipment returns to the target point in a clockwise curve.

[0068] If the cleaning equipment rotates clockwise and travels a second preset distance, the first traveling wheel of the cleaning equipment is controlled to move forward at a first speed, and the second traveling wheel of the cleaning equipment is controlled to move forward at a second speed. The first speed is less than the second speed, so that the cleaning equipment returns to the target point in a counterclockwise curve.

[0069] In some alternative implementations, the cleaning equipment continues to travel in a curve toward the target point, including: controlling the cleaning equipment to travel in a curve in a direction that gradually deviates from the direction of travel toward the second side.

[0070] The direction of the cleaning equipment's curved path is corresponding to the direction of the cleaning equipment's rotation in place.

[0071] If the cleaning equipment rotates in place in the direction of rotation from the forward direction toward the first side, the cleaning equipment will travel in a curve that gradually deflects toward the second side from the forward direction.

[0072] For example, if the cleaning equipment rotates counterclockwise in place, it will rotate clockwise in a curved path.

[0073] In addition, in some optional embodiments, the cleaning device continues to travel towards the target point along a curved path, and further includes: if the ranging sensor encounters an obstacle again during the travel of the cleaning device along the curved path, the cleaning device retreats a first preset distance; the cleaning device rotates; the cleaning device moves forward a second preset distance; and the cleaning device continues to travel towards the target point.

[0074] In some cases, as the cleaning equipment travels along a curved path, new spatial obstacles trigger collisions with the ranging sensors. These new spatial obstacles can be continuous with or independent of previous spatial obstacles.

[0075] When the ranging sensor collides with a new obstacle in the space again, the process of traveling along a curved path ends, and the cleaning equipment begins to implement a new round of obstacle avoidance control methods to avoid the new obstacle.

[0076] The new obstacle avoidance control method is the same as the previous one. Although the cleaning equipment implements the new obstacle avoidance control method, the ultimate goal of the cleaning equipment is still to continue moving towards the target point. Therefore, the goal of the cleaning equipment is still to return to the target point and continue moving.

[0077] In other words, if the cleaning equipment encounters other spatial obstacles while returning to the target point, it will avoid them according to the obstacle avoidance control method described above until all spatial obstacles are avoided before returning to the target point. Figures 3 to 9 show schematic diagrams of the cleaning equipment after each step under the obstacle avoidance control method of the cleaning equipment proposed in this disclosure. Referring to Figures 3 to 9, the obstacle avoidance control method of the cleaning equipment proposed in this disclosure will be described in detail with reference to a specific embodiment.

[0078] Figure 3 shows a schematic diagram of the cleaning equipment moving towards the target point.

[0079] In Figure 3, the target point is A, the cleaning equipment moves vertically upwards, and the spatial obstacle is B. This spatial obstacle B will collide with the ranging sensor 2 but will not collide with the equipment body 1. The first traveling wheel 3 and the second traveling wheel 4 drive in the forward (upward) direction at the same speed.

[0080] Figure 4 shows a schematic diagram of a ranging sensor encountering an obstacle.

[0081] In Figure 4, obstacle B collides with ranging sensor 2 at the top of the sensor. Therefore, the rotation angle is 90° counterclockwise.

[0082] Figure 5 shows a schematic diagram of the cleaning equipment retracting a first preset distance along the forward direction.

[0083] In Figure 5, the first traveling wheel 3 and the second traveling wheel 4 are driven in opposite directions (downward) at the same speed, causing the cleaning equipment to move backward a first preset distance along the forward direction.

[0084] Figure 6 shows a schematic diagram of the cleaning equipment rotating in place.

[0085] In Figure 6, the first traveling wheel 3 drives in the opposite direction and the second traveling wheel 4 drives in the forward direction at the same speed, causing the cleaning equipment to rotate 90° counterclockwise.

[0086] Figure 7 shows a schematic diagram of the cleaning equipment traveling a second preset distance along the rotating forward direction.

