Robot crossing control method and device and storage medium

Abstract

The application provides a robot crossing control method and device and a storage medium. The method comprises the following steps: when an obstacle is identified, driving a first driving wheel of the robot to cross the obstacle, controlling a second driving wheel of the robot to move backward, so that the second driving wheel moves away from the obstacle, and driving the second driving wheel of the robot to cross the obstacle. Based on this, the application realizes driving the two sides of the robot to cross the obstacle in sequence, instead of crossing the obstacle in a straight-line acceleration mode, so that the passing rate of the robot crossing the obstacle is higher than that of the straight-line acceleration mode.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a robot crossing control method and device and a storage medium. BACKGROUND

[0002] Robots may encounter various obstacles in a working environment. Taking a sweeping robot as an example, obstacles such as a door bar between adjacent rooms, a shoe or a stool on the ground, etc. may hinder the sweeping robot in the working process, resulting in the inability to continue completing the corresponding task.

[0003] The present application has found that, in the prior art, when a robot encounters an obstacle, a straight-line acceleration mode is usually adopted to cross the obstacle by increasing the speed. However, this method can only cross relatively low obstacles such as electric wires and carpets. For slightly higher obstacles, the crossing rate is relatively low by using the straight-line acceleration mode. SUMMARY

[0004] The present application provides a robot crossing control method, device and storage medium, which can solve the problem that the crossing rate is relatively low by using the straight-line acceleration mode for slightly higher obstacles when the existing robot crosses the obstacles.

[0005] In a first aspect, the present application provides a control method for a robot to cross an obstacle, comprising:

[0006] When the obstacle is identified, a first driving wheel of the robot is driven to cross the obstacle;

[0007] The second driving wheel of the robot is controlled to move backward, so that the second driving wheel moves away from the obstacle;

[0008] The second driving wheel of the robot is driven to cross the obstacle.

[0009] Optionally, the driving of the first driving wheel of the robot to cross the obstacle comprises:

[0010] The robot is controlled to rotate at a first direction by a first preset angle, the first direction being a direction in which the first driving wheel moves away from the obstacle;

[0011] The robot is controlled to rotate at a second direction by a second preset angle and accelerate forward, so as to control the first driving wheel to cross the obstacle, wherein the second direction is opposite to the first direction.

[0012] Optionally, the first preset angle is less than 180°.

[0013] Optionally, before the control of the second driving wheel of the robot to move backward, the method comprises:

[0014] controlling the robot to rotate a third preset angle in the second direction, and gradually reducing an included angle between a central axis of the robot and the obstacle and being greater than 0 degrees.

[0015] Optionally, the step of controlling the second driving wheel of the robot to move backward includes:

[0016] controlling the second driving wheel to move backward by a preset distance, or controlling the second driving wheel to move backward so that the first driving wheel touches the obstacle.

[0017] Optionally, the step of controlling the second driving wheel of the robot to move backward includes:

[0018] controlling the robot to rotate a fourth preset angle in the second direction.

[0019] Optionally, the step of driving the second driving wheel of the robot to cross the obstacle includes:

[0020] driving the second driving wheel to rotate in the first direction and accelerate forward, so as to control the second driving wheel to cross the obstacle.

[0021] In a second aspect, an embodiment of the present application provides a control device for a robot to cross an obstacle, comprising:

[0022] a first obstacle-crossing module configured to drive a first driving wheel of the robot to cross the obstacle when an obstacle is identified;

[0023] a backward-moving module configured to control a second driving wheel of the robot to move backward so that the second driving wheel moves away from the obstacle;

[0024] a second obstacle-crossing module configured to drive the second driving wheel of the robot to cross the obstacle.

