Obstacle avoidance and escape method and device for sweeping equipment, electronic equipment and storage medium

The invention provides an obstacle avoidance and escape method and device for sweeping equipment, electronic equipment and a storage medium. The method comprises the steps: determining the current position of the sweeping equipment, and determining an escape area based on the current position, wherein the current position is located in the escape area; determining an escape point outside the escape area, wherein no obstacle exists on a connecting line track between the escape point and the current position; and the sweeping equipment is controlled to move out of the escape area with the connecting line track as the movement track so as to complete escape. According to the obstacle avoidance and escape method for the sweeping equipment provided by the invention, the escape area is determined around the current position of the equipment and the escape point is obtained outside the escape area, so as to carry out the tentative advancing in the obstacle area to leave the disordered obstacle area. Based on the met