Obstacle crossing method of a self-moving device and self-moving device

Abstract

This application discloses a method for obstacle crossing of a self-moving device and the self-moving device itself. The self-moving device includes a device body and a robotic arm connected to the device body. The robotic arm includes an operating structure, a working arm, and a joint assembly. The operating structure, the working arm, and the device body are connected via the joint assembly. The obstacle crossing method of the self-moving device includes: if a target obstacle is detected, defining a support area on the upper surface of the target obstacle; controlling the joint assembly to rotate so that the operating structure contacts the support area, and using the operating structure as a fulcrum to lift the device body; controlling the joint assembly to rotate to drive the device body to rotate, so that the device body is positioned on the upper surface of the target obstacle. For obstacles that cannot be directly crossed by the walking component, crossing the target obstacle can be achieved by supporting and lifting the device body with the robotic arm.

Description

Technical Field

[0001] This application belongs to the field of automatic control, and in particular relates to a method for obstacle crossing of a self-moving device and the self-moving device itself. Background Technology

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, self-moving devices have been increasingly entering our daily lives.

[0003] Current self-moving devices struggle to overcome obstacles during task execution. Therefore, it is necessary to provide an obstacle-crossing method that enables self-moving devices to perform tasks while traversing obstacles. Summary of the Invention

[0004] Embodiments of this application provide a method, apparatus, and self-moving device for overcoming obstacles, thereby enabling obstacle crossing at least to a certain extent.

[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0006] According to a first aspect of the embodiments of this application, a method for obstacle crossing of a self-moving device is provided. The self-moving device includes a device body and a robotic arm connected to the device body. The robotic arm includes an operating structure, a working arm, and a joint assembly. The operating structure, the working arm, and the device body are connected via the joint assembly. The method includes:

[0007] If a traversable obstacle is detected, a support area is determined on the upper surface of the obstacle;

[0008] Control the joint assembly to rotate so that the operating structure contacts the support area, and use the operating structure as a fulcrum to lift the main body of the equipment;

[0009] Control the joint assembly to rotate, thereby rotating the main body of the device so that the main body of the device is positioned on the upper surface of the target obstacle.

[0010] In some possible embodiments of this application, the working arm includes multiple articulated arms, and the articulated assembly includes at least two rotating shafts, with each pair of articulated arms connected by the rotating shafts.

[0011] Controlling the joint assembly to rotate so that the operating structure contacts the support area, and using the operating structure as a fulcrum to lift the main body of the equipment, including:

[0012] Control at least one rotating shaft to rotate so that the operating structure contacts the support area;

[0013] Control at least one rotating axis to rotate so that the robotic arm can lift the main body of the equipment with the operating structure as the fulcrum.

[0014] In some possible embodiments of this application, before controlling the rotation of at least one rotating shaft to bring the operating structure into contact with the support region, the method further includes:

[0015] Based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined.

[0016] Controlling the rotation of at least one rotating axis to bring the operating structure into contact with the support area includes:

[0017] Based on the first rotation angle information, at least one rotating shaft is controlled to rotate so that the operating structure contacts the support point.

[0018] In some possible embodiments of this application, before determining the support point from the support region and determining the first rotation angle information of at least one rotation axis based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the method further includes:

[0019] Based on the first relative positional relationship between the device body and the target obstacle, and the shape information of the target obstacle, the current posture of the robotic arm of the self-moving device is adjusted.

[0020] Based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, a support point is determined from the support area, and first rotation angle information of at least one rotation axis is determined, including:

[0021] Based on the adjusted posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined.

[0022] In some possible embodiments of this application, controlling the rotation of at least one rotating shaft to bring the operating structure into contact with the support region includes:

[0023] Controlling at least one rotating axis to perform at least one first rotation operation until the operating structure contacts the support area, wherein the first rotation operation includes:

[0024] Determine at least one rotation axis corresponding to the current first rotation operation, and obtain the second rotation angle information corresponding to the current first rotation operation;

[0025] Based on the second rotation angle information, control the rotation of at least one rotating shaft and determine the real-time position of the operating structure after rotation;

[0026] Based on the real-time position, determine at least one rotation axis and a second rotation angle for the next rotation operation.

[0027] In some possible embodiments of this application, before controlling the rotation of at least one rotating axis to lift the main body of the equipment with the robotic arm as a fulcrum, the method further includes:

[0028] Based on the height of the target obstacle and the position of the support point of the operating structure in the support area, determine the third rotation angle information of at least one rotation axis;

[0029] Controlling at least one rotating axis to rotate so that the robotic arm, using the operating structure as a fulcrum, lifts the main body of the equipment, including:

[0030] Based on the third rotation angle information, at least one rotation axis is controlled to rotate so that the robotic arm can lift the main body of the equipment with the operating structure as the fulcrum.

[0031] In some possible embodiments of this application, controlling the rotation of at least one rotating axis to cause the robotic arm to lift the main body of the equipment with the operating structure as a fulcrum includes:

[0032] Control at least one rotating axis to perform at least one second rotation operation until the main body of the device is higher than the upper surface of the target obstacle, and the height difference between the bottom of the main body of the device and the upper surface of the target obstacle is greater than a preset threshold.

[0033] The second rotation operation includes:

[0034] Determine at least one rotation axis corresponding to the current rotation operation, and obtain the fourth rotation angle information corresponding to the current rotation operation;

[0035] Based on the fourth rotation angle information, control the rotation of at least one rotating shaft and determine the real-time height of the bottom of the main body of the equipment after rotation;

[0036] Based on the real-time height, determine at least one rotation axis and the fourth rotation angle information corresponding to the next rotation operation.

[0037] In some possible embodiments of this application, the joint assembly further includes a rotating shaft. One end of the robotic arm is connected to the operating structure, and the other end is connected to the device body via the rotating shaft. The rotating shaft is used to drive the device body to rotate about the rotating shaft in the plane in which the device body is located.

[0038] Controlling the joint assembly to rotate, thereby rotating the main body of the device, so that the main body of the device is positioned on the upper surface of the target obstacle, includes:

[0039] Control the rotation of the rotating shaft to rotate the main body of the device above the target obstacle;

[0040] Control at least one rotating shaft to rotate so that the main body of the device descends to the upper surface of the target obstacle.

[0041] In some possible embodiments of this application, before controlling the rotation of the rotating shaft, the following steps are also included:

[0042] Based on the position of the support point of the operating structure in the support area, and the second relative positional relationship between the main body of the equipment and the target obstacle, the descent area of ​​the main body of the equipment on the upper surface of the target obstacle is determined;

[0043] Controlling the rotation of the rotating shaft includes:

[0044] Control the rotation axis to rotate so that the projection of the center of gravity of the main body of the device onto the upper surface of the target obstacle is located in the descending region.

[0045] In some possible embodiments of this application, controlling the rotation of the rotating shaft includes:

[0046] The first rotation angle information of the rotation axis is determined based on the descending region;

[0047] The rotation of the axis is controlled based on the first rotation angle information.

[0048] In some possible embodiments of this application, controlling the rotation of the rotation axis so that the projection of the center of gravity of the device body onto the upper surface of the target obstacle is located in the descending region includes:

[0049] The rotating shaft is controlled to rotate at least once based on a preset rotation angle until the projection of the center of gravity of the main body of the device onto the upper surface of the target obstacle is located in the descending area.

[0050] In some possible embodiments of this application, before controlling the rotation of at least one rotating shaft to lower the device body to the upper surface of the target obstacle, the method further includes:

[0051] Based on the height difference between the bottom of the device body and the upper surface of the target obstacle, determine the fifth rotation angle information of at least one rotation axis;

[0052] Controlling at least one rotating shaft to rotate, causing the main body of the device to descend to the upper surface of the target obstacle, includes:

[0053] Based on the fifth rotation angle information, at least one rotation axis is controlled to rotate so that the main body of the device descends to the upper surface of the target obstacle.

[0054] In some possible embodiments of this application, the working arm includes a first joint arm, a second joint arm, and a third joint arm, and the rotating shaft includes a first rotating shaft and a second rotating shaft; the first joint arm and the second joint arm are connected through the first rotating shaft, and the second joint arm and the third joint arm are connected through the second rotating shaft;

[0055] Controlling at least one rotating shaft to rotate, causing the main body of the device to descend to the upper surface of the target obstacle, includes:

[0056] The second rotating shaft is controlled to rotate at least once based on a preset rotation angle until the main body of the equipment descends to the upper surface of the target obstacle.

[0057] In some possible embodiments of this application, the operating mechanism includes a robotic arm and a support, with the robotic arm connected to the robotic arm;

[0058] Controlling the joint assembly to rotate so that the operating structure contacts the support area includes:

[0059] Control the joint assembly to rotate so that the support comes into contact with the support area.

[0060] In some possible embodiments of this application, the self-moving device further includes a spatial information acquisition device; if a traversable target obstacle is detected, before determining a support area on the upper surface of the target obstacle, the device further includes:

[0061] Acquire spatial information within the field of view of the spatial information acquisition equipment;

[0062] If the existence of an obstacle is determined based on spatial information, the characteristic data of the obstacle is determined based on the spatial information; the characteristic data includes the category and shape information of the obstacle, and the shape information includes the height and shape information of the top surface of the obstacle.

[0063] If the obstacle's category matches a preset category, and the obstacle's height, determined based on its shape information, falls within a preset height range, and the area of ​​the obstacle's upper surface is greater than or equal to a preset threshold, then the obstacle is identified as a traversable target obstacle.

[0064] In some possible embodiments of this application, the feature data also includes positional information of the target obstacle, and before controlling the joint assembly to rotate so that the operating structure contacts the support area, it also includes:

[0065] Based on the location and shape information of the target obstacle, determine the location to be crossed;

[0066] Control the mobile device to move to the location where it needs to overcome the obstacle.

[0067] In some possible embodiments of this application, a support area is defined on the upper surface of the target obstacle, including:

[0068] Based on the shape information of the target obstacle and the relative position between the location to be crossed and the target obstacle, a support area is determined on the upper surface of the target obstacle.

[0069] According to a second aspect of the embodiments of this application, a self-moving device is provided, including a device body, a robotic arm connected to the device body, and a controller. The robotic arm includes an operating structure, a working arm, and a joint assembly. The operating structure, the working arm, and the device body are connected via the joint assembly. The controller is used for:

[0070] If a traversable obstacle is detected, a support area is determined on the upper surface of the obstacle;

[0071] Control the joint assembly to rotate so that the operating structure contacts the support area, and use the operating structure as a fulcrum to lift the main body of the equipment;

[0072] Control the joint assembly to rotate, thereby rotating the main body of the device so that the main body of the device is positioned on the upper surface of the target obstacle.

[0073] In some possible embodiments of this application, the working arm includes multiple articulated arms, and the articulated assembly includes at least two rotating shafts, with each pair of articulated arms connected by the rotating shafts.

[0074] When the controller controls the rotation of the joint assembly to bring the operating structure into contact with the support area, and uses the operating structure as a fulcrum to lift the main body of the equipment, it is specifically used for:

[0075] Control at least one rotating shaft to rotate so that the operating structure contacts the support area;

[0076] Control at least one rotating axis to rotate so that the robotic arm can lift the main body of the equipment with the operating structure as the fulcrum.

[0077] In some possible embodiments of this application, the controller is further configured to:

[0078] Based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined.

[0079] When the controller controls the rotation of at least one rotating shaft to bring the operating structure into contact with the support area, it is specifically used for:

[0080] Based on the first rotation angle information, at least one rotating shaft is controlled to rotate so that the operating structure contacts the support point.

[0081] In some possible embodiments of this application, before the controller determines the support point from the support region based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, and determines the first rotation angle information of at least one rotation axis, it is further configured to:

[0082] Based on the first relative positional relationship between the device body and the target obstacle, and the shape information of the target obstacle, the current posture of the robotic arm of the self-moving device is adjusted.

[0083] When the controller determines a support point from the support region and determines the first rotation angle information of at least one rotation axis based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, it is used to:

[0084] Based on the adjusted posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined.

[0085] In some possible embodiments of this application, when the controller controls the rotation of at least one rotating shaft to bring the operating structure into contact with the support area, it is specifically used for:

[0086] Controlling at least one rotating axis to perform at least one first rotation operation until the operating structure contacts the support area, wherein the first rotation operation includes:

[0087] Determine at least one rotation axis corresponding to the current first rotation operation, and obtain the second rotation angle information corresponding to the current first rotation operation;

[0088] Based on the second rotation angle information, control the rotation of at least one rotating shaft and determine the real-time position of the operating structure after rotation;

[0089] Based on the real-time position, determine at least one rotation axis and a second rotation angle for the next rotation operation.

[0090] In some possible embodiments of this application, before controlling the rotation of at least one rotating axis to cause the robotic arm to lift the main body of the equipment around the operating structure, the controller is also used to:

[0091] Based on the height of the target obstacle and the position of the support point of the operating structure in the support area, determine the third rotation angle information of at least one rotation axis;

[0092] Controlling at least one rotating axis to rotate so that the robotic arm, using the operating structure as a fulcrum, lifts the main body of the equipment, including:

[0093] Based on the third rotation angle information, at least one rotation axis is controlled to rotate so that the robotic arm can lift the main body of the equipment with the operating structure as the fulcrum.

[0094] In some possible embodiments of this application, the controller, when controlling the rotation of at least one rotating axis to cause the robotic arm to lift the main body of the equipment with the operating structure as a fulcrum, is used for:

[0095] Control at least one rotating axis to perform at least one second rotation operation until the main body of the device is higher than the upper surface of the target obstacle, and the height difference between the bottom of the main body of the device and the upper surface of the target obstacle is greater than a preset threshold.