[0025] In a third aspect, an embodiment of the present application provides a robot, comprising:

[0026] a body;

[0027] a first wheel and a second wheel rotatably installed on two sides of the body;

[0028] a driver drivingly connected to the first wheel and the second wheel;

[0029] a sensor arranged on the body and configured to identify whether an obstacle exists;

[0030] a control circuit arranged on the body and connected to the driver and the sensor, the control circuit performing steps of the method described above to control the driver to drive the first wheel and the second wheel to cross an obstacle.

[0031] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, wherein the computer readable instructions, when executed by one or more processors, cause the one or more processors to perform the steps of the method according to any one of the preceding aspects

[0032] The beneficial effects of the present application are: different from the prior art, the present application drives the first driving wheel of the robot to cross the obstacle when the obstacle is identified, controls the second driving wheel of the robot to move backward, so that the second driving wheel moves away from the obstacle, and drives the second driving wheel of the robot to cross the obstacle. Based on this, the present application realizes driving the two driving wheels of the robot to cross the obstacle in turn, instead of crossing the obstacle in a straight line acceleration mode, so that the passing rate of the robot crossing the obstacle is higher than that of the straight line acceleration mode. In addition, after the first driving wheel crosses the obstacle, the second driving wheel of the robot is controlled to move backward, so as to increase the space for the movement of the second driving wheel, improve the crossing speed of the second driving wheel, and thus increase the power of crossing the obstacle. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. Those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0034] Figure 1 is a step flow chart of a robot crossing control method provided by an embodiment of the present application;

[0035] Figure 2 is a step flow chart of another robot crossing control method provided by an embodiment of the present application;

[0036] Figure 3 is a flow chart diagram of a robot crossing control method provided by an embodiment of the present application;

[0037] Figure 4 is a state diagram of a robot crossing provided by an embodiment of the present application;

[0038] Figure 5 is a structural diagram of a robot crossing control device provided by an embodiment of the present application;

[0039] Figure 6 is a structural diagram of a robot provided by an embodiment of the present application. DETAILED DESCRIPTION

[0040] The features and exemplary embodiments of various aspects of the present application will be described below in detail, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0041] It should be noted that, in this paper, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variant are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or equipment including the elements.

[0042] Referring to Figure 1 , a step flow chart of a robot crossing control method provided by an embodiment of the present application is shown, which specifically includes the following steps:

[0043] Step 101, when an obstacle is identified, driving a first driving wheel of the robot to cross the obstacle.

[0044] Wherein, the obstacle can be a step, a floor mat, a threshold, a book, a shoe, etc., according to the structure of the robot chassis and the driving wheel, the obstacle to be crossed can usually be about 2 centimeters high, it should be understood that the height of the obstacle can be changed according to the specific structure of the robot, and the present application does not limit the type of obstacle.

[0045] The first driving wheel can be the left driving wheel of the robot, or the right driving wheel of the robot.

[0046] In the implementation process, the robot can identify the obstacle through the sensor installed on the robot. Specifically, whether the front is a plane level with the current position of the robot can be identified through the sensor. When the front is not a plane level with the current position of the robot, the obstacle can be identified through image recognition. When the front is a plane level with the current position of the robot, no obstacle is identified. Alternatively, the sensor on the robot emits light parallel to the ground. If reflected light is received, it indicates that there is an obstacle in front, and the distance between the robot and the obstacle can be measured according to the reflected light. Specifically, the distance can be obtained according to the principle of triangle similarity or time flight method.

[0047] The robot can also determine whether there is an obstacle through collision detection. Specifically, a collision sensor is installed on the side of the robot. When the robot collides with an object, the collision sensor is triggered to identify the obstacle.

[0048] When the obstacle of the robot is detected, the first driving wheel and the second driving wheel can be directly driven to attempt to cross the obstacle in a forward rotation linear acceleration manner. That is, the robot performs early prediction processing during linear forward movement. For example, when it is detected that the front side of the robot is lifted to a certain angle, the forward rotation speed of the first driving wheel and the second driving wheel is increased to improve the success rate of crossing the obstacle. Alternatively, when it is detected that there is an obstacle in front of the robot and the height of the obstacle is determined to be within a preset range, the forward rotation speed of the first driving wheel and the second driving wheel can be increased in advance to attempt to cross the obstacle, achieving the purpose of crossing the obstacle.

