Climbing control method, climbing control device, self-propelled equipment and storage medium

Abstract

The present application discloses a climbing control method, a climbing control device, a self-moving device, and a computer storage medium. The climbing control method includes: obtaining a planned movement path and controlling the movement of the self-moving device according to the planned movement path; when the self-moving device is located on a slope and cannot move, determining the inclination direction of the movement direction of the mobile device relative to the slope direction based on the posture information of the self-moving device, adjusting the movement direction of the self-moving device along the inclination direction to reduce the angle between the movement direction of the self-moving device and the horizontal plane; performing path planning based on the angle between the adjusted movement direction and the horizontal plane to obtain a slope movement path; and controlling the movement of the self-moving device on the slope according to the slope movement path. This climbing control method can improve the climbing ability of the self-moving device to a certain extent and increase the success rate of climbing over a slope.

Description

Technical Field

[0001] The present application belongs to the technical field of self-moving equipment, and in particular relates to a climbing control method, a climbing control device, a self-moving equipment, and a computer-readable storage medium. Background Art

[0002] When autonomous vehicles operate on slopes, they often face obstacles such as steep slopes, weeds, dirt, rocks, and / or potholes, making them impassable. In related technologies, autonomous vehicles typically follow a pre-planned route. Once stuck on a slope, they typically exit and detour along it, resulting in a low success rate for surmounting the slope. Summary of the Invention

[0003] The present application provides a climbing control method, a climbing control device, a self-moving device and a computer-readable storage medium, which can improve the success rate of the self-moving device climbing over a slope.

[0004] In a first aspect, the present application provides a hill climbing control method, comprising:

[0005] Obtaining a planned movement path, and controlling the movement of the mobile device according to the planned movement path;

[0006] When the self-moving device is located on a slope and cannot move, determining the inclination direction of the moving direction of the self-moving device relative to the slope direction based on the posture information of the self-moving device;

[0007] Adjusting the movement direction of the self-moving device along the tilt direction to reduce the angle between the movement direction of the self-moving device and the horizontal plane;

[0008] Path planning is performed based on the angle between the adjusted movement direction and the above-mentioned horizontal plane to obtain the slope movement path;

[0009] The self-moving device is controlled to move on the slope according to the slope movement path.

[0010] In a second aspect, the present application provides a hill climbing control device, comprising:

[0011] A first movement module is used to obtain a planned movement path and control the movement of the mobile device according to the planned movement path;

[0012] a direction determination module for determining, when the self-moving device is located on a slope and cannot move, an inclination direction of the movement direction of the self-moving device relative to the slope direction based on the posture information of the self-moving device;

[0013] a first adjustment module, configured to adjust the movement direction of the self-moving device along the tilt direction to reduce the angle between the movement direction of the self-moving device and the horizontal plane;

[0014] A first path planning module is used to perform path planning based on the angle between the adjusted movement direction and the horizontal plane to obtain a slope movement path;

[0015] The second moving module is used to control the self-moving device to move on the slope according to the slope moving path.

[0016] In a third aspect, the present application provides a self-mobile device, which includes a memory, a processor, and a computer program stored in the above memory and executable on the above processor, and when the above processor executes the above computer program, it implements the steps of the method of the first aspect mentioned above.

[0017] In a fourth 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 steps of the method of the first aspect are implemented.

[0018] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by one or more processors, it implements the steps of the method of the first aspect.

[0019] Compared to related technologies, the present application has the following advantages: While controlling the movement of a mobile device based on a planned movement path, the mobile device's environment and motion state can be detected in real time. When the mobile device is on a slope and unable to move, it can be determined that the device has encountered an obstacle or that the slope is steep. It should be noted that when the mobile device's motion direction is perpendicular to the horizontal plane, it must overcome not only friction but also gravity; whereas when the mobile device's motion direction is parallel to the horizontal plane, it only needs to overcome friction, not gravity. Thus, the inclination of the mobile device's motion direction relative to the slope can be determined based on the mobile device's posture information, and the mobile device's motion direction can be adjusted along the inclination to bring it closer to a direction parallel to the horizontal plane. This adjusted motion direction reduces effort when climbing the slope, helping the mobile device escape from the immobile state. In other words, by adjusting the motion direction of the mobile device so that the angle between the adjusted motion direction and the horizontal plane decreases, the mobile device can move in a less strenuous motion direction and escape the immobile state. This climbing control method can improve the climbing ability of the self-moving device to a certain extent by adjusting the movement direction of the self-moving device to a more labor-saving movement direction, making it more likely that the self-moving device will escape from the immobile movement state and improving the success rate of the self-moving device in climbing over the slope. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 1 is a flow chart of a ramp control method provided in an embodiment of the present application;

[0022] Figure 2 Schematic diagram of the angle between the self-moving device and the horizontal plane provided in an embodiment of the present application;

[0023] Figure 3 Schematic diagram of a planned movement path in a slope environment provided by an embodiment of the present application;

[0024] Figure 4 This is a schematic diagram of an area divided based on the central axis of a mobile device provided in an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of a self-moving device moving along the boundaries of different traffic areas provided by an embodiment of the present application;

[0026] Figure 6 Schematic diagram of the structure of the climbing control device provided in an embodiment of the present application;

[0027] Figure 7 It is a structural diagram of a self-moving device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0029] In related technologies, when autonomous vehicles use conventional detour methods to navigate slopes, complex slopes can easily cause them to become stuck. In such cases, the vehicles typically exit the slope and then detour along it, resulting in a low success rate for climbing over it. Based on this, this application proposes a slope climbing control method to improve the success rate of autonomous vehicles climbing over slopes.

