Obstacle crossing method and device of cleaning robot, terminal equipment and medium

Abstract

The present application relates to the technical field of robots, and in particular to an obstacle crossing method and device for a cleaning robot, a terminal device and a computer readable storage medium, the method comprising: when the cleaning robot runs according to a preset planning path, dividing a laser signal region based on a laser sensor of the cleaning robot to determine position information of an obstacle; determining a self-rotation angle of the cleaning robot according to the position information and current pose information of the cleaning robot; after determining that the cleaning robot rotates the self-rotation angle, controlling the cleaning robot to perform an obstacle crossing operation. The present application improves the obstacle crossing accuracy and efficiency of the cleaning robot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an obstacle crossing method and device of a cleaning robot, a terminal device and a computer readable storage medium. BACKGROUND

[0002] With the vigorous development of robot technology and the continuous improvement of people's living standards, the cleaning robot has a very broad market prospect because of its wide application. At the same time, users have higher requirements for the cleaning robot to quickly and accurately avoid obstacles during walking.

[0003] When there are many obstacles around the cleaning robot, the traditional cleaning robot usually adopts the collision method to find the exit, for example, adopts the right side collision left spin method to find the effective exit for obstacle crossing. However, this method has a great defect. On the one hand, the traditional cleaning robot is easy to make noise and reduce the service life of the collision spring after too much collision. On the other hand, the traditional cleaning robot cannot quickly and accurately know the angle of spin after collision, in other words, the traditional cleaning robot cannot quickly and accurately obtain the effective exit for obstacle crossing, and the obstacle crossing effect is not significant.

[0004] In summary, the existing obstacle crossing method of the cleaning robot is easy to damage the robot device and has the technical problems of low obstacle crossing accuracy and low efficiency. SUMMARY

[0005] The main purpose of the present application is to provide an obstacle crossing method, device, terminal device and computer readable storage medium of a cleaning robot, which aims to improve the obstacle crossing accuracy and efficiency of the cleaning robot.

[0006] To achieve the above purpose, the present application provides an obstacle crossing method of a cleaning robot, the obstacle crossing method of the cleaning robot comprising:

[0007] When the cleaning robot runs according to the preset planning path, the position information of the obstacle is determined based on the laser sensor of the cleaning robot to divide the laser signal area;

[0008] The spin angle of the cleaning robot is determined according to the position information and the current pose information of the cleaning robot;

[0009] After determining the spin angle of the cleaning robot, the cleaning robot is controlled to perform the obstacle crossing operation.

[0010] Optionally, the step of determining the position information of the obstacle based on the laser sensor of the cleaning robot to divide the laser signal area comprises:

[0011] acquire a preset laser range area in front of the cleaning robot based on the laser sensor;

[0012] divide the angle of the laser range area into three equal parts to determine a left laser signal range, a right laser signal range and a middle laser signal range, and take the left laser signal range, the right laser signal range and the middle laser signal range as the laser signal area;

[0013] determine the position information of the obstacle according to the laser signal area.

[0014] Optionally, the step of acquiring a preset laser range area in front of the cleaning robot based on the laser sensor comprises:

[0015] determine a current laser axis of the cleaning robot according to the center of the circle and the current pose information of the cleaning robot;

[0016] acquire a preset laser range area in front of the cleaning robot based on the laser sensor and the current laser axis.

[0017] Optionally, the step of determining the spin angle of the cleaning robot according to the position information and the current pose information of the cleaning robot comprises:

[0018] when it is determined that the obstacle is in the right laser signal range, detect whether the distance between the cleaning robot and the obstacle is less than a preset stop motion distance;

[0019] if yes, control the wheels of the cleaning robot to stop rotating, and determine the spin angle of the cleaning robot according to the current pose information of the cleaning robot.

[0020] Optionally, the step of determining the spin angle of the cleaning robot according to the current pose information of the cleaning robot comprises:

[0021] determine a current position and a machine orientation corresponding to the current pose information of the cleaning robot, and obtain a machine right side pose of the cleaning robot according to the current position and the machine orientation;

[0022] determine an obstacle point pose corresponding to the obstacle, and determine a left spin target angle of the cleaning robot according to the machine right side pose and the obstacle point pose;

[0023] take the left spin target angle as the spin angle of the cleaning robot.

[0024] Optionally, the step of determining the spin angle of the cleaning robot according to the machine right side pose and the obstacle point pose comprises:

[0025] a first range is obtained according to the right side pose of the machine and the obstacle point pose, and a second range between a center of the cleaning robot and the right side pose of the machine is obtained;

[0026] an included angle between the first range and the second range is determined;

[0027] the first range, the second range and the included angle are calculated according to a preset triangular definition formula to obtain a spin angle of the cleaning robot.