[0049] When the robot cannot accelerate to cross the obstacle in a straight line, the first side of the robot is driven to cross the obstacle, and the first driving wheel of the robot is controlled to cross the obstacle alone.

[0050] In the embodiments of the present application, when the robot identifies the obstacle, the speed is usually increased to cross the obstacle in a straight line. However, only relatively low obstacles such as power lines and carpets can be crossed. For slightly higher obstacles such as stairs, the crossing rate is low through the straight line acceleration crossing method. Moreover, if the speed is increased too much, the impact on the robot when colliding with the obstacle is greater, which can easily damage the robot. The present application can control the first driving wheel and the second driving wheel of the robot to cross the obstacle in turn when the robot cannot directly accelerate to cross the obstacle, which ensures the efficiency of crossing relatively low obstacles and also ensures that slightly higher obstacles can be crossed.

[0051] In step 102, the second driving wheel of the robot is controlled to move backward, so that the second driving wheel moves away from the obstacle.

[0052] The second drive wheel is the drive wheel on the opposite side of the first drive wheel. For example, if the first drive wheel is the left drive wheel of the robot, the second drive wheel is the right drive wheel of the robot; if the first drive wheel is the right drive wheel of the robot, the second drive wheel is the left drive wheel of the robot.

[0053] After the robot's first drive wheel crosses the obstacle, the robot's second drive wheel is further controlled to move backward. This backward movement of the second drive wheel can include translational backward movement and rotational backward movement. Translational backward movement refers to the robot moving as a whole, while rotational backward movement refers to the robot moving backward by rotating its second drive wheel, thus moving away from the obstacle. This application can use translational backward movement and / or rotational backward movement, and specific solutions are described in detail in the embodiments below.

[0054] The purpose of controlling the second drive wheel to move backward is to move it away from obstacles. On the one hand, this provides space for the second drive wheel to accelerate over obstacles, thereby increasing the power to overcome obstacles and increasing the success rate of overcoming obstacles. On the other hand, it can avoid situations such as the second drive wheel hitting walls when overcoming obstacles.

[0055] Step 103: Drive the robot's second drive wheel to cross the obstacle.

[0056] This application, upon detecting an obstacle, drives the robot's first drive wheel to cross the obstacle and controls the robot's second drive wheel to move backward, moving it away from the obstacle and driving it to cross the obstacle. Based on this, this application achieves sequential driving of the robot's two drive wheels to cross obstacles, rather than using a linear acceleration method. This results in a higher obstacle-crossing rate compared to linear acceleration. Furthermore, after the first drive wheel crosses the obstacle, controlling the robot's second drive wheel to move backward provides space for its movement, increasing its obstacle-crossing speed and thus increasing the power to cross obstacles.

[0057] Reference Figure 2 The diagram illustrates a flowchart of a robot obstacle crossing control method according to an embodiment of this application, which specifically includes the following steps:

[0058] Step 201: When an obstacle is detected, control the robot to rotate in a first direction by a first preset angle, where the first direction is the direction in which the first drive wheel moves away from the obstacle;

[0059] The first direction can be clockwise or counterclockwise.

[0060] In an embodiment of the present application, the first preset angle is less than 180 degrees, and specifically, the first preset angle can be 40 to 50 degrees. The first driving wheel and the second driving wheel of the robot are prevented from being in a parallel state with the contact surface (i.e., the ridge) of the obstacle, and generally, 40 to 50 degrees is sufficient.

[0061] When the obstacle is identified, the robot is controlled to rotate in a first direction by a first preset angle, the first direction being a direction in which the first driving wheel is away from the obstacle, so that the robot retreats by a part of distance away from the obstacle. The retreat speed of the robot is generally less than the normal forward speed of the robot, so as to ensure the distance control of the retreat of the robot and the stability of the retreat.

