CN111879250B - Wall surface detection method and device, sweeper and storage medium - Google Patents
Wall surface detection method and device, sweeper and storage medium Download PDFInfo
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- CN111879250B CN111879250B CN202010772007.0A CN202010772007A CN111879250B CN 111879250 B CN111879250 B CN 111879250B CN 202010772007 A CN202010772007 A CN 202010772007A CN 111879250 B CN111879250 B CN 111879250B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention provides a wall surface detection method, a wall surface detection device, a sweeper and a storage medium, wherein the wall surface detection method comprises the following steps: in the process that the sweeper moves towards the wall, the measuring distance between the sweeper and the wall, which is detected by a structured light sensor of the sweeper in a first detection direction, is obtained; and when the measuring distance is smaller than the preset distance, adjusting the detection direction of the structured light sensor to the detection direction which forms an inclined angle with the first detection direction so that the structured light sensor continues to detect the measuring distance between the sweeper and the wall body. The problem of because the structure light sensor monitoring blind area leads to the machine of sweeping the floor to monitor apart from inaccurate to clean thoroughly, inefficiency is solved.
Description
Technical Field
The invention relates to the technical field of floor sweeping machines, in particular to a wall surface detection method and device, a floor sweeping machine and a storage medium.
Background
At present, the in-process of machine of sweeping the floor, based on the distance between machine of sweeping the floor and the wall of structured light sensor real-time supervision, avoid the machine of sweeping the floor to hit the wall and lead to the equipment to damage, reduce user experience effect, nevertheless because structured light sensor can have the detection blind area about 20cm usually when detecting the distance between machine of sweeping the floor and the wall, consequently, cause the machine of sweeping the floor monitoring distance inaccurate easily, clean thoroughly, inefficiency.
Disclosure of Invention
The invention provides a wall surface detection method and device, a sweeper and a storage medium, and aims to solve the problems that in the prior art, due to a monitoring blind area of a structured light sensor, the monitoring distance of the sweeper is inaccurate, sweeping is incomplete and efficiency is low.
In a first aspect, the present invention provides a wall detection method, including:
in the process that the sweeper moves towards the wall, the measuring distance between the sweeper and the wall, which is detected by a structured light sensor of the sweeper in a first detection direction, is obtained;
and when the measuring distance is smaller than the preset distance, adjusting the detection direction of the structured light sensor to the detection direction which forms an inclined angle with the first detection direction so that the structured light sensor continues to detect the measuring distance between the sweeper and the wall body.
Further, the wall detection method further comprises the following steps:
and when the measuring distance is not less than the preset distance, the step of acquiring the measuring distance between the sweeper and the wall body, which is detected by the structured light sensor of the sweeper in the first detection direction, in the process that the sweeper moves towards the wall body is executed.
Further, there are a plurality of inclination angles, adjust the direction of detection of structured light sensor to with the direction of detection that first detection direction becomes inclination angle to make the machine of sweeping the floor continue to move to the wall body, include:
according to the sequence of the inclination angles from small to large, the detection directions of the structured light sensors are sequentially adjusted to the detection directions with different inclination angles from the same side of the first detection direction, wherein when the measurement distance between the sweeper and the wall body detected by the structured light sensors in each detection direction is smaller than a preset distance, the detection direction of the structured light sensors is adjusted to the next detection direction, and the sweeper continues to move towards the wall body;
when the detection direction of the structured light sensor is the detection direction with the maximum inclination angle formed between the first detection direction and the first detection direction, if the detected measurement distance between the sweeper and the wall is smaller than the preset distance, the sweeper turns.