[0028] Optionally, a straight running state of the cleaning robot is obtained, and the cleaning robot is controlled to run straight to avoid the obstacle according to the straight running state, wherein the obstacle avoiding distance is a radius of the cleaning robot.

[0029] In addition, to achieve the above object, the present application further provides an obstacle avoiding device of a cleaning robot, which comprises:

[0030] a division module, configured to divide a laser signal region based on a laser sensor of the cleaning robot to determine position information of an obstacle when the cleaning robot runs according to a preset planning path;

[0031] a determination module, configured to determine a spin angle of the cleaning robot according to the position information and current pose information of the cleaning robot;

[0032] an obstacle avoiding module, configured to control the cleaning robot to perform an obstacle avoiding operation after determining that the cleaning robot rotates the spin angle.

[0033] The various functional modules of the obstacle avoiding device of the cleaning robot realize the steps of the obstacle avoiding method of the cleaning robot as described above when running.

[0034] In addition, to achieve the above object, the present application further provides a terminal device, which comprises a memory, a processor and an obstacle avoiding program of a cleaning robot stored in the memory and executable on the processor, and the obstacle avoiding program of the cleaning robot realizes the steps of the obstacle avoiding method of the cleaning robot when executed by the processor.

[0035] In addition, to achieve the above object, the present application further provides a computer readable storage medium, which stores an obstacle avoiding program of a cleaning robot, and the obstacle avoiding program of the cleaning robot realizes the steps of the obstacle avoiding method of the cleaning robot when executed by a processor.

[0036] In the present application, when the control center determines that the cleaning robot walks normally according to the preset planning path, the laser sensor of the cleaning robot will divide the laser signal area and perform real-time detection in the laser signal area. After determining that the cleaning robot obtains the position information of the obstacle in the laser signal area, the self-rotation angle of the cleaning robot is determined according to the position information of the obstacle and the current pose information of the cleaning robot, and then the cleaning robot is controlled to rotate the self-rotation angle and then perform the obstacle crossing operation.

[0037] Different from the traditional obstacle crossing method of the cleaning robot, in the present application, the position information of the obstacle is first determined in the laser signal area, and then the self-rotation angle of the cleaning robot is determined based on the position information of the obstacle and the current pose information of the cleaning robot to control the cleaning robot to rotate according to the self-rotation angle for calibration, and then the cleaning robot is controlled to move straight to avoid the obstacle. Therefore, the cleaning robot of the present application can quickly and effectively identify the effective exit to cross the obstacle without using the collision method, thereby effectively avoiding the phenomenon that the existing cleaning robot is easy to be damaged, has low obstacle crossing accuracy and low obstacle crossing efficiency, and further improving the accuracy and efficiency of the cleaning robot in identifying the effective exit. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a flowchart of the obstacle crossing method of the cleaning robot of the present application;

[0039] Figure 2 is a specific application flowchart related to an embodiment of the obstacle crossing method of the cleaning robot of the present application;

[0040] Figure 3 is a self-rotation angle diagram related to an embodiment of the obstacle crossing method of the cleaning robot of the present application

[0041] Figure 4 is a schematic diagram of the obstacle crossing device module of the cleaning robot of the present application;

[0042] Figure 5 is a structural diagram of the terminal device related to the embodiment of the present application;

[0043] Figure 6 is a structural diagram of the computer readable storage medium related to the embodiment of the present application.

[0044] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0045] The embodiment of the present application provides an obstacle crossing method of a cleaning robot, which is described with reference to Figure 1 , and Figure 1is a flowchart of a first embodiment of an obstacle crossing method of a cleaning robot of the present application.

[0046] Exemplary embodiments will be described in detail herein below with reference to the drawings. In the following description, the same numbers refer to the same or similar elements unless otherwise represented. The embodiments described in the following exemplary embodiments do not represent all the embodiments consistent with the present application.

[0047] In this embodiment, the obstacle crossing method of the cleaning robot of the present application is applied to a terminal device for determining an effective exit for a sweeping robot to avoid obstacles, and is specifically executed by a control hub in the terminal device. It should be noted that the cleaning robot of the present application refers to a household sweeping machine, a mopping machine, a sweeping and mopping integrated machine, a floor washing machine, and the like for cleaning the floor of a household.

[0048] The obstacle crossing method of the cleaning robot of the present application comprises:

[0049] Step S10: When the cleaning robot runs according to the preset planning path, the laser signal region is divided based on the laser sensor of the cleaning robot to determine the position information of the obstacle.