[0062] The retreat of the robot can include translational retreat, rotational retreat, and rotational retreat followed by translational retreat. The translational retreat refers to the movement of the whole robot in a parallel direction, and the parallel movement distance can be preset. The rotational retreat refers to the movement of the robot by rotating the wheels to achieve the retreat and move away from the obstacle. The present application can be translational retreat and / or rotational retreat.

[0063] In different embodiments, the robot can be controlled to rotate in the first direction by the first preset angle only, which belongs to rotational retreat. The robot can also be controlled to rotate in the first direction by the first preset angle first, and then controlled to retreat by translational retreat, i.e., the whole retreat by a preset distance, which belongs to rotational retreat followed by translational retreat. Alternatively, the robot can be directly controlled to retreat by translational retreat. The rotation speed or the translational retreat speed of the robot can be less than the normal walking speed of the robot.

[0064] In step 202, the robot is controlled to rotate in a second direction by a second preset angle and accelerate forward, so as to control the first driving wheel to cross the obstacle. The second direction is opposite to the first direction.

[0065] The second preset angle is greater than the first preset angle.

[0066] After the robot retreats by a part of distance away from the obstacle, the robot is controlled to rotate in the second direction by the second preset angle and accelerate forward, so as to control the first driving wheel to cross the obstacle. The speed of the first driving wheel crossing the obstacle can be higher than the normal walking speed of the robot.

[0067] In step 203, the robot is controlled to rotate in the second direction by a third preset angle, and the included angle between the center axis of the robot and the obstacle is gradually reduced and greater than 0 degrees.

[0068] In the embodiments of the present application, the robot can retreat as a whole, for example, the robot is controlled to rotate in the second direction by a third preset angle, and the angle between the central axis of the robot and the obstacle is gradually reduced and greater than 0 degrees. In addition, the angle of rotation can be controlled to avoid the universal wheel being stuck on the obstacle. The universal wheel is arranged between the first driving wheel and the second driving wheel.

[0069] The central axis of the robot can be an axis such that the first driving wheel and the second driving wheel are symmetrical to each other. When the robot is in a circular structure, the central axis can pass through the center of the robot and be an axis such that the first driving wheel and the second driving wheel are symmetrical to each other. When the robot is in a D-shaped structure, the central axis can bisect the straight line structure or the arc structure of the D shape. When the robot is in a square shape, the central axis is an axis perpendicular to the outer edge of the robot and passing through the center of the robot.

[0070] In the present application, the angle between the central axis of the robot and the obstacle is gradually reduced, which means that the end of the first driving wheel away from the obstacle is gradually moved closer to the obstacle. The angle between the central axis of the robot and the obstacle is greater than 0 degrees, which means that the distance between the end of the first driving wheel close to the obstacle and the obstacle is always less than the distance between the end of the first driving wheel away from the obstacle and the obstacle, that is, the angle between the central axis of the robot and the obstacle always maintains the same direction of the angle opening. In this way, it can be avoided that the robot rotates excessively, and it can also be avoided that the two driving wheels are parallel to the obstacle, and at the same time, it can be prepared for retreat. In addition, it can also be avoided that the universal wheel arranged between the first driving wheel and the second driving wheel is stuck on the obstacle.

[0071] In step 204, the second driving wheel is controlled to move backward by a preset distance, or the second driving wheel is controlled to move backward such that the first driving wheel abuts against the obstacle.

[0072] In the present application, the first driving wheel can abut against the obstacle while the second driving wheel is controlled to move backward by a preset distance, so that the robot can retreat by rotating, and the second driving wheel away from the obstacle can provide power for the second driving wheel to cross the obstacle.

[0073] In an embodiment of the present application, step 203 further includes:

[0074] The robot is controlled to rotate in the second direction by a fourth preset angle, so that the second driving wheel is away from the obstacle.