[0087] In Figure 7, the first traveling wheel 3 and the second traveling wheel 4 are driven in the forward (leftward) direction at the same speed, so that the cleaning equipment travels a second preset distance along the forward direction after rotation (i.e., horizontally to the left).

[0088] Figure 8 shows a first schematic diagram of the cleaning equipment continuing to move towards the target point.

[0089] In Figure 8, the first traveling wheel 3 and the second traveling wheel 4 drive in the forward direction. The speed of the first traveling wheel 3 is greater than the speed of the second traveling wheel 4, so that the cleaning equipment rotates clockwise while moving to the upper right in a curve.

[0090] Figure 9 shows a second schematic diagram of the cleaning equipment continuing to move towards the target point.

[0091] In Figure 9, the cleaning equipment returns to its forward direction (vertically upward) and continues to move towards the target point A.

[0092] Figure 10 shows a schematic diagram of the obstacle avoidance control device of a cleaning equipment according to an embodiment of the present disclosure. Referring to the appearance of the cleaning equipment shown in Figure 1, the cleaning equipment includes: a device body, and a ranging sensor located at the rear of the device body in the forward direction; the device 1000 includes:

[0093] The reversing control unit 1010 is used to control the cleaning equipment to retreat a first preset distance along the forward direction if the ranging sensor encounters an obstacle when the cleaning equipment is moving towards the target point.

[0094] Rotation control unit 1020 is used to control the rotation of the cleaning equipment;

[0095] The travel control unit 1030 is used to control the cleaning equipment to travel forward a second preset distance along the rotated forward direction and continue to travel towards the target point.

[0096] In some alternative embodiments, the above-described device 1000 further includes an angle determining unit for determining a rotation angle.

[0097] In some alternative implementations, the angle determination unit is specifically used to determine the rotation angle based on the collision point position of the ranging sensor.

[0098] In some alternative implementations, the angle determination unit is specifically used to: determine the angle between the line connecting the collision point location and the center of the ranging sensor and the direction of travel; and determine the rotation angle based on the angle.

[0099] In some optional implementations, the angle determination unit is specifically used to: if the included angle is greater than 0° and less than 90° and is located on the first side in the forward direction, then the rotation angle is: rotation angle = 90° + included angle; if the included angle is greater than 0° and less than 90° and is located on the second side in the forward direction, then the rotation angle is: rotation angle = 90° - included angle; if the included angle is equal to 0°, then the rotation angle is 90°.

[0100] In some alternative implementations, the rotating unit 1020 is specifically used to control the cleaning device to rotate in place by the rotation angle in a rotation direction from the forward direction toward the first side.

[0101] In some alternative implementations, the travel control unit 1030 is specifically used to control the cleaning equipment to continue traveling towards the target point along a curved path.

[0102] In some alternative implementations, the travel control unit 1030 is specifically configured to: control the cleaning equipment to travel in a directional curve deflected toward the second side in the forward direction.

[0103] In some optional embodiments, the length of the first preset distance is: the first preset distance is greater than or equal to the sum of the distance from the inner side of the ranging sensor to the center of rotation of the device body and the distance from the outer side of the ranging sensor to the center of rotation of the device body. In a preferred embodiment, the first preset distance is ≥ (twice the maximum length of the device body, the length along the forward direction, or the maximum length from the edge of the device body to the center of rotation) - (twice the distance from the inner edge of the ranging sensor to the rear edge of the device body).

[0104] In some optional implementations, the length of the second preset distance is: the second preset distance is twice the length of the device body, the length along the forward direction, or the maximum length from the edge of the device body to the center of rotation in place.

[0105] It should be noted that the obstacle avoidance control device 1000 of the above-mentioned cleaning equipment can realize the aforementioned obstacle avoidance control method of the cleaning equipment, which will not be described in detail here.

