Cliff detection method of robot, robot and storage medium

Abstract

The present application discloses a cliff detection method for a robot, a robot and a storage medium, the method comprising: obtaining the detection value of the first sensor of the robot on the ground around the robot; judging whether the detection value exceeds a first threshold; obtaining environmental information of the ground; judging whether the environment of the ground meets a preset condition; if the detection value exceeds the first threshold, and the environment of the ground meets the preset condition, obtaining the detection result of the second sensor of the robot detecting the ground, the second sensor having a higher measurement accuracy than the first sensor; judging whether there is a cliff on the ground according to the detection result of the second sensor. In this way, the present application can avoid the problems caused by relying on the performance of a single first sensor, and can solve the problems of false detection, false judgment and false triggering of the first sensor due to the environment of the ground.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a cliff detection method for a robot, a robot, and a storage medium. Background Art

[0002] At present, when robots deal with cliff scenes (including low-lying areas, step areas, stair areas, areas with height differences, etc.), the cliff sensors used are basically infrared sensors. When the infrared sensor detects a cliff, the robot will make certain specific actions to avoid the specific area. Using infrared sensors to detect cliffs is simple to implement, but this method is completely dependent on the performance of infrared sensors; dust, sunlight, ground material, reflectivity, sensor working time, etc., will affect the infrared sensor's ranging, leading to problems such as false detection and false triggering. Summary of the invention

[0003] Based on this, the present application provides a cliff detection method for a robot, a robot and a storage medium, which can avoid the problems caused by relying on the performance of a single first sensor, and can solve the problems of false detection, false judgment and false triggering of the first sensor due to the ground environment.

[0004] In a first aspect, the present application provides a cliff detection method for a robot, the method comprising:

[0005] Acquire a detection value of a first sensor of the robot on the ground around the robot;

[0006] Determining whether the detection value exceeds a first threshold;

[0007] Acquiring environmental information of the ground;

[0008] Determining whether the ground environment meets preset conditions;

[0009] If the detection value exceeds a first threshold value and the environment of the ground meets a preset condition, a detection result of the ground detected by a second sensor of the robot is obtained, and the measurement accuracy of the second sensor is higher than that of the first sensor;

[0010] Whether there is a cliff on the ground is determined according to the detection result of the second sensor.

[0011] In a second aspect, the present application provides a robot, comprising a first sensor and a second sensor, and also comprising: a processor and a memory, wherein the memory is used to store a computer program; the processor is used to execute the computer program and implement the cliff detection method of the robot as described above when executing the computer program.

[0012] In a third aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the cliff detection method of the robot as described above.

[0013] The embodiments of the present application provide a cliff detection method for a robot, a robot and a storage medium. Since the robot uses two sensors to detect the ground: a first sensor and a second sensor, and the second sensor has higher measurement accuracy than the first sensor, when the detection value of the ground around the robot detected by the first sensor exceeds a first threshold, it will be judged whether the environment of the ground meets the preset conditions. When the environment of the ground meets the preset conditions, it is judged whether there is a cliff on the ground based on the detection result of the ground detected by the second sensor with higher measurement accuracy. In this way, the problems caused by relying on the performance of a single first sensor can be avoided, and the problems of false detection, false judgment and false triggering of the first sensor due to the ground environment can be solved. In addition, only one second sensor with high measurement accuracy needs to be added, which is relatively simple and convenient to implement and has a wider range of applications.

[0014] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a flow chart of an embodiment of a cliff detection method of a robot of the present application;

[0017] Figure 2 It is a structural schematic diagram of an embodiment of the robot of the present application;

[0018] Figure 3 It is a schematic diagram of a scene when the robot has a certain pitch angle in the cliff detection method of the robot of the present application;

[0019] Figure 4 It is a schematic diagram of a scenario in which the pitch angle of the robot is ignored in the cliff detection method of the robot of the present application;

[0020] Figure 5 It is a structural schematic diagram of another embodiment of the robot of the present application.