[0096] The second rotation operation includes:

[0097] Determine at least one rotation axis corresponding to the current rotation operation, and obtain the fourth rotation angle information corresponding to the current rotation operation;

[0098] Based on the fourth rotation angle information, control the rotation of at least one rotating shaft and determine the real-time height of the bottom of the main body of the equipment after rotation;

[0099] Based on the real-time height, determine at least one rotation axis and the fourth rotation angle information corresponding to the next rotation operation.

[0100] In some possible embodiments of this application, the joint assembly further includes a rotating shaft. One end of the robotic arm is connected to the operating structure, and the other end is connected to the device body via the rotating shaft. The rotating shaft is used to drive the device body to rotate about the rotating shaft in the plane in which the device body is located.

[0101] When the controller controls the rotation of the joint assembly to drive the main body of the equipment to rotate, positioning the main body of the equipment on the upper surface of the target obstacle, it is specifically used for:

[0102] Control the rotation of the rotating shaft to rotate the main body of the device above the target obstacle;

[0103] Control at least one rotating shaft to rotate so that the main body of the device descends to the upper surface of the target obstacle.

[0104] In some possible embodiments of this application, the controller is further configured to:

[0105] Based on the position of the support point of the operating structure in the support area, and the second relative positional relationship between the main body of the equipment and the target obstacle, the descent area of ​​the main body of the equipment on the upper surface of the target obstacle is determined;

[0106] Controlling the rotation of the rotating shaft includes:

[0107] Control the rotation axis to rotate so that the projection of the center of gravity of the main body of the device onto the upper surface of the target obstacle is located in the descending region.

[0108] In some possible embodiments of this application, the controller, when controlling the rotation of the rotating shaft, is specifically used for:

[0109] The first rotation angle information of the third joint is determined based on the descending region;

[0110] The rotation of the third joint is controlled based on the first rotation angle information.

[0111] In some possible embodiments of this application, the controller, when controlling the rotation of the rotating axis so that the projection of the center of gravity of the device body onto the upper surface of the target obstacle is located in the descending region, is specifically used for:

[0112] The rotating shaft is controlled to rotate at least once based on a preset rotation angle until the projection of the center of gravity of the main body of the device onto the upper surface of the target obstacle is located in the descending area.

[0113] In some possible embodiments of this application, the controller is further configured to: Before controlling the rotation of at least one rotating shaft to lower the device body to the upper surface of the target obstacle.

[0114] Based on the height difference between the bottom of the device body and the upper surface of the target obstacle, determine the fifth rotation angle information of at least one rotation axis;

[0115] Controlling at least one rotating shaft to rotate, causing the main body of the device to descend to the upper surface of the target obstacle, includes:

[0116] Based on the fifth rotation angle information, at least one rotation axis is controlled to rotate so that the main body of the device descends to the upper surface of the target obstacle.

[0117] In some possible embodiments of this application, the working arm includes a first joint arm, a second joint arm, and a third joint arm, and the rotating shaft includes a first rotating shaft and a second rotating shaft; the first joint arm and the second joint arm are connected through the first rotating shaft, and the second joint arm and the third joint arm are connected through the second rotating shaft;

[0118] When the controller controls the rotation of at least one rotating shaft to lower the main body of the device to the upper surface of the target obstacle, it is specifically used for:

[0119] The second rotating shaft is controlled to rotate at least once based on a preset rotation angle until the main body of the equipment descends to the upper surface of the target obstacle.

[0120] In some possible embodiments of this application, the operating mechanism includes a robotic arm and a support, with the robotic arm connected to the robotic arm;

[0121] When the controller controls the rotation of the joint assembly to bring the operating structure into contact with the support area, it is specifically used for:

[0122] Control the joint assembly to rotate so that the support comes into contact with the support area.

[0123] In some possible embodiments of this application, the self-moving device further includes a spatial information acquisition device; before determining a support area on the upper surface of the target obstacle if a traversable target obstacle is detected, the controller is further configured to:

[0124] Acquire spatial information within the field of view of the spatial information acquisition equipment;

[0125] If the existence of an obstacle is determined based on spatial information, the characteristic data of the obstacle is determined based on the spatial information; the characteristic data includes the category and shape information of the obstacle, and the shape information includes the height and shape information of the top surface of the obstacle.

[0126] If the obstacle's category matches a preset category, and the obstacle's height, determined based on its shape information, falls within a preset height range, and the area of ​​the obstacle's upper surface is greater than or equal to a preset threshold, then the obstacle is identified as a traversable target obstacle.

[0127] In some possible embodiments of this application, the feature data also includes positional information of the target obstacle, and before controlling the joint assembly to rotate so that the operating structure contacts the support area, it also includes:

[0128] Based on the location and shape information of the target obstacle, determine the location to be crossed;

[0129] Control the mobile device to move to the location where it needs to overcome the obstacle.

[0130] In some possible embodiments of this application, when the controller determines the support area on the upper surface of the target obstacle, it is used to:

[0131] Based on the shape information of the target obstacle and the relative position between the location to be crossed and the target obstacle, a support area is determined on the upper surface of the target obstacle.

[0132] According to a third aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory, characterized in that the processor executes the computer program to implement the above-described obstacle-crossing method for the self-moving device.

[0133] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the methods described in the embodiments above.

[0134] According to a fifth aspect of the embodiments of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the methods described in the embodiments above.

[0135] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application.

[0136] The beneficial effects of the technical solutions provided in this application are:

[0137] When a traversable obstacle is detected, a support area is defined on the upper surface of the obstacle. By controlling the rotation of the joint assembly, the operating structure is brought into contact with the support area. Using the operating structure as a fulcrum, the main body of the equipment is lifted. Then, the joint assembly is rotated to drive the main body of the equipment to rotate, so that the main body of the equipment is positioned on the upper surface of the obstacle. For obstacles that cannot be directly crossed by the walking assembly, the main body of the equipment can be lifted and supported by the robotic arm to cross the obstacle.

[0138] Furthermore, by using the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the support point is determined from the support area. Then, combined with the current posture of the robotic arm, the current position of the operating structure is determined, which also determines the relative position information between the operating structure and the support point. Then, combined with the rotational range of the joint components and the shape information of the target obstacle, it is determined which rotation axes need to be rotated and the angle that each rotation axis needs to be rotated, which is the first rotation angle information. Based on the first rotation angle information, the corresponding rotation axis is controlled to rotate, so that the operating structure can make more accurate contact with the support.

[0139] Furthermore, by controlling at least one rotating axis to perform at least one first rotation operation until the operating structure contacts the support area, the second angle information corresponding to the next first rotation operation can be determined based on the real-time position of the operating structure during the gradual rotation of the joint assembly. This allows the operating structure to gradually approach the support area and thus contact it, preventing collisions during the process of the operating structure reaching the support area.

[0140] Furthermore, by determining the height the main body of the equipment needs to be lifted and the position of the support point, it is possible to determine which rotating axes need to be rotated and the angle of each rotating axis, i.e., to determine the third rotation angle information. Then, based on the third rotation angle information, at least one rotating axis is controlled to rotate so that the robotic arm can lift the main body of the equipment to the required height by using the operating structure as the fulcrum.

[0141] Furthermore, by controlling at least one rotating axis to perform at least one second rotation operation until the bottom of the self-moving device body is higher than the upper surface of the target obstacle and there is a certain height difference between them, the fourth angle information corresponding to the next second rotation operation can be determined based on the real-time height of the bottom of the device body during the gradual rotation of the joint assembly. This allows the bottom of the self-moving device body to gradually rise, thereby more accurately rising to the required height.

[0142] Furthermore, the angle that the rotating shaft needs to rotate is determined by the descent area, that is, the first rotation angle information is determined. Then, the rotating shaft is controlled to rotate based on the first rotation angle information so that the main body of the equipment rotates to the position corresponding to the descent area so that it can land in the descent area.

[0143] Furthermore, by controlling the rotation axis to rotate at least once based on a preset rotation angle until the projection of the center of gravity of the device body onto the upper surface of the target obstacle is located in the descending region, the rotation axis can be gradually controlled to rotate, allowing the device body to more smoothly transition to rotate above the target obstacle.

[0144] Furthermore, by pre-determining the height difference between the bottom of the main body of the equipment and the upper surface of the target obstacle, the system determines which rotating shafts need to be rotated and the angle at which each rotating shaft needs to be rotated, which is the fifth rotation angle information. By controlling the rotation of the corresponding rotating shafts through the fifth rotation angle information, the main body of the equipment can be smoothly lowered to the upper surface of the target obstacle.

[0145] Furthermore, when the main body of the device rotates to be above the target obstacle, the height difference between the bottom of the main body of the device and the upper surface of the target obstacle is relatively small. The second rotating shaft can be adjusted, which is equivalent to fine-tuning the height of the main body of the device, so that the device can land more smoothly on the upper surface of the target obstacle and avoid collisions.

[0146] Furthermore, by setting up support components to make contact with the support area, the contact area between the operating structure and the support area can be increased, thereby making the self-moving device more stable during obstacle crossing. The surface of the support components is provided with an anti-slip structure, which can increase the contact friction between the operating structure and the support area, thereby increasing the stability of the self-moving device during obstacle crossing. Attached Figure Description

[0147] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0148] Figure 1 A schematic diagram of the structure of the self-moving device provided in an embodiment of this application is shown;

[0149] Figure 2 This paper shows a schematic diagram of the structure of the robotic arm of the mobile robot in the exit posture according to an embodiment of the present application;

[0150] Figure 3 It shows Figure 2 Side view;

[0151] Figure 4 A schematic diagram of the structure of the robotic arm of the mobile robot provided in an embodiment of this application is shown;

[0152] Figure 5 A schematic diagram of the structure of the robotic arm of the mobile robot provided in an embodiment of this application is shown;

[0153] Figure 6 A flowchart of the obstacle-crossing method for a self-moving device provided in an embodiment of this application is shown;

[0154] Figure 7a A schematic diagram illustrating the self-moving device in the support phase, as an example of this application;

[0155] Figure 7b A schematic diagram illustrating the self-moving device in the lifting phase, as an example of this application;

[0156] Figure 7c A schematic diagram of a self-moving device in a rotation phase, provided as an example of this application;

[0157] Figure 7d A schematic diagram illustrating the landing phase of a self-moving device, as an example of this application;

[0158] Figure 8 This is a schematic diagram of the support area in one example of this application;

[0159] Figure 9 A schematic diagram of a scheme for performing the first rotation operation provided in an embodiment of this application;

[0160] Figure 10 A schematic diagram of a scheme for performing the second rotation operation provided in an embodiment of this application;

[0161] Figure 11 This is a schematic diagram of the structure of a self-moving device provided in one example of this application;

[0162] Figure 12 This is a schematic diagram of the operational structure provided in one example of this application;

[0163] Figure 13 This is a schematic diagram of the structure of an electronic device for obstacle crossing of a self-moving device, provided in an embodiment of this application. Detailed Implementation

[0164] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0165] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0166] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0167] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0168] It should also be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses of these terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described.

[0169] The technical solutions of this application and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0170] With the development of smart hardware technology, self-moving devices are widely used in daily life. Self-moving devices 100 can be cleaning robots such as sweeping robots, or service robots such as food delivery robots and delivery robots. The type of robot is not limited.

[0171] To increase the operating range of automated mobile devices, a robotic arm can be installed on the main body of the device. For example, in a robotic vacuum cleaner, a robotic arm can be attached to the main body to clean areas that the cleaning components cannot reach. The robotic arm can also move obstacles, allowing the cleaning components to clean areas obstructed by the obstacles (the obstructed areas can be the surface to be cleaned below the obstacle or other areas separated by the obstacle). In the case of service robots such as delivery robots or food delivery robots, the extension distance of the robotic arm can be adjusted to extend it further, thereby increasing the operating range of the automated mobile device.

[0172] Regarding the storage of the robotic arm, a receiving compartment can be set on the main body of the self-moving device. The robotic arm can be placed inside the receiving compartment; the state in which the robotic arm is stored inside the receiving compartment is the robotic arm's in-memory posture. The state in which the robotic arm is outside the receiving compartment is the out-of-memory posture. If the robotic arm is needed, it can be extended from the receiving compartment, that is, the robotic arm extends from the in-memory posture to the out-of-memory posture; this process is the robotic arm's out-of-memory action. When the robotic arm is no longer in use, it can be retracted from the out-of-memory posture back to the in-memory posture; this process is the robotic arm's in-memory action. The following will combine... Figures 1-4 This document details the specific structure of the self-moving device, how the robotic arm extends from the loading position to the unloading position (i.e., how it performs the unloading action), and how it retracts from the unloading position back to the loading position (i.e., how it performs the loading action).

[0173] Figure 1 The diagram shows a structural schematic of the self-moving device 100 provided in an embodiment of this application. Figure 2 This diagram shows a schematic of the robotic arm 120 of the self-moving device 100 provided in this embodiment of the application in an exit posture. Figure 3 It shows Figure 2 Side view, such as Figure 2 and Figure 3As shown, in some embodiments, the self-moving device 100 includes a device body 110 and a robotic arm 120. The device body 110 has a receiving compartment 115 capable of accommodating the robotic arm 120. The device body 110 is the basic component of the self-moving device 100. The device body 110 includes a chassis 112 and a wheel assembly 113 mounted on the chassis 112. The wheel assembly 113 can guide the chassis 112 to move. The wheel assembly 113 can be located on the rear side of the chassis 112, with one wheel assembly 113 on each of the left and right sides of the rear side. The device body 110 also includes an auxiliary wheel assembly 114 located on the front side of the chassis 112. The auxiliary wheel assembly 114 can be a swivel wheel and can also guide the chassis 112 to move. That is, in some embodiments, the chassis 112 can be guided to move by at least one of the wheel assembly 113 and the auxiliary wheel assembly 114.