[0106] Figure 11 shows a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Referring to Figure 11, the internal structure of the electronic device may include a processor, memory, network interface, display screen, and input device connected via a system bus. The processor of the electronic device provides computing and control capabilities. The memory of the electronic device includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the electronic device is used to communicate with external clients via a network connection. When the computer program is executed by the processor, it implements the functions or steps of the obstacle avoidance control method for the cleaning equipment.

[0107] In one embodiment, the electronic device provided in this disclosure includes a memory and a processor. The memory stores a database and a computer program that can run on the processor. When the processor executes the computer program, it performs the following steps:

[0108] When the cleaning equipment moves toward the target point, if the ranging sensor encounters an obstacle, the cleaning equipment will retreat a first preset distance along the forward direction;

[0109] The cleaning equipment is rotating;

[0110] The cleaning equipment travels forward a second preset distance along the direction of rotation;

[0111] The cleaning equipment continued its journey toward the target point.

[0112] In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, the computer program performing the following steps when executed by a processor:

[0113] When the cleaning equipment moves toward the target point, if the ranging sensor encounters an obstacle, the cleaning equipment will retreat a first preset distance along the forward direction;

[0114] The cleaning equipment is rotating;

[0115] The cleaning equipment travels forward a second preset distance along the direction of rotation;

[0116] The cleaning equipment continued its journey toward the target point.

[0117] It should be noted that the functions or steps that the above-mentioned electronic devices or computer-readable storage media can achieve can be referred to the relevant descriptions in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0118] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, database, or other media used in the embodiments provided in this disclosure can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0119] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0120] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for obstacle avoidance control of a cleaning device, the cleaning device comprising: The device body and a ranging sensor located at the rear of the device body in the forward direction; The method includes: When the cleaning equipment is moving toward the target point, if the ranging sensor encounters an obstacle, the cleaning equipment will retreat a first preset distance along the forward direction; The cleaning equipment rotates; The cleaning device travels forward a second preset distance along the rotated forward direction; and The cleaning equipment continues to move toward the target point.

2. The obstacle avoidance control method for cleaning equipment according to claim 1, wherein, If the ranging sensor encounters an obstacle, the method further includes: Determine the rotation angle.

3. The obstacle avoidance control method for cleaning equipment according to claim 2, wherein, Determining the rotation angle includes: The rotation angle is determined based on the collision point position of the ranging sensor.

4. The obstacle avoidance control method for cleaning equipment according to claim 3, wherein, Determining the rotation angle based on the collision point position of the ranging sensor includes: Determine the angle between the line connecting the collision point location and the center of the ranging sensor and the direction of travel; and The rotation angle is determined based on the included angle.

5. The obstacle avoidance control method for cleaning equipment according to claim 4, wherein, Determining the rotation angle based on the included angle includes: If the included angle is greater than 0° and less than 90° and is located on the first side of the forward direction, then the rotation angle is equal to the sum of 90° and the included angle; If the included angle is greater than 0° and less than 90° and is located on the second side of the forward direction, then the rotation angle is equal to the difference between 90° and the included angle; If the included angle is 0°, then the rotation angle is 90°.

6. The obstacle avoidance control method for cleaning equipment according to claim 5, wherein, The cleaning equipment rotates, including: The cleaning device is controlled to rotate in place by the rotation angle in the direction of rotation from the forward direction toward the first side.

7. The obstacle avoidance control method for cleaning equipment according to claim 5 or 6, wherein, The continued journey toward the target point includes: The cleaning equipment continues to travel towards the target point along a curved path.

8. The obstacle avoidance control method for cleaning equipment according to claim 7, wherein, The cleaning equipment continues to travel towards the target point along the curved path, including: The cleaning equipment is controlled to travel in a curved path, gradually deflecting toward the second side in the forward direction.

9. The obstacle avoidance control method for cleaning equipment according to claim 1, wherein, The length of the first preset distance is: The first preset distance is greater than or equal to the sum of the distance from the inside of the ranging sensor to the center of rotation of the device body and the distance from the outside of the ranging sensor to the center of rotation of the device body.

