Control method of mobile robot, mobile robot, equipment and storage medium

Abstract

The invention provides a control method of a mobile robot, the mobile robot, equipment and a storage medium. The method comprises the steps that in the moving process of the mobile robot, whether an obstacle needing to be crossed exists in the advancing direction or not is detected; if the obstacle needing to be crossed exists, acquiring height information of the obstacle needing to be crossed; determining a target obstacle crossing strategy according to the height information; and controlling the mobile robot to cross the obstacle to be crossed through the target obstacle crossing strategy. When it is detected that the obstacle needing to be crossed exists in the advancing direction, the obstacle crossing strategy is formulated according to the height of the obstacle, so that the mobile robot is controlled to cross the obstacle, the obstacle crossing strategy can better conform to kinematics, the more accurate effect is achieved, and then device or energy loss caused by unnecessary obstacle crossing control is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular to a control method for a mobile robot, a mobile robot, a device, and a storage medium. Background Art

[0002] With the development of robotics technology, robots that complete tasks based on mobility have acquired preliminary obstacle-crossing capabilities, such as cleaning robots and delivery robots.

[0003] However, most of the current obstacle control of mobile robots simply identifies the height of obstacles, and activates the obstacle-crossing mechanism when the obstacle is above a certain threshold to perform obstacle-crossing operations. This method is somewhat blind, and the activation timing of the obstacle-crossing mechanism is inaccurate, which easily causes energy waste and component loss of the robot. Summary of the invention

[0004] In view of this, an object of the present disclosure is to provide a control method of a mobile robot, a mobile robot, a device and a storage medium to improve the accuracy of the obstacle crossing strategy of the mobile robot.

[0005] In a first aspect, an embodiment of the present disclosure provides a control method for a mobile robot, the method comprising: during the movement of the mobile robot, detecting whether there is an obstacle that needs to be crossed in the direction of travel; if there is an obstacle that needs to be crossed, obtaining height information of the obstacle that needs to be crossed; determining a target obstacle crossing strategy based on the height information; and controlling the mobile robot to cross the obstacle that needs to be crossed through the target obstacle crossing strategy.

[0006] In a second aspect, an embodiment of the present disclosure provides a mobile robot, comprising: a detection module, for detecting whether there is an obstacle to be crossed in the direction of travel during the movement of the mobile robot; an acquisition module, for acquiring height information of the obstacle to be crossed if there is an obstacle to be crossed; a determination module, for determining a target obstacle crossing strategy based on the height information; and a control module, for controlling the mobile robot to cross the obstacle to be crossed through the target obstacle crossing strategy.

[0007] In a third aspect, an embodiment of the present disclosure provides a device including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the above-mentioned mobile robot control method.

[0008] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the control method of the mobile robot.

[0009] The embodiments of the present disclosure bring the following beneficial effects:

[0010] The control method, mobile robot, device and storage medium of the mobile robot described above, when detecting the existence of an obstacle that needs to be crossed in the direction of travel, formulate an obstacle crossing strategy according to the height of the obstacle, thereby controlling the mobile robot to cross the obstacle. This can make the obstacle crossing strategy more consistent with kinematics and achieve more accurate results, thereby reducing the loss of devices or energy caused by unnecessary obstacle crossing control.

[0011] Other features and advantages of the present disclosure will be described in the following description, and partly become apparent from the description, or understood by practicing the present disclosure. The purpose and other advantages of the present disclosure are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0012] In order to make the above-mentioned objectives, features and advantages of the present disclosure more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the specific embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 is a flow chart of an embodiment of a control method for a mobile robot in an embodiment of the present disclosure;

[0015] Figure 2 is a schematic diagram of a control method for a mobile robot in an embodiment of the present disclosure;

[0016] Figure 3 A schematic diagram of a mobile robot provided in an embodiment of the present disclosure;

[0017] Figure 4 A schematic diagram of a device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0019] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0020] For ease of understanding, the specific process of the embodiment of the present disclosure is described below. Figure 1 , an embodiment of the control method of the mobile robot in the embodiment of the present disclosure includes:

[0021] Step S10: During the movement of the mobile robot, detecting whether there is an obstacle to be crossed in the direction of travel;

[0022] It is understandable that the mobile robot can be installed with sensors / modules that can be used to detect whether there are obstacles that need to be crossed in the direction of travel. The sensor can be a sensor with height detection / scanning functions, such as lidar, laser sensor (such as line laser sensor), etc. The module can be a height detection and aiming module, an object contour detection module, etc., which is not limited here.

[0023] In one embodiment, in order to make the detection of obstacles that need to be crossed more efficient and reduce the cost of sensors and computing resources, a laser module (including a laser sensor) installed on the mobile robot can be used to detect whether there are obstacles that need to be crossed in the direction of travel of the mobile robot. The laser module obtains the contour information of the object through laser scanning, and determines whether it is an obstacle that needs to be crossed by analyzing the contour information of the object. This is an accurate and efficient obstacle detection module that can improve the accuracy of the mobile robot's obstacle crossing strategy.