[0174] In some embodiments, for the convenience of describing the establishment of the coordinate system of the device body 110, the coordinate system of the device body 110 has a coordinate origin, a first direction X, a second direction Y, and a third direction Z. The geometric center of the top surface of the device body 110 is the coordinate origin. The first direction X and the second direction Y are located in the plane on which the top surface of the device body 110 is located. The first direction X is the extension direction of the robotic arm 120 when the robotic arm 120 is in the loading posture. The second direction Y is perpendicular to the first direction X. The third direction Z is perpendicular to both the first direction X and the second direction Y.

[0175] The main body 110 can be a cylindrical shape, specifically a cylinder, cuboid, or cube, etc., with no particular shape limitation. If the main body 110 is a cylinder, its top surface is circular, and the geometric center of the top surface is the center of the circle. If the main body 110 is a cuboid, its top surface can be either a rectangle or a square, and regardless of whether it is a rectangle or a square, the geometric center of the top surface is the center of either the rectangle or the square.

[0176] When the robotic arm 120 is in the loading posture, it is folded and retracted into the receiving compartment 115. The projection of the folded robotic arm 120 onto the top surface of the equipment body 110 is roughly elongated. The first direction X, which is the extension direction of the robotic arm 120, refers to the length direction of the projection of the robotic arm 120 onto the top surface of the equipment body 110 (the direction of the long side of the aforementioned elongated shape). The second direction Y is perpendicular to the first direction X, that is, the width direction of the projection of the robotic arm 120 onto the top surface of the equipment body 110 (the direction of the wide side of the aforementioned elongated shape).

[0177] In order to accommodate the robotic arm 120, the shape of the receiving bin 115 is the same as that of the recovered robotic arm 120. The receiving bin 115 is also rectangular. In order to allow other components to be set on the front side of the device body 110, the receiving bin 115 is arranged laterally on the device body 110. That is, the first direction X is perpendicular to the direction of movement of the robot, the second direction Y is the direction of movement of the device body 110, and the third direction Z is the height direction of the device body 110.

[0178] For ease of description, we define the side of the self-moving device 100 that moves forward along the second direction Y as the front and the other side as the back. We define the left side of the direction from back to front along the first direction X as the left and the right side of the direction from back to front as the right. We define the side of the device body 110 where the robotic arm 120 is mounted along the third direction Z as the top and the other side as the bottom.

[0179] In this application, the walking wheel assembly 113 can lift the front of the chassis 112 a certain distance, enabling the main body of the equipment 110 to overcome obstacles. The main body of the equipment 110 also includes an auxiliary wheel assembly 114 disposed on the front of the chassis 112. The auxiliary wheel assembly 114 can be a swivel wheel. The auxiliary wheel assembly 114 can also guide the chassis 112 to move and can also lift the front of the chassis 112, enabling the main body of the equipment 110 to overcome obstacles.

[0180] In other words, in some embodiments, the chassis 112 can be guided to move by at least one of the walking wheel assembly 113 and the auxiliary wheel assembly 114, and the front of the chassis 112 can be raised by at least one of the walking wheel assembly 113 and the auxiliary wheel assembly 114, so that the main body of the equipment 110 can overcome obstacles.

[0181] However, the obstacle-crossing methods described above are suitable for situations where the obstacle is low (e.g., 2-4cm). When the obstacle is high (above 4cm), the self-moving device cannot overcome the obstacle using the above methods.

[0182] The specific structure of the robotic arm of the self-moving device of this application will be described next.

[0183] Figure 4 This paper shows a schematic diagram of the structure of the robotic arm 120 of the self-moving device 100 provided in an embodiment of this application. Figure 4 The middle arrow indicates the direction of rotation of joint assembly 126, such as... Figure 4As shown, in some embodiments, the robotic arm 120 includes an operating structure 122, a working arm 124, and a joint assembly 126. The working arm 124 includes multiple articulated arms 124, and the joint assembly 126 includes at least two rotating shafts 126. Each pair of articulated arms 124 is connected via a rotating shaft 126. The operating structure 122 is located at the end of the entire robotic arm 120 and is used to grip and secure items or clean surfaces to be cleaned.

[0184] In some embodiments, the operating structure may be a gripper or a cleaning unit, which may be a cloth, a roller brush, a side brush, etc.

[0185] The number of articulated arms 124 can be multiple, and the specific number is not limited. In this embodiment of the application, for ease of description, the implementation of the robotic arm 120 including three articulated arms 124 and an operating structure 122 is used to illustrate the movement of the entire robotic arm 120.

[0186] In some embodiments, the device body 110 has a receiving compartment 115 for accommodating the robotic arm 120 (e.g., Figure 2 As shown), the joint assembly 126 drives the working arm 124 to move. The robotic arm 120 being stored in the receiving compartment 115 means that all the working arms 124 can be stored within the receiving compartment 115. This allows the self-moving device 100 to retract the robotic arm 120 into the receiving compartment 115 when it is not needed for tasks such as climbing stairs, overcoming obstacles, or recharging. This reduces interference between the robotic arm 120 and other structures, thereby reducing damage to the robotic arm 120 and improving the overall service life of the machine.

[0187] In order to reduce the space occupied by multiple robotic arms 120, multiple working arms 124 are folded and stored in the storage compartment 115. Each working arm 124 can be folded, or only some of the working arms 124 can be folded. The folding method is not limited.

[0188] For ease of description, in one example, such as Figure 4 As shown, joint arms 124a, 124b, and 124c are defined respectively.

[0189] Similarly, the joint assembly 126 includes a rotation shaft 126a, a rotation shaft 126b, and a rotation shaft 126c. Joint arms 124a and 124b are connected via rotation shaft 126a, and joint arms 124b and 124c are connected via rotation shaft 126b. Rotation shaft 126a can adjust the pitch angle of joint arm 124a, and rotation shaft 126b can adjust the pitch angle of joint arm 124b. Joint arm 124a and operating structure 122 are connected via rotation shaft 126c, which adjusts the direction in which the operating structure 122 acts on the object, thus determining the posture of the operating structure 122.

[0190] The joint assembly 126 may also include a rotation axis 126d, with the articulated arm 124c connected to the rotation axis 126d. The rotary motor 116 drives the arm to rotate in the third direction Z, adjusting the relative angle of the entire robotic arm 120 on the device body 110, allowing the operating component to extend to different positions on the device body 110. Specifically, the operating component can be positioned at the front of the device body 110, enabling it to act on objects in front of the device body 110; alternatively, the operating component can be positioned at the rear, left, or right of the device body 110, thereby increasing the overall operating range of the robotic arm 120.

[0191] In another example, such as Figure 5 As shown, within the receiving compartment 115, the robotic arm may further include a base 124d, on which the entire robotic arm 120 can be mounted. The joint assembly 126 may further include a rotating shaft 126e, through which the joint arm 124c and the base 124d are connected. The rotating shaft 126e can adjust the pitch angle of the joint arm 124c. The rotating shaft 126d is driven to rotate along the third direction Z, which can adjust the relative angle of the entire robotic arm 120 on the device body 110, allowing the operating component to extend to different positions on the device body 110. Specifically, the operating component can be positioned at the front of the device body 110, allowing it to act on items at the front of the device body 110, or it can be positioned at the rear, left, or right of the device body 110, thereby increasing the operating range of the entire robotic arm 120.

[0192] Joint arms 124a and 124b are the main motion joints. The pitch and rotation directions of rotation axes 126a, 126b and 126e are the same. Rotation axes 126a, 126b and 126e together determine the position of the operating structure 122. Rotation axis 126c adjusts the direction of the operating structure 122 acting on the object and determines the posture of the operating structure 122.

[0193] The obstacle-crossing method of the self-moving device of this application is described below with reference to the accompanying drawings and specific embodiments.

[0194] In some possible embodiments of this application, an obstacle-crossing method for a self-moving device is provided. The self-moving device includes a device body and a robotic arm connected to the device body. The robotic arm includes an operating structure, a working arm, and a joint assembly; the operating structure, the working arm, and the device body are connected via the joint assembly. The specific structure of the self-moving device has been described in conjunction with the appendix. Figure 1-5 A detailed explanation is provided.

[0195] like Figure 6 As shown in the embodiments of this application, the obstacle-crossing method for a self-moving device may include:

[0196] Step S601: If a traversable target obstacle is detected, a support area is determined on the upper surface of the target obstacle.

[0197] The self-moving device may include spatial information acquisition devices, such as TOF (Time of Flight) sensors, image acquisition devices, etc. The spatial information acquisition devices determine the height, shape and other feature information of the detected obstacles, and determine whether the obstacles are traversable target obstacles.

[0198] The specific methods for identifying target obstacles will be explained in more detail below.

[0199] Specifically, the support area can be the area where the robotic arm's operating structure can contact the upper surface of the target obstacle.

[0200] In the specific implementation process, the support area needs to be determined in combination with the height of the target obstacle and the shape of the upper surface of the target obstacle.

[0201] The specific method for determining the support area will be explained in more detail below.

[0202] Step S602: Control the joint assembly to rotate so that the operating structure contacts the support area, and lift the main body of the equipment using the operating structure as a fulcrum.

[0203] Specifically, by controlling the rotation of the joint assembly, the position of the operating structure is adjusted so that the operating structure comes into contact with the support area; then, using the operating structure as a fulcrum, the rotation of the joint assembly is continued to lift the main body of the equipment.

[0204] Understandably, the main body of the device needs to be located on the upper surface of the target obstacle. Therefore, the main body of the device needs to be raised above the upper surface of the target obstacle, meaning there is a certain height difference between the bottom of the main body of the device and the upper surface of the target obstacle.

[0205] Step S603: Control the joint assembly to rotate, thereby rotating the main body of the device so that the main body of the device is positioned on the upper surface of the target obstacle.

[0206] Specifically, the joint assembly may include a rotating shaft, which rotates the main body of the device to make the main body of the device positioned on the upper surface of the target obstacle.

[0207] Specifically, the rotating shaft drives the main body of the equipment to rotate, positioning the main body above the upper surface of the target obstacle. Then, the joint assembly is controlled to rotate, causing the main body of the equipment to descend onto the upper surface of the target obstacle.

[0208] It should be noted that the joint assembly controlling rotation in step S603 and the joint assembly controlling rotation in step S602 can be different parts of the joint assembly. For example, the joint assembly can include a rotation axis and a pivot shaft. In step S602, the rotation axis can be controlled to rotate, and in step S603, the same pivot shaft can be controlled to rotate. Alternatively, the same part of the joint assembly can be controlled. For example, if the joint assembly includes a rotation axis that can also rotate (i.e., it can be configured for the movement of a caster wheel), then in step S602, the rotation axis can be controlled to rotate, and in step S603, the same pivot shaft can be controlled to rotate. The specific process of controlling rotation will be further explained in detail below.

[0209] like Figures 7a-7d As shown, Figures 7a-7d The process of an independent mobile device overcoming obstacles is illustrated, and may include... Figure 7a The support phase Figure 7b The lifting phase shown Figure 7c The rotational phase shown and Figure 7d The descent phase is shown in four stages. The first stage is the support stage, where the self-moving device identifies a support area on the upper surface of the target obstacle and then controls the rotation of the joint components to bring the operating structure into contact with the support area. The second stage is the lifting stage, where the device body is lifted using the operating structure as a fulcrum by controlling the rotation of the joint components. The third stage is the rotation stage, where the device body is positioned above the upper surface of the target obstacle by controlling the rotation of the joint components. The fourth stage is the descent stage, where the device body is lowered onto the upper surface of the target obstacle by controlling the rotation of the joint components.

[0210] In the above embodiments, when a traversable target obstacle is detected, a support area is determined on the upper surface of the target obstacle. By controlling the joint assembly to rotate, the operating structure is brought into contact with the support area. Using the operating structure as a fulcrum, the main body of the device is lifted. Then, the joint assembly is controlled to rotate, thereby rotating the main body of the device so that the main body of the device is positioned on the upper surface of the target obstacle. For obstacles that cannot be directly crossed by the walking assembly, the target obstacle can be crossed by supporting and lifting the main body of the device with a robotic arm.

[0211] The following will describe in detail, with reference to specific examples, the process of determining traversable target obstacles.

[0212] In some possible embodiments of this application, the self-moving device also includes a spatial information acquisition device.

[0213] If a traversable target obstacle is detected in step S601, before determining the support area on the upper surface of the target obstacle, the following steps are also included:

[0214] (1) Acquire spatial information within the field of view of the spatial information acquisition device.

[0215] Among them, the spatial information acquisition equipment may include TOF sensors, laser sensors, image acquisition equipment (cameras), etc. Accordingly, when the spatial information acquisition equipment includes a TOF sensor, the spatial information includes point cloud information; when the spatial information acquisition equipment includes a laser sensor, the spatial information includes the height information of each location point; when the spatial information acquisition equipment includes an image acquisition device, the spatial information includes image information.

[0216] The spatial information acquisition device can be installed on the main body of the self-moving device. For example, the TOF can be installed on the side wall of the main body of the device along the direction of movement. The spatial information acquisition device can also be installed on the operating structure of the robotic arm. The specific installation method of the spatial information acquisition device is not limited in this application.

[0217] In the specific implementation process, the self-moving device can also be equipped with at least one spatial information acquisition device. If two or more spatial information acquisition devices are set up, the spatial information collected by different spatial information acquisition devices can be combined to generate the final spatial information.

