Self-moving devices, obstacle detection methods for self-moving devices, and storage media

Abstract

This application belongs to the field of automatic control technology, specifically relating to a self-moving device, an obstacle detection method for the self-moving device, and a storage medium. The self-moving device includes: a housing; a line laser sensor located on the side of the housing, the line laser emitted by the line laser sensor forming a preset angle with the horizontal plane; and a controller connected to the line laser sensor, used for: acquiring the sensing signal collected by the line laser sensor during the movement of the self-moving device; determining the height data of the obstacle relative to the ground based on the sensing signal when an obstacle exists in the direction of travel of the self-moving device; and determining whether the obstacle is passable based on the height data. This solves the problem of the self-moving device directly bypassing the obstacle, resulting in poor working efficiency. By determining whether the obstacle is passable, it ensures that when the obstacle meets the conditions, the self-moving device is controlled to enter the ground area corresponding to the obstacle to work, thus improving the working efficiency of the self-moving device.

Description

Technical Field

[0001] This application belongs to the field of automatic control technology, specifically relating to a self-moving device, an obstacle detection method for the self-moving device, and a storage medium. Background Technology

[0002] With the development of electronic science and technology, self-moving devices such as sweeping robots and mopping robots have gradually entered people's daily lives. Self-moving devices usually have obstacle avoidance functions.

[0003] Currently, obstacle avoidance methods for self-moving devices include: using sensors to detect whether there are obstacles in front of the direction of travel; if so, changing the direction of travel until there are no obstacles in front of the direction of travel and continuing to travel.

[0004] However, for some obstacles that the self-moving device can pass through, directly bypassing the obstacle will prevent the self-moving device from working in the ground area corresponding to the obstacle, resulting in poor working performance. Summary of the Invention

[0005] This application provides a self-moving device, an obstacle detection method for the self-moving device, and a storage medium. It solves the problem that traditional self-moving devices cannot determine whether the area beneath a high obstacle is passable, thus preventing the device from operating beneath passable obstacles and resulting in poor performance. This application provides the following technical solution:

[0006] In a first aspect, a self-moving device is provided, the device comprising:

[0007] case;

[0008] A line laser sensor located on the side of the housing, wherein the line laser emitted by the line laser sensor forms a preset angle with the horizontal plane;

[0009] The controller connected to the line laser sensor is used for:

[0010] During the movement of the self-moving device, the sensing signal collected by the line laser sensor is acquired;

[0011] If there is an obstacle in the direction of travel of the self-moving device, the height data of the obstacle relative to the ground is determined based on the sensing signal;

[0012] Based on the height data, it is determined whether the obstacle is passable.

[0013] Optionally, the height data is used to indicate the position and height of the obstacle relative to the ground;

[0014] Determining whether the obstacle is passable based on the height data includes:

[0015] If the height data indicates that the obstacle is above the ground and its height relative to the ground is greater than a first preset threshold, it is determined that the obstacle is passable.

[0016] If the height data indicates that the obstacle is below the ground and its height relative to the ground is less than a second preset threshold, then the obstacle is determined to be passable.

[0017] Optionally, when the height data indicates that the obstacle is above the ground and its height relative to the ground is greater than a first preset threshold, determining that the obstacle is passable includes:

[0018] Determine whether there are other obstacles below the obstacle;

[0019] If there are other obstacles below the obstacle, and the difference between the height of the obstacle relative to the ground and the height of the other obstacles is greater than the first preset threshold, then the obstacle is determined to be passable.

[0020] Optionally, if the height data indicates that the obstacle is above the ground, the method further includes:

[0021] If the height of the obstacle relative to the ground is less than or equal to the first preset threshold, or if the difference between the height of the obstacle relative to the ground and the height of the other obstacles is less than or equal to the first preset threshold, then the obstacle is determined to be impassable.

[0022] Optionally, if the height data indicates that the obstacle is below ground level, the method further includes:

[0023] If the height of the obstacle relative to the ground is greater than or equal to the second preset threshold, the obstacle is determined to be impassable.

[0024] Optionally, after determining whether the obstacle is passable based on the height data, the method further includes:

[0025] If the obstacle is impassable, the self-moving device is controlled to move a preset distance toward the obstacle and then change its direction of travel to avoid the obstacle.

[0026] Optionally, before determining the height data of the obstacle relative to the ground based on the sensing signal, the method further includes:

[0027] Determine whether the obstacle exists in the direction of travel.

[0028] Optionally, the line laser sensor is installed at the front of the self-moving device; determining whether the obstacle exists in the direction of travel includes:

[0029] For the line laser emitted by the line laser sensor at the same time, determine whether the change of the sensing signal obtained after sensing the line laser meets the preset conditions. The preset conditions are determined based on the sensing signal obtained by the line laser sensor when scanning the obstacle.

[0030] If the changes meet the preset conditions, it is determined that the obstacle exists in the direction of travel;

[0031] If the change does not meet the preset conditions, it is determined that there is no obstacle in the direction of travel.

[0032] Optionally, determining the height data of the obstacle relative to the ground based on the sensing signal includes:

[0033] For the sensing signal obtained after the obstacle reflects the line laser, determine the distance and relative position between the abrupt signal corresponding to the ground and the abrupt signal corresponding to the obstacle in the sensing signal;

[0034] The height data of the obstacle relative to the ground is determined based on the distance, the relative position, and the preset angle.

[0035] Optionally, after determining whether the obstacle is passable based on the height data, the method further includes:

[0036] When the obstacle is passable, the location of the obstacle is marked as a passable area on the working map of the self-moving device, so that the self-moving device can operate at the location of the obstacle.

[0037] In a second aspect, an obstacle detection method for a self-moving device is provided, for use in the self-moving device provided in the first aspect, the method comprising:

[0038] During the movement of the self-moving device, the sensing signal collected by the line laser sensor is acquired;

[0039] If there is an obstacle in the direction of travel of the self-moving device, the height data of the obstacle relative to the ground is determined based on the sensing signal;

[0040] Based on the height data, it is determined whether the obstacle is passable.