[0021] Description of main components and symbols:

[0022] 1. Robot; 11. First sensor; 12. Second sensor; 13. Driving wheel; 2. Room; 21. Threshold; 10. Processor; 20. Memory. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0025] At present, when robots deal with cliff scenes, the cliff sensors they use are basically infrared sensors. This detection method is simple to implement, but it is completely dependent on the performance of infrared sensors. Dust, sunlight, ground material, reflectivity, sensor working time, etc. will affect the ranging of infrared sensors, leading to problems such as false detection, false judgment, and false triggering.

[0026] In the embodiment of the present application, the robot adopts two sensors to detect the ground: a first sensor and a second sensor. The second sensor has higher measurement accuracy than the first sensor. When the detection value of the ground around the robot detected by the first sensor exceeds a first threshold, it will determine whether the ground environment meets the preset conditions. When the ground environment meets the preset conditions, it is determined whether there is a cliff on the ground based on the detection result of the ground detected by the second sensor with higher measurement accuracy. In this way, the problems caused by relying on the performance of a single first sensor can be avoided, and the problems of false detection, false judgment, and false triggering of the first sensor due to the ground environment can be solved. In addition, only a second sensor with high measurement accuracy needs to be added, which is relatively simple and convenient to implement and has a wider range of applications.

[0027] See also Figure 1 , Figure 1 It is a flow chart of an embodiment of a cliff detection method of a robot of the present application.

[0028] The robot of the embodiment of the present application may be a device capable of autonomous movement, such as a cleaning robot.

[0029] The robot in the embodiment of the present application is provided with two sensors: a first sensor and a second sensor, and the second sensor has a higher measurement accuracy than the first sensor. The first sensor may be a distance sensor with low measurement accuracy (for example: an infrared sensor, an ultrasonic sensor, etc.) or other types of sensors with low measurement accuracy. Since the infrared sensor is relatively low in cost, the first sensor may generally be an infrared sensor. The second sensor may be a distance sensor with high measurement accuracy, other types of sensors with high measurement accuracy, or a hybrid sensor in which multiple types of sensors are combined; wherein, the distance sensor with high measurement accuracy includes: a time of flight (TOF) sensor, a high-precision laser ranging sensor, a high-precision radar sensor, etc.; wherein, the hybrid sensor includes a TOF camera in which a time of flight sensor is combined with an image sensor, etc.

[0030] The positions and numbers of the first and second sensors can be determined according to the specific robot, the specific functions of the robot, etc. Since the second sensor has higher measurement accuracy than the first sensor, the cost of the second sensor is usually higher than that of the first sensor, and the number of the second sensors can be less than that of the first sensors to save costs.

[0031] In one embodiment, the first sensor comprises an infrared sensor and the second sensor comprises a time-of-flight sensor.

[0032] For example, see Figure 2 In a robot 1 (for example, a cleaning robot), the number of first sensors 11 (for example, infrared sensors) is more than two (four are shown in the figure), the number of second sensors 12 (for example, time-of-flight sensors) is one, and the more than two first sensors 11 are respectively arranged near the driving wheels 13 of the chassis of the robot 1 (the four first sensors 11 in the figure are respectively arranged at the left front, right front, left rear, and right rear positions on both sides of the driving wheel 13), and one second sensor 12 is arranged at a position directly in front of the chassis of the robot 1.

[0033] The cliff in the embodiments of the present application generally refers to a scene that can easily cause the robot to get stuck, fall, or be unable to pass through: for example, low-lying areas on the ground, stair areas, areas with large height differences, and other scenes.

[0034] The method includes: step S101, step S102 and step S103.

[0035] Step S101: obtaining a detection value of the first sensor of the robot on the ground around the robot; determining whether the detection value exceeds a first threshold; obtaining environmental information of the ground; and determining whether the environment of the ground meets a preset condition.

[0036] In the embodiment of the present application, the detection value can be the height value of the robot from the ground detected by the first sensor, or it can be the light intensity value detected by the first sensor; if the detection value is a height value, the first threshold is the height threshold, and the detection value exceeds the height threshold, then in the relevant technology it can be judged that there is a cliff on the ground; if the detection value is a light intensity value, the first threshold is the light intensity threshold, and the detection value exceeds the light intensity threshold, then in the relevant technology it can be judged that there is a cliff on the ground.