[0050] In this embodiment, when the cleaning robot runs according to the preset planning path, the control hub will detect in real time whether there is an obstacle laser signal in the preset laser range region in front of the cleaning robot through the laser sensor. In other words, the control hub will average divide the angle of the laser range region through the laser sensor to obtain the laser signal region (left laser signal range, right laser signal range, and middle laser signal range) of the cleaning robot, and then determine the position information of the obstacle according to the laser signal region.

[0051] It should be noted that the laser sensor can be understood as an LDS (Laser Direct Structuring) laser, also known as an LDS laser radar. The cleaning robot of the present application generally sets the LDS laser ranging sensor on the top of the machine. The LDS laser radar scans 360 degrees in all directions to obtain distance information, navigate the cleaning robot, and build a coordinate system map. When the laser is projected onto the obstacle, a light spot will be formed in the sensor. At the same time, the image sensor will calculate the center distance to the laser ranging sensor according to the pixel number of the light spot.

[0052] The preset planning path can be understood as a path for the cleaning robot to move from a current position to another position, but is not limited to the operation mode of the cleaning robot, i.e., can include but is not limited to a path for the cleaning robot to move from a current cleaning point to another cleaning point, a path for the cleaning robot to return to the docking station from the current cleaning point, and a path for the cleaning robot to go to the cleaning area from the docking station.

[0053] For example, when the cleaning robot normally walks from point A to point B, the control hub monitors whether there is an obstacle in the laser signal area in front of the cleaning robot within 180 degrees in real time, and if there is an obstacle, the control hub further determines which partitioned laser signal area the obstacle is in, so as to obtain the position information of the obstacle.

[0054] Step S20: determining the self-rotation angle of the cleaning robot according to the position information and the current pose information of the cleaning robot.

[0055] In this embodiment, after determining the position information of the obstacle in the laser signal area, the control hub further detects whether the distance between the cleaning robot and the obstacle is less than a preset stop motion distance according to the position information, and if the distance between the cleaning robot and the obstacle is less than the preset stop motion distance, the wheels of the cleaning robot are controlled to stop rotating, and the self-rotation angle of the cleaning robot is further determined according to the current pose information of the cleaning robot.

[0056] It should be noted that the preset stop motion distance can be understood as that the distance between the current position of the cleaning robot and the position of the obstacle is not more than 2 cm, but the user can set the stop motion distance according to actual needs.

[0057] The current pose information can be understood as the position and attitude of the cleaning robot, or the combination of the position and orientation, wherein the attitude is the orientation of the robot of the cleaning robot, and only the orientation is known, there is a distinction between front and back, left and right, and up and down, so as to better control the robot. In a three-dimensional coordinate system, the orientation can usually be represented by a three-dimensional vector. In addition, it should be noted that the change of position is the translation process of a particle, and the change of attitude is the rotation process of a vector. Therefore, the change of pose includes two processes of translation and rotation.

[0058] The self-rotation angle can be understood as the angle of self-rotation around itself, and the self-rotation angle is generally obtained through the gyroscope and acceleration sensor of the cleaning robot.

[0059] In the embodiment, the self-rotation angle of the cleaning robot is obtained based on the position information of the obstacle and the current pose information of the cleaning robot, so as to prevent the cleaning robot from colliding with the obstacle during the obstacle-crossing operation, thereby prolonging the service life of the collision-proof part of the cleaning robot and improving the accuracy and efficiency of the cleaning robot in identifying the effective exit to avoid the obstacle.

[0060] Step S30: After determining the self-rotation angle of the cleaning robot, the cleaning robot is controlled to perform the obstacle-crossing operation.

[0061] In the embodiment, after determining the self-rotation angle of the cleaning robot, the control center first obtains the straight-line state of the cleaning robot, and then controls the cleaning robot to move straight for an obstacle-crossing distance to avoid the obstacle, wherein the obstacle-crossing distance is the radius of the cleaning robot.

[0062] In summary, in the present application, when the control center determines that the cleaning robot is walking normally according to the preset planning path, the laser sensor of the cleaning robot will be controlled to divide the laser signal area and perform real-time detection in the laser signal area. After determining that the cleaning robot obtains the position information of the obstacle in the laser signal area, the self-rotation angle of the cleaning robot is determined based on the position information of the obstacle and the current pose information of the cleaning robot, and then the cleaning robot is controlled to rotate the self-rotation angle and perform the obstacle-crossing operation.

[0063] Unlike the traditional obstacle-crossing method of the cleaning robot, the present application first determines the position information of the obstacle in the laser signal area, and then determines the self-rotation angle of the cleaning robot based on the position information of the obstacle and the current pose information of the cleaning robot to control the cleaning robot to rotate according to the self-rotation angle, and then controls the cleaning robot to move straight to avoid the obstacle. The present application effectively avoids the phenomenon that the existing cleaning robot is easy to cause device loss, low obstacle-crossing accuracy and low obstacle-crossing efficiency by collision to avoid the obstacle. Further, the accuracy and efficiency of the cleaning robot in identifying the effective exit are improved.