[0041] Thirdly, a computer-readable storage medium is provided, wherein a program is stored therein, which, when executed by a processor, is used to implement the obstacle detection method for a self-moving device provided in the second aspect.

[0042] The beneficial effects of this application include at least the following: The self-moving device includes: a housing; a line laser sensor located on the side of the housing, the line laser emitted by the line laser sensor forming a preset angle with the horizontal plane; and a controller connected to the line laser sensor, used for: acquiring the sensing signal collected by the line laser sensor during the movement of the self-moving device; determining the height data of the obstacle relative to the ground based on the sensing signal when there is an obstacle in the direction of travel of the self-moving device; and determining whether the obstacle is passable based on the height data. This solves the problem that if the self-moving device directly bypasses the obstacle, it will be unable to work on the ground area corresponding to the passable obstacle, resulting in poor working performance. Since the passability of the obstacle is determined based on the height data of the obstacle relative to the ground, it can ensure that the self-moving device enters the ground area corresponding to the obstacle to work when the height data of the obstacle relative to the ground meets the conditions, thus improving the working effect of the self-moving device.

[0043] Meanwhile, because line laser sensors are more accurate than other sensors, self-moving devices can use line laser sensors to collect sensing signals to determine the height of obstacles relative to the ground with high accuracy. Therefore, they can improve the accuracy of judging whether obstacles are passable and further improve the working effect of self-moving devices.

[0044] Meanwhile, since the line laser emitted by the line laser sensor is at a preset angle to the horizontal plane, it can ensure that the line laser sensor can scan different positions of obstacles located on the side of the mobile device, thus ensuring the comprehensiveness of obstacle information.

[0045] Meanwhile, since line laser sensors can detect a larger sensing range than point laser sensors, they can solve the problem of using point laser sensors to determine height changes. Point laser sensors can only measure height changes in a straight line, and due to the obstruction of the bottom edge of the mobile device, they cannot effectively detect obstacles located below the ground, causing the mobile device to fall. Since line laser sensors can detect height changes within a region, they can improve the detection accuracy of obstacles located below the ground and prevent the mobile device from falling.

[0046] In addition, since the signal emission range of the line laser sensor includes the top, front and bottom of the mobile device, it can ensure that the line laser sensor can scan different positions of obstacles located on the side of the mobile device, thus ensuring the comprehensiveness of obstacle information.

[0047] Furthermore, since the obstacle is determined to be passable when the height data indicates that the obstacle is above the ground and its height relative to the ground is greater than a first preset threshold, this solves the problem of traditional self-moving devices changing their direction of travel directly when an obstacle is detected in their direction of travel. This results in the self-moving device being unable to enter the area under the obstacle that is above the ground and has a high height relative to the ground, leading to low work efficiency. Since the passability of the obstacle can be determined based on its height relative to the ground, it can ensure that the self-moving device can enter the ground area corresponding to the obstacle when it is passable, thus improving the working effect of the self-moving device.

[0048] Furthermore, since the obstacle is determined to be passable when the height data indicates that the obstacle is below the ground and its height relative to the ground is less than a second preset threshold, this solves the problem of traditional self-moving devices changing their direction of travel directly when an obstacle is detected in their direction of travel. This results in the self-moving device being unable to work on obstacles that are below the ground and have a low height relative to the ground, leading to low work efficiency. Since the passability of the obstacle can be determined based on its height relative to the ground, it can ensure that the self-moving device can enter the ground area corresponding to the obstacle when it is passable, thus improving the working effect of the self-moving device.

[0049] Furthermore, when an obstacle is located above the ground and its height relative to the ground is greater than a first preset threshold, it is further confirmed whether there are other obstacles below the obstacle. If there are other obstacles below the obstacle, it is further determined whether the obstacle is passable. This solves the problem that when judging whether an obstacle is passable based solely on its height relative to the ground, the presence of other obstacles below the obstacle may affect the passage of the self-moving device, leading to inaccurate judgments and low efficiency of the self-moving device. Since the passability of the obstacle is determined by combining information from other obstacles below it, the accuracy of the judgment can be improved, thus increasing the efficiency of the self-moving device.

[0050] Furthermore, since when an obstacle is located above the ground and there are other obstacles below it, if the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than a preset threshold, the obstacle is determined to be impassable. This solves the problem of inaccurate judgment caused by determining an obstacle as passable when the height of the obstacle relative to the ground is greater than a first preset threshold, but the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than the preset threshold. Therefore, determining an obstacle as impassable when the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than the preset threshold can improve the accuracy of judgment and improve the working efficiency of the self-moving device.

[0051] In addition, since there are other obstacles below the obstacle, and the difference between the height of the obstacle and the height of the other obstacles is greater than a first preset threshold, the obstacle is determined to be impassable when other obstacles are insurmountable. This can solve the problem of inaccurate judgment caused by determining the obstacle as passable when other obstacles are insurmountable. Since the obstacle is determined to be impassable when other obstacles are insurmountable, the accuracy of the judgment can be improved and the working efficiency of the self-moving device can be improved.

[0052] In addition, when obstacles prevent passage, controlling the self-moving device to move a preset distance toward the obstacle and then changing its direction of travel can allow the self-moving device to enter the edge of the obstacle to work, further improving the working efficiency of the self-moving device.

[0053] Furthermore, since the line laser sensor can be installed on the left and / or right side of the housing, it can continuously collect sensing signals from at least one side of the self-moving device during its movement. This solves the problem of low obstacle detection efficiency in traditional self-moving devices, which cannot detect obstacles on both sides of the direction of travel. As the self-moving device moves along the direction of travel, the line laser sensor can collect sensing signals from at least one side of the direction of travel, allowing the controller to determine whether an obstacle is passable based on the sensing signals, thus improving the acquisition efficiency.