[0024] In one embodiment, the obstacle to be crossed is a type of obstacle determined based on the obstacle detection result of the mobile robot. Different obstacle detection methods may determine different obstacles to be crossed. Specifically, the obstacle to be crossed is an obstacle that meets preset conditions. The preset conditions may be determined based on actual application scenarios such as different types of mobile robots or the operating environment of the mobile robot.

[0025] For example, the preset conditions may indicate that the height exceeds a certain threshold and there are no obstacles on the detour path, the height exceeds a certain threshold and there are no obstacles on the detour path within a certain detection range, the height exceeds a certain threshold and is an obstacle of a specified type, etc., and the specifics are not limited here.

[0026] Step S20: If there is an obstacle to be crossed, obtain the height information of the obstacle to be crossed;

[0027] In this embodiment, if there is an obstacle to be crossed in the direction of travel of the mobile robot, the height information of the obstacle to be crossed is obtained, wherein the height information may include a reference height of the surface of the obstacle to be crossed, and the reference height may be calculated based on the height distribution of the surface of the obstacle to be crossed. The calculation may be performed according to a specified algorithm, such as an average value algorithm, a minimum value algorithm, a maximum value algorithm, a discrete value algorithm, a cluster value algorithm, etc., which are not specifically limited here.

[0028] In one embodiment, by installing a height detection sensor / module on the mobile robot, the height information or contour information of the obstacle to be crossed can be detected, so that the target obstacle crossing strategy of the mobile robot can be determined based on the height information or contour information of the obstacle to be crossed and combined with the supporting surface material information, making the obstacle crossing strategy more accurate.

[0029] Step S30: Determine the target obstacle crossing strategy according to the height information;

[0030] In this embodiment, a specific target obstacle crossing strategy can be determined based on the height information of the obstacle to be crossed, wherein the target obstacle crossing strategy can be used to indicate the obstacle crossing control parameters of the mobile robot, and can also be used to indicate the obstacle crossing control parameters of the obstacle crossing mechanism. The obstacle crossing control parameters are used to indicate the obstacle crossing control method for the mobile robot, and specifically may include whether to enable the parameters of the obstacle crossing mechanism, and the parameters of the obstacle crossing control for the obstacle crossing mechanism.

[0031] As an example but not limitation, for a mobile robot that lifts to overcome obstacles, the target obstacle crossing strategy may include lifting height, lifting timing, lifting duration, heading angle, control parameters of the drive wheels, etc., which are not specifically limited here.

[0032] As another example, for a mobile robot that can overcome obstacles through driving wheels, the target obstacle-overcoming strategy may include control parameters of the driving wheels, control parameters of the auxiliary obstacle-overcoming mechanism, etc., which are not specifically limited here.

[0033] Step S40: Control the mobile robot to cross the obstacle through the target obstacle crossing strategy.

[0034] It is understandable that after determining the target obstacle crossing strategy, the mobile robot can be controlled to cross obstacles to cross the above-mentioned obstacles to be crossed and complete the obstacle crossing control. In one embodiment, if the mobile robot fails to successfully cross the above-mentioned obstacles to be crossed after being controlled to cross obstacles by the target obstacle crossing strategy, then a stronger obstacle crossing strategy can be set based on the target obstacle crossing strategy, and the mobile robot can be controlled to cross obstacles again until the obstacle crossing strategy used is the strongest obstacle crossing strategy, or the conditions for canceling the obstacle crossing are met, and the obstacle crossing is stopped.

[0035] In one implementation, if the mobile robot fails to overcome an obstacle, an obstacle failure prompt may be provided, such as the mobile robot sounding a warning sound or sending an obstacle failure prompt message to the terminal, etc., which is not limited to the specifics here.

[0036] The control method for the mobile robot provided in the above-mentioned embodiment formulates an obstacle crossing strategy according to the height of the obstacle when an obstacle that needs to be crossed is detected in the direction of travel, so as to control the mobile robot to cross the obstacle. This can make the obstacle crossing strategy more consistent with the mechanics of motion and achieve more accurate results, thereby reducing the loss of devices or energy caused by unnecessary obstacle crossing control.

[0037] Next, the specific control method of the mobile robot is explained.

[0038] In one embodiment, during the movement of the mobile robot, when detecting whether there is an obstacle to be crossed in the direction of travel, the method includes: during the movement of the mobile robot, performing obstacle detection in the direction of travel to obtain an obstacle detection result; if the obstacle detection result indicates that there is an obstacle in the direction of travel with a reference height greater than a preset height threshold, and there is no detour path within the preset detection range, then it is determined that there is an obstacle to be crossed in the direction of travel; wherein the reference height is used to indicate the height of the obstacle surface to be crossed.