[0037] The measurement accuracy of the first sensor is low. When there is no environmental interference, most of the time, there will be no false detection, false judgment, or false triggering. The judgment result obtained based on the detection result of the first sensor is usually accurate. In most cases, the judgment result obtained based on the detection result of the first sensor shall prevail. When there may be false detection, false judgment, or false triggering, it is necessary to judge based on the second sensor with high measurement accuracy. The preset condition is that the first sensor may produce false detection, false judgment, or false triggering. By setting the preset condition, it is possible to more accurately determine the situation where the second sensor is required to detect. The preset condition is pre-set. When the detection value of the first sensor exceeds the first threshold, it is necessary to determine whether the current ground environment meets the preset condition. If it does, the detection result of the second sensor is used as the basis for judging whether there is a cliff on the ground, so as to avoid the first sensor causing false detection, false judgment, or false triggering as much as possible. The preset condition can be determined based on the application scenario where the first sensor is prone to false detection, false judgment, or false triggering.

[0038] In step S101, the detection value is obtained, the environmental information of the ground is obtained, and it is determined whether the detection value exceeds a first threshold and whether the ground environment meets a preset condition. The execution order may include at least the following three possible situations.

[0039] The first possible situation is: first obtain the detection value of the first sensor of the robot on the ground around the robot; then determine whether the detection value exceeds a first threshold; if the detection value exceeds the first threshold, obtain the environmental information of the ground; then determine whether the environment of the ground meets the preset conditions.

[0040] The second possible situation is: simultaneously obtaining the detection value of the first sensor of the robot on the ground around the robot and the environmental information of the ground; then judging whether the detection value exceeds a first threshold; if the detection value exceeds the first threshold, judging whether the environment of the ground meets the preset conditions.

[0041] A third possible situation is: first obtain the environmental information of the ground; then obtain the detection value of the first sensor of the robot on the ground around the robot; then determine whether the detection value exceeds a first threshold; if the detection value exceeds the first threshold, determine whether the environment of the ground meets the preset conditions.

[0042] Step S102: If the detection value exceeds a first threshold value and the environment of the ground meets a preset condition, a detection result of the second sensor of the robot detecting the ground is obtained, and the measurement accuracy of the second sensor is higher than that of the first sensor.

[0043] Step S103: determining whether there is a cliff on the ground according to the detection result of the second sensor.

[0044] When the detection value exceeds the first threshold value and the environment of the ground meets the preset conditions, the detection result of the second sensor of the robot detecting the ground is obtained, and it is determined whether there is a cliff on the ground according to the detection result of the second sensor.

[0045] Since the second sensor has higher measurement accuracy than the first sensor, the detection result of the second sensor is more reliable than the detection result of the first sensor. When the detection value of the ground around the robot detected by the first sensor exceeds the first threshold, when the ground environment meets the preset conditions, the detection result of the ground detected by the second sensor with higher measurement accuracy is used to judge whether there is a cliff on the ground. In this way, the problems caused by relying on the performance of a single first sensor can be avoided, and the problems of false detection, false judgment, and false triggering of the first sensor due to the ground environment can be solved. In addition, only a second sensor with high measurement accuracy needs to be added, which is relatively simple and convenient to implement and has a wider range of applications.

[0046] The purpose of detecting cliffs is to prevent the robot from falling when encountering a cliff scene. Current robots have an anti-fall working mode. After detecting a cliff in the anti-fall working mode, the robot will automatically avoid the cliff. The method of the embodiment of the present application can be executed when the robot turns on the anti-fall working mode.

[0047] In one embodiment, the preset condition includes the location of the ground including a preset scene. For example, the preset scene may include a dusty ground, a high reflectivity ground, a threshold, a step, and the like.

[0048] In one embodiment, the preset scene includes a threshold and / or a step. In addition to the threshold, the threshold may also include a position near the threshold, and in addition to the step, the step may also include a position near the step. When the robot is used in a home environment, although the home environment is relatively complex, cliff scenes such as low-lying areas are relatively rare, while thresholds and steps are relatively common scenes.

[0049] In one embodiment, the method further includes: if it is determined that there is no cliff on the ground according to the detection result of the second sensor, the robot is controlled to pass through the preset scene. In this preset scene, in the related art, it is possible to determine that there is a cliff on the ground only based on the detection value of the first sensor. If the detection result of the second sensor is not used, the robot will not pass through the preset scene but will avoid the preset scene; in the embodiment of the present application, since it is further determined that there is no cliff on the ground according to the detection result of the second sensor, the robot is controlled to pass through the preset scene. In this way, it is possible to avoid the robot avoiding the preset scene due to misdetection, misjudgment, and mistriggering of the first sensor.