[0054] Furthermore, by employing an obstacle detection sensor to detect obstacles in the direction of travel of the self-moving device, the problem of the self-moving device being unable to detect obstacles in its direction of travel when the online laser sensor is located on the left and / or right side of the self-moving device can be solved. Since the obstacle detection sensor can detect obstacles in the direction of travel of the self-moving device, and when the obstacle detection sensor detects an obstacle, the controller controls the self-moving device to approach the obstacle to determine whether the obstacle is passable, the problem of the self-moving device being unable to detect obstacles in its direction of travel when the online laser sensor is located on the left and / or right side of the self-moving device can be solved, thus improving the working efficiency of the self-moving device. Attached Figure Description

[0055] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0056] Figure 1 This is a schematic diagram of the structure of a self-moving device provided in one embodiment of this application;

[0057] Figure 2 This is a schematic diagram of the working scenario of a self-moving device provided in one embodiment of this application;

[0058] Figure 3 This is a schematic diagram of the working scenario of a self-moving device provided in one embodiment of this application;

[0059] Figure 4 This is a schematic diagram of an obstacle detection method for a self-moving device provided in one embodiment of this application;

[0060] Figure 5 This is a schematic diagram of an obstacle detection method for a self-moving device provided in one embodiment of this application;

[0061] Figure 6 This is a block diagram of an obstacle detection device for a self-moving device provided in one embodiment of this application.

[0062] Figure 7 This is a block diagram of an electronic device provided in one embodiment of this application. Detailed Implementation

[0063] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. The application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0064] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0065] In this application, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this application.

[0066] First, several terms used in the embodiments of this application will be introduced.

[0067] Line laser sensor: It is a sensor that includes a laser generating component, a cylindrical objective lens and a photosensitive component. When in use, the line laser sensor uses a cylindrical objective lens to expand the laser beam generated by the laser generating component into a strip shape. The laser produces diffuse reflection on the target object, and the reflected light is imaged on the photosensitive component. The position and shape of the target object can be measured by checking the changes in the position and shape of the image.

[0068] A microcontroller unit (MCU), also known as a single-chip microcomputer or microcontroller, is a chip-level computer formed by appropriately reducing the frequency and specifications of a central processing unit (CPU) and integrating memory, timer, USB and other peripheral interfaces onto a single chip.

[0069] Figure 1 This is a schematic diagram of the structure of a self-moving device provided in one embodiment of this application. The self-moving device includes, but is not limited to, devices with automatic movement functions such as sweeping robots, floor scrubbers, and combined sweeping and mopping machines. This embodiment does not limit the type of self-moving device. Figure 1 It is known that the self-moving device includes at least a housing 110, a line laser sensor 120, and a controller (not shown in the figure).

[0070] The housing 110 is the outer shell of the self-moving device. The shape of the housing 110 can be a regular geometric shape, such as a circle or a square, or it can be set to other shapes according to the actual application scenario. This embodiment does not limit the shape of the housing 110.

[0071] The housing 110 primarily serves a protective and supportive function. The housing 110 can be integrally formed or have a detachable structure; this embodiment does not limit the implementation of the housing 110.

[0072] The structure of the housing 110 is generally flat, such as a disc. This embodiment does not limit the shape of the housing 110.

[0073] The line laser sensor 120 is located on the side of the housing 110 and is used to emit line lasers and collect sensing signals. The line laser sensor 120 can be a single-line lidar or a multi-line lidar; this embodiment does not limit the type of the line laser sensor 120.

[0074] In this embodiment, the line laser emitted by the line laser sensor 120 forms a preset angle with the horizontal plane, which is not equal to 0. In other words, the line laser is not parallel to the horizontal plane, so that it will not only scan a single line of the obstacle, thus ensuring a more comprehensive scan of the obstacle. Preferably, the line laser is perpendicular to the horizontal plane, that is, the preset angle is 90 degrees.

[0075] To scan obstacles more comprehensively, the line laser sensor 120 emits line lasers over, in front of, and / or below the mobile device. (Reference) Figure 2 The line laser emission range includes the area above, in front of, and below the self-moving device.

[0076] In this embodiment, the linear laser sensor 120 can be located on the front, rear, left and / or right side of the housing 110. This embodiment does not limit the specific installation position of the linear laser sensor 120.

[0077] Taking the direction of travel of the self-moving device as the front as an example, the left side of the housing 110 refers to the left side of the self-moving device's direction of travel, and the right side of the housing 110 refers to the right side of the self-moving device's direction of travel.

[0078] In one example, the line laser sensor 120 is installed at the front of the self-moving device to detect obstacles in the direction of travel, ensuring that the self-moving device can detect obstacles in the direction of travel in a timely manner during movement.

[0079] refer to Figure 2 The line laser sensor 120 is located on the front side of the housing 110.

[0080] In another example, the line laser sensor 120 is mounted on the left and / or right side of the housing 110. This allows for the detection of obstacles on at least one side of the travel direction, thereby improving obstacle detection efficiency.

[0081] In addition, since the line laser emitted by the line laser sensor 120 is at a preset angle to the horizontal plane, it can ensure that the line laser sensor 120 scans different positions of obstacles located on the side of the self-moving device during the movement of the self-moving device, thus ensuring the comprehensiveness of obstacle information.

[0082] Optionally, the left side of the housing 110 includes the left side, the front left side, and / or the rear left side of the housing 110; the right side of the housing 110 includes the right side, the front right side, and / or the rear right side of the housing 110.

[0083] Optionally, there may be one or more line laser sensors 120. This embodiment does not limit the number of line laser sensors 120.

[0084] In order for the self-moving device to scan obstacles in the direction of travel and to the right of travel at the same time, there are two line laser sensors 120. One of them is located on the right side of the housing 110, which is used to emit line laser to the right side of the self-moving device and collect the sensing signal on the right side of the self-moving device. The other is located on the front side of the housing 110, which is used to emit line laser to the front side of the self-moving device and collect the sensing signal on the front side of the self-moving device.

[0085] The controller is connected to the line laser sensor 120. The controller can be a microcontroller unit installed inside the self-moving device, or any component with control functions; this embodiment does not limit the type of controller.

[0086] In this embodiment, the controller is used to acquire the sensing signal collected by the line laser sensor 120 during the movement of the self-moving device; if there is an obstacle in the direction of travel of the self-moving device, it determines the height data of the obstacle relative to the ground based on the sensing signal; and determines whether the obstacle is passable based on the height data.