[0218] (2) If it is determined that there is an obstacle based on spatial information, determine the characteristic data of the obstacle based on spatial information.

[0219] The feature data includes the category and shape information of the obstacle, and the shape information includes the height and shape information of the top surface of the obstacle.

[0220] The shape information of the upper surface can include the outline shape of the upper surface of the obstacle.

[0221] (3) If the category of the obstacle matches the preset category, and the height of the obstacle is determined to be within the preset height range based on the shape information, and the area of ​​the upper surface of the obstacle is greater than or equal to the preset threshold, then the obstacle is determined to be a crossable target obstacle.

[0222] Specifically, when the spatial information acquisition device includes a TOF sensor, it can determine the shape information of obstacles from point cloud information, compare the shape information of obstacles with the pre-stored shape information corresponding to various types of obstacles, and determine the type of obstacle. When the spatial information acquisition device includes a laser sensor, the spatial information can also include brightness information, thereby determining the material information of obstacles, and further combining the shape information and material information of obstacles to determine the category of obstacles. When the spatial information acquisition device includes an image acquisition device, it can identify image information to determine the category of obstacles.

[0223] Specifically, if the obstacle's category matches a preset category (meaning the mobile device can move stably onto the obstacle's surface without tilting or tipping over), and the obstacle's height matches a preset height range, then the mobile device can cross over it. If the area of ​​the obstacle's surface is greater than or equal to a preset threshold (meaning the mobile device can move on the obstacle's surface to perform a corresponding task, such as a cleaning task), then the obstacle is identified as a crossable target obstacle.

[0224] The above embodiments illustrate the specific process of determining the target obstacle. The following will further illustrate the specific process of determining the support area on the upper surface of the target obstacle in conjunction with the embodiments.

[0225] In some possible embodiments of this application, the feature data also includes the position information of the target obstacle. Before step S602 controls the joint assembly to rotate so that the operating structure contacts the support area, the following steps are also included:

[0226] (1) Determine the location of the obstacle to be crossed based on the position and shape information of the target obstacle;

[0227] (2) Control the self-moving device to move to the position to be crossed.

[0228] The obstacle-crossing position is the position where the self-moving device is prepared to perform obstacle-crossing actions. That is, the self-moving device needs to move to the obstacle-crossing position first, and then start to perform obstacle-crossing actions, including controlling the joint components to rotate, making the operating structure contact the support area, lifting the main body of the device, etc.

[0229] In practice, the obstacle-crossing position is determined based on the location information of the target obstacle. That is, the self-moving device needs to move within the preset range of the target obstacle in order to perform the obstacle-crossing action. In addition, the obstacle-crossing position is also related to the shape information of the target obstacle. For example, when the upper surface of the target obstacle is rectangular, the obstacle-crossing position can be next to the length of the rectangle and on the center line of the rectangle. Furthermore, the distance between the obstacle-crossing position and the target obstacle will also change depending on the height of the target obstacle. For example, if the target obstacle is relatively taller, the obstacle-crossing position can be closer to the target obstacle to facilitate support and lifting.

[0230] In some possible embodiments of this application, a support area is defined on the upper surface of the target obstacle, including:

[0231] Based on the shape information of the target obstacle and the relative position between the location to be crossed and the target obstacle, a support area is determined on the upper surface of the target obstacle.

[0232] The support region is used to characterize the area where the operating structure can make contact with the target obstacle so that the operating structure can act as a fulcrum.

[0233] Specifically, the closer the relative position between the obstacle to be crossed and the target obstacle, the farther the robotic arm can extend from the edge of the target obstacle, meaning the support area can be relatively larger. The support area also needs to take into account the height and upper surface area of ​​the target obstacle; if the target obstacle is relatively taller, the support area will be relatively smaller.

[0234] In the specific implementation process, based on the relative position between the location to be crossed and the target obstacle, the height of the target obstacle, and the shape of the upper surface of the target obstacle, an area on the upper surface of the target obstacle that the operating structure of the self-moving device may move to and that is a certain distance from the edge to avoid the self-moving device tipping over due to instability can be selected as the support area.

[0235] It is important to note that not all points in the support area can necessarily serve as support points. The process of determining the support area has not yet taken into account the rotational range of the robotic arm's joint components. The support area is a set of areas where the robotic arm's operating structure is roughly estimated to be able to move to, and which are relatively safe and suitable as support points. In other words, each position point in the support area can be used as a support point if the robotic arm's operating structure can reach it.

[0236] like Figure 8 As shown, Figure 8 This is a schematic diagram of the selection of the support area in an example. In the figure, 801 is a top view of the target obstacle, and 802 can be selected as the support area on the upper surface of the target obstacle.

[0237] The above embodiments illustrate the specific process of determining the target obstacle and the support area. The following will describe in detail the specific obstacle-crossing process of the self-moving device in conjunction with the embodiments.

[0238] In some possible embodiments of this application, the working arm includes multiple articulated arms, and the articulated assembly includes at least two rotating shafts, with each pair of articulated arms connected by the rotating shafts.

[0239] Specifically, the rotation axis can be used to adjust the pitch angle of the joint arm, thereby adjusting the specific position of the operating structure.

[0240] Step S602 controls the joint assembly to rotate so that the operating structure contacts the support area, and lifts the main body of the equipment using the operating structure as a fulcrum. This may include:

[0241] (1) Control at least one rotating shaft to rotate so that the operating structure comes into contact with the support area.

[0242] Specifically, you can first determine which specific support point in the support area it contacts, that is, determine the exact contact position between the operating structure and the target obstacle, and then calculate how to control the rotation of the rotating shaft. You can also continuously control the rotation of the rotating shaft and determine the specific position of the operating structure in real time, adjusting the rotating shaft to be controlled and the corresponding rotation angle.

[0243] The following will explain these two methods separately.

[0244] First, we will explain in detail how to determine the specific support point locations within the support area, and then determine the specific method for controlling the rotation of the rotating shaft.

[0245] In one embodiment, before controlling the rotation of at least one rotating shaft to bring the operating structure into contact with the support region, the following may also be included:

[0246] Based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, a support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined.

[0247] The current posture of the robotic arm refers to the posture of the robotic arm when the self-moving device is in the position to be crossed by the obstacle.

[0248] The rotatable range of the joint assembly includes the rotatable range of each rotation axis in the joint assembly.

[0249] The shape information of the target obstacle may include the height of the target obstacle and the shape of its upper surface.

[0250] Specifically, there can be multiple available support points in the support area, that is, multiple support points that the robotic arm's operating structure can move to; if there are multiple available support points, one support can be selected at will, or the support point that is most convenient to reach can be selected.

[0251] In the specific implementation process, after determining the support point, the current position of the operating structure can be determined by combining the current posture of the robotic arm, and the relative position information between the operating structure and the support point can also be determined. Then, by combining the relative position information between the current position of the operating structure and the support area, the rotation range of the joint components, and the shape information of the target obstacle, the first rotation angle information of at least one rotation axis can be determined.

[0252] In the specific implementation process, the first rotation angle information includes which rotation axes need to be rotated, and the angle by which each rotation axis needs to be rotated.

[0253] Controlling the rotation of at least one rotating axis to bring the operating structure into contact with the support area includes:

[0254] Based on the first rotation angle information, at least one rotating shaft is controlled to rotate so that the operating structure contacts the support point.

[0255] Specifically, the rotation axes that need to be rotated to reach the support point and the rotation angle of each rotation axis are predetermined. By controlling the rotation of the corresponding rotation axis through the first rotation angle information, the operating structure can be brought into contact with the support point.

[0256] In the above embodiments, the support point is determined from the support area by the current posture of the robotic arm, the rotation range of the joint components, and the shape information of the target obstacle. Then, the current position of the operating structure is determined by combining the current posture of the robotic arm, which also determines the relative position information between the operating structure and the support point. Then, by combining the rotation range of the joint components and the shape information of the target obstacle, it is determined which rotation axes need to be rotated and the angle that each rotation axis needs to be rotated by, which is the first rotation angle information. Based on the first rotation angle information, the corresponding rotation axis is controlled to rotate, so that the operating structure can make more accurate contact with the support.

[0257] In some possible embodiments of this application, before determining the support point from the support region and determining the first rotation angle information of at least one rotation axis based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the method further includes:

[0258] Based on the first relative positional relationship between the device body and the target obstacle, and the shape information of the target obstacle, the current posture of the robotic arm of the self-moving device is adjusted.

[0259] Based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, a support point is determined from the support area, and first rotation angle information of at least one rotation axis is determined, including:

[0260] Based on the adjusted posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined.

[0261] Specifically, when the self-moving device moves to the obstacle-crossing position, the current posture of the self-moving device's robotic arm may not be suitable for obstacle crossing. For example, the extension direction of the robotic arm may not be directly facing the center of the target obstacle. In this case, obstacle crossing may require a larger rotation angle after lifting the main body of the device, or it may be difficult to rotate the main body of the device to be above the target obstacle.

[0262] Specifically, adjusting the current posture of the self-moving device can be achieved by rotating the main body of the self-moving device or adjusting the extension direction of the robotic arm.

[0263] In the specific implementation process, the current posture of the robotic arm of the self-moving device can be adjusted first, and then the support point and the first rotation angle information can be determined based on the adjusted current posture.

[0264] In some possible implementations, the height of the operating structure is less than or equal to the height of the target obstacle before the self-moving device moves to the position to be crossed. The posture of the robotic arm can also be adjusted before moving to the position to avoid collision between the robotic arm and the target obstacle.

[0265] The above embodiments illustrate the process of first determining the support point and then calculating how to control the rotation of the rotating shaft. The following will illustrate another method with reference to the embodiments, namely, by continuously controlling the rotation of the rotating shaft and determining the specific position of the operating structure in real time, adjusting the rotating shaft to be controlled and the corresponding rotation angle.

[0266] In some possible embodiments of this application, controlling the rotation of at least one rotating shaft to bring the operating structure into contact with the support region may include:

[0267] Controlling at least one rotating axis to perform at least one first rotation operation until the operating structure contacts the support area, wherein the first rotation operation includes:

[0268] ① Determine at least one rotation axis corresponding to the current first rotation operation, and obtain the second rotation angle information corresponding to the current first rotation operation;

[0269] ② Control at least one rotating shaft to rotate based on the second rotation angle information, and determine the real-time position of the operating structure after rotation;

[0270] ③ Determine at least one rotation axis and a second rotation angle for the next rotation operation based on the real-time position.

[0271] The second rotation angle information includes the rotation axis that needs to be rotated, and the rotation angle of each rotation axis that needs to be rotated.

[0272] The second rotation angle information corresponding to each first rotation operation can be the same or different. That is to say, the rotation axis corresponding to each first rotation operation can be the same or different. Even if two first rotation operations correspond to the same rotation axis, the rotation angles corresponding to the two first rotation operations can be the same or different.

[0273] Specifically, such as Figure 9As shown, the process of controlling at least one rotating axis to rotate so that the operating structure contacts the support area may include: determining at least one rotating axis corresponding to the current first rotation operation, and obtaining the second rotation angle information corresponding to the current first rotation operation; controlling at least one rotating axis to rotate based on the second rotation angle information, and determining the real-time position of the operating structure after rotation; if the operating structure contacts the support area, stopping the first rotation operation; if the operating structure does not contact the support area, determining at least one rotating axis and the second rotation angle information corresponding to the next rotation operation based on the real-time position.

[0274] In some implementations, the same second rotation angle information can be set for the first rotation operation of the first preset number of times. That is, for the first preset number of times, the corresponding rotation axis can be controlled to rotate with the preset second angle information. When it is detected that the distance between the operating structure and the support area of ​​the target obstacle is less than the preset distance, the second rotation angle information can be adjusted again, that is, the robotic arm can be fine-tuned so that the operating structure contacts the support area. At this time, the support point can be determined.

[0275] In other embodiments, the angle corresponding to the second rotation angle information can also decrease as the number of first rotation operations increases. That is, the robotic arm can be rotated relatively large at the beginning, but as the operating structure gets closer and closer to the support area, the rotation angle can be gradually reduced, i.e., the robotic arm is fine-tuned so that the operating structure can contact the support area.

[0276] In one example, the working arm includes a first joint arm, a second joint arm, and a third joint arm. The first joint arm is connected to the operating structure. The joint assembly includes a first rotation shaft and a second rotation shaft. The first joint arm and the second joint arm are connected through the first rotation shaft, and the second joint arm and the third joint arm are connected through the second rotation shaft. In the first rotation operation, the first rotation shaft can be rotated first to bring the operating structure closer to the upper surface of the target obstacle. Then, the second rotation shaft can be rotated to make the second joint arm rotate, thereby driving the first joint arm to rotate, so that the operating structure contacts the upper surface of the target obstacle.

[0277] In some other implementations, the second rotation angle information can be roughly estimated first so that the operating structure can be near the support area, and then the robotic arm can be gradually fine-tuned based on the real-time position of the operating structure so that the operating structure can contact the support area.

[0278] In the above embodiments, by controlling at least one rotating shaft to perform at least one first rotation operation until the operating structure contacts the support area, the second angle information corresponding to the next first rotation operation can be determined based on the real-time position of the operating structure during the gradual rotation of the joint assembly. This allows the operating structure to gradually approach the support area and thus contact it, preventing collisions during the process of the operating structure reaching the support area.

[0279] (2) Control at least one rotating shaft to rotate so that the robotic arm lifts the main body of the equipment with the operating structure as the fulcrum.

[0280] Specifically, once the operating structure comes into contact with the support point in the support area, the rotating shaft can be controlled to rotate using the operating structure as a fulcrum, thereby generating a reverse force on the main body of the equipment to lift the main body of the equipment.