Further, the inclination angles comprise a first inclination angle, a second inclination angle and a third inclination angle, wherein the first inclination angle is smaller than the second inclination angle and smaller than the third inclination angle; adjust structured light sensor's direction of detection to with first direction of detection becomes the direction of detection of inclination to make the machine of sweeping the floor continue to move to the wall body, include:
adjusting the detection direction of the structured light sensor to a second detection direction forming a first inclination angle with the first detection direction;
when the distance between the sweeper and the wall, which is detected by the structured light sensor in the second detection direction, is smaller than the preset distance in the process that the sweeper continuously moves towards the wall, the detection direction of the structured light sensor is adjusted to a third detection direction forming a second inclination angle with the first detection direction;
when the distance between the sweeper and the wall, which is detected by the structured light sensor in the third detection direction, is smaller than the preset distance in the process that the sweeper continuously moves towards the wall, the detection direction of the structured light sensor is adjusted to a fourth detection direction forming a third inclination angle with the first detection direction;
and in the process that the sweeper continuously moves towards the wall body, when the measuring distance between the sweeper and the wall body, which is detected in the fourth detection direction by the structured light sensor, is smaller than the preset distance, the sweeper turns.
Further, the first inclination angle is 50 degrees, the second inclination angle is 60 degrees, and the third inclination angle is 70 degrees.
Further, the preset distance is determined according to a detection blind area of the structured light sensor.
In a second aspect, the present invention provides a wall detection apparatus, comprising:
the acquisition module is used for acquiring the measurement distance between the sweeper and the wall body, which is detected by a structured light sensor of the sweeper in a first detection direction, in the process that the sweeper moves towards the wall body;
and the adjusting module is used for adjusting the detection direction of the structured light sensor to the detection direction which forms an inclination angle with the first detection direction when the measurement distance is smaller than the preset distance, so that the structured light sensor continues to detect the measurement distance between the sweeper and the wall body.
In a third aspect, the present invention provides a sweeper, comprising a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, implements the wall detection method according to the first aspect.
Further, the sweeper further comprises:
the structured light sensor is arranged right ahead the sweeper, connected with the processor and used for adjusting the detection direction according to the instruction of the processor and detecting the measurement distance between the sweeper and the wall in each detection direction.
In a fourth aspect, the present invention provides a storage medium having stored thereon a computer program which, when executed by one or more processors, implements the wall detection method according to the first aspect.
Compared with the prior art, the invention at least has the following technical effects:
the method comprises the steps that in the process that a sweeper moves towards a wall body, the measuring distance between the sweeper and the wall body, which is detected by a structured light sensor of the sweeper in a first detection direction, is obtained in real time, and when the measuring distance is smaller than a preset distance, the detection direction of the structured light sensor is adjusted to the detection direction which forms an inclination angle with the first detection direction, so that the detection range of the structured light sensor is increased, and the structured light sensor continues to detect the measuring distance between the sweeper and the wall body.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a wall detection method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of adjusting a detection direction according to an embodiment of the present invention;
fig. 3 is a block diagram of a wall detection apparatus according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, the present embodiment provides a wall detection method, which includes the following steps:
step 110, in the process that the sweeper moves towards the wall, the measuring distance between the sweeper and the wall, which is detected by the structured light sensor of the sweeper in the first detection direction, is obtained. The first detection direction may be right ahead of the sweeper, that is, the measurement distance between the sweeper and the wall, which is detected by the structured light sensor in the first detection direction, is the vertical distance between the sweeper and the wall.
And step S120, judging whether the measured distance is smaller than a preset distance.
The preset distance is determined according to a detection blind area of the structured light sensor, and generally, the structured light sensor enters the detection blind area when being about 20cm away from the wall, so that the preset distance can be set to be 20 cm.
It can be understood that the measured distance between the sweeper and the wall, which is detected by the structured light sensor, is data after filtering, where the filtering may be to remove invalid data or abnormal data in the data.
And S130, when the measuring distance is smaller than the preset distance, adjusting the detection direction of the structured light sensor to a detection direction forming an inclined angle with the first detection direction so that the structured light sensor continues to detect the measuring distance between the sweeper and the wall.