[0087] Optionally, the height data is used to indicate the position and height of the obstacle relative to the ground.

[0088] Optionally, the obstacle may be located above or below the ground; this embodiment does not limit the position of the obstacle relative to the ground.

[0089] Optionally, when the obstacle is above the ground, the height of the obstacle relative to the ground is the height difference between the bottom surface of the obstacle and the ground; when the obstacle is below the ground, the height of the obstacle relative to the ground is the height difference between the top surface of the obstacle and the ground.

[0090] Optionally, the obstacle on the ground can be a table, chair, coffee table, or other such obstacle. This embodiment does not limit the type of obstacle on the ground.

[0091] refer to Figure 2 The table is an obstacle located on the ground, and there is a certain distance between the bottom of the table and the ground.

[0092] Optionally, obstacles located underground can be descending stairs, ditches, depressions in the ground, cliffs, etc. This embodiment does not limit the types of obstacles located underground.

[0093] refer to Figure 3 A cliff is an obstacle located below the ground, and there is a certain distance between the top of the cliff and the ground.

[0094] Optionally, before determining the height data of the obstacle relative to the ground based on the sensor signal, the method further includes: determining whether there is an obstacle in the direction of travel.

[0095] In this embodiment, determining whether there is an obstacle in the direction of travel is divided into the following two cases.

[0096] In the first scenario, the controller determines whether there is an obstacle in the direction of travel based on the sensing signal from the line laser sensor 120. In this case, the line laser sensor 120 is mounted on the front of the self-moving device.

[0097] In order to determine in real time whether there are obstacles in the direction of travel, the controller keeps the laser sensor 120 running continuously after the mobile device is powered on.

[0098] Because different types of obstacles have different outlines, the line laser sensor 120 obtains different sensing signals when scanning different types of obstacles. Based on this, the controller can determine the different types of obstacles using the sensing signals.

[0099] Optionally, determining whether there is an obstacle in the direction of travel includes: for line lasers emitted by the line laser sensor 120 at the same time, determining whether the change in the sensing signal obtained after sensing the line laser meets a preset condition, which is determined based on the sensing signal obtained by the line laser sensor 120 when scanning for obstacles; if the change meets the preset condition, determining that there is an obstacle in the direction of travel; if the change does not meet the preset condition, determining that there is no obstacle in the direction of travel.

[0100] The preset condition is that the changes in the sensing signal match the changes in the sensing signal obtained by the line laser sensor 120 when scanning the obstacle.

[0101] Before determining whether the changes in the sensing signal obtained after line laser sensing meet the preset conditions, it is necessary to acquire the changes in the sensing signal when the line laser sensor 120 scans the obstacle. The acquisition methods include, but are not limited to, the following:

[0102] Method 1: The control line laser sensor 120 scans different types of obstacles and obtains the changes in the sensing signal when scanning obstacles. These different types of obstacles include obstacles located above the ground and obstacles located below the ground.

[0103] Method 2: Simulate the scenario of the line laser sensor 120 scanning different types of obstacles in a computer, and obtain the changes in the sensing signal when scanning obstacles.

[0104] In the second scenario, an obstacle detection sensor 130 is also provided on the housing 110. The obstacle detection sensor 130 is connected to the controller. The controller determines whether there is an obstacle in the direction of travel based on the detection signal from the obstacle detection sensor 130.

[0105] In this embodiment, the obstacle detection sensor 130 can be an infrared sensor, or a camera, or an ultrasonic sensor. This embodiment does not limit the type of obstacle detection sensor 130.

[0106] Accordingly, when the online laser sensor 120 is installed on the left or right side of the self-moving device, in order to enable the online laser sensor 120 to collect the height information between the obstacle and the ground, in this embodiment, the controller is also used to: control the self-moving device to rotate a preset rotation angle in the opposite direction to the direction in which the online laser sensor 120 is installed, so that the obstacle is within the sensing range of the online laser sensor 120, when the obstacle detection sensor 130 detects an obstacle in the direction of travel.

[0107] For example, the line laser sensor 120 is installed on the right front side of the self-moving device, and the angle between the line connecting the installation position and the centroid of the device and the direction of travel is 45 degrees. The self-moving device rotates 45 degrees counterclockwise.

[0108] Optionally, when the online laser sensor 120 is installed on the front side of the self-moving device, if the obstacle detection sensor 130 detects an obstacle in the direction of travel, the controller directly controls the online laser sensor 120 to collect the sensing signal.

[0109] Since the sensing distance of the obstacle detection sensor 130 may be greater than that of the line laser sensor 120, in this embodiment, when the obstacle detection sensor 130 detects an obstacle in the travel direction, the controller can also control the self-moving device to move a preset travel distance toward the obstacle (i.e., continue to move a preset travel distance along the travel direction). The preset travel distance is less than the distance between the self-moving device and the obstacle, so as to approach the obstacle and bring the obstacle within the sensing range of the line laser sensor 120.

[0110] To improve the efficiency of the self-moving device in collecting obstacle information, in one example, the controller keeps the laser sensor 120 running continuously after the self-moving device is powered on.

[0111] To conserve the computing resources of the self-moving device, in another example, the controller activates the line laser sensor 120 when the obstacle sensor 130 detects an obstacle in the direction of travel.

[0112] Optionally, the preset travel distance can be a fixed value or dynamically determined. When the preset travel distance is dynamically determined, the controller is further configured to: acquire the distance between the self-moving device and the obstacle; and determine the preset travel distance based on the distance between the self-moving device and the obstacle and the optimal acquisition distance of the line laser sensor 120.

[0113] The process of obtaining the distance between the mobile device and the obstacle includes: calculating the distance between the mobile device and the obstacle based on the signal strength of the sensing signal received by the obstacle sensor 130.

[0114] In one example, determining a preset travel distance based on the distance between the self-moving device and the obstacle and the optimal acquisition distance of the line laser sensor 120 includes: determining the difference between the distance between the self-moving device and the obstacle and the optimal acquisition distance of the line laser sensor 120 as the preset travel distance.