[0039] In this implementation, a reference height greater than a preset height threshold and no obstacle with a detourable path exists within the preset detection range is defined as an obstacle to be crossed, wherein the reference height refers to the height of the obstacle surface to be crossed, which can be calculated by a specified algorithm based on the height information of the obstacle surface to be crossed. Specifically, the reference height can be the average height, maximum height, minimum height, etc. of the obstacle surface to be crossed, which is not limited here.

[0040] It can be understood that the sensors installed on the mobile robot can detect the contour information of obstacles in the environment. The contour information can include the height information of the obstacle surface to be crossed. The height information can reflect the flatness of the obstacle. The flatter the obstacle, the smaller the numerical difference of the height information and the more uniform the value. Conversely, the greater the difference, the more uneven the values.

[0041] In one embodiment, the height information includes information about the heights of multiple detection points on the surface of the obstacle to be crossed from the support surface. Based on the information about the heights of the multiple detection points from the support surface, a reference height such as the minimum height, maximum height, or average height of the surface of the obstacle to be crossed can be determined. The reference height can be used as the height information of the obstacle to be crossed to determine the target obstacle crossing strategy.

[0042] In one embodiment, the surface of the obstacle to be crossed can be the entire continuous surface of the obstacle to be crossed, or it can be a local surface of the obstacle to be crossed, wherein the local surface can be a surface that meets certain conditions, for example, a surface including the minimum height position of the obstacle to be crossed, a surface with the smallest height change, or a surface with the smallest average height, etc., which is not limited here.

[0043] It should be noted that the size of the surface of the obstacle to be crossed can accommodate the mobile robot. Specifically, take the angle of looking down at the mobile robot as an example. Assuming that the moving direction of the mobile robot is the Y-axis direction, then the length of the surface to be crossed in the X-axis direction must be greater than or equal to the length of the mobile robot's body in the X-axis direction when the mobile robot crosses the obstacle, which means that the surface to be crossed can accommodate the mobile robot.

[0044] In this embodiment, the preset detection range can be pre-specified, and can be the detection range that the sensor can reach, such as the scanning range of a laser sensor, or can be the range within a specified radius of a mobile robot, etc., which is not specifically limited here.

[0045] In one embodiment, when determining the target obstacle crossing strategy based on height information, the reference height of the obstacle surface to be crossed is determined based on the height information of the obstacle to be crossed; the obstacle crossing control parameters of the mobile robot are determined based on the reference height to obtain the target obstacle crossing strategy.

[0046] In this implementation, based on the height information of the obstacle to be crossed, the reference height of the obstacle surface to be crossed can be calculated. Specifically, the reference height can be calculated by a specified algorithm, wherein the calculation method of the reference height is the same as the calculation method of the above-mentioned reference height, and the details will not be repeated here.

[0047] In one embodiment, when determining the obstacle control parameters of the mobile robot according to the reference height and obtaining the target obstacle crossing strategy, the corresponding obstacle crossing strength can be determined according to the reference height, and then the obstacle crossing control parameters of the corresponding obstacle crossing strength can be determined as the obstacle crossing control parameters of the target obstacle crossing strategy.

[0048] In one embodiment, when determining the reference height of the surface of an obstacle to be crossed based on the height information of the obstacle to be crossed, it includes: determining the minimum height position of the obstacle to be crossed based on the height information of the obstacle to be crossed; determining the surface within the specified range of the minimum height position as the surface of the obstacle to be crossed; and calculating the reference height of the surface of the obstacle to be crossed based on the height information of the obstacle to be crossed.

[0049] In this embodiment, when determining the reference height of the obstacle surface to be crossed, the minimum height position is first calculated based on the height information of the obstacle to be crossed, and then the obstacle surface within the specified range of the minimum height position is determined as the obstacle surface to be crossed. Then, the reference height calculation is performed on the height information of the obstacle surface to be crossed through a specified algorithm to obtain the reference height for determining the target obstacle crossing strategy.

[0050] In one embodiment, the surface within the specified range of the minimum height position can be a surface within a specified radius centered on the minimum height position, or a surface that includes the minimum height position and has the smallest height change, or other surfaces that meet certain conditions, which are not specifically limited here.

[0051] It can be understood that after determining the reference height of the obstacle surface to be crossed, it can be determined first whether to enable the obstacle crossing mechanism of the mobile robot. If enabled, the specific obstacle crossing control parameters of the mobile robot are further determined based on the reference height and / or other environmental parameters (such as support surface material information), so as to obtain the target obstacle crossing strategy for controlling the mobile robot to cross obstacles.