It can be understood that, when the measured distance is not less than the preset distance, step S110 is executed to continue to obtain the measured distance between the wall and the sweeper, which is detected by the structured light sensor of the sweeper in the first detection direction, so as to implement the wall monitoring.
Because the structured light sensor has certain detection blind area, for example, the structured light sensor gets into the detection blind area when apart from the wall body about 20cm, because can not detect the distance between the wall body this moment, the machine of sweeping the floor may continue to move to the wall body and hit the wall, leads to equipment to damage, also can because the structured light sensor can not detect the distance within 20cm apart from the wall surface and the machine of sweeping the floor turns to in advance, leads to cleaning thoroughly, inefficiency.
Therefore, through adjusting the structured light sensor to become the detection direction of inclination with first direction of detection, the structured light sensor detects the distance of inclination direction, make structured light sensor's measuring distance increase, the machine of sweeping the floor can continue to move to wall body safety, at the distance of removal in-process through detecting inclination direction, whether further judge to get into the blind area on this incline direction, make the machine of sweeping the floor can enough lead to hitting the wall because getting into the detection blind area gradually near the in-process of wall body, can be close to the wall body as far as possible again, in order to guarantee to clean efficiency.
In this embodiment, the wall detection method may be applied to a processor of a sweeper, a structured light sensor is installed right ahead of the sweeper and used for detecting a measurement distance between the sweeper and a wall in real time, in a process that the sweeper moves towards the wall, the measurement distance between the sweeper and the wall, which is detected by the structured light sensor of the sweeper in a first detection direction, is obtained in real time, and when the measurement distance is smaller than a preset distance, a detection range of the structured light sensor is increased by adjusting the detection direction of the structured light sensor to a detection direction which forms an inclination angle with the first detection direction, so that the structured light sensor continues to detect the measurement distance between the sweeper and the wall.
In some preferred embodiments, the inclination angle may be multiple, and when there are multiple inclination angles, the step S130 may include the following sub-steps:
and S130-1, sequentially adjusting the detection directions of the structured light sensors to the detection directions with different inclination angles from the same side of the first detection direction according to the sequence of the inclination angles from small to large. The detection direction of the structured light sensor may be sequentially adjusted to a detection direction having a different inclination angle from the left side of the first detection direction.
Specifically, when the measurement distance between the sweeper and the wall body, which is detected by the structured light sensor in each detection direction, is smaller than the preset distance, the detection direction of the structured light sensor is adjusted to the next detection direction, and the sweeper continues to move towards the wall body.
And S130-2, when the detection direction of the structured light sensor is the detection direction forming the maximum inclination angle with the first detection direction, if the detected measurement distance between the sweeper and the wall is smaller than the preset distance, steering the sweeper.
In this embodiment, the detection directions are sequentially adjusted according to the sequence of the inclination angles from small to large, so that the measurement distance of the structured light sensor is continuously adjusted, the sweeper is prevented from entering the blind area in the process of continuously moving towards the wall until the maximum inclination angle which can be adjusted by the structured light sensor is reached, and if the detected measurement distance between the sweeper and the wall is smaller than the preset distance under the direction of the maximum inclination angle, the sweeper is close to the wall enough, the detection direction is not adjusted at this time, and the sweeper turns.
Preferably, there are 3 inclination angles, including a first inclination angle, a second inclination angle and a third inclination angle, where the first inclination angle is smaller than the second inclination angle and smaller than the third inclination angle, for example, the first inclination angle is 50 °, the second inclination angle is 60 °, and the third inclination angle is 70 °; thus, step S130 may comprise the following sub-steps:
step S130-3, adjusting the detection direction of the structured light sensor to a second detection direction forming a first inclination angle with the first detection direction;
and S130-4, in the process that the sweeper continuously moves towards the wall, when the measured distance between the sweeper and the wall, which is detected by the structured light sensor in the second detection direction, is smaller than the preset distance, the detection direction of the structured light sensor is adjusted to a third detection direction forming a second inclination angle with the first detection direction.