[0115] For example: if the distance between the self-moving device and the obstacle is 10 meters, and the optimal acquisition distance of the line laser sensor 120 is 1 meter, then the preset travel distance is 9 meters.

[0116] Optionally, there may be one obstacle detection sensor 130 or multiple obstacle detection sensors 130. This embodiment does not limit the number of obstacle detection sensors 130.

[0117] Since the obstacle detection sensor 130 only needs to detect obstacles, in this embodiment, the obstacle detection accuracy of the obstacle detection sensor 130 is set to be lower than that of the line laser sensor 120. Because the lower-accuracy sensor signal has less data, the computational resources consumed when using the lower-accuracy sensor signal for obstacle detection are lower. Therefore, computational resources can be saved when the mobile device detects obstacles.

[0118] In addition, in this embodiment, the detection distance of the obstacle detection sensor 130 is greater than that of the line laser sensor 120, which can ensure that obstacles can be detected over a larger range, so that the mobile device can detect and approach the obstacle in a timely manner to determine whether the obstacle is passable.

[0119] Optionally, the preset rotation angle is determined based on the installation position of the line laser sensor 120.

[0120] Optionally, determining the height data of the obstacle relative to the ground based on the sensing signal includes: determining the distance and relative position between the abrupt change signal corresponding to the ground and the abrupt change signal corresponding to the obstacle in the sensing signal obtained after the obstacle reflects the laser line; and determining the height data of the obstacle relative to the ground based on the distance, relative position and preset angle.

[0121] The abrupt change signal is used to indicate the location where the height changes within the sensing range of the line laser sensor 120.

[0122] In this embodiment, whether an obstacle is passable is determined based on height data, and the obstacle's position relative to the ground is divided into the following two cases:

[0123] In the first scenario, the height data indicates that the obstacle is above the ground. If the height data indicates that the obstacle's height relative to the ground is greater than a first preset threshold, the obstacle is determined to be passable; if the height data indicates that the obstacle's height is less than or equal to the first preset threshold, the obstacle is determined to be impassable.

[0124] The first preset threshold is determined based on the height of the self-moving device housing 110 and the height of the sensor mounted on the housing 110.

[0125] In the first case, if the height data indicates that the height of the obstacle relative to the ground is greater than a first preset threshold, the obstacle is determined to be passable, including: determining whether there are other obstacles below the obstacle; if there are other obstacles below the obstacle, and the difference between the height of the obstacle relative to the ground and the height of the other obstacles is greater than the first preset threshold, then the obstacle is determined to be passable; or, if there are no other obstacles below the obstacle, then the obstacle is determined to be passable.

[0126] If the difference between the height of an obstacle relative to the ground and the height of other obstacles is less than or equal to a first preset threshold, then the obstacle is determined to be impassable.

[0127] Other obstacles refer to obstacles whose bottom surface is in contact with the ground. For example, other obstacles include boxes, trash cans, and / or thresholds placed on the ground. This embodiment does not limit the types of other obstacles.

[0128] In one example, determining whether there are other obstacles below an obstacle includes: for a line laser emitted by the line laser sensor 120 at the same time, determining whether the change in the sensing signal obtained after sensing the line laser meets a second preset condition, the second preset condition being determined based on the sensing signal obtained by the line laser sensor 120 when scanning other obstacles; if the change meets the other preset condition, determining that there are other obstacles within the sensing range; if the change does not meet the second preset condition, determining that there are no other obstacles within the sensing range.

[0129] Since abrupt changes in the sensing signal can reflect changes in altitude, there must be at least three abrupt changes in the sensing signal when there are other obstacles below the obstacle: a ground-induced abrupt change, an obstacle-induced abrupt change, and other obstacle-induced abrupt changes. Therefore, in another example, determining whether there are other obstacles below the obstacle includes: determining the number of abrupt changes in the sensing signal for line lasers emitted by the line laser sensor 120 at the same time; if the number of abrupt changes is greater than two, there are other obstacles below the obstacle.

[0130] Optionally, the obstacle height of other obstacles can be determined based on the sensor signals.

[0131] In one example, determining the obstacle height of other obstacles based on sensor signals includes: determining the distance and relative position between the ground-corresponding abrupt change signal and the abrupt change signal of other obstacles in the sensor signals obtained after the other obstacles reflect the laser line; and determining the obstacle height of other obstacles based on the distance, relative position, and preset angle between the ground-corresponding abrupt change signal and the abrupt change signal of other obstacles.

[0132] In the first case, if there are other obstacles below the obstacle, and the difference between the height of the obstacle relative to the ground and the height of the other obstacles is greater than a first preset threshold, then the obstacle is determined to be passable, including: determining whether the other obstacles can be crossed; if the other obstacles can be crossed, then the obstacle is determined to be passable; if the other obstacles cannot be crossed, then the obstacle is determined to be impassable.

[0133] Optionally, determining whether other obstacles can be crossed based on their height includes: determining that other obstacles can be crossed when their height is greater than a preset crossing height; and determining that other obstacles cannot be crossed when their height is less than or equal to the preset crossing height.

[0134] The preset surmountable height is the maximum height of other obstacles that the self-moving device can safely traverse. The preset surmountable height is determined based on the height of the bottom of the self-moving device housing 110 from the ground.

[0135] In the second scenario, if the height data indicates that the obstacle is below the ground, then if the height of the obstacle relative to the ground is less than a second preset threshold, the obstacle is determined to be passable; if the height of the obstacle relative to the ground is greater than or equal to the second preset threshold, the obstacle is determined to be impassable.

[0136] The second preset threshold is the maximum height at which the self-moving device can safely pass through obstacles located below the ground. The second preset threshold is determined based on the bottom height of the self-moving device housing 110 above the ground.

[0137] Optionally, after determining whether an obstacle is passable based on height data, the method further includes: if the obstacle is passable, marking the location of the obstacle as a passable area on the working map of the self-moving device, so that the self-moving device can work at the location of the obstacle; if the obstacle is impassable, marking the location of the obstacle as an impassable area on the working map of the self-moving device, so as to prohibit the self-moving device from entering the location of the obstacle to work.