[0030] Among them, the self-moving device can be a device that includes a self-moving assistance function. Among them, the self-moving assistance function can be implemented by a vehicle-mounted terminal, and the corresponding self-moving device can be a vehicle with the vehicle-mounted terminal. The self-moving device can also be a semi-autonomous device or a fully autonomous mobile device. For example, a lawn mower, a sweeper, a robot with a navigation function, etc. Among them, the climbing control method provided in the embodiment of the present application is applied to a self-moving device with crawling ability. The self-moving device can be a crawling robot including four universal wheels, that is, two universal wheels are arranged on each side of the crawling robot. The universal wheel on each side is parallel to the universal wheel on the other side.

[0031] The hill climbing control method provided in the embodiments of the present application can be applied to electronic devices, wherein the electronic device can be an intelligent self-moving device itself, or other electronic devices capable of controlling the self-moving device, such as mobile phones, tablet computers, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, laptop computers, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), and other electronic devices. The embodiments of the present application do not impose any restrictions on the specific type of electronic device.

[0032] The following describes the hill climbing control method proposed in this application through specific embodiments. As an example and not a limitation, the method can be applied to any electronic device. For ease of understanding, the subsequent embodiments will use an intelligent self-moving device as the execution subject of each of the following embodiments.

[0033] Figure 1 A schematic flow chart of a ramp control method provided by the present application is shown, and the ramp control method includes:

[0034] Step 110: Obtain a planned movement path, and control the movement of the mobile device according to the planned movement path.

[0035] Before performing a task, the self-mobile device can first plan the path of the designated work area to obtain a mobile planning path, save the mobile planning path to the memory, and then read the mobile planning path from the memory, and then control the movement of the self-mobile device according to the mobile planning path to complete the corresponding task.

[0036] In some embodiments, the planned movement path can be automatically planned by a mobile device for the work area to be performed before the work is performed, or it can be planned by another electronic device before the mobile device performs the work. The mobile device can be a self-moving device equipped with a positioning module, a camera, an odometer, or other detection sensors, such as a lawn mower or a sweeper. The other electronic device can be a mobile terminal or other type of electronic device, such as a mobile phone terminal, so that a user can manually plan the planned movement path for the work area to be performed using the mobile phone terminal.

[0037] For ease of explanation, the planning of a mobile planning path is described by taking a mobile device as an example.

[0038] When planning a mobile route, the mobile device first scans the work area to be performed using detection sensors (such as cameras, lidar, and other sensors) to determine the terrain within the work area, which can include flat land, sloping land, or a combination of the two. The mobile device then plans a mobile route that corresponds to different terrain types within the work area based on the type of work being performed.

[0039] Operation types include weeding, watering, sweeping, and cargo handling. For cargo handling operations, the focus is on the shortest planned path, allowing the autonomous vehicle to safely and smoothly transport the cargo to the destination in the shortest possible time. For weeding, watering, and sweeping operations, the autonomous vehicle's coverage within the work area is a primary consideration when planning its path. Furthermore, to improve the efficiency of the autonomous vehicle's operations, a secondary consideration is the path that minimizes travel.

[0040] For ease of understanding, let's take an example to illustrate the above main considerations. Assuming that the self-moving device is a lawn mowing robot, the operation coverage rate is the proportion of the mowing area in the operation area. In order to be able to plan a mobile planning path that meets the relevant requirements of the main considerations, whether the proportion of the mowing area in the operation area is greater than the preset ratio threshold can be used as a judgment condition. Specifically, after the lawn mowing robot completes the operation, if the proportion of the mowing area in the operation area is greater than the preset ratio threshold, it can be determined that the current mobile planning path meets the above-mentioned relevant requirements. Among them, the ratio threshold can be a larger value, such as any ratio value between 90% and 98%.

[0041] During the actual planning process, the self-mobile device may be preset with a relationship table and save the relationship table to a memory. The relationship table is read from the memory to determine which path planning method to use to plan the work area. Specifically, the relationship between the type of operation, terrain, and path planning method may be recorded in the relationship table; as an example only, the records in the relationship table may be: carrying goods-flat ground-straight path, mowing-flat ground-"bow" shaped path, and mowing-slope-"zigzag" path, etc. Therefore, after the self-mobile device determines the current operation type and terrain, it can determine the corresponding path planning method from the relationship table based on these two information, so as to carry out targeted path planning for different work areas.

[0042] Step 120: When the self-moving device is located on a slope and cannot move, determine the inclination direction of the moving direction of the self-moving device relative to the slope direction based on the posture information of the self-moving device.

[0043] When a self-propelled device is on a slope and cannot move, it indicates that there is an obstacle in the direction of the self-propelled device. In this case, the self-propelled device can obtain posture information and determine the inclination direction of the self-propelled device's movement direction relative to the slope direction based on the posture information.

[0044] The slope direction can be understood as a direction parallel to the slope and perpendicular to any horizontal line on the slope. The mobile device can calculate the inclination direction of the movement direction of the mobile device relative to the slope direction based on its own posture information.