[0052] In one embodiment, when determining the obstacle crossing control parameters of the mobile robot according to the reference height and obtaining the target obstacle crossing strategy, it includes: obtaining the material information of the support surface of the obstacle to be crossed; obtaining the first friction parameter of the support surface of the specified obstacle crossing range according to the support surface material information; obtaining the corresponding obstacle crossing height range according to the friction strength type in the first friction parameter; wherein the obstacle crossing height range is used to indicate a first surmountable height range corresponding to at least one obstacle strength corresponding to the friction strength type; determining the target surmountable height range to which the reference height belongs from the obstacle crossing height range; determining the obstacle crossing control parameters of the corresponding obstacle strength according to the obstacle strength corresponding to the target surmountable height range, and obtaining the target obstacle crossing strategy.

[0053] It should be noted that the support surface material information is used to indicate the material information of the support surface when the mobile robot is overcoming obstacles, which is usually the information of the ground material, and the material of the ground is, for example, carpet, tile, wood board, etc., which is not limited here. In this embodiment, the obstacle overcoming strategy of the mobile robot is determined by combining the support surface material information, which is more in line with the kinematic principle, can reduce the risk of the robot tipping over, increase the success probability of overcoming obstacles, and can better meet the needs of diverse environments, making the mobile robot more widely applicable.

[0054] It is understandable that when the mobile robot overcomes an obstacle, support surfaces of different materials will also have an impact on the obstacle-overcoming decision of the mobile robot, among which the most important is the impact of the friction information of the support surface in the support surface material information on the obstacle-overcoming decision. Therefore, in one embodiment, the support surface material information may be the friction information for indicating the support surface, wherein the friction information may be the range, level, or value of the friction, etc., which is not limited here.

[0055] In one embodiment, the support surface material information may also be identified by a visual module installed on the mobile robot, or by information collected by other sensors, such as an ultrasonic sensor, etc., which is not specifically limited here.

[0056] In this implementation, the first friction parameter of the support surface can be obtained according to the support surface material information, and the first friction parameter can include the friction strength type, friction strength level or friction value, etc. Specifically, in one implementation, the friction value in the first friction parameter can be calculated according to the friction calculation formula corresponding to the support surface material information, and the friction strength type or friction strength level in the first friction parameter can also be determined according to the friction mapping relationship corresponding to the support surface material information.

[0057] As an example but not limitation, the friction strength types can be divided into three types, namely high strength, medium strength and low strength. The materials corresponding to these three types of friction strength can be carpet, wood and ceramic tile, among which carpet has the highest friction strength and ceramic tile has the lowest friction strength. The specific details are not limited here.

[0058] In this embodiment, different friction strength types correspond to different obstacle height ranges. Different obstacle height ranges can adopt obstacle crossing strategies with different obstacle crossing strengths, where the obstacle height range represents the obstacle height range that can be crossed by different obstacle crossing strengths under the action of the friction force of the corresponding friction strength type.

[0059] For easier understanding, please refer to Figure 2It can be seen that, assuming that the friction strength types are divided into three types: high friction strength, medium friction strength and low friction strength, then the obstacle height range corresponding to each friction strength type can include the first surmountable height ranges corresponding to the three obstacle strengths, among which the obstacle strength and friction strength type can be divided according to specific needs and are not limited here.

[0060] by Figure 2 Taking an example to illustrate, the first surmountable height ranges corresponding to the three obstacle crossing strengths from low to high corresponding to the high-intensity friction strength type may include: "less than 3cm", "3cm-4.5cm", and "greater than 4.5cm", the first surmountable height ranges corresponding to the three obstacle crossing strengths corresponding to the medium-intensity friction strength type may include: "less than 2.5cm", "2.5cm-4cm", and "greater than 4cm", and the first surmountable height ranges corresponding to the three obstacle crossing strengths corresponding to the low-intensity friction strength type may include: "less than 2cm", "2cm-4.5cm", and "greater than 4.5cm".

[0061] Figure 2 In the example, the obstacle height range is sorted from low to high according to the obstacle strength. For example, for the high-intensity friction strength type, an obstacle height of "less than 3cm" can adopt the obstacle crossing strategy with the lowest obstacle strength, an obstacle height of "3cm-4.5cm" can adopt an obstacle crossing strategy with a medium obstacle strength, and an obstacle height of "greater than 4.5cm" can adopt an obstacle crossing strategy with the highest obstacle strength. The friction strength type, obstacle height range and obstacle strength correspond to each other and are not specifically limited.

[0062] Furthermore, assuming that the reference height of the obstacle surface to be crossed is 5 cm, the material of the supporting surface is carpet, and the corresponding friction intensity type is high friction intensity, then, since 5>4.5, the target that belongs to "greater than 4.5 cm" can be crossed in the height range, and the corresponding obstacle crossing intensity is high obstacle crossing intensity. Therefore, the obstacle crossing control parameters of high obstacle crossing intensity are determined as the obstacle crossing control parameters of the target obstacle crossing strategy, and the target obstacle crossing strategy is an obstacle crossing strategy of high obstacle crossing intensity.