[0075] In the embodiment of the present application, the robot can retreat by rotating, specifically, the robot is controlled to retreat by rotating in the second direction by a fourth preset angle, so that the second driving wheel is away from the obstacle, thus providing power for the second driving wheel to accelerate over the obstacle.

[0076] In step 205, the second driving wheel of the robot is driven to cross the obstacle.

[0077] In an embodiment of the present application, the step 205 comprises:

[0078] The second driving wheel is driven to rotate in the first direction and accelerate forward, so as to control the second driving wheel to cross the obstacle. Similarly, the speed of crossing the obstacle can be greater than the speed of the robot performing.

[0079] In the present application, by controlling the robot to rotate in a first direction by a first preset angle when the obstacle is identified, the first direction being a direction in which the first driving wheel is away from the obstacle, controlling the robot to rotate in a second direction by a second preset angle and accelerate forward, so as to control the first driving wheel to cross the obstacle, wherein the second direction is opposite to the first direction, controlling the robot to rotate in the second direction by a third preset angle, and controlling the angle between the central axis of the robot and the obstacle to gradually decrease and be greater than 0 degrees, controlling the second driving wheel of the robot to move backward, so that the second driving wheel is away from the obstacle, and driving the second driving wheel of the robot to cross the obstacle, power can be provided for the second driving wheel to accelerate over the obstacle, while avoiding the second driving wheel from hitting the wall when crossing the obstacle.

[0080] In order to facilitate the understanding of the above-mentioned embodiments, the following is explained and described by an example, it should be noted that the following embodiments do not limit the present application, such as Figure 3 The steps 301-304 shown in the figure specifically comprise:

[0081] In step 301, when the robot detects the obstacle, the left driving wheel (i.e. the first driving wheel) is driven to rotate to the right by an angle to cross the obstacle first (i.e. step 101).

[0082] If it is detected that there is an obstacle in front of the robot, the robot retreats to perform linear acceleration processing, if the robot detects that it is blocked and cannot move forward, step 301 is performed: the left driving wheel is driven to rotate to the right by an angle to cross the obstacle. More specifically, as shown in Figure 4 Before the left driving wheel performs right rotation to cross the obstacle, it can first rotate to the left by an angle, that is, after linear attempt fails to cross the obstacle, the robot can first rotate to the left by an angle (i.e. the first step in Figure 4 The effect is to provide an acceleration space for the left driving wheel, and then the left driving wheel is driven to rotate to the right and accelerate to cross the obstacle (i.e. the second step in Figure 4Step 302, drive the robot to continue to rotate right by a certain angle (i.e. the fourth preset angle) (i.e. the third step in FIG. 2) to provide space for the retreat in step 303, prevent the left drive wheel from hanging on the bump, and provide space for the right drive wheel (i.e. the second drive wheel) to pass over the bump in step 304 (i.e. step 102).

[0083] Step 302, drive the robot to continue to rotate right by a certain angle (i.e. the fourth preset angle) (i.e. the third step in FIG. 2) to provide space for the retreat in step 303, prevent the left drive wheel from hanging on the bump, and provide space for the right drive wheel (i.e. the second drive wheel) to pass over the bump in step 304 (i.e. step 102). Figure 4

[0084] In step 302, the angle by which the robot is driven to continue to rotate right can be smaller than the angle by which the left drive wheel is rotated right to pass over the bump in step 301, and it is also necessary to ensure that the two drive wheels of the robot have an angle with the bump, i.e. the two drive wheels are not parallel to the bump, which can ensure that the universal wheel is in the state of passing over the bump (the universal wheel is arranged between the two drive wheels), reduce the difficulty of the right drive wheel passing over the bump, and ensure that the left drive wheel can touch the bump when the robot retreats in step 303.