[0064] Further, based on the first embodiment of the obstacle-crossing method of the cleaning robot, the second embodiment of the obstacle-crossing method of the cleaning robot is proposed.

[0065] In the embodiment, the step S10 of dividing the laser signal area based on the laser sensor of the cleaning robot to determine the position information of the obstacle can further include the following implementation steps.

[0066] Step S101: Based on the laser sensor, a preset laser range area in front of the cleaning robot is obtained.

[0067] In the embodiment, the control center can first obtain the current laser axis of the cleaning robot according to the center of the cleaning robot and the current pose information of the cleaning robot, and then control the laser sensor to acquire the preset laser range area in front of the cleaning robot based on the current laser axis of the cleaning robot.

[0068] It should be noted that the preset laser range area can be understood as the laser distribution points in the range of 180° in front of the cleaning robot.

[0069] Step S102: equally divide the angle of the laser range area into three parts to determine the left laser signal range, the right laser signal range and the middle laser signal range, and take the left laser signal range, the right laser signal range and the middle laser signal range as the laser signal area.

[0070] In the embodiment, the control center divides the laser point distribution (which can be understood as the laser range area) in the range of 180° in front of the cleaning robot into three laser signal ranges according to the direction, i.e., the left laser signal range, the right laser signal range and the middle laser signal range, and the laser signal range of each direction area has an angle of 60 degrees.

[0071] Step S103: determine the position information of the obstacle according to the laser signal area.

[0072] In the embodiment, the control center acquires the direction laser signal area where the obstacle is located based on the laser signal area.

[0073] For example, when the laser sensor of the cleaning robot scans the obstacle, the control center can detect which direction area of the laser signal area the obstacle is located in. If the control center determines that the obstacle is located in the front right of the cleaning robot according to the current position of the cleaning robot and the angle of each direction area, it can be determined that the obstacle is located in the right laser signal range.

[0074] Further, in some possible embodiments, the above step S101: acquiring the preset laser range area in front of the cleaning robot based on the laser sensor, can further include the following implementation steps.

[0075] Step S1011: determine the current laser axis of the cleaning robot according to the center of the cleaning robot and the current pose information of the cleaning robot.

[0076] In the embodiment, the control center acquires the current laser axis of the cleaning robot based on the current pose information of the cleaning robot and the center of the cleaning robot.

[0077] It should be noted that the current laser axis can be understood as a diameter in front of the cleaning robot which is constantly updated according to the change of the pose of the cleaning robot.

[0078] Step S1012: obtaining a preset laser range area in front of the cleaning robot based on the laser sensor and the current laser axis of the cleaning robot.

[0079] In the embodiment, the control center obtains the preset laser range area in front of the cleaning robot by the laser sensor based on the current laser axis of the cleaning robot.

[0080] Further, in other possible embodiments, the step S20 of determining the self-rotation angle of the cleaning robot according to the position information and the current pose information of the cleaning robot can further include the following implementation steps.

[0081] Step S201: when it is determined that the obstacle is in the right laser signal range, detecting whether the distance between the cleaning robot and the obstacle is less than a preset stop motion distance.

[0082] In the embodiment, when it is determined that the obstacle is in the right laser signal range, the distance between the cleaning robot and the obstacle is detected whether it is less than a preset stop motion distance.

[0083] Step S202: if yes, controlling the wheels of the cleaning robot to stop rotating, and determining the self-rotation angle of the cleaning robot according to the current pose information of the cleaning robot.

[0084] In the embodiment, if the distance between the cleaning robot and the obstacle is less than a preset stop motion distance, the wheels of the cleaning robot are controlled to stop rotating, that is, the cleaning robot is understood as no longer moving, and then the right side pose of the cleaning robot relative to the obstacle is determined according to the current pose information, and the self-rotation angle of the cleaning robot relative to the obstacle is further determined according to the right side pose of the cleaning robot.