[0063] Specifically, as an example but not limitation, a target obstacle crossing strategy for low obstacle crossing intensity may be to not enable the obstacle crossing mechanism of the mobile robot and to pass directly by friction; a target obstacle crossing strategy for medium obstacle crossing intensity may be to enable the obstacle crossing mechanism of the mobile robot to overcome obstacles; and a target obstacle crossing strategy for high obstacle crossing intensity may be to enable the obstacle crossing mechanism of the mobile robot and at the same time control the driving wheels of the mobile robot to first pass over one driving wheel and then pass over the other driving wheel.

[0064] It can be understood that the reference height of the obstacle surface to be crossed is the obstacle height, and according to the obstacle crossing strength corresponding to the target traversable height range to which the reference height belongs, the preset obstacle crossing strategy corresponding to the obstacle crossing strength can be determined as the target obstacle crossing strategy. For example, assuming that the obstacle height is 4cm, the support surface material is a blanket, and 4cm belongs to the obstacle crossing height range "3cm-4.5cm" corresponding to the high-intensity friction strength type, the obstacle crossing height range corresponds to the medium-intensity obstacle crossing strategy, which can be determined as the target obstacle crossing strategy.

[0065] In one embodiment, obstacle overcoming strategies of different obstacle overcoming strengths may be differentiated according to the lifting height of the obstacle overcoming mechanism, or may be differentiated according to other obstacle overcoming control parameters of the obstacle overcoming mechanism, such as the control mode of the obstacle overcoming mechanism, etc., which are not specifically limited here.

[0066] In one embodiment, after controlling the mobile robot to cross the obstacle to be crossed through the target obstacle crossing strategy, if the mobile robot fails to cross the obstacle to be crossed within a preset time period, the obstacle crossing strategy strength is upgraded or the obstacle crossing fallback strategy is enabled according to the obstacle crossing strength of the target obstacle crossing strategy.

[0067] It is understandable that if the mobile robot is controlled to overcome obstacles through the target obstacle crossing strategy, and the mobile robot still fails to overcome the obstacle within a certain period of time, the strength of the obstacle crossing strategy can be upgraded according to the obstacle crossing strength of the target obstacle crossing strategy. If the target obstacle crossing strategy is already the obstacle crossing strategy with the highest obstacle crossing strength, the obstacle crossing back-off strategy is enabled to make the mobile robot return to the target obstacle crossing position or other reference position. After the back-off, it can find a path to bypass the obstacle again to avoid problems such as the robot tipping over due to forced obstacle crossing.

[0068] In one embodiment, when controlling the mobile robot to overcome obstacles, the robot's tilt angle and motion state can be monitored in real time by using an accelerometer and a gyroscope installed on the mobile robot to identify whether the mobile robot is at risk of tilting or tipping over before or during obstacle overcoming. If so, the robot can be adjusted in posture or backed off before or during obstacle overcoming to avoid instability of the robot due to activation of the obstacle overcoming component.

[0069] In one embodiment, after the mobile robot is controlled to cross the obstacle to be crossed through the target obstacle crossing strategy, if the mobile robot crosses the obstacle to be crossed, the obstacle crossing strategy used by the mobile robot when crossing the obstacle to be crossed is recorded.

[0070] It can be understood that if the mobile robot successfully overcomes the obstacle through the current obstacle crossing strategy, then the current obstacle crossing strategy and the corresponding obstacle crossing position can be recorded. The next time the mobile robot needs to overcome the same obstacle, the recorded obstacle crossing strategy and the corresponding obstacle crossing position can be directly obtained to perform obstacle crossing control, thereby improving the obstacle crossing efficiency of the mobile robot.

[0071] For example, assuming that the material of the supporting surface is a material with high friction strength, such as carpet, if the reference height of the obstacle surface to be crossed is less than 2.5, a low obstacle crossing strength obstacle crossing strategy is used as the target obstacle crossing strategy, that is, direct passage, and the moment when the mobile robot starts to cross the obstacle is recorded. If the obstacle crossing control process exceeds the preset time, such as 5 seconds, and the mobile robot still fails to cross the obstacle successfully, it can return to the target obstacle crossing position or other reference position, and then upgrade the obstacle crossing strategy of the next obstacle crossing strength as the target obstacle crossing strategy, that is, enable the obstacle crossing mechanism to cross the obstacle, and record the medium obstacle crossing strength obstacle crossing strategy used when crossing the obstacle to be crossed. When executing the task next time, the medium obstacle crossing strength obstacle crossing strategy is directly used to cross the obstacle, thereby improving efficiency.

[0072] Corresponding to the above method embodiment, see Figure 3 A schematic diagram of a mobile robot is shown, the mobile robot comprising: a detection module 30, used to detect whether there is an obstacle to be crossed in the direction of travel during the movement of the mobile robot; an acquisition module 32, used to obtain the height information of the obstacle to be crossed if there is an obstacle to be crossed; a determination module 34, used to determine a target obstacle crossing strategy based on the height information; and a control module 36, used to control the mobile robot to cross the obstacle to be crossed through the target obstacle crossing strategy.