[0050] In one embodiment, the method further includes: if it is determined according to the detection result of the second sensor that there is a cliff on the ground, the robot is controlled not to pass through the ground to avoid the cliff on the ground. In this way, the risk of the robot falling off the cliff can be avoided. For example, in a home environment, thresholds and / or steps are relatively common scenes. In the related art, only the detection value of the first sensor is used to determine that there is a cliff on the ground. The cleaning robot will not pass through the threshold and / or steps to enter the corresponding room or area for cleaning, but will avoid the threshold and / or steps to enter the corresponding room or area, which is easy to cause missed sweeping and missed mopping, and easily reduce the user experience. In the embodiment of the present application, according to the detection result of the second sensor, if it is determined that there is no cliff on the ground, the robot can be controlled to pass through the threshold and / or steps to enter the corresponding room or area for cleaning, which can avoid missed sweeping and missed mopping, and can also increase the robot's obstacle passing rate and success rate, thereby solving the problem of robot cleaning omissions and being trapped, and effectively improving the user experience.

[0051] like Figure 2 As shown, there is a threshold 21 in the room 2. If the detection result of the second sensor 12 determines that there is no cliff on the ground, the robot is controlled to clean through the threshold 21 to avoid missing other areas separated by the threshold 21.

[0052] In one embodiment, in step S101, the determining whether the environment of the ground meets a preset condition may include: determining whether the location of the ground includes a preset scene based on environmental information of the ground; if the location of the ground includes a preset scene, determining that the environment of the ground meets the preset condition.

[0053] If the robot does not create a map before operating the work area, then before starting the work, the robot can create a map of the work area through sensors such as radar sensors, and can obtain the preset scene conditions of the work area after the map is established. When the work area is subsequently operated, the previously established map can be used to obtain the preset scene conditions of the work area. After obtaining the environmental information of the ground, based on the environmental information of the ground and combined with the map, it can be determined whether the location of the ground is at the location of the preset scene. If the location of the ground is at the location of the preset scene, it means that the location of the ground includes the preset scene, and it is determined that the environment of the ground meets the preset conditions. Alternatively, the robot can also perform detection and identification on-site in the work area, identify and determine whether the environment of the ground meets the preset conditions based on the environmental information of the ground.

[0054] In one embodiment, in step S101, the determination of whether the environment of the ground meets a preset condition may also include: determining, based on environmental information of the ground, whether a position corresponding to a position on a map at which the ground is located includes a preset tag; if the position corresponding to the map at which the ground is located includes a preset tag, then determining that the environment of the ground meets the preset condition.

[0055] After the robot builds a map of the work area, the user can set preset tags at certain locations on the map according to the actual situation of the work area; when the robot is working in the work area, if it finds that a certain location meets the conditions for marking a preset tag, it can also automatically mark the location on the map with a preset tag; when the robot builds a map of the area to be operated, it can also set preset tags for the locations that meet the conditions for marking preset tags in real time during the map building process, and the subsequent robot can perform corresponding actions according to the preset tags in real time during the operation; the robot can also build a map while working in the work area. After obtaining the environmental information of the ground, it can be determined whether the location of the ground includes a preset tag at the location corresponding to the map based on the environmental information of the ground and the map; if the location of the ground includes a preset tag at the location corresponding to the map, it can be determined that the environment of the ground meets the preset conditions.

[0056] In one embodiment, the preset condition includes that the location of the ground includes a preset label at a location corresponding to the map. For example, the preset label may include a label indicating a cliff, a label indicating no cliff, etc., and these labels may be marked on the map.

[0057] When the location of the ground includes a label indicating that there is a cliff at the location corresponding to the map, it can be judged that the environment of the ground meets the preset condition; when the location of the ground includes a label indicating that there is no cliff at the location corresponding to the map, it can be judged that the environment of the ground does not meet the preset condition. Therefore, the setting of the preset label can be flexible and diverse to meet different needs in practical applications.