[0085] For example, if there is only the right side laser signal range triggering the laser signal, in other words, the laser sensor of the cleaning robot detects the obstacle in the right side laser signal range, it should be noted that the number of obstacles can be multiple, if the control center detects multiple obstacles in the range by the laser sensor of the cleaning robot, and further detects that the distance between the cleaning robot and the nearest obstacle is not more than 2 cm, the control center will control the cleaning robot to stop moving, and prepare to control the cleaning robot to rotate a certain angle to the left. At this time, the control center will calculate the respective poses of the cleaning robot corresponding to each obstacle in the right side range according to the current pose information of the cleaning robot, and further obtain the respective self-rotation angles of the cleaning robot relative to each obstacle.Figure 2 , Figure 2 The specific application flowchart of an embodiment of the obstacle-avoiding method of the cleaning robot of the present application. Assuming that the current orientation of the cleaning robot is 0 degrees, and the self-rotation angle of the rightmost position (which can be understood as the right side pose) of the cleaning robot relative to the first obstacle is 20°, and the self-rotation angle of the rightmost position (which can be understood as the right side pose) of the cleaning robot relative to the second obstacle is 15°, then the cleaning robot needs to at least rotate 20° to the left to avoid the obstacle in the right side laser signal range. That is, when the cleaning robot rotates 20° to the left, the direction of the exit can be accurately found on the premise that the cleaning robot does not collide with the obstacle.

[0086] In another embodiment, if in the path of the cleaning robot from point A to point B, only the left side laser signal range triggers the laser signal through the laser sensor of the cleaning robot, in other words, when the laser sensor of the cleaning robot detects an obstacle in the left side laser signal range, the control center controls the cleaning robot to stop moving according to the information that the cleaning robot is less than 2 cm away from the obstacle, and then controls the angle of the cleaning robot to rotate to the right to accurately find the direction of the exit on the premise that the cleaning robot does not collide with the obstacle.

[0087] In another embodiment, if in the path of the cleaning robot from point A to point B, only the middle laser signal range triggers the laser signal through the laser sensor of the cleaning robot, in other words, when the laser sensor of the cleaning robot detects an obstacle in the middle laser signal range, the control center controls the cleaning robot to stop moving according to the information that the cleaning robot is less than 2 cm away from the obstacle, and then controls the cleaning robot to re-plan the path direction to point B, that is, the control center does not control the cleaning robot to avoid the obstacle to point B by rotating a certain angle to the left or rotating a certain angle to the right, but based on the obstacle in the middle laser signal range, a new movement path is re-planned to avoid the obstacle and then go to point B.

[0088] Further, in some possible embodiments, the step S202 of determining the self-rotation angle of the cleaning robot according to the current pose information of the cleaning robot can further include the following implementation steps.

[0089] Step S2021: determining the current position and the machine orientation corresponding to the current pose information of the cleaning robot, and obtaining the right side pose of the cleaning robot according to the current position and the machine orientation.

[0090] In the embodiment, the control center first acquires the current position and the machine orientation of the cleaning robot according to the current pose information of the cleaning robot, and then acquires the rightmost pose information of the cleaning robot relative to the obstacle based on the current position and the machine orientation of the cleaning robot.

[0091] It should be noted that, since the cleaning robot is in a circular structure, the machine right side pose of the cleaning robot can be obtained according to the current position and the machine orientation of the cleaning robot, that is, it is ensured that the cleaning robot passing through the obstacle is equivalent to the rightmost position of the cleaning robot passing through the obstacle.

[0092] Step S2022: determining the obstacle point pose corresponding to the obstacle, and determining the left self-rotation target angle of the cleaning robot according to the machine right side pose and the obstacle point pose.

[0093] In the embodiment, the control center determines the obstacle point pose corresponding to the obstacle through the laser sensor of the cleaning robot, and then further determines the left self-rotation target angle of the cleaning robot based on the machine right side pose of the cleaning robot and the obstacle point pose.

[0094] Step S2023: taking the left self-rotation target angle as the self-rotation angle of the cleaning robot.

[0095] In the embodiment, the control center takes the left self-rotation target angle as the self-rotation angle of the cleaning robot, and controls the cleaning robot to rotate to the left by the self-rotation angle, and then performs the obstacle crossing operation.

[0096] Further, in some possible embodiments, the step S2022 of determining the left self-rotation target angle of the cleaning robot according to the machine right side pose and the obstacle point pose can further include the following implementation steps.

[0097] Step S20221: obtaining a first range according to the machine right side pose and the obstacle point pose, and acquiring a second range between the center of the cleaning robot and the machine right side pose;

[0098] In the embodiment, referring to Figure 3 , Figure 3 is a self-rotation angle diagram involved in an embodiment of the obstacle crossing method of the cleaning robot. The control center first forms a triangular model with the three position points of the machine right side pose of the cleaning robot, the obstacle point pose and the center of the cleaning robot, and then the first range a from the machine right side pose to the obstacle point pose can be acquired through the laser sensor of the cleaning robot, and the second range b from the center of the cleaning robot to the machine right side pose can be acquired through the laser sensor of the cleaning robot, that is, the radius distance of the cleaning robot.