[0073] When the above-mentioned mobile robot detects that there is an obstacle that needs to be crossed in the direction of travel, it formulates an obstacle crossing strategy according to the height of the obstacle, thereby controlling the mobile robot to cross the obstacle. This can make the obstacle crossing strategy more consistent with kinematics and achieve more accurate results, thereby reducing the loss of devices or energy caused by unnecessary obstacle crossing control.

[0074] Optionally, the above-mentioned detection module 30 is specifically used to: perform obstacle detection in the direction of travel during the movement of the mobile robot to obtain an obstacle detection result; if the obstacle detection result indicates that there is an obstacle in the direction of travel with a reference height greater than a preset height threshold, and there is no detour path within the preset detection range, it is determined that there is an obstacle that needs to be crossed in the direction of travel; wherein the reference height is used to indicate the height of the obstacle surface to be crossed.

[0075] Optionally, the above-mentioned determination module 34 includes: a first determination unit, used to determine the reference height of the obstacle surface to be crossed according to the height information of the obstacle to be crossed; a second determination unit, used to determine the obstacle crossing control parameters of the mobile robot according to the reference height to obtain the target obstacle crossing strategy.

[0076] Optionally, the above-mentioned first determination unit is specifically used to: determine the minimum height position of the obstacle to be crossed according to the height information of the obstacle to be crossed; determine the surface within the specified range of the minimum height position as the surface of the obstacle to be crossed; and calculate the reference height of the surface of the obstacle to be crossed according to the height information of the obstacle to be crossed.

[0077] Optionally, the second determination unit is used to: obtain material information of the support surface of the obstacle to be crossed; obtain a first friction parameter of the support surface of the specified obstacle crossing range based on the support surface material information; obtain a corresponding obstacle crossing height range based on the friction strength type in the first friction parameter; wherein the obstacle crossing height range is used to indicate a first surmountable height range corresponding to at least one obstacle strength corresponding to the friction strength type; determine from the obstacle crossing height range the target surmountable height range to which the reference height belongs; determine the obstacle crossing control parameter of the corresponding obstacle strength based on the obstacle strength corresponding to the target surmountable height range, and obtain a target obstacle crossing strategy.

[0078] Optionally, the above-mentioned device also includes: a fault-tolerant module, which is used to upgrade the obstacle crossing strategy strength or enable the obstacle crossing fallback strategy according to the obstacle crossing strength of the target obstacle crossing strategy if the mobile robot fails to cross the obstacle to be crossed within a preset time period.

[0079] Optionally, the above-mentioned device also includes: a recording module, which is used to record the obstacle crossing strategy adopted by the mobile robot when crossing the obstacle that needs to be crossed if the mobile robot crosses the obstacle that needs to be crossed.

[0080] This embodiment also provides a device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the control method of the mobile robot. The device can be a server or a terminal device.

[0081] See also Figure 4 As shown, the device includes a processor 100 and a memory 101. The memory 101 stores machine executable instructions that can be executed by the processor 100. The processor 100 executes the machine executable instructions to implement the above-mentioned mobile robot control method.

[0082] Further, Figure 4The device shown further includes a bus 102 and a communication interface 103 , and the processor 100 , the communication interface 103 and the memory 101 are connected via the bus 102 .

[0083] The memory 101 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 103 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used. The bus 102 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0084] The processor 100 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 100. The above processor 100 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present disclosure can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 101, and the processor 100 reads the information in the memory 101 and completes the steps of the method of the above embodiment in combination with its hardware, for example:

[0085] During the movement of the mobile robot, it is detected whether there is an obstacle to be crossed in the direction of travel; if there is an obstacle to be crossed, the height information of the obstacle to be crossed is obtained; according to the height information, a target obstacle crossing strategy is determined; and through the target obstacle crossing strategy, the mobile robot is controlled to cross the obstacle to be crossed.

[0086] In this method, when an obstacle that needs to be crossed is detected in the direction of travel, an obstacle crossing strategy is formulated according to the height of the obstacle, so as to control the mobile robot to cross the obstacle. This can make the obstacle crossing strategy more consistent with kinematics and achieve more accurate results, thereby reducing the loss of devices or energy caused by unnecessary obstacle crossing control.

[0087] Optionally, the step of detecting whether there is an obstacle to be crossed in the direction of travel during the movement of the mobile robot includes: performing obstacle detection in the direction of travel during the movement of the mobile robot to obtain an obstacle detection result; if the obstacle detection result indicates that there is an obstacle in the direction of travel with a reference height greater than a preset height threshold and there is no detour path within a preset detection range, it is determined that there is an obstacle to be crossed in the direction of travel; wherein the reference height is used to indicate the height of the obstacle surface to be crossed.