[0281] In the specific implementation process, there are different ways to lift the main body of the equipment. You can first determine the height that the main body of the equipment needs to be lifted, and then determine how to lift the main body of the equipment, that is, how each rotating shaft should rotate; or you can gradually lift the height of the equipment and then see if the height meets the requirements for lifting.

[0282] First, we will explain the specific process of determining the required lifting height and how each rotating axis should rotate.

[0283] In some possible embodiments of this application, before controlling the rotation of at least one rotating axis to lift the main body of the equipment with the robotic arm as a fulcrum, the method further includes:

[0284] Based on the height of the target obstacle and the position of the support point of the operating structure in the support area, the third rotation angle information of at least one rotation axis is determined.

[0285] The third rotation angle information may include the rotation axis that needs to be rotated, and the rotation angle of each rotation axis.

[0286] Specifically, the required lifting height of the self-moving device can be determined based on the height of the target obstacle. The self-moving device needs to be lifted above the top surface of the target obstacle, with a certain height difference, for example, 3cm. This prevents collisions caused by unstable landing when rotating and lowering the self-moving device.

[0287] In the specific implementation process, the height that the main body of the self-moving device needs to be raised can be determined based on the height of the target obstacle. Then, based on the height that the main body of the device needs to be raised and the position of the support point, it can be determined which rotation axes need to be rotated and the angle of each rotation axis, that is, the third rotation angle information is determined.

[0288] Controlling at least one rotating axis to rotate so that the robotic arm, using the operating structure as a fulcrum, lifts the main body of the equipment, including:

[0289] Based on the third rotation angle information, at least one rotation axis is controlled to rotate so that the robotic arm can lift the main body of the equipment with the operating structure as the fulcrum.

[0290] Specifically, the height to which the main body of the equipment needs to be raised, which rotating shafts need to be rotated, and the angle to which each rotating shaft needs to be rotated are predetermined. By controlling the rotation of the corresponding rotating shafts through the third rotation angle information, the main body of the equipment can be raised to the corresponding height.

[0291] In the above embodiments, the specific rotating shafts that need to be rotated and the angle of each rotating shaft are determined by the height that the main body of the equipment needs to be raised and the position of the support point. That is, the third rotation angle information is determined. Then, based on the third rotation angle information, at least one rotating shaft is controlled to rotate so that the robotic arm can lift the main body of the equipment to the required height by using the operating structure as the fulcrum.

[0292] The above embodiments describe the process of first determining the required lifting height and then calculating the third rotation angle information. The following will describe the process of gradually lifting the main body of the equipment in conjunction with the embodiments.

[0293] In some possible embodiments of this application, controlling the rotation of at least one rotating axis to cause the robotic arm to lift the main body of the equipment with the operating structure as a fulcrum may include:

[0294] Control at least one rotating axis to perform at least one second rotation operation until the main body of the device is higher than the upper surface of the target obstacle, and the height difference between the bottom of the main body of the device and the upper surface of the target obstacle is greater than a preset threshold.

[0295] The second rotation operation includes:

[0296] ① Determine at least one rotation axis corresponding to the current rotation operation, and obtain the fourth rotation angle information corresponding to the current rotation operation;

[0297] ② Control at least one rotating shaft to rotate based on the fourth rotation angle information, and determine the real-time height of the bottom of the main body of the equipment after rotation;

[0298] ③ Determine at least one rotation axis and the fourth rotation angle information corresponding to the next rotation operation based on the real-time height.

[0299] The second rotation angle information includes the rotation axis that needs to be rotated, and the rotation angle of each rotation axis that needs to be rotated.

[0300] The fourth rotation angle information corresponding to each second rotation operation can be the same or different. That is to say, the rotation axis corresponding to each second rotation operation can be the same or different. Even if two second rotation operations correspond to the same rotation axis, the rotation angles corresponding to the two second rotation operations can be the same or different.

[0301] like Figure 10 As shown, the process of controlling at least one rotating axis to rotate so that the robotic arm lifts the main body of the equipment with the operating structure as the fulcrum may include: determining at least one rotating axis corresponding to the current rotation operation and obtaining the fourth rotation angle information corresponding to the current rotation operation; controlling at least one rotating axis to rotate based on the fourth rotation angle information and determining the real-time height of the bottom of the equipment body after rotation; if the equipment body is higher than the upper surface of the target obstacle and the height difference between the bottom of the equipment body and the upper surface of the target obstacle is greater than a preset threshold, then stopping the second rotation operation; if the equipment body is lower than the upper surface of the target obstacle, or the height difference between the bottom of the equipment body and the upper surface of the target obstacle is less than or equal to the preset threshold, then determining at least one rotating axis and the fourth rotation angle information corresponding to the next rotation operation based on the real-time height.

[0302] In some implementations, the same fourth rotation angle information can be set for the second rotation operation of the first preset number of times. That is, the corresponding rotation axis can be controlled to rotate with the preset fourth angle information for the first preset number of times. When it is detected that the bottom of the device body of the self-moving device is close to the upper surface of the target obstacle, the fourth rotation angle information can be adjusted again, that is, the robotic arm can be fine-tuned so that the bottom of the device body of the self-moving device is higher than the upper surface of the target obstacle and meets a certain height difference.

[0303] In other embodiments, the angle corresponding to the fourth rotation angle information can also decrease as the number of second rotation operations increases. That is, the robotic arm can be rotated relatively large at the beginning, but as the operating structure gets closer and closer to the support area, the rotation angle can be gradually reduced, that is, the robotic arm is fine-tuned, so that the main body of the self-moving device slowly rises.

[0304] In one example, the robotic arm includes an operating structure, a working arm, and a joint assembly. The working arm includes a first joint arm, a second joint arm, and a third joint arm. The joint assembly includes a first rotation axis and a second rotation axis. The first joint arm and the second joint arm are connected by the first rotation axis, and the second joint arm and the third joint arm are connected by the second rotation axis. In the first second rotation operation, the first rotation axis can be rotated first to allow the bottom of the self-moving device body to rise to a relatively large extent. Then, the second rotation axis can be rotated to allow the bottom of the self-moving device body to rise gradually at a smaller extent.

[0305] In some other implementations, the fourth rotation angle information can be roughly estimated first, so that the bottom of the self-moving device body rises to near the upper surface of the target obstacle. Then, based on the real-time height of the bottom of the device body, the robotic arm is gradually fine-tuned so that the bottom of the self-moving device body is higher than the upper surface of the target obstacle and has a certain height difference with the upper surface of the target obstacle.

[0306] In the above embodiments, by controlling at least one rotating axis to perform at least one second rotation operation until the bottom of the self-moving device body is higher than the upper surface of the target obstacle and there is a certain height difference between them, the fourth angle information corresponding to the next second rotation operation can be determined based on the real-time height of the bottom of the device body during the gradual rotation of the joint assembly, so that the bottom of the self-moving device body can gradually rise, thereby more accurately rising to the required height.

[0307] The above embodiments illustrate the specific process of supporting and lifting the self-moving device. The following will describe the rotation process of the main body of the self-moving device in conjunction with the embodiments.

[0308] In some possible embodiments of this application, the joint assembly further includes a rotating shaft. One end of the robotic arm is connected to the operating structure, and the other end is connected to the device body via the rotating shaft. The rotating shaft is used to drive the device body to rotate about the rotating shaft in the plane in which the device body is located.

[0309] Specifically, when the self-moving device is not in the process of overcoming obstacles, the rotating axis can be used to drive the entire robotic arm to rotate; when the operating structure contacts the support point of the target obstacle and lifts the main body of the self-moving device with the operating structure as the fulcrum to achieve obstacle overcoming, the rotating axis is used to drive the main body of the device to rotate around the rotating axis in the plane where the main body of the device is located.

[0310] Step S603, controlling the joint assembly to rotate, thereby rotating the main body of the device so that the main body of the device is positioned on the upper surface of the target obstacle, may include:

[0311] (1) Control the rotation of the rotating shaft so that the main body of the equipment rotates to above the target obstacle.

[0312] Specifically, you can first determine the position of the main body of the equipment, and then calculate how to control the rotation of the rotating shaft. Alternatively, you can continuously control the rotation of the rotating shaft and determine the specific position of the main body of the equipment in real time, adjusting the rotating shaft to be controlled and the corresponding rotation angle.

[0313] The following will explain these two methods separately.

[0314] First, we will explain in detail how to determine the specific position of the main body of the equipment, and then calculate how to control the rotation of the rotating shaft.

[0315] In some possible embodiments of this application, before controlling the rotation of the rotating shaft, the following steps are also included:

[0316] Based on the position of the support point of the operating structure in the support area, and the second relative positional relationship between the main body of the equipment and the target obstacle, the descent area of ​​the main body of the equipment on the upper surface of the target obstacle is determined.

[0317] The descent area is the region where the main body of the equipment finally lands on the upper surface of the target obstacle.

[0318] Specifically, the position of the self-moving device before landing and after rotation can be determined by the descent area.

[0319] It should be noted that the device body does not necessarily descend vertically during the process of descending to the upper surface of the target obstacle. In other words, the projected area of ​​the self-moving device before landing and after rotation does not necessarily coincide completely with the descent area. However, since the height difference between the bottom of the self-moving device body and the upper surface of the target obstacle is not large before landing, the projection of the device body on the upper surface of the target obstacle can be considered to be basically consistent with the descent area, or with a high degree of overlap.

[0320] Specifically, the descent zone can be determined based on the size of the device body, the shape of the upper surface of the target obstacle, and the rotation direction of the device body, so that when the self-moving device lands in the descent zone, it will not tip over from the upper surface of the target obstacle.

[0321] Controlling the rotation of the rotating shaft includes:

[0322] Control the rotation axis to rotate so that the projection of the center of gravity of the main body of the device onto the upper surface of the target obstacle is located in the descending region.

[0323] Specifically, if the projection of the center of the main body of the equipment onto the upper surface of the target obstacle is located in the descending region, then after the main body of the equipment lands, its center of gravity will be located in the descending region, meaning that the main body of the equipment will not tip over from the upper surface of the target obstacle.

[0324] In some possible embodiments of this application, controlling the rotation of the rotating shaft includes:

[0325] The first rotation angle information of the rotation axis is determined based on the descending region;

[0326] The rotation of the axis is controlled based on the first rotation angle information.

[0327] The first rotation angle information may include the angle by which the rotation axis needs to rotate.

[0328] It is understood that in some embodiments of this application, the rotating shaft can connect the robotic arm and the main body of the device; in other embodiments, each rotating shaft can also be configured to be both rotatable and swivelable, similar to a caster wheel.

[0329] In the specific implementation process, if there is a rotating shaft and other rotating shafts can also rotate, the rotating shaft and the rotating shafts can be combined to make the main body of the equipment rotate to the position corresponding to the descent area so that it can land in the descent area.

[0330] Specifically, the location where the main body of the equipment needs to land, i.e. the descent area, is predetermined. The angle at which the rotating shaft needs to rotate can be determined by the descent area, i.e. the first rotation angle information is determined. Then, the rotation of the rotating shaft is controlled by the first rotation angle information, so that the main body of the equipment can be rotated to the position corresponding to the descent area, so that it can land in the descent area.

[0331] In the above embodiments, the angle that the rotating shaft needs to rotate is determined by the descent region, that is, the first rotation angle information is determined, and then the rotating shaft is controlled to rotate based on the first rotation angle information so that the main body of the device rotates to the position corresponding to the descent region so that it can land in the descent region.

[0332] The above embodiments illustrate how to first determine the specific position of the main body of the equipment and then calculate how to control the rotation of the rotating shaft. The following will describe the method of continuously controlling the rotation of the rotating shaft in conjunction with the embodiments.

[0333] In some possible embodiments of this application, controlling the rotation of the rotation axis so that the projection of the center of gravity of the device body onto the upper surface of the target obstacle is located in the descending region may include:

[0334] The rotating shaft is controlled to rotate at least once based on a preset rotation angle until the projection of the center of gravity of the main body of the device onto the upper surface of the target obstacle is located in the descending area.

[0335] Specifically, the rotation angle can be controlled by a fixed preset angle. After each rotation, the position of the projection of the main body of the device on the upper surface of the target obstacle can be determined. If the projection of the main body of the device on the upper surface of the target obstacle is in the descending area, the rotation can be stopped. If the projection of the main body of the device on the upper surface of the target obstacle is not in the descending area, the rotation can continue.

[0336] It is understood that in the above embodiments, the rotation angle for each rotation is a preset rotation angle. In other embodiments, the rotation axis can also rotate at different rotation angles. For example, the rotation angle for each rotation can decrease as the number of rotations increases. This allows the rotation axis to rotate more significantly at the beginning, and then the rotation angle can be finely adjusted so that the projection of the center of gravity of the device body on the upper surface of the target obstacle can be quickly and accurately located in the descending area.

[0337] In some other embodiments, an approximate rotation angle can be estimated first, and then the rotation axis can be controlled to rotate so that the projection of the device body on the upper surface of the target obstacle is close to the descending region. Then, the rotation axis can be controlled to rotate with a smaller rotation angle so that the projection of the device body on the upper surface of the target obstacle is in the descending region.

[0338] In the above embodiments, by controlling the rotation axis to rotate at least once based on a preset rotation angle until the projection of the center of gravity of the device body on the upper surface of the target obstacle is located in the descending region, the rotation axis can be gradually controlled to rotate, so that the device body can more smoothly transition to rotate above the target obstacle.

[0339] (2) Control at least one rotating shaft to rotate so that the main body of the equipment is lowered to the upper surface of the target obstacle.