[0045] For example, the posture information of the mobile device may include yaw angle, pitch angle, and roll angle, and the mobile device can determine the direction of movement of the mobile device based on these three angles. When the mobile device is on a slope, its direction of movement can be considered parallel to the slope. Therefore, the slope and the slope direction of the slope can be determined based on the above-mentioned direction of movement. Therefore, based on the direction of movement of the mobile device and the slope direction, the inclination direction of the direction of movement of the mobile device relative to the slope direction can be determined, for example, whether the above-mentioned direction of movement is to the left or right of the slope direction, or is clockwise or counterclockwise, etc.

[0046] The above is merely an illustrative example of how to determine the inclination of the movement direction of a self-moving device relative to the slope direction in an embodiment of the present application. In other possible implementations, the self-moving device may also determine the inclination of the movement direction relative to the slope direction by other means, which are not limited in this application.

[0047] Step 130: Adjust the moving direction of the self-moving device along the tilt direction to reduce the angle between the moving direction of the self-moving device and the horizontal plane.

[0048] After the self-moving device moves to the slope, it may be blocked by obstacles such as stones or pits, and it may not be able to continue moving based on the movement planning path. It can be understood that when the self-moving device moves on the slope, if the direction of movement is perpendicular to the horizontal plane, it means that the forward direction of the wheel group of the self-moving device is opposite to the direction of gravity. At this time, the climbing self-moving device needs to overcome gravity and friction to do work; if the direction of movement is parallel to the horizontal plane, it means that the forward direction of the wheel group of the self-moving device is perpendicular to the direction of gravity, and there is no need to overcome gravity to do work. Then, when the direction of movement of the self-moving device is closer to the direction of movement parallel to the horizontal plane, it can be considered that the self-moving device can move more effortlessly, which helps to avoid or escape from obstacles.

[0049] Thus, the self-moving device can adjust its movement direction to a direction close to parallel with the horizontal plane to reduce the angle between the movement direction and the horizontal plane, that is, reduce the influence of gravity on the self-moving device and get rid of the immobile movement state.

[0050] Specifically, after determining the above-mentioned tilt direction, the self-moving device can adjust the movement direction of the self-moving device along the tilt direction, thereby increasing the angle between the movement direction of the self-moving device and the slope direction, and reducing the angle between the movement direction of the self-moving device and the horizontal plane.

[0051] For example, if the direction of motion of the mobile device is tilted to the left relative to the slope, the mobile device can continue to adjust its direction of motion to the left, thereby increasing the angle between the direction of motion of the mobile device and the slope, and decreasing the angle between the direction of motion of the mobile device and the horizontal plane. If the direction of motion of the mobile device is tilted clockwise relative to the slope, the mobile device can continue to adjust its direction of motion clockwise, thereby increasing the angle between the direction of motion of the mobile device and the slope, and decreasing the angle between the direction of motion of the mobile device and the horizontal plane.

[0052] Through the above method, the self-moving device can adjust its movement direction to a direction close to parallel to the horizontal plane, reducing the influence of gravity on the self-moving device, making it more likely for the self-moving device to escape from the state of being unable to move, and improving the success rate of the self-moving device in climbing over the slope.

[0053] In some embodiments, in order to accurately determine whether the mobile device is in a slope environment, the above-mentioned climbing control method further includes:

[0054] A1. Determine whether the speed of the mobile device has decreased.

[0055] A2. When the speed of the self-moving device decreases, determine whether a braking command is received.

[0056] A3. When it is determined that no braking command has been received, determine whether the speed drop value within the preset time period is greater than a preset deceleration threshold.

[0057] A4. If the speed drop value within the preset time period is greater than the preset deceleration threshold, it is determined that the self-moving device is located on a slope.

[0058] When there are no external factors affecting the movement, the mobile device moves at a near-constant speed. If the mobile device detects a sudden drop in speed during movement, there are two possible scenarios: the first is that the mobile device is decelerating based on a received brake command, causing the speed to drop. A brake command can be triggered by detecting a turn in the mobile device's forward direction, triggering deceleration control. The second is that the current area is too steep or there are obstacles, making it difficult for the mobile device to pass, causing the speed to drop.

[0059] Then, if the self-moving device does not receive a braking command, but detects that the speed of the self-moving device has changed within the preset time, such as a sudden drop in speed, there are two possible situations: one is that the self-moving device has encountered an obstacle and is unable to pass; the other is that the self-moving device has encountered a slope and, under the action of gravity, cannot move forward at an approximately constant speed with the current driving force.

[0060] Because the speed reduction values ​​of the self-moving device in the preset time period are different in the two situations, the self-moving device can test the speed reduction value in the second situation to determine a deceleration threshold, and determine whether the self-moving device is on a slope based on the deceleration threshold determined after the test.

[0061] The deceleration threshold can be obtained through experience, for example, by repeatedly measuring the change in speed of the same self-moving device when it transitions from flat ground to slopes of different gradients, to obtain the deceleration threshold.

[0062] In some embodiments, in order to accurately determine whether the self-moving device is unable to move, the following steps may be used to determine:

[0063] If it is detected that the position of the self-moving device stops changing and the motor current of the self-moving device is greater than the preset current threshold, it is determined that the self-moving device is on a slope and cannot move.

[0064] The position of a self-moving device is constantly changing during the execution of its work. Therefore, when the self-moving device detects that its position has stopped changing, it means that the current self-moving device may be in a state of motion where it cannot move. There are roughly two situations in which a self-moving device cannot move, one is slipping and the other is stalling. When the motor current of the self-moving device is low, it can be determined that the self-moving device is slipping; when the motor current of the self-moving device is high, it can be determined that the self-moving device is stalled. Therefore, the self-moving device can pre-set a current threshold value, such as a first current threshold value, based on the characteristics of the motor current when slipping. When it is detected that the motor current is less than the first current threshold value, it can be determined that the self-moving device is slipping and cannot move.