[0058] In one embodiment, the method further includes: if it is determined according to the detection result of the second sensor that there is a cliff on the ground, controlling the robot to avoid the cliff on the ground, so as to avoid the risk of the robot falling off the cliff.

[0059] In one embodiment, the method further includes: if it is determined according to the detection result of the second sensor that the ground has no cliff, controlling the robot to pass through the ground. In this way, it is possible to avoid the robot avoiding the ground due to misdetection, misjudgment, or mistriggering of the first sensor, thereby avoiding the situation of missing sweeping or mopping.

[0060] In one embodiment, the method further includes: if it is determined according to the detection result of the second sensor that there is a cliff on the ground, marking a first preset label at a corresponding position on the map; if it is determined according to the detection result of the second sensor that there is no cliff on the ground, marking a second preset label at a corresponding position on the map. In this way, the map can be updated in time to facilitate subsequent operations of the robot.

[0061] For example, the first preset label may be a label indicating that there is a cliff, and the second preset label may be a label indicating that there is no cliff.

[0062] In one embodiment, in step S102, the obtaining of the detection result of the ground detected by the second sensor of the robot may include: determining whether the position of the ground is within the current detection range of the second sensor; if the position of the ground is not within the current detection range of the second sensor, controlling the robot to move, and when the position of the ground is within the current detection range of the second sensor, obtaining the detection result of the ground detected by the second sensor.

[0063] In the embodiment of the present application, the current detection range of the second sensor may refer to the range that the second sensor set on the robot can currently detect when the robot is in its current position. Therefore, the current detection range of the second sensor may change with the change of the position of the robot. The ground is detected by the first sensor. If the position where the second sensor is set is not near the position where the first sensor is set, then the second sensor may not be able to detect the ground, that is, the position where the ground is located may not be within the current detection range of the second sensor. Therefore, if the position where the ground is located is not within the current detection range of the second sensor, the robot is controlled to move until the position where the ground is located is within the current detection range of the second sensor, and the detection result of the second sensor detecting the ground is obtained.

[0064] Since the second sensor with higher measurement accuracy than the first sensor usually costs more than the first sensor, in order to save cost, the number of second sensors can be less than the number of first sensors. In this way, it cannot be guaranteed that a corresponding second sensor can be set near the location where each first sensor is set. In this case, the second sensor may not be able to detect the ground that the first sensor can detect, that is, the location of the ground may not be within the current detection range of the second sensor. The movement of the robot is controlled, and the current detection range of the second sensor changes with the movement of the robot until the location of the ground is within the current detection range of the second sensor, and the detection result of the second sensor on the ground is obtained.

[0065] In one embodiment, the method further includes: if it is determined according to the detection result of the second sensor that there is no cliff on the ground, controlling the robot to move in the opposite direction so that the current detection range of the second sensor is the same as the detection range of the second sensor before the movement.

[0066] When the robot is controlled to move, the position of the ground is within the current detection range of the second sensor. After obtaining the detection result of the second sensor on the ground, if it is determined that there is no cliff on the ground according to the detection result of the second sensor, the robot needs to return to its original state, so the robot is controlled to move in the opposite direction so that the current detection range of the second sensor is the same as the detection range of the second sensor before the movement. In this way, the robot can continue to work along the original movement direction according to the planned path.

[0067] In one embodiment, step S103, judging whether there is a cliff on the ground according to the detection result of the second sensor, may include: judging whether there is a cliff on the ground according to the detection result of the second sensor and the pitch angle of the robot.

[0068] In the embodiment of the present application, the chassis of the robot is not parallel to the ground and the robot has a certain pitch angle. In order to make the judgment result more accurate, it is judged whether there is a cliff on the ground based on the detection result of the second sensor and the pitch angle of the robot.

[0069] In one embodiment, step S103, judging whether there is a cliff on the ground according to the detection result of the second sensor and the pitch angle of the robot, may also include: (1) when the pitch angle of the robot is less than a preset angle, if the height value of the robot from the ground detected by the second sensor is greater than or equal to a second threshold, it is judged that there is a cliff on the ground; if the height value is less than the second threshold, it is judged that there is no cliff on the ground; (2) when the pitch angle of the robot is greater than or equal to the preset angle, if the height value is greater than or equal to a third threshold, it is judged that there is a cliff on the ground, and the third threshold is less than the second threshold; if the height value is less than the third threshold, it is judged that there is no cliff on the ground.