[0099] Step S20222: determining the included angle between the first range and the second range.

[0100] In the present embodiment, with reference to Figure 3 , the control center further determines the angle of the included angle C according to the position orientations of the first range a and the second range b.

[0101] Step S20223: calculating the first range, the second range and the angle of the included angle according to a preset triangle definition formula to obtain the spin angle of the cleaning robot.

[0102] In the present embodiment, after determining the first range a, the second range b and the angle of the included angle C, the control center calculates the first range a, the second range a and the angle of the included angle C according to a preset triangle definition formula to obtain the spin angle of the cleaning robot.

[0103] It should be noted that the preset triangle definition formula can be understood as the sine theorem and the cosine theorem of a triangle, in other words, after the first range a, the second range b and the angle of the included angle C are known, the angle A can be obtained according to the sine theorem and the cosine theorem of a triangle, and then the target angle to be turned by the cleaning robot can be determined as (90°-A), that is, the spin angle of the cleaning robot.

[0104] Further, in some other possible embodiments, the above-mentioned step S30: after determining that the cleaning robot rotates the spin angle, controlling the cleaning robot to perform an obstacle crossing operation, can further include the following implementation steps.

[0105] Step S301: obtaining a straight running state of the cleaning robot, and controlling the cleaning robot to run straight to avoid the obstacle by a straight running obstacle crossing distance, wherein the obstacle crossing distance is the radius of the cleaning robot.

[0106] In the present embodiment, after the control center controls the cleaning robot to rotate the spin angle, it can be determined that the cleaning robot enters a straight running state, and the cleaning robot is further controlled to run straight for a distance of the radius of the cleaning robot, that is, it is considered that the obstacle has been crossed.

[0107] In another implementation, after determining that the cleaning robot crosses the obstacle, the control center controls the cleaning robot to continue moving forward according to the preset planned path, and returns to perform the step of “when the cleaning robot runs according to the preset planned path, dividing a laser signal region based on a laser sensor of the cleaning robot to determine position information of the obstacle”.

[0108] For example, the planned path of the cleaning robot is from point A to point B, and after the control center determines that the cleaning robot will pass through the obstacle, the control center controls the cleaning robot to continue moving towards the target point B and re-executes the step of dividing the laser signal region based on the laser sensor of the cleaning robot to determine the position information of the obstacle when the cleaning robot moves according to the preset planned path.

[0109] In summary, the current pose of the cleaning robot is calculated with the pose of the obstacle point in the partition range determined according to the laser signal region to obtain a spin angle, and the spin direction of the cleaning robot is determined according to the partition range of the laser signal region, and then the cleaning robot is controlled to rotate the spin angle in the spin direction to pass through the obstacle without collision, thereby improving the obstacle crossing accuracy and efficiency of the cleaning robot.

[0110] Further, the application also provides an obstacle crossing device of a cleaning robot. Referring to Figure 4 , Figure 4 Fig. 1 is a schematic diagram of an obstacle crossing device module of a cleaning robot according to the application.

[0111] The obstacle crossing device of the cleaning robot according to the application comprises:

[0112] a dividing module configured to divide a laser signal region based on a laser sensor of the cleaning robot to determine position information of an obstacle when the cleaning robot moves according to a preset planned path;

[0113] a determining module configured to determine a spin angle of the cleaning robot according to the position information and current pose information of the cleaning robot;

[0114] an obstacle crossing module configured to control the cleaning robot to perform an obstacle crossing operation after determining that the cleaning robot rotates the spin angle.

[0115] Optionally, the dividing module can further comprise:

[0116] an obtaining unit configured to obtain a preset laser range region in front of the cleaning robot based on the laser sensor;

[0117] an equal division unit configured to equally divide an angle of the laser range region into three equal parts to determine a left laser signal range, a right laser signal range and a middle laser signal range, and take the left laser signal range, the right laser signal range and the middle laser signal range as the laser signal region;

[0118] a position determining unit configured to determine the position information of the obstacle according to the laser signal region.

[0119] Optionally, the dividing module can further comprise:

[0120] an axis determination unit configured to determine a current laser axis of the cleaning robot according to the center of the circle and current pose information of the cleaning robot;

[0121] a range area acquisition unit configured to acquire a preset laser range area in front of the cleaning robot based on the laser sensor and the current laser axis.

[0122] Optionally, the determination module can further include:

[0123] a detection unit configured to, when it is determined that the obstacle is in the right laser signal range, detect whether a distance between the cleaning robot and the obstacle is less than a preset stop motion distance;

[0124] a spin angle determination unit configured to, if yes, control wheels of the cleaning robot to stop rotating, and determine a spin angle of the cleaning robot according to the current pose information of the cleaning robot.