[0065] Optionally, the self-moving device may further set another current threshold, such as a second current threshold, based on the characteristics of the motor current during stalling. When the motor current is detected to be greater than the second current threshold, the self-moving device is determined to be stalled and unable to move. The second current threshold is greater than the first current threshold.

[0066] In some embodiments, in order to more conveniently and accurately determine the inclination direction of the movement direction of the mobile device relative to the slope direction, the above-mentioned climbing control method further includes:

[0067] B1. Obtain the roll angle and pitch angle from the mobile device.

[0068] B2. Determine the angle between the moving direction of the self-moving device and the slope direction and the inclination direction of the moving direction relative to the slope direction based on the roll angle, the pitch angle, and a preset trigonometric function.

[0069] See Figure 2 , the angle between the moving direction of the self-moving device and the horizontal plane is α, and θ is the angle between the moving direction of the self-moving device and the slope direction, wherein θ and α are complementary angles to each other. The roll angle and pitch angle of the self-moving device are denoted as R and P respectively, and the preset trigonometric functions are R=α*sinθ, P=α*cosθ; according to these two preset trigonometric functions, the angle θ and the angle α can be determined, θ=arctan(R / P), α=90°-arctan(R / P). Among them, the roll angle and the pitch angle can be obtained by using an inertial measurement unit (IMU), a gyroscope or other types of sensors. Through the above method, the angle θ between the moving direction of the self-moving device and the slope direction can be determined based on the roll angle, the pitch angle and the preset trigonometric function, and the inclination direction of the moving direction of the self-moving device relative to the slope direction can be determined accordingly.

[0070] In some embodiments, if the inertial measurement unit fails, a coordinate system can be created based on the self-moving device, where the lines along the left and right sides of the self-moving device are used as the X-axis. That is, the left and right directions of the self-moving device are the positive and negative directions of the X-axis, respectively, and the direction perpendicular to the X-axis and parallel to the slope is the positive direction of the Y-axis. An accelerometer is used to obtain the first gravity component Gx of the gravity acceleration on the X-axis and the second gravity component Gy of the gravity acceleration on the Y-axis. The relationship between the two gravity components and θ is Gx = g*cosθ and Gy = g*sinθ, respectively. Finally, based on these two relationships, the angle θ and the angle α can be determined using the formula: θ = arctan(Gy / Gx), α = 90° - arctan(Gy / Gx).

[0071] The above formulas can be used to calculate the angle between the moving device's direction of motion and the slope, as well as the angle between the moving device and the horizontal plane. To ensure that the moving device's direction of motion is parallel to the horizontal plane, the angle θ or α can be used to determine the inclination of the moving device relative to the slope. The inclination can be to the right or left (or clockwise / counterclockwise) of the moving device relative to the slope.

[0072] In some embodiments, when adjusting the direction of movement, the self-moving device may first obtain the angle between its own direction of movement and the horizontal plane (or the angle between the direction of movement of the self-moving device and the direction of the slope), and then determine the adjustment angle based on the angle; then, the tilt direction may be determined based on the adjustment angle and the current direction of movement, and the direction of movement may be adjusted based on the tilt direction. Of course, the adjustment angle may also be pre-set rather than determined in real time.

[0073] As an example only, assuming that the moving direction of the self-moving device is D0, and the angle between D0 and the horizontal plane is α0, and the preset adjustment angle is 20°, then it can be determined that the angle between the adjusted D1 and the horizontal plane is α1=α0-20°.

[0074] After adjusting its direction, a self-propelled device can encounter two possible scenarios: First, the device can escape its immobile state after adjusting its direction, meaning it can continue moving based on the adjusted direction. Second, the device can remain immobile after adjusting its direction (for example, in scenarios with steep slopes or large obstacles). Different strategies can be employed to control the self-propelled device to complete the corresponding task. For ease of understanding, the following describes each scenario separately.

[0075] For the first case, you can perform the following steps:

[0076] Step 140: Perform path planning based on the angle between the adjusted movement direction and the horizontal plane to obtain a slope movement path.

[0077] After the mobile device moves in the adjusted direction of movement, in order to better complete the work, path planning can be performed based on the angle between the adjusted direction of movement and the horizontal plane to obtain a slope movement path that is more in line with the current slope environment.

[0078] In some embodiments, see Figure 3 When planning the path based on the angle between the adjusted movement direction and the horizontal plane, for operations that need to consider the coverage rate, a "Z"-shaped path planning method can be used to determine the movement planning path on the slope. Assuming that the width of the operation path when the self-moving device passes through once is h, then for the distance between two points a and b on one side of the slope, H1 = 2h, based on this, it can be planned to obtain Figure 2 The solid line and dotted line correspond to the planned movement paths respectively.

[0079] in, Figure 2 The solid line corresponds to the planned path taken by the mobile device when moving uphill, while the dashed line corresponds to the planned path taken by the mobile device when moving downhill. In other words, as the mobile device moves along this planned path, it first moves uphill and then downhill. The two planned paths complement each other, ensuring that after the mobile device completes its work, the proportion of the work area within the work area exceeds the preset threshold.

[0080] Step 150: Control the self-moving device to move on the slope according to the slope movement path.

[0081] After obtaining the slope movement path, the self-moving device can move according to the slope movement path to complete the operation. In the process of moving based on the slope movement path, if it cannot move again, it can return to the above step 110 and subsequent steps until the operation is completed.