[0070] The preset angle can be set according to actual conditions. Figure 3 As shown in FIG. 1 , when the robot has a certain pitch angle, the robot has a height H above the ground. At this time, the distance above the ground detected by the second sensor is H plus the depth of the depression (i.e., the height value). Figure 4 As shown, when the pitch angle of the robot is very small, the pitch angle can be ignored, and it is considered that the chassis of the robot is parallel to the ground, and the robot does not have a height above the ground (i.e., H=0). At this time, the second sensor detects that the distance above the ground is the depth of the depression (i.e., the height value). Therefore, when the pitch angle of the robot is greater than or equal to the preset angle, the third threshold is less than the second threshold.

[0071] For example, see Figure 3 and Figure 4 , the preset angle is set to 1°, the second threshold is set to 70 mm, and the third threshold is set to 40 mm. If the pitch angle of the robot is less than 1°, when the height value of the robot from the ground detected by the second sensor is greater than or equal to 70 mm, it is judged that there is a cliff on the ground; if the height value is less than 70 mm, it is judged that there is no cliff on the ground; if the pitch angle of the robot is greater than or equal to 1°, when the height value is greater than or equal to 40 mm, it is judged that there is a cliff on the ground; if the height value is less than 40 mm, it is judged that there is no cliff on the ground.

[0072] In one embodiment, the method further comprises: determining the first threshold value according to the obstacle surmounting capability of the robot.

[0073] In the embodiment of the present application, the factors affecting the robot's obstacle crossing ability include the size of the driving wheel, the size of the driving force, the height of the robot chassis, etc. Generally speaking, the larger the driving wheel radius, the stronger the obstacle crossing ability, the greater the driving force, the greater the obstacle crossing ability, and the higher the robot chassis height, the stronger the obstacle crossing ability. If the robot has a strong obstacle crossing ability, the first threshold value can be set larger, and if the robot has a poor obstacle crossing ability, the first threshold value can be set smaller.

[0074] See also Figure 5 , Figure 5 It is a structural diagram of another embodiment of the robot of the present application. It should be noted that the robot of the embodiment of the present application can implement the cliff detection method of the above-mentioned robot. For detailed description of the relevant content, please refer to the above-mentioned method part, which will not be repeated here.

[0075] The robot 1 includes a first sensor 11 and a second sensor 12, and also includes: a processor 10 and a memory 20, wherein the memory 20 is used to store a computer program; the processor 10 is used to execute the computer program and implement any of the above-mentioned cliff detection methods for the robot when executing the computer program. The first sensor 11, the second sensor 12, and the memory 20 are respectively connected to the processor 10 through a bus.

[0076] The processor 10 may be a microcontroller unit, a central processing unit or a digital signal processor, etc. The memory 20 may be a Flash chip, a read-only memory, a disk, an optical disk, a USB disk or a mobile hard disk, etc.

[0077] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement any of the above-described cliff detection methods for the robot.

[0078] The computer-readable storage medium may be an internal storage unit of the robot, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the robot, such as a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc.

[0079] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0080] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0081] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A cliff detection method for a robot, characterized in that: The method comprises: Acquire a detection value of a first sensor of the robot on the ground around the robot; Determining whether the detection value exceeds a first threshold; Acquiring environmental information of the ground; Determining whether the ground environment meets preset conditions; If the detection value exceeds a first threshold value and the environment of the ground meets a preset condition, a detection result of the second sensor of the robot detecting the ground is obtained, and the second sensor has a higher measurement accuracy than the first sensor; Determining whether there is a cliff on the ground according to the detection result of the second sensor; Wherein, the preset condition includes that the location of the ground includes a preset scene; the judging whether the environment of the ground meets the preset condition includes: judging whether the location of the ground includes the preset scene according to the environmental information of the ground; if the location of the ground includes the preset scene, judging that the environment of the ground meets the preset condition; Alternatively, the preset condition includes that the position of the ground at a corresponding position on the map includes a preset tag; the judging whether the environment of the ground satisfies the preset condition includes: judging whether the position of the ground at a corresponding position on the map includes a preset tag based on environmental information of the ground; if the position of the ground at a corresponding position on the map includes a preset tag, then judging that the environment of the ground satisfies the preset condition.