[0088] Optionally, the step of determining a target obstacle crossing strategy based on the height information includes: determining a reference height of the surface of the obstacle to be crossed based on the height information of the obstacle to be crossed; and determining an obstacle crossing control parameter of the mobile robot based on the reference height to obtain a target obstacle crossing strategy.

[0089] Optionally, the step of determining the reference height of the surface of the obstacle to be crossed based on the height information of the obstacle to be crossed includes: determining the minimum height position of the obstacle to be crossed based on the height information of the obstacle to be crossed; determining the surface within a specified range of the minimum height position as the surface of the obstacle to be crossed; and calculating the reference height of the surface of the obstacle to be crossed based on the height information of the obstacle to be crossed.

[0090] Optionally, the step of determining the obstacle crossing control parameters of the mobile robot according to the reference height to obtain a target obstacle crossing strategy includes: obtaining material information of the support surface of the obstacle to be crossed; obtaining a first friction parameter of the support surface of a specified obstacle crossing range according to the support surface material information; obtaining a corresponding obstacle crossing height range according to the friction strength type in the first friction parameter; wherein the obstacle crossing height range is used to indicate a first surmountable height range corresponding to at least one obstacle strength corresponding to the friction strength type; determining from the obstacle crossing height range a target surmountable height range to which the reference height belongs; and determining the obstacle crossing control parameters of the corresponding obstacle strength according to the obstacle strength corresponding to the target surmountable height range to obtain a target obstacle crossing strategy.

[0091] Optionally, after the step of controlling the mobile robot to cross the obstacle to be crossed through the target obstacle crossing strategy, the method further includes: if the mobile robot fails to cross the obstacle to be crossed within a preset time period, upgrading the obstacle crossing strategy strength or activating an obstacle crossing fallback strategy according to the obstacle crossing strength of the target obstacle crossing strategy.

[0092] Optionally, after the step of controlling the mobile robot to cross the obstacle to be crossed through the target obstacle crossing strategy, the method further includes: if the mobile robot crosses the obstacle to be crossed, recording the obstacle crossing strategy adopted by the mobile robot when crossing the obstacle to be crossed.

[0093] This embodiment further provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the control method of the mobile robot, for example:

[0094] During the movement of the mobile robot, it is detected whether there is an obstacle to be crossed in the direction of travel; if there is an obstacle to be crossed, the height information of the obstacle to be crossed is obtained; according to the height information, a target obstacle crossing strategy is determined; and through the target obstacle crossing strategy, the mobile robot is controlled to cross the obstacle to be crossed.

[0095] In this method, when an obstacle that needs to be crossed is detected in the direction of travel, an obstacle crossing strategy is formulated according to the height of the obstacle, so as to control the mobile robot to cross the obstacle. This can make the obstacle crossing strategy more consistent with kinematics and achieve more accurate results, thereby reducing the loss of devices or energy caused by unnecessary obstacle crossing control.

[0096] Optionally, the step of detecting whether there is an obstacle to be crossed in the direction of travel during the movement of the mobile robot includes: performing obstacle detection in the direction of travel during the movement of the mobile robot to obtain an obstacle detection result; if the obstacle detection result indicates that there is an obstacle in the direction of travel with a reference height greater than a preset height threshold and there is no detour path within a preset detection range, it is determined that there is an obstacle to be crossed in the direction of travel; wherein the reference height is used to indicate the height of the obstacle surface to be crossed.

[0097] Optionally, the step of determining a target obstacle crossing strategy based on the height information includes: determining a reference height of the surface of the obstacle to be crossed based on the height information of the obstacle to be crossed; and determining an obstacle crossing control parameter of the mobile robot based on the reference height to obtain a target obstacle crossing strategy.

[0098] Optionally, the step of determining the reference height of the surface of the obstacle to be crossed based on the height information of the obstacle to be crossed includes: determining the minimum height position of the obstacle to be crossed based on the height information of the obstacle to be crossed; determining the surface within a specified range of the minimum height position as the surface of the obstacle to be crossed; and calculating the reference height of the surface of the obstacle to be crossed based on the height information of the obstacle to be crossed.

[0099] Optionally, the step of determining the obstacle crossing control parameters of the mobile robot according to the reference height to obtain a target obstacle crossing strategy includes: obtaining material information of the support surface of the obstacle to be crossed; obtaining a first friction parameter of the support surface of a specified obstacle crossing range according to the support surface material information; obtaining a corresponding obstacle crossing height range according to the friction strength type in the first friction parameter; wherein the obstacle crossing height range is used to indicate a first surmountable height range corresponding to at least one obstacle strength corresponding to the friction strength type; determining from the obstacle crossing height range a target surmountable height range to which the reference height belongs; and determining the obstacle crossing control parameters of the corresponding obstacle strength according to the obstacle strength corresponding to the target surmountable height range to obtain a target obstacle crossing strategy.