[0082] For the second case, the self-moving device can continue to adjust the direction of movement so that the angle between the direction of movement and the horizontal plane is further reduced. When the self-moving device can move according to the latest direction of movement, it can return to execute the above-mentioned step 140 and its subsequent steps; when the angle is less than the preset angle threshold, the preset differential control method can be used to control the self-moving device to bypass the slope.

[0083] For ease of understanding, let's take an example: assuming the self-moving device's direction of motion is D0, and the angle between D0 and the horizontal plane is 45°, the preset adjustment angle is 15°, and the preset angle threshold is 1°. After the initial adjustment of D0, the adjusted direction of motion D1 is obtained, and the angle between D1 and the horizontal plane is 30°. After the adjustment, the self-moving device still cannot continue to move based on D1. In this case, the self-moving device can continue to adjust its direction of motion, i.e., adjust D1, to obtain a new adjusted direction of motion D2, and an angle between D2 and the horizontal plane of 15°. At this point, the self-moving device can determine whether it can continue to move based on D2. If it is determined that it can continue to move based on D2, it can return to execute the above-mentioned step 130 and subsequent steps.

[0084] If the self-moving device determines that it cannot continue to move based on D2 because 15°>1°, the self-moving device may continue to adjust its direction of movement, i.e., adjust D2, to obtain a new adjusted direction of movement D3, and the angle between D3 and the horizontal plane is 0°. At this point, the self-moving device may determine whether it can continue to move based on D3. If it is determined that it can continue to move based on D3, it may return to step 130 and subsequent steps. If it is determined that it cannot continue to move based on D2 because the angle between D3 and the horizontal plane is less than a preset angle threshold, the self-moving device may use a preset differential speed control method to bypass the slope.

[0085] In some embodiments, the self-propelled device may include a first side drive wheel and a second side drive wheel, the first side drive wheel and the second side drive wheel being symmetrically arranged along the central axis of the self-propelled device. The above-mentioned differential control method is used to control the self-propelled device to move along the slope, specifically including:

[0086] C1. Divide the slope into two areas based on the central axis of the self-moving device.

[0087] C2. Obtain the unpassable area of ​​each region respectively, and determine the region with the largest unpassable area as the target region.

[0088] C3. Determine the detour direction of the mobile device according to the target area.

[0089] C4. Determine the rotational differential between the first-side driving wheel and the second-side driving wheel according to the circling direction.

[0090] C5. Control the first side driving wheel and the second side driving wheel based on the rotational differential to enable the self-moving device to move around along the slope.

[0091] If the mobile device still cannot pass after adjusting its angle, it can be assumed that the obstacle is large. In this case, the mobile device can circumvent the obstacle to continue its operation. To minimize movement within the traversed area, the mobile device can divide the slope into two areas using its central axis. By determining the untraversed area within each area, the area with the larger untraversed area can be identified, which is the target area. The mobile device can then circumvent the target area. Since the untraversed area is larger during the circumvention, the risk of repeated movement within the traversed area is reduced.

[0092] Just as an example, Figure 4 As shown, the solid line represents the path the self-driving device has already traveled, while the blank area represents the untraveled area. The slope is divided by the central axis of the self-driving device into two areas, designated A and B. The self-driving device compares the untraveled areas in areas A and B and determines that the untraveled area in area A is larger. In this case, area A becomes the target area, and the self-driving device can detour towards area A. Clearly, as the self-driving device detours towards area A, the detour path is less likely to overlap with the previously traveled path within area A. This detour method can improve the self-driving device's operating efficiency to a certain extent.

[0093] Before the mobile device makes a detour, it can determine the detour direction according to the direction of the target area, where the detour direction can be clockwise or counterclockwise. Figure 4 As shown, when the self-moving device is circling toward A, its circling direction is clockwise. After the self-moving device determines the circling direction, in order to enable the self-moving device to circumvent the slope, the rotational differential speed of the first side drive wheel and the second side drive wheel can be determined based on the circling direction. During the circling process, the rotational differential speed is used to control the self-moving device.

[0094] It is understandable that when the mobile device is still unable to pass through after adjusting the angle, the area occupied by the obstacle can be determined as an impassable area. However, since the mobile device cannot know the impassable boundary, during the detour, the mobile device still has the risk of repeatedly moving in the impassable area.

[0095] In some embodiments, to further reduce the risk of repeated movement of the self-moving device within a previously traveled area and to reduce the problem of slipping or rolling of the self-moving device during detour, the drive wheel on the side opposite to the detour direction is used as the first drive wheel, and the drive wheel on the side same as the detour direction is used as the second drive wheel. The above step C4 specifically includes:

[0096] D1. Determine the force acting on the mobile device, which is the force acting on the mobile device when it moves along the boundary of the impassable area.

[0097] When the self-moving device is moving near the boundary of the impassable area, that is, when the self-moving device is moving in the direction of the detour, the rotation speed of the second side drive wheel is less than the rotation speed of the first side drive wheel (for example, when the self-moving device is detouring to the right, the rotation speed of the right side drive wheel is less than the rotation speed of the left side drive wheel, so that the self-moving device deflects to the right). At this time, due to the rotational differential between the drive wheels and the influence of factors such as gravity, a force perpendicular to the boundary of the impassable area and tangentially perpendicular to it is generated, i.e., the applied force. The applied force can be determined by the torque output by the motor installed on the self-moving device, or it can also be determined by other sensors, such as an acceleration sensor.