[0125] Optionally, the determination module can further include:

[0126] a pose information unit configured to determine a current position and a machine orientation corresponding to the current pose information of the cleaning robot, and obtain a right-side pose of the cleaning robot according to the current position and the machine orientation;

[0127] a target angle determination unit configured to determine an obstacle point pose corresponding to the obstacle, and determine a left spin target angle of the cleaning robot according to the right-side pose of the cleaning robot and the obstacle point pose;

[0128] an enabling unit configured to take the left spin target angle as the spin angle of the cleaning robot.

[0129] Optionally, the determination module can further include:

[0130] an obtaining unit configured to obtain a first range according to the right-side pose of the cleaning robot and the obstacle point pose, and acquire a second range between the center of the circle of the cleaning robot and the right-side pose of the cleaning robot;

[0131] an included angle determination unit configured to determine an included angle between the first range and the second range;

[0132] a calculation unit configured to calculate the first range, the second range and the included angle according to a preset triangular definition formula, to obtain the spin angle of the cleaning robot.

[0133] Optionally, the obstacle surmounting module can further include:

[0134] The obstacle avoidance operation unit is configured to acquire a straight running state of the cleaning robot, and control a straight running obstacle avoidance distance of the cleaning robot according to the straight running state to avoid the obstacle, wherein the obstacle avoidance distance is a radius of the cleaning robot.

[0135] The obstacle avoidance device of the cleaning robot according to the present application comprises the above-mentioned functional modules.

[0136] In addition, the present application further provides a terminal device. Figure 5 , Figure 5 The terminal device according to the present application can be a device for running the obstacle avoidance of the cleaning robot locally.

[0137] As shown in Figure 5 , the terminal device according to the present application can comprise a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005 and a perception unit 1006. The communication bus 1002 is configured to realize the connection and communication among the components. The user interface 1003 can comprise a display screen (Display) and an input unit, such as a keyboard (Keyboard). The user interface 1003 can further comprise a standard wired interface and a wireless interface. The network interface 1004 can optionally comprise a standard wired interface and a wireless interface (such as a Wi-Fi interface).

[0138] The memory 1005 is arranged on the main body of the terminal device, and the memory 1005 stores a program, which is executed by the processor 1001 to realize corresponding operations. The memory 1005 is also used to store parameters for the terminal device. The memory 1005 can be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 can optionally be a storage device independent of the aforementioned processor 1001.

[0139] Those skilled in the art can understand that Figure 4 the structure of the terminal device shown in the above-mentioned embodiments does not constitute a limitation on the terminal device, and can comprise more or fewer components than those shown in the drawings, or combine certain components, or different component arrangements.

[0140] As shown in Figure 5 , the memory 1005 as a storage medium can comprise an operating system, a network communication module, a user interface module and an obstacle avoidance program of the cleaning robot of the terminal device.

[0141] In Figure 5The processor 1001 in the terminal device shown can be configured to invoke an obstacle-crossing program of a cleaning robot of the terminal device stored in the memory 1005, and execute the steps of the above-mentioned various embodiments of the obstacle-crossing method of the cleaning robot.

[0142] In addition, the present application also provides a computer readable storage medium. Please refer to Figure 6 , Figure 6 The structure of the computer readable storage medium involved in the embodiment of the present application is shown in the figure.

[0143] The present application also provides a computer readable storage medium, and the computer readable storage medium stores an obstacle-crossing program of a cleaning robot. When the processor executes the obstacle-crossing program of the cleaning robot, the steps of the above-mentioned obstacle-crossing method of the cleaning robot are realized.

[0144] It should be noted that in this paper, the term "including", "containing" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or system. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or system including the element.

[0145] The above-mentioned embodiment number of the present application is only for description, not representing the advantages and disadvantages of the embodiments.

[0146] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a computer readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as mentioned above, and includes a plurality of instructions for making a terminal device (which can be a mobile phone, computer, server, or network device, etc.) execute the method described in each embodiment of the present application.