And S130-5, in the process that the sweeper continuously moves towards the wall, when the measured distance between the sweeper and the wall, which is detected by the structured light sensor in the third detection direction, is smaller than the preset distance, adjusting the detection direction of the structured light sensor to a fourth detection direction forming a third inclination angle with the first detection direction.
And S130-6, in the process that the sweeper continuously moves towards the wall, when the measured distance between the sweeper and the wall, which is detected by the structured light sensor in the fourth detection direction, is smaller than the preset distance, the sweeper turns.
Wherein, the second detects the left side of direction and first detection direction and becomes first inclination, and the third detects the left side of direction and first detection direction and becomes second inclination, and the fourth detects the left side of direction and first detection direction and becomes third inclination.
The following describes the implementation process of step S130-3 to step S130-6 with reference to fig. 2:
in fig. 2, the first detection direction 1 of the sweeper 5 is the front (equivalent to 0 °) of the sweeper, and the left side of the first detection direction 1 is respectively inclined by 50 degrees (the second detection direction 2), 60 degrees (the third detection direction 3) and 70 degrees (the fourth detection direction 4), so that the measurement distance of the structured light sensor can be gradually lengthened, it can be understood that the hypotenuses in the three right-angled triangles in fig. 2 are respectively the measurement distances of the structured light sensor in the second detection direction 2, the third detection direction 3 and the fourth detection direction 4 from short to long, and the shorter right-angled side is the measurement distance of the structured light sensor in the first detection direction 1.
Take the measuring distance between the quick-witted and the wall body of sweeping the floor that the structured light sensor of sweeping the ground detected on first direction of detection 1 (dead ahead) to be 20cm as an example, this moment, have got into the detection blind area of structured light sensor, and the detection range of structured light sensor on first direction of detection 1 (dead ahead) is 0 ~ 20com, if adjust structured light sensor to second direction of detection 2, the measuring distance between quick-witted and the wall body of sweeping the floor that structured light sensor detected on second direction of detection 2 is: the detection range is 0-31.11 cm, wherein the detection range is about 31.11cm at 20cm/cos50 degrees. If the structured light sensor is adjusted to the third detection direction 3, the measurement distance between the sweeper and the wall body, which is detected by the structured light sensor in the third detection direction 3, is as follows: the detection range is 0-40 cm when the angle of 20cm/cos60 degrees is 40 cm. If the structured light sensor is adjusted to the fourth detection direction 4, the detection range between the sweeper and the wall body, which is detected by the structured light sensor in the fourth detection direction 4, is as follows: 20cm/cos70 DEG.apprxeq.58.5 cm. It can be seen that, for the same detection position (the position of the sweeper), the larger the inclination angle of adjustment, the larger the detection range of the structured light sensor, and along with the fact that the sweeper moves closer and closer to the wall body in the process, the inclination angle needs to be continuously adjusted, so that the inclination angle gradually becomes larger to adapt to the movement of the sweeper, and the sweeper is moved to the position closest to the wall body as far as possible without collision.
In this example, the maximum tilt angle is determined based on the maximum angle that the structured light sensor mounted on the sweeper can rotate, the maximum angle that the structured light sensor can rotate is 70 degrees, therefore, the maximum inclination angle is determined to be 70 degrees, in order to ensure that the sweeper moves forwards stably, the detection direction needs to be gradually adjusted to the fourth detection direction 4 corresponding to the maximum inclination angle, when the distance between the front side of the sweeper and the wall body detected by the structured light sensor is less than 20cm, the detection direction is adjusted to a second detection direction 2 which forms 50 degrees with the left side of the first detection direction 1, when the measuring distance between the sweeper and the wall body, which is detected by the structured light sensor in the second detection direction, is less than 20cm in the process that the sweeper continues to move towards the wall body, the detection direction of the structured light sensor is adjusted to a third detection direction 3 at 60 ° to the left of the first detection direction 1. In the process that the sweeper continuously moves towards the wall, when the measuring distance between the sweeper and the wall, which is detected by the structured light sensor in the third detection direction 3, is smaller than 20cm, the detection direction of the structured light sensor is adjusted to a fourth detection direction 4 which forms an angle of 70 degrees with the first detection direction 1. Because the inclination angle of 70 degrees is the maximum inclination angle, when the measuring distance between the sweeper and the wall, which is detected by the structured light sensor in the fourth detection direction 4, is smaller than 20cm in the process that the sweeper continues to move towards the wall, the sweeper turns to continue to move.