2. The method according to claim 1, characterized in that The preset scene includes a threshold and / or a step, The preset label includes a label indicating that there is no cliff and / or a label indicating that there is a cliff.

3. The method according to claim 1, characterized in that: The method further comprises: If it is determined according to the detection result of the second sensor that there is no cliff on the ground, the robot is controlled to pass through the preset scene.

4. The method according to claim 1, characterized in that The method further comprises: If it is determined according to the detection result of the second sensor that there is a cliff on the ground, the robot is controlled to avoid the cliff on the ground.

5. The method according to claim 1, characterized in that: The method further comprises: If it is determined according to the detection result of the second sensor that there is a cliff on the ground, marking a first preset label at a corresponding position on the map; If it is determined according to the detection result of the second sensor that there is no cliff on the ground, a second preset label is marked at the corresponding position on the map.

6. The method according to claim 1, characterized in that The obtaining of a detection result of the second sensor of the robot detecting the ground includes: Determining whether the position of the ground is within the current detection range of the second sensor; If the position of the ground is not within the current detection range of the second sensor, the robot is controlled to move; when the position of the ground is within the current detection range of the second sensor, the detection result of the second sensor on the ground is obtained.

7. The method according to claim 6, characterized in that The method further comprises: If it is determined according to the detection result of the second sensor that there is no cliff on the ground, the robot is controlled to move in the opposite direction so that the current detection range of the second sensor is the same as the detection range of the second sensor before the movement.

8. The method according to claim 1, characterized in that: The determining whether there is a cliff on the ground according to the detection result of the second sensor includes: Whether there is a cliff on the ground is determined according to the detection result of the second sensor and the pitch angle of the robot.

9. The method according to claim 8, characterized in that The determining whether there is a cliff on the ground according to the detection result of the second sensor and the pitch angle of the robot includes: If the pitch angle of the robot is less than a preset angle, and the height of the robot from the ground detected by the second sensor is greater than or equal to a second threshold, it is determined that there is a cliff on the ground; If the pitch angle of the robot is less than a preset angle, and the height value is less than a second threshold, it is determined that there is no cliff on the ground; If the pitch angle of the robot is greater than or equal to a preset angle, and the height value is greater than or equal to a third threshold, it is determined that there is a cliff on the ground, and the third threshold is less than the second threshold; If the pitch angle of the robot is greater than or equal to a preset angle, and the height value is less than a third threshold, it is determined that there is no cliff on the ground.

10. The method according to claim 1, characterized in that The method comprises obtaining a detection value of the first sensor of the robot on the ground around the robot; and determining whether the detection value exceeds a first threshold value. Acquiring environmental information of the ground; and determining whether the environment of the ground meets a preset condition, including: Acquire a detection value of a first sensor of the robot on the ground around the robot; Determining whether the detection value exceeds a first threshold; If the detection value exceeds a first threshold, obtaining environmental information of the ground; Determining whether the ground environment meets preset conditions; or, At the same time, obtaining the detection value of the first sensor of the robot on the ground around the robot and the environmental information of the ground; Determining whether the detection value exceeds a first threshold; If the detection value exceeds a first threshold, determining whether the ground environment meets a preset condition; or, Firstly, obtain the environmental information of the ground; Then obtaining a detection value of the first sensor of the robot on the ground around the robot; Determining whether the detection value exceeds a first threshold; If the detection value exceeds the first threshold, it is determined whether the ground environment meets a preset condition.

11. The method according to claim 1, characterized in that: The method further comprises: The first threshold is determined according to the obstacle surmounting capability of the robot.

12. The method according to any one of claims 1 to 11, characterized in that: The first sensor includes an infrared sensor and the second sensor includes a time-of-flight sensor.

13. A robot, characterized in that: The robot includes a first sensor and a second sensor, and also includes: a processor and a memory, the memory is used to store a computer program; the processor is used to execute the computer program and implement the cliff detection method of the robot as described in any one of claims 1-12 when executing the computer program.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the cliff detection method for a robot according to any one of claims 1 to 12.

Images