[0098] D2. Determine the first component of the force in the specified direction, which is perpendicular to the center axis of the self-moving device and parallel to the slope.

[0099] By decomposing the applied force into a first component and a second component, the first component points to the side opposite to the circling direction (for example, when the self-propelled device is circling to the right, the first component points to the left side of the self-propelled device, i.e., the side where the first-side drive wheel is located). The first component can be used to control the left and right running direction of the self-propelled device. The second component can control the forward / reverse direction of the self-propelled device.

[0100] D3. When the first force component is greater than the preset first force component threshold, increase the rotation speed of the second-side driving wheel until the first force component is less than or equal to the preset second force component threshold.

[0101] When the first force component exceeds the preset first force component threshold, if the speed of the second-side drive wheel is not increased, the self-moving device may deviate from the boundary of the impassable area, and may also increase the possibility of the self-moving device repeating operations in the traversable area. Therefore, by continuously increasing the speed of the second-side drive wheel until the first force component is less than or equal to the preset second force component threshold, the self-moving device can smoothly circumvent the boundary of the impassable area. The preset first and second force component thresholds can be set according to the actual scenario.

[0102] D4. When the first force component is less than or equal to a preset third force component threshold, increase the rotation speed of the first-side drive wheel until the first force component is greater than or equal to a preset second force component threshold.

[0103] Similarly, when the first force component is less than or equal to the preset third force component threshold, the rotational speed of the first drive wheel is less than or equal to the rotational speed of the second drive wheel, indicating that the self-moving device is swerving toward the boundary of the impassable area. If the first force component is too small, there is a high probability that the self-moving device will collide with the boundary of the impassable area, increasing the likelihood of slipping. Therefore, it is necessary to increase the rotational speed of the first drive wheel so that, while maintaining a constant first force component, the direction and speed of the self-moving device can be adjusted by controlling the rotational differential between the first and second drive wheels, allowing the self-moving device to effectively adapt to the complex boundary of the impassable area.

[0104] The first force component threshold is greater than the second force component threshold, and the third force component threshold is less than the second force component threshold.

[0105] like Figure 5 To allow the self-moving device to move along the border of an impassable area, we can first determine the force F exerted by the border of the impassable area on the self-moving device during its detour. The magnitude of this force is related to the shape of the border; that is, the angle between the border and the self-moving device determines its magnitude. When the border's trajectory is relatively flat, indicating a relatively small angle between the border and the self-moving device, the force F is relatively small, the first component of the force is relatively small, and the speed difference between the first and second drive wheels varies little. In this case, the differential speed of the drive wheels on both sides can be maintained. When the border's trajectory is relatively steep, indicating a relatively large angle between the border and the self-moving device, the force F is relatively large, the first component of the force is relatively large, and the speed difference between the first and second drive wheels varies significantly. In this case, the differential speed of the drive wheels can be adjusted to drive the self-moving device forward stably. Based on this, the direction of the self-moving device's trajectory along the border of the impassable area can be determined by decomposing the force F.

[0106] When determining the trend of the boundary of a mobile device, first, the component of the force in the direction perpendicular to its own central axis and parallel to the slope can be determined, for example Figure 5 The first force component F1 in the image is then compared with a preset force component threshold. Finally, after the comparison, the following two situations may occur. Different differential control strategies are adopted by the mobile device for different situations.

[0107] In the first case, if the first force component is less than or equal to the preset third force component threshold, it means that the current boundary trend is gentle, and the self-moving device can increase the speed of the first side drive wheel. Figure 5At point M in the impassable zone, the force acting on the self-moving device is relatively small because the boundary at point M is relatively flat. Correspondingly, the first force component is also relatively small. If the first force component is less than or equal to the third force component threshold, the self-moving device can increase the speed of the first-side drive wheel to avoid collision with the impassable zone boundary.

[0108] In the second case, when the first force component is greater than the preset first force component threshold, it indicates that the current boundary trend is steep, and the self-moving device can increase the speed of the second side drive wheel. Figure 5 At point N in the road, the force acting on the self-moving device is greater because the boundary at point N is steeper, and the resulting first force component is also larger. If the first force component exceeds the first force component threshold, the self-moving device can increase the speed of the second-side drive wheel to avoid straying from the boundary of the impassable area.

[0109] It's important to note that when the aforementioned circling directions are different, the corresponding drive wheels for the first and second side drive wheels are different. Assuming the self-moving device is moving perpendicular to the horizontal plane, with the left drive wheel designated as wheel a and the right drive wheel designated as wheel b, then when the self-moving device is circling clockwise, the first side drive wheel is wheel b and the second side drive wheel is wheel a. However, if the self-moving device is circling counterclockwise, the first side drive wheel is wheel a and the second side drive wheel is wheel b.

[0110] As can be seen from the above, the trends of the boundaries of impassable areas are different, and different boundary trends may lead to two different detour results. For example, for impassable areas with small fluctuations in boundary trends, the self-moving device reduces the problem of being trapped in an immobile motion state by detouring for the first time, that is, the detour result can be considered a successful detour; while for impassable areas with large fluctuations in boundary trends, the self-moving device is very likely to be in an immobile motion state again during the first detour, and the detour result can be considered a failed detour. For the two different detour results, the self-moving device can adopt different control methods to continue moving to complete the task. The following will illustrate the judgment process of the detour result and the control process taken for different detour results through different embodiments.