[0138] Optionally, after determining whether an obstacle is passable based on height data, the method further includes: if the obstacle is impassable, controlling the self-moving device to move a preset distance toward the obstacle and then changing its direction of travel to avoid the obstacle; if the obstacle is passable, the self-moving device continues to move along its direction of travel to enter the ground area corresponding to the obstacle for operation.

[0139] The preset distance is less than the distance between the self-moving device and the obstacle.

[0140] Since, when an obstacle is impassable, controlling the self-moving device to move a preset distance toward the obstacle and then changing its direction of travel can allow the self-moving device to enter the edge of the obstacle to work, thereby further improving the working efficiency of the self-moving device.

[0141] Optionally, after determining whether an obstacle is passable based on height data, the process further includes: determining whether the work in the work area is complete; if the work is not complete, re-performing the step of determining the height data of the obstacle relative to the ground based on sensor signals if there is an obstacle in the direction of travel of the self-moving device. If the work is complete, the self-moving device stops moving.

[0142] In summary, the self-moving device provided in this embodiment includes: a housing; a line laser sensor located on the side of the housing, wherein the line laser emitted by the line laser sensor forms a preset angle with the horizontal plane; and a controller connected to the line laser sensor, used for: acquiring the sensing signal collected by the line laser sensor during the movement of the self-moving device; determining the height data of the obstacle relative to the ground based on the sensing signal when there is an obstacle in the direction of travel of the self-moving device; and determining whether the obstacle is passable based on the height data. This can solve the problem that if the self-moving device directly bypasses the obstacle, it will be unable to work on the ground area corresponding to the passable obstacle, resulting in poor working effect. Since the passability of the obstacle is determined based on the height data of the obstacle relative to the ground, it can ensure that the self-moving device enters the ground area corresponding to the obstacle to work when the height data of the obstacle relative to the ground meets the conditions, thus improving the working effect of the self-moving device.

[0143] Meanwhile, because line laser sensors are more accurate than other sensors, self-moving devices can use line laser sensors to collect sensing signals to determine the height of obstacles relative to the ground with high accuracy. Therefore, they can improve the accuracy of judging whether obstacles are passable and further improve the working effect of self-moving devices.

[0144] Meanwhile, since the line laser emitted by the line laser sensor is at a preset angle to the horizontal plane, it can ensure that the line laser sensor can scan different positions of obstacles located on the side of the mobile device, thus ensuring the comprehensiveness of obstacle information.

[0145] Meanwhile, since line laser sensors can detect a larger sensing range than point laser sensors, they can solve the problem of using point laser sensors to determine height changes. Point laser sensors can only measure height changes in a straight line, and due to the obstruction of the bottom edge of the mobile device, they cannot effectively detect obstacles located below the ground, causing the mobile device to fall. Since line laser sensors can detect height changes within a region, they can improve the detection accuracy of obstacles located below the ground and prevent the mobile device from falling.

[0146] In addition, since the signal emission range of the line laser sensor includes the top, front and bottom of the mobile device, it can ensure that the line laser sensor can scan different positions of obstacles located on the side of the mobile device, thus ensuring the comprehensiveness of obstacle information.

[0147] Furthermore, since the obstacle is determined to be passable when the height data indicates that the obstacle is above the ground and its height relative to the ground is greater than a first preset threshold, this solves the problem of traditional self-moving devices changing their direction of travel directly when an obstacle is detected in their direction of travel. This results in the self-moving device being unable to enter the area under the obstacle that is above the ground and has a high height relative to the ground, leading to low work efficiency. Since the passability of the obstacle can be determined based on its height relative to the ground, it can ensure that the self-moving device can enter the ground area corresponding to the obstacle when it is passable, thus improving the working effect of the self-moving device.

[0148] Furthermore, since the obstacle is determined to be passable when the height data indicates that the obstacle is below the ground and its height relative to the ground is less than a second preset threshold, this solves the problem of traditional self-moving devices changing their direction of travel directly when an obstacle is detected in their direction of travel. This results in the self-moving device being unable to work on obstacles that are below the ground and have a low height relative to the ground, leading to low work efficiency. Since the passability of the obstacle can be determined based on its height relative to the ground, it can ensure that the self-moving device can enter the ground area corresponding to the obstacle when it is passable, thus improving the working effect of the self-moving device.

[0149] Furthermore, when an obstacle is located above the ground and its height relative to the ground is greater than a first preset threshold, it is further confirmed whether there are other obstacles below the obstacle. If there are other obstacles below the obstacle, it is further determined whether the obstacle is passable. This solves the problem that when judging whether an obstacle is passable based solely on its height relative to the ground, the presence of other obstacles below the obstacle may affect the passage of the self-moving device, leading to inaccurate judgments and low efficiency of the self-moving device. Since the passability of the obstacle is determined by combining information from other obstacles below it, the accuracy of the judgment can be improved, thus increasing the efficiency of the self-moving device.

[0150] Furthermore, since when an obstacle is located above the ground and there are other obstacles below it, if the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than a preset threshold, the obstacle is determined to be impassable. This solves the problem of inaccurate judgment caused by determining an obstacle as passable when the height of the obstacle relative to the ground is greater than a first preset threshold, but the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than the preset threshold. Therefore, determining an obstacle as impassable when the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than the preset threshold can improve the accuracy of judgment and improve the working efficiency of the self-moving device.

[0151] In addition, since there are other obstacles below the obstacle, and the difference between the height of the obstacle and the height of the other obstacles is greater than a first preset threshold, the obstacle is determined to be impassable when other obstacles are insurmountable. This can solve the problem of inaccurate judgment caused by determining the obstacle as passable when other obstacles are insurmountable. Since the obstacle is determined to be impassable when other obstacles are insurmountable, the accuracy of the judgment can be improved and the working efficiency of the self-moving device can be improved.

[0152] In addition, when obstacles prevent passage, controlling the self-moving device to move a preset distance toward the obstacle and then changing its direction of travel can allow the self-moving device to enter the edge of the obstacle to work, further improving the working efficiency of the self-moving device.