[0085] Step 303, drive the robot to retreat in a straight line at a small speed for a distance (i.e. the fourth step in FIG. 2) until the left drive wheel touches the bump, and the retreat speed is usually smaller than the normal forward speed of the robot. Figure 4

[0086] In other embodiments, the robot can also be controlled to retreat in a straight line at a small speed for a preset distance.

[0087] Step 304, give the robot a forward linear speed and a left angular speed, and let the right drive wheel (i.e. the second drive wheel) of the robot accelerate to rotate left to pass over the bump (i.e. step 103) (i.e. the fifth step in FIG. 2). Figure 4

[0088] It should be noted that, for the method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the embodiments of the present application are not limited by the action sequence described, because according to the embodiments of the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily necessary for the embodiments of the present application.

[0089] Referring to Figure 5 , a structure diagram of a robot bump control device provided by an embodiment of the present application is shown, and the device comprises the following modules.

[0090] ​​​The first obstacle-crossing module 501 is configured to drive the first driving wheel of the robot to cross the obstacle when the obstacle is identified.

[0091] The backward moving module 502 is configured to control the second driving wheel of the robot to move backward so as to move away from the obstacle.

[0092] The second obstacle-crossing module 503 is configured to drive the second driving wheel of the robot to cross the obstacle.

[0093] In an embodiment of the present application, the first obstacle-crossing module 501 comprises:

[0094] The first preset angle rotating sub-module is configured to control the robot to rotate by a first preset angle in a first direction, the first direction being a direction in which the first driving wheel moves away from the obstacle.

[0095] The robot is controlled to rotate by a second preset angle in a second direction and accelerate forward, so as to control the first driving wheel to cross the obstacle, wherein the second direction is opposite to the first direction.

[0096] In an embodiment of the present application, the first preset angle is less than 180°.

[0097] In an embodiment of the present application, the device further comprises:

[0098] The third preset angle rotating module is configured to control the robot to rotate by a third preset angle in the second direction, and control the included angle between the central axis of the robot and the obstacle to gradually decrease and be greater than 0°.

[0099] In an embodiment of the present application, the backward moving module 502 comprises:

[0100] The preset distance moving sub-module is configured to control the second driving wheel to move backward by a preset distance, or control the second driving wheel to move backward so that the first driving wheel touches the obstacle.

[0101] In an embodiment of the present application, the backward moving module 502 comprises:

[0102] The fourth preset angle rotating sub-module is configured to control the robot to rotate by a fourth preset angle in the second direction.

[0103] In an embodiment of the present application, the second obstacle-crossing module 503 comprises:

[0104] The first direction rotating and accelerating sub-module is configured to drive the second driving wheel to rotate in the first direction and accelerate forward, so as to control the second driving wheel to cross the obstacle.

[0105] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts are referred to the part of the method embodiment.

[0106] As Figure 6 The embodiment of the application further provides a robot, comprising:

[0107] a body 600;

[0108] a first wheel 610 and a second wheel 620, which are rotatably installed on two sides of the body 600;

[0109] a driver 630, which is drivingly connected to the first wheel 610 and the second wheel 620;

[0110] a sensor 640, which is arranged on the body 600 and is used for identifying whether there is an obstacle;

[0111] a control circuit 650, which is arranged on the body 600 and is connected to the driver 630 and the sensor 640, and executes the steps of the method described above to control the driver 630 to drive the first wheel 610 and the second wheel 620 to cross the obstacle.

[0112] The memory is a kind of non-transient computer readable storage medium, and can be used to store non-transient software programs and non-transient computer executable programs.In addition, the memory can include high-speed random access memory, and can also include non-transient memory, such as at least one disk memory, flash memory device or other non-transient solid state memory device.In some embodiments, the memory can optionally include remote memory arranged relative to the control processor, and these remote memories can be connected to the power circuit crossing intelligent identification device through network.The examples of the above network include but are not limited to Internet, intranet, local area network, mobile communication network and combination thereof.