Example two
Referring to fig. 3, the present embodiment provides a wall detection apparatus, which includes the following modules:
the obtaining module 310 is configured to obtain a measured distance between the sweeper and the wall, which is detected by a structured light sensor of the sweeper in a first detection direction, in the process that the sweeper moves towards the wall;
a judging module 320, configured to judge whether the measured distance is smaller than a preset distance;
the adjusting module 330 is configured to adjust the detection direction of the structured light sensor to a detection direction that forms an inclination angle with the first detection direction when the measurement distance is smaller than the preset distance, so that the structured light sensor continues to detect the measurement distance between the sweeper and the wall.
It is understood that the obtaining module 310 may execute the step S110 in the first embodiment, the determining module 320 may execute the step 8120 in the first embodiment, and the adjusting module 330 may execute the step S130 in the first embodiment, for details of each step, please refer to the first embodiment, which is not described herein again.
EXAMPLE III
The embodiment provides a sweeper, which comprises a memory and a processor, wherein the memory is stored with a computer program, and the computer program is executed by the processor to realize the wall detection method of the first embodiment.
Further, this machine of sweeping the floor still includes:
the structured light sensor is arranged right ahead the sweeper, connected with the processor and used for adjusting the detection direction according to the instruction of the processor and detecting the measurement distance between the sweeper and the wall in each detection direction.
It will be appreciated that when the detection direction needs to be adjusted, the processor generates an adjustment instruction to cause the structured light sensor to adjust the detection direction.
The Processor in this embodiment may be implemented by an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic components, and is configured to perform the method in the above embodiments. The method implemented when the computer program running on the processor is executed may refer to a specific embodiment of the method provided in the first embodiment of the present invention, and details thereof are not described here.
Example four
The embodiment provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by one or more processors, the wall detection method of the first embodiment is realized.
The storage medium in this embodiment may be implemented by any type of volatile or nonvolatile storage device or combination thereof, such as a Static Random Access Memory (SRAM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic Memory, a flash Memory, a magnetic disk, or an optical disk.
In the embodiments provided in the present invention, it should be understood that the disclosed system and method can be implemented in other ways. The system and method embodiments described above are merely illustrative.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A wall detection method is characterized by comprising the following steps:
in the process that the sweeper moves towards the wall, the measuring distance between the sweeper and the wall, which is detected by a structured light sensor of the sweeper in a first detection direction, is obtained;
when the measuring distance is smaller than the preset distance, the detection direction of the structured light sensor is adjusted to the detection direction which forms an inclined angle with the first detection direction, so that the structured light sensor continues to detect the measuring distance between the sweeper and the wall;
the inclination has a plurality ofly, adjust structured light sensor's direction of detection to with first direction of detection becomes the direction of detection of inclination to make the machine of sweeping the floor continue to move to the wall body, include:
according to the sequence of the inclination angles from small to large, the detection directions of the structured light sensors are sequentially adjusted to the detection directions with different inclination angles from the same side of the first detection direction, wherein when the measurement distance between the sweeper and the wall body detected by the structured light sensors in each detection direction is smaller than a preset distance, the detection direction of the structured light sensors is adjusted to the next detection direction, and the sweeper continues to move towards the wall body;
when the detection direction of the structured light sensor is the detection direction with the maximum inclination angle formed between the first detection direction and the first detection direction, if the detected measurement distance between the sweeper and the wall is smaller than the preset distance, the sweeper turns.