[0340] Specifically, the height difference between the bottom of the equipment body and the upper surface of the target obstacle can be determined. Based on the height difference, the rotation shaft that needs to be rotated and the rotation angle of the rotation shaft can be determined. Based on the determined rotation angle, the rotation shaft can be controlled to rotate so as to lower the equipment body to the upper surface of the target obstacle. Alternatively, the rotation shaft can be controlled to rotate continuously, and the height difference between the bottom of the equipment body and the upper surface of the target obstacle can be determined in real time. The rotation angle can be adjusted until the equipment body is lowered to the upper surface of the target obstacle.

[0341] In some possible embodiments of this application, before controlling the rotation of at least one rotating shaft to lower the device body to the upper surface of the target obstacle, the method further includes:

[0342] Based on the height difference between the bottom of the device body and the upper surface of the target obstacle, the fifth rotation angle information of at least one rotation axis is determined.

[0343] Specifically, the height difference between the bottom of the device body and the upper surface of the target obstacle can be determined by a spatial information acquisition device installed on the device body; a laser sensor can also be installed on the bottom of the device body to more accurately determine the height difference between the bottom of the device body and the upper surface of the target obstacle.

[0344] The fifth rotation angle information may include the rotation axis that needs to be rotated and the corresponding rotation angle of the rotation axis.

[0345] Controlling at least one rotating shaft to rotate, causing the main body of the device to descend to the upper surface of the target obstacle, includes:

[0346] Based on the fifth rotation angle information, at least one rotation axis is controlled to rotate so that the main body of the device descends to the upper surface of the target obstacle.

[0347] Specifically, the height difference between the bottom of the main body of the equipment and the upper surface of the target obstacle is predetermined, which determines the height that the main body of the equipment needs to descend. Based on the required descent height, it is determined which rotating shafts need to be rotated and the angle that each rotating shaft needs to be rotated at. By controlling the rotation of the corresponding rotating shafts through the fifth rotation angle information, the main body of the equipment can be lowered to the upper surface of the target obstacle.

[0348] In the above embodiments, by pre-determining the height difference between the bottom of the main body of the device and the upper surface of the target obstacle, the device body is able to smoothly descend to the upper surface of the target obstacle. This is achieved by determining which rotating shafts need to be rotated and the angle at which each rotating shaft needs to be rotated, which is the determination of the fifth rotation angle information. By controlling the rotation of the corresponding rotating shafts through the fifth rotation angle information, the main body of the device can be lowered to the upper surface of the target obstacle.

[0349] The above embodiments illustrate the process of first determining the required descent height and then calculating the fifth rotation angle information. The following will describe the process of gradually lowering the main body of the equipment in conjunction with the embodiments.

[0350] In some possible embodiments of this application, the working arm includes a first joint arm, a second joint arm, and a third joint arm, and the rotating shaft includes a first rotating shaft and a second rotating shaft; the first joint arm and the second joint arm are connected through the first rotating shaft, and the second joint arm and the third joint arm are connected through the second rotating shaft.

[0351] Controlling at least one rotating shaft to rotate, causing the main body of the device to descend to the upper surface of the target obstacle, includes:

[0352] The second rotating shaft is controlled to rotate at least once based on a preset rotation angle until the main body of the equipment descends to the upper surface of the target obstacle.

[0353] like Figure 11 As shown, the working arm 124 includes a first joint arm 124a, a second joint arm, and a third joint arm 124c, and the rotating shaft 126 includes a first rotating shaft 126a and a second rotating shaft 126b; the first joint arm 124a and the second joint arm 124b are connected by the first rotating shaft 126a, and the second joint arm 124b and the third joint arm 124c are connected by the second rotating shaft 126b.

[0354] Specifically, the second rotating shaft 126b can adjust the pitch angle of the second articulated arm 126b. Compared with adjusting the first rotating shaft 126a, when adjusting the second rotating shaft 126b, the descent of the main body of the equipment is smaller. When the main body of the equipment rotates to above the target obstacle, the height difference between the bottom of the main body of the equipment and the upper surface of the target obstacle is relatively small. Adjusting the second rotating shaft 126b is equivalent to fine-tuning the height of the main body of the equipment, so that the equipment can land more smoothly on the upper surface of the target obstacle and avoid collisions.

[0355] In the specific implementation process, the second rotating shaft can be controlled to rotate at a fixed preset rotation angle. Each rotation of the second rotating shaft determines the height difference between the bottom of the main body of the equipment and the upper surface of the target obstacle. If the main body of the equipment has not yet landed on the upper surface of the target obstacle, the second rotating shaft continues to rotate until the main body of the equipment lands on the upper surface of the target obstacle.

[0356] In other embodiments, the second rotating shaft may be rotated at a relatively larger angle initially, and then rotated at the minimum amplitude when the bottom of the device body is detected to be close to the upper surface of the target obstacle, i.e., when the height difference is less than or equal to a preset height difference threshold.

[0357] In the above embodiments, when the main body of the device is rotated above the target obstacle, the height difference between the bottom of the main body of the device and the upper surface of the target obstacle is relatively small. The second rotating shaft can be adjusted, which is equivalent to fine-tuning the height of the main body of the device, so that the device can land more smoothly on the upper surface of the target obstacle and avoid collision.

[0358] In the above embodiment, the main body of the device is lowered by rotating the second rotating shaft. In other embodiments, other rotating shafts can be adjusted, or the second rotating shaft and other rotating shafts can be combined to lower the main body of the device onto the upper surface of the target obstacle.

[0359] In some possible embodiments of this application, the operating mechanism includes a robotic arm and a support, with the robotic arm connected to the robotic arm.

[0360] Controlling the joint assembly to rotate so that the operating structure contacts the support area includes:

[0361] Control the joint assembly to rotate so that the support comes into contact with the support area.

[0362] The support component can be located at the end of the robot arm that is furthest from the working arm.

[0363] like Figure 12As shown, the operating structure 122 may include a robotic arm 122a and a support member 122b. The support member 122b may be configured as a planar structure, forming an "L" shape with the robotic arm.

[0364] Specifically, by setting up support components to make contact with the support area, the contact area between the operating structure and the support area can be increased, thereby making the self-moving device more stable during obstacle crossing.

[0365] Furthermore, the surface of the support component can be provided with an anti-slip structure, such as a concave-convex structure, which can increase the contact friction between the operating structure and the support area, thereby increasing the stability of the self-moving device during obstacle crossing.

[0366] Specifically, the support components can also be made of elastic materials, such as silicone, which can better conform to the surface of the target obstacle.

[0367] The obstacle-crossing method for the self-moving device described above, when a crossable target obstacle is detected, determines a support area on the upper surface of the target obstacle, controls the joint assembly to rotate so that the operating structure contacts the support area, and lifts the main body of the device using the operating structure as a fulcrum; then controls the joint assembly to rotate so that the main body of the device is positioned on the upper surface of the target obstacle. For obstacles that cannot be crossed directly by the walking assembly, the device can be lifted by a robotic arm to cross the target obstacle.

[0368] Furthermore, by using the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the support point is determined from the support area. Then, combined with the current posture of the robotic arm, the current position of the operating structure is determined, which also determines the relative position information between the operating structure and the support point. Then, combined with the rotational range of the joint components and the shape information of the target obstacle, it is determined which rotation axes need to be rotated and the angle that each rotation axis needs to be rotated, which is the first rotation angle information. Based on the first rotation angle information, the corresponding rotation axis is controlled to rotate, so that the operating structure can make more accurate contact with the support.

[0369] Furthermore, by controlling at least one rotating axis to perform at least one first rotation operation until the operating structure contacts the support area, the second angle information corresponding to the next first rotation operation can be determined based on the real-time position of the operating structure during the gradual rotation of the joint assembly. This allows the operating structure to gradually approach the support area and thus contact it, preventing collisions during the process of the operating structure reaching the support area.

[0370] Furthermore, by determining the height the main body of the equipment needs to be lifted and the position of the support point, it is possible to determine which rotating axes need to be rotated and the angle of each rotating axis, i.e., to determine the third rotation angle information. Then, based on the third rotation angle information, at least one rotating axis is controlled to rotate so that the robotic arm can lift the main body of the equipment to the required height by using the operating structure as the fulcrum.

[0371] Furthermore, by controlling at least one rotating axis to perform at least one second rotation operation until the bottom of the self-moving device body is higher than the upper surface of the target obstacle and there is a certain height difference between them, the fourth angle information corresponding to the next second rotation operation can be determined based on the real-time height of the bottom of the device body during the gradual rotation of the joint assembly. This allows the bottom of the self-moving device body to gradually rise, thereby more accurately rising to the required height.

[0372] Furthermore, the angle that the rotating shaft needs to rotate is determined by the descent area, that is, the first rotation angle information is determined. Then, the rotating shaft is controlled to rotate based on the first rotation angle information so that the main body of the equipment rotates to the position corresponding to the descent area so that it can land in the descent area.

[0373] Furthermore, by controlling the rotation axis to rotate at least once based on a preset rotation angle until the projection of the center of gravity of the device body onto the upper surface of the target obstacle is located in the descending region, the rotation axis can be gradually controlled to rotate, allowing the device body to more smoothly transition to rotate above the target obstacle.

[0374] Furthermore, by pre-determining the height difference between the bottom of the main body of the equipment and the upper surface of the target obstacle, the system determines which rotating shafts need to be rotated and the angle at which each rotating shaft needs to be rotated, which is the fifth rotation angle information. By controlling the rotation of the corresponding rotating shafts through the fifth rotation angle information, the main body of the equipment can be smoothly lowered to the upper surface of the target obstacle.

[0375] Furthermore, when the main body of the device rotates to be above the target obstacle, the height difference between the bottom of the main body of the device and the upper surface of the target obstacle is relatively small. The second rotating shaft can be adjusted, which is equivalent to fine-tuning the height of the main body of the device, so that the device can land more smoothly on the upper surface of the target obstacle and avoid collisions.

[0376] Furthermore, by setting up support components to make contact with the support area, the contact area between the operating structure and the support area can be increased, thereby making the self-moving device more stable during obstacle crossing. The surface of the support components is provided with an anti-slip structure, which can increase the contact friction between the operating structure and the support area, thereby increasing the stability of the self-moving device during obstacle crossing.

[0377] In some possible embodiments of this application, a self-moving device is provided, including a device body, a robotic arm connected to the device body, and a controller. The robotic arm includes an operating structure, a working arm, and a joint assembly. The operating structure, the working arm, and the device body are connected via the joint assembly. The controller is used for:

[0378] If a traversable obstacle is detected, a support area is determined on the upper surface of the obstacle;

[0379] Control the joint assembly to rotate so that the operating structure contacts the support area, and use the operating structure as a fulcrum to lift the main body of the equipment;

[0380] Control the joint assembly to rotate, thereby rotating the main body of the device so that the main body of the device is positioned on the upper surface of the target obstacle.

[0381] In some possible embodiments of this application, the working arm includes multiple articulated arms, and the articulated assembly includes at least two rotating shafts, with each pair of articulated arms connected by the rotating shafts.

[0382] When the controller controls the rotation of the joint assembly to bring the operating structure into contact with the support area, and uses the operating structure as a fulcrum to lift the main body of the equipment, it is specifically used for:

[0383] Control at least one rotating shaft to rotate so that the operating structure contacts the support area;

[0384] Control at least one rotating axis to rotate so that the robotic arm can lift the main body of the equipment with the operating structure as the fulcrum.

[0385] In some possible embodiments of this application, the controller is further configured to:

[0386] Based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined.

[0387] When the controller controls the rotation of at least one rotating shaft to bring the operating structure into contact with the support area, it is specifically used for:

[0388] Based on the first rotation angle information, at least one rotating shaft is controlled to rotate so that the operating structure contacts the support point.

[0389] In some possible embodiments of this application, before the controller determines the support point from the support region based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, and determines the first rotation angle information of at least one rotation axis, it is further configured to:

[0390] Based on the first relative positional relationship between the device body and the target obstacle, and the shape information of the target obstacle, the current posture of the robotic arm of the self-moving device is adjusted.

[0391] When the controller determines a support point from the support region and determines the first rotation angle information of at least one rotation axis based on the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, it is used to:

[0392] Based on the adjusted posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined.

[0393] In some possible embodiments of this application, when the controller controls the rotation of at least one rotating shaft to bring the operating structure into contact with the support area, it is specifically used for:

[0394] Controlling at least one rotating axis to perform at least one first rotation operation until the operating structure contacts the support area, wherein the first rotation operation includes:

[0395] Determine at least one rotation axis corresponding to the current first rotation operation, and obtain the second rotation angle information corresponding to the current first rotation operation;

[0396] Based on the second rotation angle information, control the rotation of at least one rotating shaft and determine the real-time position of the operating structure after rotation;

[0397] Based on the real-time position, determine at least one rotation axis and a second rotation angle for the next rotation operation.

[0398] In some possible embodiments of this application, before controlling the rotation of at least one rotating axis to cause the robotic arm to lift the main body of the equipment around the operating structure, the controller is also used to:

[0399] Based on the height of the target obstacle and the position of the support point of the operating structure in the support area, determine the third rotation angle information of at least one rotation axis;

[0400] Controlling at least one rotating axis to rotate so that the robotic arm, using the operating structure as a fulcrum, lifts the main body of the equipment, including:

[0401] Based on the third rotation angle information, at least one rotation axis is controlled to rotate so that the robotic arm can lift the main body of the equipment with the operating structure as the fulcrum.