[0111] In some embodiments, when the self-moving device is on a slope and cannot move, the current direction of movement of the self-moving device can be recorded as the initial direction of movement, and the slope height corresponding to the current position of the self-moving device can be recorded as the initial slope height. After the self-moving device has detoured, the following operations can be performed:

[0112] E1. When it is detected that the slope height corresponding to the current position of the self-moving device is consistent with the initial slope height, the movement direction of the self-moving device is adjusted to the initial movement direction.

[0113] E2. Plan the path on the slope according to the adjusted movement direction to obtain the target movement path.

[0114] E3. Control the self-moving device to move on the slope according to the target moving path.

[0115] It's understandable that for operations where coverage is a concern, if the autonomous vehicle, after detouring, reaches a position at the same height as the initial slope, it can re-plan its path according to its initial direction of motion, resulting in a target planned path. By moving based on this target planned path, the autonomous vehicle can reduce the risk of repeated movement within previously traversed areas and improve slope coverage.

[0116] In other words, a location whose height matches the initial slope height can be considered the detour target. This eliminates the need to calculate the angle between the self-moving device's direction of movement and the horizontal plane, improving the efficiency of angle adjustment during climbing. Upon detecting that its current location is the detour target, the self-moving device can adjust its direction of movement back to the initial direction of movement. Once this direction of movement is aligned with the initial direction of movement, the detour is determined to be successful. Based on this initial direction of movement, the target movement path can be planned to facilitate continued movement and complete the task.

[0117] Conversely, if the self-moving device is in an immobile state before reaching the target location, or if it is unable to adjust its direction of motion to the initial direction after reaching the target location, the current detour is determined to have failed. The steps for determining whether the self-moving device is in an immobile state can be found in the previous embodiment and will not be repeated here.

[0118] In some embodiments, after determining that the detour has failed, the mobile device may detour toward a non-target area in the two divided areas in order to continue moving. The detour steps are the same as those toward the target area and are not repeated here.

[0119] Corresponding to the hill climbing control method of the above embodiment, Figure 6 A structural block diagram of the hill climbing control device 6 provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0120] Reference Figure 6 , the climbing control device 6 includes:

[0121] The first movement module 61 is used to obtain a planned movement path and control the movement of the mobile device according to the planned movement path;

[0122] a direction determination module 62 for determining, when the self-moving device is located on a slope and cannot move, an inclination direction of the moving direction of the self-moving device relative to the slope direction based on the posture information of the self-moving device;

[0123] A first adjustment module 63 is configured to adjust the movement direction of the self-moving device along an inclined direction to reduce the angle between the movement direction of the self-moving device and the horizontal plane;

[0124] A first path planning module 64 is configured to perform path planning based on the angle between the adjusted movement direction and the horizontal plane to obtain a slope movement path;

[0125] The second movement module 65 is used to control the movement of the self-moving device on the slope according to the slope movement path.

[0126] Optionally, the above-mentioned climbing control device 6 may further include:

[0127] The differential control module is used to control the self-moving device to bypass the slope based on a preset differential control method after adjusting the movement direction of the self-moving device to reduce the angle between the movement direction of the self-moving device and the horizontal plane, if the angle between the adjusted movement direction and the horizontal plane is less than a preset angle threshold.

[0128] Optionally, the self-moving device includes a first side drive wheel and a second side drive wheel, and the first side drive wheel and the second side drive wheel are symmetrically arranged along the central axis of the self-moving device; the differential control module may include:

[0129] A division unit, used for dividing the slope into two areas based on the central axis of the self-moving device;

[0130] The first determining unit is configured to obtain the unpassable area of ​​each region and determine the region with the largest unpassable area as the target region;

[0131] a second determining unit, configured to determine a detour direction of the mobile device according to the target area;

[0132] a third determining unit, configured to determine a rotational differential speed between the first-side driving wheel and the second-side driving wheel according to the circling direction;

[0133] The control unit is used to control the first side driving wheel and the second side driving wheel based on the rotation differential so as to enable the self-moving device to go around along the slope.

[0134] Optionally, the above-mentioned climbing control device 6 may further include:

[0135] An acquisition module is used to obtain the roll angle and pitch angle of the mobile device;

[0136] The determination module is used to determine the angle between the moving direction of the mobile device and the slope direction and the inclination direction of the moving direction relative to the slope direction based on the roll angle, pitch angle and preset trigonometric function.

[0137] Optionally, the first moving module 61 may include:

[0138] The detection unit is used to determine that the self-moving device is on the slope and cannot move if it detects that the position of the self-moving device stops changing and the motor current of the self-moving device is greater than a preset current threshold when the self-moving device is on the slope.

[0139] Optionally, the above-mentioned climbing control device 6 may further include:

[0140] a recording module configured to record the current movement direction of the mobile device as the initial movement direction, and to record the slope height corresponding to the current position of the mobile device as the initial slope height;

[0141] The second adjustment module is configured to adjust the movement direction of the self-moving device to the initial movement direction after controlling the self-moving device to move around the slope and, upon detecting that the slope height corresponding to the current position of the self-moving device is consistent with the initial slope height;

[0142] The second path planning module is used to plan the path on the slope according to the adjusted movement direction to obtain the target movement path;

[0143] The third movement module is used to control the self-moving device to move on the slope according to the target movement path.