[0147] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied to other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An obstacle crossing method of a cleaning robot, characterized by, The obstacle crossing method of the cleaning robot comprises the following steps: When the cleaning robot runs according to a preset planning path, laser signal regions are divided based on a laser sensor of the cleaning robot to determine position information of an obstacle, the laser signal regions being a left laser signal range, a right laser signal range and a middle laser signal range; An angle of self-rotation of the cleaning robot is determined according to the position information and current pose information of the cleaning robot; After the angle of self-rotation of the cleaning robot is determined, the cleaning robot is controlled to perform an obstacle crossing operation; The step of determining the angle of self-rotation of the cleaning robot according to the position information and the current pose information of the cleaning robot comprises the following steps: When it is determined that the obstacle is in the right laser signal range, it is detected whether a distance between the cleaning robot and the obstacle is less than a preset stop motion distance; if yes, the wheels of the cleaning robot are controlled to stop rotating, and the angle of self-rotation of the cleaning robot is determined according to the current pose information of the cleaning robot; The step of determining the angle of self-rotation of the cleaning robot according to the current pose information of the cleaning robot comprises the following steps: A current position and a machine orientation corresponding to the current pose information of the cleaning robot are determined, and a machine right side pose of the cleaning robot is obtained according to the current position and the machine orientation; an obstacle point pose corresponding to the obstacle is determined, and a left self-rotation target angle of the cleaning robot is determined according to the machine right side pose and the obstacle point pose; the left self-rotation target angle is taken as the angle of self-rotation of the cleaning robot; The step of determining the angle of self-rotation of the cleaning robot according to the machine right side pose and the obstacle point pose comprises the following steps: A first range is obtained according to the machine right side pose and the obstacle point pose, and a second range between a center of the cleaning robot and the machine right side pose is obtained; An included angle between the first range and the second range is determined; The first range, the second range and the included angle are calculated according to a preset triangular definition formula to obtain the angle of self-rotation of the cleaning robot.

2. The method of claim 1, wherein the cleaning robot is a robot cleaner. The step of dividing the laser signal regions based on the laser sensor of the cleaning robot to determine the position information of the obstacle comprises the following steps: A preset laser range region in front of the cleaning robot is obtained based on the laser sensor; The laser range region is equally divided into three parts to determine the left laser signal range, the right laser signal range and the middle laser signal range, and the left laser signal range, the right laser signal range and the middle laser signal range are taken as the laser signal regions; The position information of the obstacle is determined according to the laser signal regions.

3. The method of claim 2, wherein the cleaning robot is a robot cleaner. The step of obtaining the preset laser range region in front of the cleaning robot based on the laser sensor comprises the following steps: A current laser axis of the cleaning robot is determined according to a center of the cleaning robot and the current pose information of the cleaning robot; The preset laser range region in front of the cleaning robot is obtained based on the laser sensor and the current laser axis.

4. The method of claim 1, wherein the robot is a cleaning robot. The step of controlling the cleaning robot to perform the obstacle crossing operation comprises: Obtaining a straight running state of the cleaning robot, and controlling the cleaning robot to straightly run away from the obstacle by a distance of the radius of the cleaning robot according to the straight running state.

5. An obstacle crossing device for a cleaning robot, characterized in that, The obstacle crossing device of the cleaning robot comprises: The dividing module is configured to divide a laser signal area based on a laser sensor of the cleaning robot to determine position information of the obstacle when the cleaning robot runs according to a preset planning path, the laser signal area being a left laser signal range, a right laser signal range, and a middle laser signal range. The determining module is configured to determine a self-rotation angle of the cleaning robot according to the position information and current pose information of the cleaning robot. The determining module is further configured to, when determining that the obstacle is in the right laser signal range, detect whether a distance between the cleaning robot and the obstacle is less than a preset stop motion distance; if yes, control wheels of the cleaning robot to stop rotating, and determine a self-rotation angle of the cleaning robot according to the current pose information of the cleaning robot. The determining module is further configured to determine a current position and a machine orientation corresponding to the current pose information of the cleaning robot, and obtain a right-side pose of the cleaning robot according to the current position and the machine orientation; determine an obstacle point pose corresponding to the obstacle, and determine a left self-rotation target angle of the cleaning robot according to the right-side pose of the cleaning robot and the obstacle point pose; and take the left self-rotation target angle as the self-rotation angle of the cleaning robot. The determining module is further configured to obtain a first range according to the right-side pose of the cleaning robot and the obstacle point pose, and obtain a second range between a center of the cleaning robot and the right-side pose of the cleaning robot. Determine an included angle between the first range and the second range. Calculate the first range, the second range, and the included angle according to a preset triangular definition formula to obtain the self-rotation angle of the cleaning robot. The obstacle crossing module is configured to control the cleaning robot to perform the obstacle crossing operation after determining that the cleaning robot rotates the self-rotation angle.

6. A terminal device, characterized by comprising: The terminal device comprises a memory, a processor, and a cleaning robot obstacle crossing program stored on the memory and executable on the processor, and the processor implements the steps of the cleaning robot obstacle crossing method according to any one of claims 1 to 4 when executing the cleaning robot obstacle crossing program.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a cleaning robot obstacle crossing program, and the cleaning robot obstacle crossing program implements the steps of the cleaning robot obstacle crossing method according to any one of claims 1 to 4 when executed by a processor.

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