[0100] Optionally, after the step of controlling the mobile robot to cross the obstacle to be crossed through the target obstacle crossing strategy, the method further includes: if the mobile robot fails to cross the obstacle to be crossed within a preset time period, upgrading the obstacle crossing strategy strength or activating an obstacle crossing fallback strategy according to the obstacle crossing strength of the target obstacle crossing strategy.

[0101] Optionally, after the step of controlling the mobile robot to cross the obstacle to be crossed through the target obstacle crossing strategy, the method further includes: if the mobile robot crosses the obstacle to be crossed, recording the obstacle crossing strategy adopted by the mobile robot when crossing the obstacle to be crossed.

[0102] The computer program products of the mobile robot control method, mobile robot, device and storage medium provided in the embodiments of the present disclosure include a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments, which will not be repeated here.

[0103] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the system and mobile robot described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0104] In addition, in the description of the embodiments of the present disclosure, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0105] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0106] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the mobile robot or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0107] Finally, it should be noted that the above embodiments are only specific implementation methods of the present disclosure, which are used to illustrate the technical solutions of the present disclosure, rather than to limit them. The protection scope of the present disclosure is not limited thereto. Although the present disclosure is described in detail with reference to the above embodiments, those skilled in the art should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above embodiments within the technical scope disclosed in the present disclosure, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A control method for a mobile robot, characterized in that: The method comprises: During the movement of the mobile robot, detecting whether there is an obstacle to be crossed in the direction of travel; If there is an obstacle to be crossed, obtaining the height information of the obstacle to be crossed; Determining a target obstacle crossing strategy according to the height information; The target obstacle crossing strategy is used to control the mobile robot to cross the obstacle to be crossed.

2. The method according to claim 1, characterized in that The step of detecting whether there is an obstacle to be crossed in the moving direction of the mobile robot during its movement includes: During the movement of the mobile robot, obstacle detection is performed in the moving direction to obtain an obstacle detection result; If the obstacle detection result indicates that there is an obstacle with a reference height greater than a preset height threshold in the direction of travel, and there is no detour path within the preset detection range, it is determined that there is an obstacle to be crossed in the direction of travel; The reference height is used to indicate the height of the obstacle surface to be crossed.

3. The method according to claim 1, characterized in that The step of determining the target obstacle crossing strategy according to the height information includes: Determining a reference height of the surface of the obstacle to be crossed according to the height information of the obstacle to be crossed; According to the reference height, the obstacle crossing control parameters of the mobile robot are determined to obtain a target obstacle crossing strategy.

4. The method according to claim 3, characterized in that The step of determining a reference height of the surface of the obstacle to be crossed according to the height information of the obstacle to be crossed comprises: Determine the minimum height position of the obstacle to be crossed according to the height information of the obstacle to be crossed; Determining a surface within the specified range of the minimum height position as an obstacle surface to be crossed; According to the height information of the obstacle to be crossed, a reference height of the surface of the obstacle to be crossed is calculated.

5. The method according to claim 3, characterized in that: The step of determining the obstacle crossing control parameters of the mobile robot according to the reference height to obtain a target obstacle crossing strategy comprises: Obtaining material information of the support surface of the obstacle to be crossed; According to the support surface material information, obtaining a first friction parameter of the support surface in a specified obstacle crossing range; According to the friction strength type in the first friction parameter, a corresponding obstacle crossing height range is obtained; wherein the obstacle crossing height range is used to indicate a first surmountable height range corresponding to at least one obstacle crossing strength corresponding to the friction strength type; Determine, from the obstacle crossing height range, a target crossing height range to which the reference height belongs; According to the obstacle crossing intensity corresponding to the target surmountable height range, an obstacle crossing control parameter corresponding to the obstacle crossing intensity is determined to obtain a target obstacle crossing strategy.

6. The method according to claim 1, characterized in that After the step of controlling the mobile robot to cross the obstacle to be crossed by the target obstacle crossing strategy, the method further includes: If the mobile robot fails to cross the obstacle to be crossed within a preset time period, the obstacle crossing strategy strength is upgraded or the obstacle crossing fallback strategy is activated according to the obstacle crossing strength of the target obstacle crossing strategy.

7. The method according to claim 1, characterized in that After the step of controlling the mobile robot to cross the obstacle to be crossed by the target obstacle crossing strategy, the method further includes: If the mobile robot crosses the obstacle to be crossed, the obstacle crossing strategy adopted by the mobile robot when crossing the obstacle to be crossed is recorded.

8. A mobile robot, characterized in that: The mobile robot comprises: A detection module, used to detect whether there is an obstacle to be crossed in the moving direction of the mobile robot during its movement; An acquisition module, used for acquiring height information of an obstacle to be crossed if there is one; A determination module, used to determine a target obstacle crossing strategy according to the height information; The control module is used to control the mobile robot to cross the obstacle to be crossed through the target obstacle crossing strategy.

9. A device, characterized in that: It comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the control method of the mobile robot according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions prompt the processor to implement the control method of the mobile robot according to any one of claims 1 to 7.

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