[0144] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0145] Figure 7 This is a schematic diagram of the physical structure of a mobile device provided by an embodiment of the present application. Figure 7 As shown, the self-mobile device 7 of this embodiment includes: at least one processor 70 ( Figure 7 Only one is shown) a processor, a memory 71, and a computer program 72 stored in the memory 71 and executable on at least one processor 70. When the processor 70 executes the computer program 72, the steps in any of the above-mentioned hill climbing control method embodiments are implemented, for example Figure 1 Steps 110-140 are shown.

[0146] The processor 70 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0147] In some embodiments, the memory 71 may be an internal storage unit of the mobile device 7, such as a hard disk or memory of the mobile device 7. In other embodiments, the memory 71 may be an external storage device of the mobile device 7, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the mobile device 7.

[0148] Furthermore, the memory 71 may include both an internal storage unit of the terminal device 7 and an external storage device. The memory 71 is used to store operating devices, applications, boot loaders, data, and other programs, such as program code of computer programs. The memory 71 may also be used to temporarily store data that has been output or is about to be output.

[0149] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0150] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it can implement the steps in the above-mentioned various method embodiments.

[0151] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0152] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, it can implement the steps of the above-mentioned various method embodiments. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may include at least: any entity or device that can carry the computer program code to the camera / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electric carrier signal, a telecommunication signal and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk.

[0153] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0154] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0155] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the above modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0156] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0157] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A climbing control method, characterized in that: include: Obtaining a planned movement path, and controlling the movement of the mobile device according to the planned movement path; When the self-moving device is located on a slope and cannot move, determining the inclination direction of the moving direction of the self-moving device relative to the slope direction according to the posture information of the self-moving device; Adjusting the moving direction of the self-moving device along the tilt direction to reduce the angle between the moving direction of the self-moving device and the horizontal plane; Performing path planning based on the angle between the adjusted movement direction and the horizontal plane to obtain a slope movement path; The self-moving device is controlled to move on the slope according to the slope movement path.

2. The hill climbing control method according to claim 1, wherein: After adjusting the movement direction of the self-moving device along the tilt direction to reduce the angle between the movement direction of the self-moving device and the horizontal plane, the method further includes: If the angle between the adjusted movement direction and the horizontal plane is smaller than a preset angle threshold, the self-moving device is controlled to move around the slope based on a preset differential control method.

3. The hill climbing control method according to claim 2, wherein: The self-moving device comprises a first side driving wheel and a second side driving wheel, wherein the first side driving wheel and the second side driving wheel are symmetrically arranged along the central axis of the self-moving device; The method of controlling the self-moving device to move around the slope based on a preset differential speed control method includes: Dividing the slope into two areas based on the central axis of the self-moving device; Obtaining the unpassable area of ​​each of the regions respectively, and determining the region with the larger unpassable area as the target region; determining a detour direction of the mobile device according to the target area; determining a rotational differential between the first-side driving wheel and the second-side driving wheel according to the circling direction; The first side drive wheel and the second side drive wheel are controlled based on the rotational differential so that the self-moving device moves around along the slope.

4. The hill climbing control method according to claim 1, wherein: The posture information includes a roll angle and a pitch angle of the self-moving device, and determining the inclination direction of the movement direction relative to the slope direction based on the posture information of the self-moving device includes: Obtaining the roll angle and pitch angle of the self-moving device; The angle between the moving direction of the self-moving device and the slope direction and the inclination direction of the moving direction relative to the slope direction are determined according to the roll angle, the pitch angle and a preset trigonometric function.

5. The hill climbing control method according to any one of claims 1 to 4, characterized in that: During the process of controlling the self-moving device to move on the slope according to the slope movement path, the method further includes: When the self-moving device is located on the slope, if it is detected that the position of the self-moving device stops changing and the motor current of the self-moving device is greater than a preset current threshold, it is determined that the self-moving device is located on the slope and cannot move.

6. The hill climbing control method according to claim 2, wherein: When the self-moving device is located on a slope and cannot move, the method further includes: Recording the current moving direction of the self-moving device as the initial moving direction, and recording the slope height corresponding to the current position of the self-moving device as the initial slope height; Accordingly, after controlling the self-moving device to move around along the slope, the method further includes: When it is detected that the slope height corresponding to the current position of the self-moving device is consistent with the initial slope height, adjusting the movement direction of the self-moving device to the initial movement direction; Path planning is performed on the slope according to the adjusted movement direction to obtain the target movement path; The self-moving device is controlled to move on the slope according to the target moving path.

7. A climbing control device, characterized in that: include: A first movement module is used to obtain a planned movement path and control the movement of the mobile device according to the planned movement path; a direction determination module, configured to determine, when the self-moving device is located on a slope and cannot move, an inclination direction of the moving direction of the self-moving device relative to the slope direction based on the posture information of the self-moving device; a first adjustment module, configured to adjust the movement direction of the self-moving device along the tilt direction to reduce the angle between the movement direction of the self-moving device and the horizontal plane; A first path planning module is used to perform path planning based on the angle between the adjusted movement direction and the horizontal plane to obtain a slope movement path; The second movement module is used to control the self-moving device to move on the slope according to the slope movement path.

8. The hill climbing control device according to claim 7, characterized in that: The slope control device further comprises: The differential control module is used to control the self-moving device to bypass the slope based on a preset differential control method after adjusting the movement direction of the self-moving device to reduce the angle between the movement direction of the self-moving device and the horizontal plane, if the angle between the adjusted movement direction and the horizontal plane is less than a preset angle threshold.

9. A self-propelled device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the hill climbing control method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the hill climbing control method according to any one of claims 1 to 6 is implemented.

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