[0113] The embodiment of the application further provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are executed by one or more control processors, for example, are executed by the control processor, so that the above one or more control processors execute the robot crossing control method in the above method embodiment, for example, execute the method steps S101 to S103 in the above description. Figure 1

[0114] The device embodiment described above is only schematic, wherein the units described as separate components can or can not be physically separate, i.e., can be located in one place, or can be distributed on multiple network units.According to actual needs, part or all of the modules can be selected to achieve the purpose of the embodiment.​

[0115] Those skilled in the art will appreciate that all or certain steps of the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Certain physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on computer readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, as is well known to those skilled in the art, communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. The foregoing description of various preferred embodiments of the present application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise forms disclosed. Many modifications and variations are possible in light of the above teaching. It is intended that the scope of the application be limited not with this detailed description, but rather by the claims appended hereto.

Claims

1. A control method for a robot to traverse obstacles, characterized in that, include: When an obstacle is detected, the robot's first drive wheel is driven to cross the obstacle. This process includes: controlling the robot to rotate in a first direction by a first preset angle, where the first direction is the direction in which the first drive wheel moves away from the obstacle; and controlling the robot to rotate in a second direction by a second preset angle and accelerate forward, thereby controlling the first drive wheel to cross the obstacle. The second direction is opposite to the first direction. The robot's second drive wheel is controlled to move backward a preset distance, or the second drive wheel is controlled to move backward so that the first drive wheel contacts the obstacle and the second drive wheel moves away from the obstacle; The robot's second drive wheel propels it across the obstacle.

2. The control method according to claim 1, characterized in that, The first preset angle is less than 180°.

3. The control method according to claim 1, characterized in that, Before the second drive wheel of the robot moves backward, the following steps are included: The robot is controlled to rotate in the second direction by a third preset angle, and the angle between the robot's central axis and the obstacle is controlled to gradually decrease and become greater than 0 degrees.

4. The control method according to claim 1, characterized in that, The control of moving the second drive wheel of the robot backward by a preset distance, or the control of moving the second drive wheel backward, includes: Control the robot to rotate a fourth preset angle in the second direction.

5. The control method according to claim 1, characterized in that, The step of driving the robot's second drive wheel across the obstacle includes: The second drive wheel is driven to rotate in the first direction and accelerate forward, thereby controlling the second drive wheel to cross the obstacle.

6. A control device for a robot to cross obstacles, characterized in that, include: A first obstacle-crossing module is used to drive the robot's first drive wheel to cross an obstacle when an obstacle is detected. The first obstacle-crossing module includes a first preset angle rotation submodule, which controls the robot to rotate in a first direction by a first preset angle, where the first direction is the direction in which the first drive wheel moves away from the obstacle; and controls the robot to rotate in a second direction by a second preset angle and accelerate forward, thereby controlling the first drive wheel to cross the obstacle, where the second direction is opposite to the first direction. The backward movement module is used to control the second drive wheel of the robot to move backward, so that the second drive wheel moves away from the obstacle; the backward movement module includes: a preset distance backward movement submodule, used to control the second drive wheel to move backward a preset distance, or to control the second drive wheel to move backward so that the first drive wheel comes into contact with the obstacle; The second obstacle-crossing module is used to drive the robot's second drive wheel to cross the obstacle.

7. A robot, characterized in that, include: ontology; The first drive wheel and the second drive wheel are rotatably mounted on both sides of the main body; A driver that drives the first drive wheel and the second drive wheel; A sensor, installed on the main body, is used to identify the presence of obstacles; A control circuit is disposed on the body and connected to the driver and the sensor. The control circuit performs the steps of the method according to any one of claims 1 to 5 to control the driver to drive the first drive wheel and the second drive wheel to cross the obstacle.

8. A computer-readable storage medium, characterized in that, When the computer-readable instructions are executed by one or more processors, the one or more processors cause the one or more processors to perform the steps of the method according to any one of claims 1 to 5.

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