[0153] Furthermore, since the line laser sensor can be installed on the left and / or right side of the housing, it can continuously collect sensing signals from at least one side of the self-moving device during its movement. This solves the problem of low obstacle detection efficiency in traditional self-moving devices, which cannot detect obstacles on both sides of the direction of travel. As the self-moving device moves along the direction of travel, the line laser sensor can collect sensing signals from at least one side of the direction of travel, allowing the controller to determine whether an obstacle is passable based on the sensing signals, thus improving the acquisition efficiency.

[0154] Furthermore, by employing an obstacle detection sensor to detect obstacles in the direction of travel of the self-moving device, the problem of the self-moving device being unable to detect obstacles in its direction of travel when the online laser sensor is located on the left and / or right side of the self-moving device can be solved. Since the obstacle detection sensor can detect obstacles in the direction of travel of the self-moving device, and when the obstacle detection sensor detects an obstacle, the controller controls the self-moving device to approach the obstacle to determine whether the obstacle is passable, the problem of the self-moving device being unable to detect obstacles in its direction of travel when the online laser sensor is located on the left and / or right side of the self-moving device can be solved, thus improving the working efficiency of the self-moving device.

[0155] The obstacle detection method for self-moving devices provided in this application will be described in detail below.

[0156] This embodiment provides an obstacle detection method for self-moving devices, such as... Figure 4 As shown. This embodiment uses this method for... Figure 1 The method will be illustrated using the controller of the self-moving device shown as an example. The method includes at least the following steps:

[0157] Step 401: During the movement of the self-moving device, acquire the sensing signal collected by the line laser sensor;

[0158] Step 402: If there is an obstacle in the direction of travel of the self-moving device, determine the height data of the obstacle relative to the ground based on the sensor signal;

[0159] Step 403: Determine whether the obstacle is passable based on the height data.

[0160] The relevant descriptions in this embodiment refer to the above embodiments, and will not be repeated here.

[0161] As can be seen from the above embodiments, the obstacle detection method for self-moving devices provided in this application involves the controller acquiring sensing signals collected by a line laser sensor during the movement of the self-moving device; determining the height data of the obstacle relative to the ground based on the sensing signals when there is an obstacle in the direction of travel of the self-moving device; and determining whether the obstacle is passable based on the height data. This method can solve the problem that if the self-moving device directly bypasses the obstacle, it will be unable to work on the ground area corresponding to the passable obstacle, resulting in poor working performance. Since the passability of the obstacle is determined based on the height data of the obstacle relative to the ground, it can ensure that the self-moving device enters the ground area corresponding to the obstacle to work when the height data of the obstacle relative to the ground meets the conditions, thus improving the working performance of the self-moving device.

[0162] To better understand the obstacle detection method for self-moving devices provided in this application, an example is given below. For instance... Figure 5 As shown. This embodiment uses this method for... Figure 1 The method will be illustrated using the controller of the self-moving device shown as an example. The method includes at least the following steps:

[0163] Step 501: During the movement of the self-moving device, acquire the sensing signal collected by the line laser sensor;

[0164] Step 502: Determine if there is an obstacle in the direction of travel; if there is an obstacle in the direction of travel, proceed to step 503; if there is no obstacle in the direction of travel, proceed to step 510.

[0165] Step 503: Determine the height data of the obstacle relative to the ground based on the sensor signals;

[0166] Step 504: If the height data indicates that the obstacle is above the ground, determine whether the height of the obstacle relative to the ground is greater than a first preset threshold; if the height of the obstacle relative to the ground is greater than the first preset threshold, proceed to step 505; if the height of the obstacle relative to the ground is less than or equal to the first preset threshold, proceed to step 508.

[0167] Step 505: Determine if there are other obstacles below the obstacle; if there are other obstacles below the obstacle, proceed to step 506; if there are no other obstacles below the obstacle, proceed to step 509.

[0168] Step 506: Determine whether the difference between the height of the obstacle relative to the ground and the height of other obstacles is greater than a first preset threshold; if the difference between the height of the obstacle relative to the ground and the height of other obstacles is greater than the first preset threshold, proceed to step 509; if the difference between the height of the obstacle relative to the ground and the height of other obstacles is less than or equal to the first preset threshold, proceed to step 508.

[0169] Step 507: If the height data indicates that the obstacle is below the ground, determine whether the height of the obstacle relative to the ground is less than the second preset threshold; if the height of the obstacle relative to the ground is less than the second preset threshold, proceed to step 509; if the height of the obstacle relative to the ground is greater than or equal to the second preset threshold, determine that the obstacle is impassable, and proceed to step 508.

[0170] Step 508: Determine that the obstacle is impassable, control the self-moving device to move a preset distance toward the obstacle and then change the direction of travel to avoid the obstacle, and mark the location of the obstacle as an impassable area on the working map of the self-moving device, and then execute step 510.

[0171] Step 509: Determine that the obstacle is passable, control the self-moving device to continue moving along the direction of travel to enter the ground area corresponding to the obstacle to work, and mark the location of the obstacle as a passable area on the working map of the self-moving device, and execute step 510.

[0172] Step 510: Determine whether the work in the work area is complete; if the work is not complete, proceed to step 501; if the work is complete, proceed to step 511.

[0173] Step 511: Control the self-moving device to stop moving.

[0174] The relevant descriptions in this embodiment refer to the above embodiments, and will not be repeated here.

[0175] As can be seen from the above embodiments, the obstacle detection method for the self-moving device provided in this application determines that the obstacle is passable when the height data indicates that the obstacle is above the ground and its height relative to the ground is greater than a first preset threshold. This solves the problem that traditional self-moving devices directly change their direction of travel when an obstacle is detected in their direction of travel, resulting in the self-moving device being unable to enter the area under the obstacle that is above the ground and has a high height relative to the ground, leading to low work efficiency. Since the passability of the obstacle can be determined based on its height relative to the ground, it can ensure that the self-moving device enters the ground area corresponding to the obstacle when the obstacle is passable, thus improving the working effect of the self-moving device.

[0176] This embodiment provides an obstacle detection device for a self-moving device, such as... Figure 6 As shown. This embodiment applies the device to... Figure 1 The controller of the self-moving device shown includes at least the following modules: signal acquisition module 601, data calculation module 602, and passage judgment module 603.