2. The wall inspection method of claim 1, further comprising:
and when the measuring distance is not less than the preset distance, the step of acquiring the measuring distance between the sweeper and the wall body, which is detected by the structured light sensor of the sweeper in the first detection direction, in the process that the sweeper moves towards the wall body is executed.
3. The wall detection method according to claim 1, wherein the tilt angles include a first tilt angle, a second tilt angle, and a third tilt angle, wherein the first tilt angle < the second tilt angle < the third tilt angle; adjust structured light sensor's direction of detection to with first direction of detection becomes the direction of detection of inclination to make the machine of sweeping the floor continue to move to the wall body, include:
adjusting the detection direction of the structured light sensor to a second detection direction forming a first inclination angle with the first detection direction;
when the distance between the sweeper and the wall, which is detected by the structured light sensor in the second detection direction, is smaller than the preset distance in the process that the sweeper continuously moves towards the wall, the detection direction of the structured light sensor is adjusted to a third detection direction forming a second inclination angle with the first detection direction;
when the distance between the sweeper and the wall, which is detected by the structured light sensor in the third detection direction, is smaller than the preset distance in the process that the sweeper continuously moves towards the wall, the detection direction of the structured light sensor is adjusted to a fourth detection direction forming a third inclination angle with the first detection direction;
and in the process that the sweeper continuously moves towards the wall body, when the measuring distance between the sweeper and the wall body, which is detected in the fourth detection direction by the structured light sensor, is smaller than the preset distance, the sweeper turns.
4. The wall detection method of claim 3, wherein the first inclination angle is 50 degrees, the second inclination angle is 60 degrees, and the third inclination angle is 70 degrees.
5. The wall detection method of claim 1, wherein the predetermined distance is determined according to a detection dead zone of the structured light sensor.
6. A wall detection apparatus, comprising:
the acquisition module is used for acquiring the measurement distance between the sweeper and the wall body, which is detected by a structured light sensor of the sweeper in a first detection direction, in the process that the sweeper moves towards the wall body;
the adjusting module is used for adjusting the detection direction of the structured light sensor to a detection direction which forms an inclination angle with the first detection direction when the measurement distance is smaller than a preset distance so that the structured light sensor continues to detect the measurement distance between the sweeper and the wall; the inclination has a plurality ofly, adjust structured light sensor's direction of detection to with first direction of detection becomes the direction of detection of inclination to make the machine of sweeping the floor continue to move to the wall body, include:
according to the sequence of the inclination angles from small to large, the detection directions of the structured light sensors are sequentially adjusted to the detection directions with different inclination angles from the same side of the first detection direction, wherein when the measurement distance between the sweeper and the wall body detected by the structured light sensors in each detection direction is smaller than a preset distance, the detection direction of the structured light sensors is adjusted to the next detection direction, and the sweeper continues to move towards the wall body;
when the detection direction of the structured light sensor is the detection direction with the maximum inclination angle formed between the first detection direction and the first detection direction, if the detected measurement distance between the sweeper and the wall is smaller than the preset distance, the sweeper turns.
7. A sweeper comprising a memory and a processor, the memory having stored thereon a computer program which, when executed by the processor, implements the wall detection method of any of claims 1 to 5.
8. The sweeper of claim 7, further comprising:
the structured light sensor is arranged right ahead the sweeper, connected with the processor and used for adjusting the detection direction according to the instruction of the processor and detecting the measurement distance between the sweeper and the wall in each detection direction.
9. A storage medium having stored thereon a computer program which, when executed by one or more processors, implements a wall detection method as claimed in any one of claims 1 to 5.
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