[0402] In some possible embodiments of this application, the controller, when controlling the rotation of at least one rotating axis to cause the robotic arm to lift the main body of the equipment with the operating structure as a fulcrum, is used for:

[0403] Control at least one rotating axis to perform at least one second rotation operation until the main body of the device is higher than the upper surface of the target obstacle, and the height difference between the bottom of the main body of the device and the upper surface of the target obstacle is greater than a preset threshold.

[0404] The second rotation operation includes:

[0405] Determine at least one rotation axis corresponding to the current rotation operation, and obtain the fourth rotation angle information corresponding to the current rotation operation;

[0406] Based on the fourth rotation angle information, control the rotation of at least one rotating shaft and determine the real-time height of the bottom of the main body of the equipment after rotation;

[0407] Based on the real-time height, determine at least one rotation axis and the fourth rotation angle information corresponding to the next rotation operation.

[0408] In some possible embodiments of this application, the joint assembly further includes a rotating shaft. One end of the robotic arm is connected to the operating structure, and the other end is connected to the device body via the rotating shaft. The rotating shaft is used to drive the device body to rotate about the rotating shaft in the plane in which the device body is located.

[0409] When the controller controls the rotation of the joint assembly to drive the main body of the equipment to rotate, positioning the main body of the equipment on the upper surface of the target obstacle, it is specifically used for:

[0410] Control the rotation of the rotating shaft to rotate the main body of the device above the target obstacle;

[0411] Control at least one rotating shaft to rotate so that the main body of the device descends to the upper surface of the target obstacle.

[0412] In some possible embodiments of this application, the controller is further configured to:

[0413] Based on the position of the support point of the operating structure in the support area, and the second relative positional relationship between the main body of the equipment and the target obstacle, the descent area of ​​the main body of the equipment on the upper surface of the target obstacle is determined;

[0414] Controlling the rotation of the rotating shaft includes:

[0415] Control the rotation axis to rotate so that the projection of the center of gravity of the main body of the device onto the upper surface of the target obstacle is located in the descending region.

[0416] In some possible embodiments of this application, the controller, when controlling the rotation of the rotating shaft, is specifically used for:

[0417] The first rotation angle information of the third joint is determined based on the descending region;

[0418] The rotation of the third joint is controlled based on the first rotation angle information.

[0419] In some possible embodiments of this application, the controller, when controlling the rotation of the rotating axis so that the projection of the center of gravity of the device body onto the upper surface of the target obstacle is located in the descending region, is specifically used for:

[0420] The rotating shaft is controlled to rotate at least once based on a preset rotation angle until the projection of the center of gravity of the main body of the device onto the upper surface of the target obstacle is located in the descending area.

[0421] In some possible embodiments of this application, the controller is further configured to: Before controlling the rotation of at least one rotating shaft to lower the device body to the upper surface of the target obstacle.

[0422] Based on the height difference between the bottom of the device body and the upper surface of the target obstacle, determine the fifth rotation angle information of at least one rotation axis;

[0423] Controlling at least one rotating shaft to rotate, causing the main body of the device to descend to the upper surface of the target obstacle, includes:

[0424] Based on the fifth rotation angle information, at least one rotation axis is controlled to rotate so that the main body of the device descends to the upper surface of the target obstacle.

[0425] In some possible embodiments of this application, the working arm includes a first joint arm, a second joint arm, and a third joint arm, and the rotating shaft includes a first rotating shaft and a second rotating shaft; the first joint arm and the second joint arm are connected through the first rotating shaft, and the second joint arm and the third joint arm are connected through the second rotating shaft;

[0426] When the controller controls the rotation of at least one rotating shaft to lower the main body of the device to the upper surface of the target obstacle, it is specifically used for:

[0427] The second rotating shaft is controlled to rotate at least once based on a preset rotation angle until the main body of the equipment descends to the upper surface of the target obstacle.

[0428] In some possible embodiments of this application, the operating mechanism includes a robotic arm and a support, with the robotic arm connected to the robotic arm;

[0429] When the controller controls the rotation of the joint assembly to bring the operating structure into contact with the support area, it is specifically used for:

[0430] Control the joint assembly to rotate so that the support comes into contact with the support area.

[0431] In some possible embodiments of this application, the self-moving device further includes a spatial information acquisition device; before determining a support area on the upper surface of the target obstacle if a traversable target obstacle is detected, the controller is further configured to:

[0432] Acquire spatial information within the field of view of the spatial information acquisition equipment;

[0433] If the existence of an obstacle is determined based on spatial information, the characteristic data of the obstacle is determined based on the spatial information; the characteristic data includes the category and shape information of the obstacle, and the shape information includes the height and shape information of the top surface of the obstacle.

[0434] If the obstacle's category matches a preset category, and the obstacle's height, determined based on its shape information, falls within a preset height range, and the area of ​​the obstacle's upper surface is greater than or equal to a preset threshold, then the obstacle is identified as a traversable target obstacle.

[0435] In some possible embodiments of this application, the feature data also includes positional information of the target obstacle, and before controlling the joint assembly to rotate so that the operating structure contacts the support area, it also includes:

[0436] Based on the location and shape information of the target obstacle, determine the location to be crossed;

[0437] Control the mobile device to move to the location where it needs to overcome the obstacle.

[0438] In some possible embodiments of this application, when the controller determines the support area on the upper surface of the target obstacle, it is used to:

[0439] Based on the shape information of the target obstacle and the relative position between the location to be crossed and the target obstacle, a support area is determined on the upper surface of the target obstacle.

[0440] The aforementioned self-moving device, upon detecting a traversable target obstacle, determines a support area on the upper surface of the target obstacle. By controlling the rotation of the joint assembly, the operating structure comes into contact with the support area, and the main body of the device is lifted using the operating structure as a fulcrum. Then, the joint assembly is controlled to rotate, causing the main body of the device to rotate so that the main body of the device is positioned on the upper surface of the target obstacle. For obstacles that cannot be directly crossed by the walking assembly, the device can be lifted and supported by a robotic arm to cross the target obstacle.

[0441] Furthermore, by using the current posture of the robotic arm, the rotational range of the joint components, and the shape information of the target obstacle, the support point is determined from the support area. Then, combined with the current posture of the robotic arm, the current position of the operating structure is determined, which also determines the relative position information between the operating structure and the support point. Then, combined with the rotational range of the joint components and the shape information of the target obstacle, it is determined which rotation axes need to be rotated and the angle that each rotation axis needs to be rotated, which is the first rotation angle information. Based on the first rotation angle information, the corresponding rotation axis is controlled to rotate, so that the operating structure can make more accurate contact with the support.

[0442] Furthermore, by controlling at least one rotating axis to perform at least one first rotation operation until the operating structure contacts the support area, the second angle information corresponding to the next first rotation operation can be determined based on the real-time position of the operating structure during the gradual rotation of the joint assembly. This allows the operating structure to gradually approach the support area and thus contact it, preventing collisions during the process of the operating structure reaching the support area.

[0443] Furthermore, by determining the height the main body of the equipment needs to be lifted and the position of the support point, it is possible to determine which rotating axes need to be rotated and the angle of each rotating axis, i.e., to determine the third rotation angle information. Then, based on the third rotation angle information, at least one rotating axis is controlled to rotate so that the robotic arm can lift the main body of the equipment to the required height by using the operating structure as the fulcrum.

[0444] Furthermore, by controlling at least one rotating axis to perform at least one second rotation operation until the bottom of the self-moving device body is higher than the upper surface of the target obstacle and there is a certain height difference between them, the fourth angle information corresponding to the next second rotation operation can be determined based on the real-time height of the bottom of the device body during the gradual rotation of the joint assembly. This allows the bottom of the self-moving device body to gradually rise, thereby more accurately rising to the required height.

[0445] Furthermore, the angle that the rotating shaft needs to rotate is determined by the descent area, that is, the first rotation angle information is determined. Then, the rotating shaft is controlled to rotate based on the first rotation angle information so that the main body of the equipment rotates to the position corresponding to the descent area so that it can land in the descent area.

[0446] Furthermore, by controlling the rotation axis to rotate at least once based on a preset rotation angle until the projection of the center of gravity of the device body onto the upper surface of the target obstacle is located in the descending region, the rotation axis can be gradually controlled to rotate, allowing the device body to more smoothly transition to rotate above the target obstacle.

[0447] Furthermore, by pre-determining the height difference between the bottom of the main body of the equipment and the upper surface of the target obstacle, the system determines which rotating shafts need to be rotated and the angle at which each rotating shaft needs to be rotated, which is the fifth rotation angle information. By controlling the rotation of the corresponding rotating shafts through the fifth rotation angle information, the main body of the equipment can be smoothly lowered to the upper surface of the target obstacle.

[0448] Furthermore, when the main body of the device rotates to be above the target obstacle, the height difference between the bottom of the main body of the device and the upper surface of the target obstacle is relatively small. The second rotating shaft can be adjusted, which is equivalent to fine-tuning the height of the main body of the device, so that the device can land more smoothly on the upper surface of the target obstacle and avoid collisions.

[0449] Furthermore, by setting up support components to make contact with the support area, the contact area between the operating structure and the support area can be increased, thereby making the self-moving device more stable during obstacle crossing. The surface of the support components is provided with an anti-slip structure, which can increase the contact friction between the operating structure and the support area, thereby increasing the stability of the self-moving device during obstacle crossing.

[0450] In one alternative embodiment, an electronic device is provided, such as Figure 13 As shown, Figure 13 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of this application.

[0451] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0452] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 13 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0453] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0454] The memory 4003 stores computer programs that execute embodiments of this application, and its execution is controlled by the processor 4001. The processor 4001 executes the computer programs stored in the memory 4003 to implement the steps shown in the foregoing method embodiments.

[0455] For example, the electronic device can be a control terminal or a cleaning device. When the electronic device is a control terminal, the processor 4001 is configured to execute steps S301 and S302. When the electronic device is a cleaning device, the processor 4001 is configured to execute steps S901 and S902.

[0456] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps and corresponding content of the aforementioned method embodiments.

[0457] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0458] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0459] The above are only optional implementation methods for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.

Claims

1. A method for obstacle crossing of a self-moving device, characterized in that, The self-moving device includes a device body and a robotic arm connected to the device body. The robotic arm includes an operating structure, a working arm, and a joint assembly. The operating structure, the working arm, and the device body are connected via the joint assembly. The method includes: If a traversable target obstacle is detected, a support area is defined on the upper surface of the target obstacle; Control the joint assembly to rotate so that the operating structure contacts the support area, and use the operating structure as a fulcrum to lift the main body of the equipment; Control the joint assembly to rotate, thereby rotating the main body of the device so that the main body of the device is positioned on the upper surface of the target obstacle.

2. The method according to claim 1, characterized in that, The working arm includes multiple articulated arms, and the articulated assembly includes at least two rotating shafts, with each pair of articulated arms connected by the rotating shafts. The control of the joint assembly to rotate, so that the operating structure contacts the support area, and using the operating structure as a fulcrum to lift the main body of the equipment, includes: Control at least one rotating shaft to rotate so that the operating structure contacts the support area; Control at least one rotating axis to rotate so that the robotic arm, using the operating structure as a fulcrum, lifts the main body of the equipment.

3. The method according to claim 2, characterized in that, Before controlling at least one rotating axis to rotate so that the operating structure contacts the support area, the method further includes: Based on the current posture of the robotic arm, the rotational range of the joint assembly, and the shape information of the target obstacle, a support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined. Controlling at least one rotating shaft to rotate so that the operating structure contacts the support area includes: Based on the first rotation angle information, at least one rotation axis is controlled to rotate so that the operating structure comes into contact with the support point.

4. The method according to claim 3, characterized in that, Before determining the support point from the support region and determining the first rotation angle information of at least one rotation axis based on the current posture of the robotic arm, the rotation range of the joint assembly, and the shape information of the target obstacle, the method further includes: Based on the first relative positional relationship between the main body of the device and the target obstacle, and the shape information of the target obstacle, the current posture of the robotic arm of the self-moving device is adjusted; The process of determining a support point from the support region and determining a first rotation angle information for at least one rotation axis based on the current posture of the robotic arm, the rotational range of the joint assembly, and the shape information of the target obstacle includes: Based on the adjusted posture of the robotic arm, the rotatable range of the joint assembly, and the shape information of the target obstacle, a support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined.

5. The method according to claim 2, characterized in that, Controlling at least one rotating shaft to rotate so that the operating structure contacts the support area includes: Controlling at least one rotating axis to perform at least one first rotation operation until the operating structure contacts the support area, wherein the first rotation operation includes: Determine at least one rotation axis corresponding to the current first rotation operation, and obtain the second rotation angle information corresponding to the current first rotation operation; Based on the second rotation angle information, control the rotation of the at least one rotation axis and determine the real-time position of the operating structure after rotation; Based on the real-time position, at least one rotation axis and a second rotation angle information corresponding to the next rotation operation are determined.

6. The method according to claim 2, characterized in that, Before controlling at least one rotating axis to rotate so that the robotic arm lifts the main body of the equipment using the operating structure as a fulcrum, the method further includes: Based on the height of the target obstacle and the position of the support point of the operating structure in the support area, a third rotation angle information of at least one rotation axis is determined; Controlling at least one rotating axis to rotate so that the robotic arm, using the operating structure as a fulcrum, lifts the main body of the equipment includes: Based on the third rotation angle information, the at least one rotation axis is controlled to rotate, so that the robotic arm uses the operating structure as a fulcrum to lift the main body of the equipment.