10. The obstacle avoidance control method for cleaning equipment according to claim 9, wherein, The length of the first preset distance is: The first preset distance is greater than or equal to the difference between twice the length of the device body, the length along the forward direction, or twice the maximum length from the edge of the device body to the center of rotation in place, and twice the distance from the inner edge of the ranging sensor to the rear edge of the device body.

11. The obstacle avoidance control method for cleaning equipment according to claim 1, wherein, The length of the second preset distance is: The second preset distance is twice the length of the device body, the length along the forward direction, or twice the maximum length from the edge of the device body to the center of rotation in place.

12. An obstacle avoidance control device for a cleaning equipment, the cleaning equipment comprising: The device body and a ranging sensor located at the rear of the device body in the forward direction; The device includes: The reversing control unit is used to control the cleaning equipment to retreat a first preset distance along the forward direction if the ranging sensor encounters an obstacle when the cleaning equipment is moving towards the target point. A rotation control unit for controlling the rotation of the cleaning equipment; and The travel control unit is used to control the cleaning equipment to travel forward a second preset distance along the rotated forward direction and continue to travel toward the target point.

13. The obstacle avoidance control device for the cleaning equipment according to claim 12, further comprising: Angle determination unit, used to determine the rotation angle.

14. The obstacle avoidance control device for cleaning equipment according to claim 13, wherein, The angle determination unit is further used for: The rotation angle is determined based on the collision point position of the ranging sensor.

15. The obstacle avoidance control device for cleaning equipment according to claim 14, wherein, The angle determination unit is further used for: Determine the angle between the line connecting the collision point location and the center of the ranging sensor and the direction of travel; and The rotation angle is determined based on the included angle.

16. The obstacle avoidance control device for cleaning equipment according to claim 15, wherein, The angle determination unit is further used for: If the included angle is greater than 0° and less than 90° and is located on the first side of the forward direction, then the rotation angle is: The rotation angle = 90° + the included angle; If the included angle is greater than 0° and less than 90° and is located on the second side of the forward direction, then the rotation angle is: The rotation angle = 90° - the included angle; If the included angle is 0°, then the rotation angle is 90°.

17. The obstacle avoidance control device for cleaning equipment according to claim 16, wherein, The rotation control unit is further used for: The cleaning device is controlled to rotate in place by the rotation angle in the direction of rotation from the forward direction toward the first side.

18. The obstacle avoidance control device for cleaning equipment according to claim 16 or 17, wherein, The travel control unit is further used for: The cleaning equipment continues to travel towards the target point along a curved path.

19. The obstacle avoidance control device for cleaning equipment according to claim 16, wherein, The travel control unit is further used for: The cleaning equipment is controlled to travel in a curved path, gradually deflecting toward the second side in the forward direction.

20. The obstacle avoidance control device for cleaning equipment according to claim 12, wherein, The length of the first preset distance is: The first preset distance is greater than or equal to the sum of the distance from the inside of the ranging sensor to the center of rotation of the device body and the distance from the outside of the ranging sensor to the center of rotation of the device body.

21. The obstacle avoidance control device for cleaning equipment according to claim 20, wherein, The length of the first preset distance is: the difference between twice the length of the device body, the length along the forward direction, or twice the maximum length from the edge of the device body to the center of rotation in place, and twice the distance from the inner edge of the ranging sensor to the rear edge of the device body.

22. The obstacle avoidance control device for cleaning equipment according to claim 12, characterized in that, The length of the second preset distance is: The second preset distance is equal to twice the length of the device body, the length along the forward direction, or the maximum length from the edge of the device body to the center of rotation in place.

23. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 11.

24. A computer-readable storage medium storing a computer program, characterized in that, The computer program, when instructed by a processor, implements the method as described in any one of claims 1 to 11.

25. A computer program product comprising a computer program or instructions which, when executed by a processor, implement the method as described in any one of claims 1 to 11.

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