[0177] The signal acquisition module 601 is used to acquire the sensing signal collected by the line laser sensor during the movement of the self-moving device;

[0178] The data calculation module 602 is used to determine the height data of the obstacle relative to the ground based on the sensor signal when there is an obstacle in the direction of travel of the self-moving device.

[0179] The passage determination module 603 is used to determine whether an obstacle is passable based on height data.

[0180] For relevant details, please refer to the above-described method and equipment embodiments.

[0181] It should be noted that the obstacle detection device for self-moving devices provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the obstacle detection device for mobile devices can be divided into different functional modules to complete all or part of the functions described above. In addition, the obstacle detection device for mobile devices provided in the above embodiments and the obstacle detection method embodiments for mobile devices belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0182] This embodiment provides an electronic device, such as... Figure 7 As shown. Electronic devices can be Figure 1 A self-moving device. The electronic device includes at least a processor 701 and a memory 702.

[0183] Processor 701 may include one or more processing cores, such as a quad-core processor or an octa-core processor. Processor 701 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 701 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 701 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, processor 701 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0184] The memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 702 are used to store at least one instruction, which is executed by the processor 701 to implement the obstacle detection method for a self-moving device provided in the method embodiments of this application.

[0185] In some embodiments, the electronic device may also optionally include: a peripheral device interface and at least one peripheral device. The processor 701, memory 702, and peripheral device interface can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface via a bus, signal line, or circuit board. Indicatively, peripheral devices include, but are not limited to: radio frequency circuitry, a touch display screen, audio circuitry, and a power supply.

[0186] Of course, electronic devices may also include fewer or more components, and this embodiment does not limit this.

[0187] Optionally, this application also provides a computer-readable storage medium storing a program that is loaded and executed by a processor to implement the obstacle detection method for a self-moving device described in the above method embodiments.

[0188] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0189] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A self-moving device, characterized in that, The device includes: case; A line laser sensor is located on the side of the housing. The line laser emitted by the line laser sensor forms a preset angle with the horizontal plane. The line laser emission range of the line laser sensor includes the top, front, and bottom of the self-moving device. The controller connected to the line laser sensor is used for: During the movement of the self-moving device, the sensing signal collected by the line laser sensor is acquired; If there is an obstacle in the direction of travel of the self-moving device, the height data of the obstacle relative to the ground is determined based on the sensing signal; Based on the height data, determine whether the obstacle is passable. The step of determining the height data of the obstacle relative to the ground based on the sensing signal includes: For the sensing signal obtained after the obstacle reflects the line laser, determine the distance and relative position between the abrupt signal corresponding to the ground and the abrupt signal corresponding to the obstacle in the sensing signal; The height data of the obstacle relative to the ground is determined based on the distance, the relative position, and the preset angle.

2. The self-moving device according to claim 1, characterized in that, The height data is used to indicate the position and height of the obstacle relative to the ground; Determining whether the obstacle is passable based on the height data includes: If the height data indicates that the obstacle is above the ground and its height relative to the ground is greater than a first preset threshold, it is determined that the obstacle is passable. If the height data indicates that the obstacle is below the ground and its height relative to the ground is less than a second preset threshold, then the obstacle is determined to be passable.

3. The self-moving device according to claim 2, characterized in that, When the height data indicates that the obstacle is above the ground and its height relative to the ground is greater than a first preset threshold, determining that the obstacle is passable includes: Determine whether there are other obstacles below the obstacle; If there are other obstacles below the obstacle, and the difference between the height of the obstacle relative to the ground and the height of the other obstacles is greater than the first preset threshold, then the obstacle is determined to be passable.

4. The self-moving device according to claim 3, characterized in that, If the height data indicates that the obstacle is above the ground, the method further includes: If the height of the obstacle relative to the ground is less than or equal to the first preset threshold, or if the difference between the height of the obstacle relative to the ground and the height of the other obstacles is less than or equal to the first preset threshold, then the obstacle is determined to be impassable.

5. The self-moving device according to claim 2, characterized in that, If the height data indicates that the obstacle is below ground level, the method further includes: If the height of the obstacle relative to the ground is greater than or equal to the second preset threshold, the obstacle is determined to be impassable.

6. The self-moving device according to claim 1, characterized in that, After determining whether the obstacle is passable based on the height data, the method further includes: If the obstacle is impassable, the self-moving device is controlled to move a preset distance toward the obstacle and then change its direction of travel to avoid the obstacle.

7. The self-moving device according to claim 1, characterized in that, Before determining the height data of the obstacle relative to the ground based on the sensing signal, the method further includes: Determine whether the obstacle exists in the direction of travel.

8. The self-moving device according to claim 7, characterized in that, The line laser sensor is installed at the front of the self-moving device; determining whether the obstacle exists in the direction of travel includes: For the line laser emitted by the line laser sensor at the same time, determine whether the change of the sensing signal obtained after sensing the line laser meets the preset conditions. The preset conditions are determined based on the sensing signal obtained by the line laser sensor when scanning the obstacle. If the changes meet the preset conditions, it is determined that the obstacle exists in the direction of travel; If the change does not meet the preset conditions, it is determined that there is no obstacle in the direction of travel.

9. The self-moving device according to claim 1, characterized in that, After determining whether the obstacle is passable based on the height data, the method further includes: When the obstacle is passable, the location of the obstacle is marked as a passable area on the working map of the self-moving device, so that the self-moving device can operate at the location of the obstacle.

10. An obstacle detection method for a self-moving device, characterized in that, For use in any of the self-moving devices according to claims 1 to 9, the method comprises: During the movement of the self-moving device, the sensing signal collected by the line laser sensor is acquired; If there is an obstacle in the direction of travel of the self-moving device, the height data of the obstacle relative to the ground is determined based on the sensing signal; Based on the height data, it is determined whether the obstacle is passable.

11. A computer-readable storage medium, characterized in that, The storage medium stores a program that, when executed by a processor, is used to implement the obstacle detection method for a self-moving device as described in claim 10.

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