7. The method according to claim 2, characterized in that, Controlling at least one rotating axis to rotate so that the robotic arm, using the operating structure as a fulcrum, lifts the main body of the equipment includes: Control the at least one rotating axis to perform at least one second rotation operation until the main body of the device is higher than the upper surface of the target obstacle, and the height difference between the bottom of the main body of the device and the upper surface of the target obstacle is greater than a preset threshold. The second rotation operation includes: Determine at least one rotation axis corresponding to the current rotation operation, and obtain the fourth rotation angle information corresponding to the current rotation operation; Based on the fourth rotation angle information, control the rotation of at least one rotation shaft and determine the real-time height of the bottom of the device body after rotation; Based on the real-time height, at least one rotation axis and a fourth rotation angle are determined for the next rotation operation.

8. The method according to claim 2, characterized in that, The joint assembly also includes a rotating shaft. One end of the robotic arm is connected to the operating structure, and the other end is connected to the device body via the rotating shaft. The rotating shaft is used to drive the device body to rotate about the rotating shaft in the plane in which the device body is located. Controlling the joint assembly to rotate, thereby rotating the main body of the device so that the main body of the device is positioned on the upper surface of the target obstacle, includes: Control the rotation of the rotating shaft to rotate the main body of the device above the target obstacle; Control at least one rotating shaft to rotate so that the main body of the device descends to the upper surface of the target obstacle.

9. The method according to claim 8, characterized in that, Before controlling the rotation of the rotating shaft, the method further includes: Based on the position of the support point of the operating structure in the support area, and the second relative positional relationship between the device body and the target obstacle, the descent area of ​​the device body on the upper surface of the target obstacle is determined; The control of the rotation of the rotating shaft includes: The rotation axis is controlled to rotate so that the projection of the center of gravity of the device body onto the upper surface of the target obstacle is located in the descending region.

10. The method according to claim 9, characterized in that, The control of the rotation of the rotating shaft includes: The first rotation angle information of the rotation axis is determined based on the descent region; The rotation of the rotation axis is controlled based on the first rotation angle information.

11. The method according to claim 9, characterized in that, Controlling the rotation of the rotating axis to make the projection of the center of gravity of the device body onto the upper surface of the target obstacle fall within the descending region includes: The rotating shaft is controlled to rotate at least once based on a preset rotation angle until the projection of the center of gravity of the main body of the device onto the upper surface of the target obstacle is located in the descending area.

12. The method according to claim 8, characterized in that, Before controlling at least one rotating axis to rotate so that the main body of the device descends to the upper surface of the target obstacle, the method further includes: Based on the height difference between the bottom of the device body and the upper surface of the target obstacle, the fifth rotation angle information of at least one rotation axis is determined; Controlling at least one rotating shaft to rotate so that the main body of the device descends to the upper surface of the target obstacle includes: Based on the fifth rotation angle information, the at least one rotation axis is controlled to rotate so that the main body of the device descends to the upper surface of the target obstacle.

13. The method according to claim 8, characterized in that, The working arm includes a first joint arm, a second joint arm, and a third joint arm, and the rotating shaft includes a first rotating shaft and a second rotating shaft; the first joint arm and the second joint arm are connected by the first rotating shaft, and the second joint arm and the third joint arm are connected by the second rotating shaft; Controlling at least one rotating shaft to rotate so that the main body of the device descends to the upper surface of the target obstacle includes: The second rotating shaft is controlled to rotate at least once based on a preset rotation angle until the main body of the device descends to the upper surface of the target obstacle.

14. The method according to claim 1, characterized in that, The operating mechanism includes a robotic arm and a support component, wherein the robotic arm is connected to the robotic arm. Controlling the joint assembly to rotate so that the operating structure contacts the support area includes: The joint assembly is rotated so that the support member contacts the support area.

15. The method according to claim 1, characterized in that, The self-moving device further includes a spatial information acquisition device; before determining a support area on the upper surface of the target obstacle if a traversable target obstacle is detected, the method further includes: Acquire spatial information within the field of view of the spatial information acquisition device; If an obstacle is determined to exist based on the spatial information, feature data of the obstacle is determined based on the spatial information; the feature data includes the category and shape information of the obstacle, and the shape information includes the height and shape information of the upper surface of the obstacle. If the obstacle's category matches a preset category, and the obstacle's height, determined based on the shape information, matches a preset height range, and the area of ​​the obstacle's upper surface is greater than or equal to a preset threshold, then the obstacle is identified as a traversable target obstacle.

16. The method according to claim 15, characterized in that, The feature data also includes the position information of the target obstacle, and before controlling the joint assembly to rotate so that the operating structure contacts the support area, it further includes: Based on the location information and shape information of the target obstacle, the location to be crossed is determined; Control the self-moving device to move to the location where the obstacle needs to be crossed.

17. The method according to claim 16, characterized in that, Determining a support area on the upper surface of the target obstacle includes: Based on the shape information of the target obstacle and the relative position between the obstacle to be crossed and the target obstacle, a support area is determined on the upper surface of the target obstacle.

18. A self-moving device, characterized in that, The device includes a main body, a robotic arm connected to the main body, and a controller. The robotic arm includes an operating structure, a working arm, and a joint assembly. The operating structure, the working arm, and the main body are connected via the joint assembly. The controller is used for: If a traversable target obstacle is detected, a support area is defined on the upper surface of the target obstacle; Control the joint assembly to rotate so that the operating structure contacts the support area, and use the operating structure as a fulcrum to lift the main body of the equipment; Control the joint assembly to rotate, thereby rotating the main body of the device so that the main body of the device is positioned on the upper surface of the target obstacle.

19. The self-moving device according to claim 18, characterized in that, The working arm includes multiple articulated arms, and the articulated assembly includes at least two rotating shafts, with each pair of articulated arms connected by the rotating shafts. When the controller controls the joint assembly to rotate so that the operating structure contacts the support area, and uses the operating structure as a fulcrum to lift the main body of the device, it is specifically used for: Control at least one rotating shaft to rotate so that the operating structure contacts the support area; Control at least one rotating axis to rotate so that the robotic arm, using the operating structure as a fulcrum, lifts the main body of the equipment.

20. The self-moving device according to claim 19, characterized in that, Before controlling at least one rotating shaft to rotate so that the operating structure contacts the support area, the controller is further configured to: Based on the current posture of the robotic arm, the rotational range of the joint assembly, and the shape information of the target obstacle, a support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined. When the controller controls at least one rotating shaft to rotate so that the operating structure contacts the support area, it is specifically used for: Based on the first rotation angle information, the at least one rotation axis is controlled to rotate so that the operating structure comes into contact with the support point.

21. The self-moving device according to claim 20, characterized in that, Before determining the support point from the support region and determining the first rotation angle information of at least one rotation axis based on the current posture of the robotic arm, the rotational range of the joint assembly, and the shape information of the target obstacle, the controller is further configured to: Based on the first relative positional relationship between the main body of the device and the target obstacle, and the shape information of the target obstacle, the current posture of the robotic arm of the self-moving device is adjusted; When the controller determines a support point from the support region and determines the first rotation angle information of at least one rotation axis based on the current posture of the robotic arm, the rotational range of the joint assembly, and the shape information of the target obstacle, it is used to: Based on the adjusted posture of the robotic arm, the rotatable range of the joint assembly, and the shape information of the target obstacle, a support point is determined from the support area, and the first rotation angle information of at least one rotation axis is determined.

22. The self-moving device according to claim 19, characterized in that, When the controller controls at least one rotating shaft to rotate so that the operating structure contacts the support area, it is specifically used for: Controlling at least one rotating axis to perform at least one first rotation operation until the operating structure contacts the support area, wherein the first rotation operation includes: Determine at least one rotation axis corresponding to the current first rotation operation, and obtain the second rotation angle information corresponding to the current first rotation operation; Based on the second rotation angle information, control the rotation of the at least one rotation axis and determine the real-time position of the operating structure after rotation; Based on the real-time position, at least one rotation axis and a second rotation angle information corresponding to the next rotation operation are determined.

23. The self-moving device according to claim 19, characterized in that, Before controlling at least one rotating axis to rotate so that the robotic arm lifts the main body of the device using the operating structure as a fulcrum, the controller is further configured to: Based on the height of the target obstacle and the position of the support point of the operating structure in the support area, a third rotation angle information of at least one rotation axis is determined; Controlling at least one rotating axis to rotate so that the robotic arm, using the operating structure as a fulcrum, lifts the main body of the equipment includes: Based on the third rotation angle information, the at least one rotation axis is controlled to rotate, so that the robotic arm uses the operating structure as a fulcrum to lift the main body of the equipment.

24. The self-moving device according to claim 19, characterized in that, When the controller controls at least one rotating shaft to rotate so that the robotic arm lifts the main body of the equipment using the operating structure as a fulcrum, it is used to: Control the at least one rotating axis to perform at least one second rotation operation until the main body of the device is higher than the upper surface of the target obstacle, and the height difference between the bottom of the main body of the device and the upper surface of the target obstacle is greater than a preset threshold. The second rotation operation includes: Determine at least one rotation axis corresponding to the current rotation operation, and obtain the fourth rotation angle information corresponding to the current rotation operation; Based on the fourth rotation angle information, control the rotation of at least one rotation shaft and determine the real-time height of the bottom of the device body after rotation; Based on the real-time height, at least one rotation axis and a fourth rotation angle are determined for the next rotation operation.

25. The self-moving device according to claim 19, characterized in that, The joint assembly also includes a rotating shaft. One end of the robotic arm is connected to the operating structure, and the other end is connected to the device body via the rotating shaft. The rotating shaft is used to drive the device body to rotate about the rotating shaft in the plane in which the device body is located. When the controller controls the joint assembly to rotate, thereby rotating the main body of the device and positioning the main body of the device on the upper surface of the target obstacle, it is specifically used for: Control the rotation of the rotating shaft to rotate the main body of the device above the target obstacle; Control at least one rotating shaft to rotate so that the main body of the device descends to the upper surface of the target obstacle.

26. The self-moving device according to claim 25, characterized in that, Before controlling the rotation of the rotating shaft, the controller is also used to: Based on the position of the support point of the operating structure in the support area, and the second relative positional relationship between the device body and the target obstacle, the descent area of ​​the device body on the upper surface of the target obstacle is determined; The control of the rotation of the rotating shaft includes: The rotation axis is controlled to rotate so that the projection of the center of gravity of the device body onto the upper surface of the target obstacle is located in the descending region.

27. The self-moving device according to claim 26, characterized in that, When controlling the rotation of the rotating shaft, the controller is specifically used for: The first rotation angle information of the third joint is determined based on the descent region; The rotation of the third joint is controlled based on the first rotation angle information.

28. The self-moving device according to claim 26, characterized in that, When the controller controls the rotation of the rotating shaft so that the projection of the center of gravity of the device body onto the upper surface of the target obstacle is located in the descending region, it is specifically used for: The rotating shaft is controlled to rotate at least once based on a preset rotation angle until the projection of the center of gravity of the main body of the device onto the upper surface of the target obstacle is located in the descending area.

29. The self-moving device according to claim 25, characterized in that, Before controlling at least one rotating shaft to rotate so that the main body of the device descends to the upper surface of the target obstacle, the controller is further configured to: Based on the height difference between the bottom of the device body and the upper surface of the target obstacle, the fifth rotation angle information of at least one rotation axis is determined; Controlling at least one rotating shaft to rotate so that the main body of the device descends to the upper surface of the target obstacle includes: Based on the fifth rotation angle information, the at least one rotation axis is controlled to rotate so that the main body of the device descends to the upper surface of the target obstacle.

30. The self-moving device according to claim 25, characterized in that, The working arm includes a first joint arm, a second joint arm, and a third joint arm, and the rotating shaft includes a first rotating shaft and a second rotating shaft; the first joint arm and the second joint arm are connected by the first rotating shaft, and the second joint arm and the third joint arm are connected by the second rotating shaft; When the controller controls at least one rotating shaft to rotate so that the main body of the device descends to the upper surface of the target obstacle, it is specifically used for: The second rotating shaft is controlled to rotate at least once based on a preset rotation angle until the main body of the device descends to the upper surface of the target obstacle.

31. The self-moving device according to claim 18, characterized in that, The operating mechanism includes a robotic arm and a support component, wherein the robotic arm is connected to the robotic arm. When the controller controls the joint assembly to rotate so that the operating structure contacts the support area, it is specifically used for: The joint assembly is rotated so that the support member contacts the support area.

32. The self-moving device according to claim 18, characterized in that, The self-moving device also includes a spatial information acquisition device; before determining a support area on the upper surface of the target obstacle if a traversable target obstacle is detected, the controller is further configured to: Acquire spatial information within the field of view of the spatial information acquisition device; If an obstacle is determined to exist based on the spatial information, the characteristic data of the obstacle is determined based on the spatial information; The feature data includes the category and shape information of the obstacle, and the shape information includes the height and shape information of the upper surface of the obstacle; If the obstacle's category matches a preset category, and the obstacle's height, determined based on the shape information, matches a preset height range, and the area of ​​the obstacle's upper surface is greater than or equal to a preset threshold, then the obstacle is identified as a traversable target obstacle.

33. The self-moving device according to claim 32, characterized in that, The feature data also includes the position information of the target obstacle, and before controlling the joint assembly to rotate so that the operating structure contacts the support area, it further includes: Based on the location information and shape information of the target obstacle, the location to be crossed is determined; Control the self-moving device to move to the location where the obstacle needs to be crossed.

34. The self-moving device according to claim 33, characterized in that, When the controller determines the support area on the upper surface of the target obstacle, it is used to: Based on the shape information of the target obstacle and the relative position between the obstacle to be crossed and the target obstacle, a support area is determined on the upper surface of the target obstacle.

35. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1-17.

36. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-17.

37. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-17.

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