Obstacle crossing method, device and equipment, computer storage medium and computer program product

Abstract

The embodiment of the invention discloses an obstacle crossing method, and the method comprises the steps: enabling a self-moving device to determine one or more first target positions according to the space environment information of an obstacle crossing region if the obstacle crossing fails at a current position during obstacle crossing, and carrying out the obstacle crossing at any first target position. The embodiment of the invention further discloses an obstacle crossing device, self-moving equipment, a computer storage medium and a computer program product.

Description

Technical Field

[0001] The present application relates to obstacle surmounting technology in the field of intelligent control, and in particular to an obstacle surmounting method, apparatus, device, computer storage medium and computer program product. Background Art

[0002] Robotic sweepers often face obstacles like thresholds during cleaning. This requires them to possess excellent obstacle-crossing capabilities, enabling them to efficiently climb over thresholds and thoroughly clean the remaining area. However, various obstacles, such as furniture and electrical wires, can interfere with the robot's ability to navigate, leading to collisions and subsequent failure. Summary of the Invention

[0003] In order to solve the above technical problems, the embodiments of the present application provide an obstacle surmounting method, device, equipment, computer storage medium and computer program product, which solve the problem that the sweeping robot may fail to surmount obstacles due to interference from other obstacles at the obstacle location when surmounting obstacles.

[0004] To achieve the above objectives, the technical solution of the embodiment of the present application is implemented as follows:

[0005] An obstacle surmounting method, comprising:

[0006] If it is determined that the self-mobile device cannot pass through the obstacle area at the current position, determining one or more first target positions according to the spatial environment information of the obstacle area;

[0007] Controlling the self-moving device to move from the current position to any first target position;

[0008] The self-moving device is controlled to cross the obstacle crossing area from any first target position.

[0009] In the above solution, if it is determined that the mobile device cannot pass through the obstacle area at the current location, determining one or more first target locations based on the spatial environment information of the obstacle area includes:

[0010] When the self-moving device is in the obstacle crossing mode, it is determined whether the self-moving device can pass through the obstacle crossing area at the current position; if the self-moving device cannot pass through the obstacle crossing area at the current position, one or more first target positions are determined according to the spatial environment information of the obstacle crossing area.

[0011] In the above solution, determining whether the self-moving device can pass through the obstacle area at the current location includes:

[0012] Determining whether there is an obstacle in a first obstacle surmounting sub-area corresponding to the current position based on the spatial environment information of the obstacle surmounting area, wherein the first obstacle surmounting sub-area is a portion of the obstacle surmounting area corresponding to the current position and a width of the first obstacle surmounting sub-area is not less than a maximum width of the self-moving device;

[0013] If so, it is determined that the self-moving device cannot pass through the obstacle area at the current position.

[0014] In the above solution, determining whether the self-moving device can pass through the obstacle area at the current location includes:

[0015] Determining whether there is an obstacle in a first obstacle surmounting sub-area corresponding to the current position based on the spatial environment information of the obstacle surmounting area, wherein the first obstacle surmounting sub-area is a portion of the obstacle surmounting area corresponding to the current position and a width of the first obstacle surmounting sub-area is not less than a width of the self-moving device;

[0016] If not, obtaining a first number of times that the mobile device fails to pass through the obstacle crossing area from the current position;

[0017] If the first number reaches the target threshold, it is determined that the self-moving device cannot pass through the obstacle area at the current position.

[0018] In the above solution, if the first number reaches the target threshold, determining that the self-moving device cannot pass through the obstacle area at the current location includes:

[0019] If the first number reaches a target threshold, determining whether there is an obstacle in the first obstacle crossing sub-area;

[0020] If so, it is determined that the self-moving device cannot pass through the obstacle area at the current position.

[0021] In the above solution, determining one or more first target positions based on the spatial environment information of the obstacle crossing area includes:

[0022] Get the maximum width of the mobile device;

[0023] One or more first target positions are determined based on the spatial environment information of the obstacle surmounting area and the maximum width of the self-moving device, wherein the width of the second obstacle surmounting sub-area corresponding to the first target position is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle surmounting sub-area.

[0024] In the above solution, determining one or more first target positions based on the spatial environment information of the obstacle crossing area and the width of the self-moving device includes:

[0025] Determining one or more candidate locations based on the spatial environment information of the obstacle crossing area;

[0026] The one or more first target locations are determined from the one or more candidate locations according to the width of the third obstacle crossing sub-area corresponding to the candidate location and the maximum width of the self-moving device.

[0027] In the above solution, determining one or more candidate locations based on the spatial environment information of the obstacle crossing area includes:

[0028] Starting from the target edge of the obstacle crossing area, the one or more candidate positions are determined according to the spatial environment information of the obstacle crossing area.

[0029] In the above solution, the method further includes:

[0030] If the mobile device fails to pass through the obstacle area from any of the first target locations, obtaining a second number of times the mobile device fails to pass through the obstacle area from any of the first target locations;

[0031] If the second number of times meets the target threshold, obtaining updated spatial environment information of the obstacle crossing area;

[0032] One or more second target positions are determined according to the updated spatial environment information of the obstacle crossing area, until the self-mobile device successfully passes through the obstacle crossing area from the determined Nth target position.

[0033] In the above solution, before determining one or more second target positions based on the updated spatial environment information of the obstacle crossing area, the method further includes:

[0034] Determining whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any one of the first target positions according to the updated spatial environment information of the obstacle surmounting area;

[0035] Accordingly, determining one or more second target positions according to the updated spatial environment information of the obstacle crossing area includes:

[0036] If so, one or more second target locations are determined according to the updated spatial environment information of the obstacle crossing area.

[0037] In the above solution, before determining one or more second target positions based on the updated spatial environment information of the obstacle crossing area, the method further includes:

[0038] Determining whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any one of the first target positions according to the updated spatial environment information of the obstacle surmounting area;

[0039] If not, controlling the self-moving device to pass through the obstacle crossing area from any one of the first target positions;

[0040] Accordingly, determining one or more second target positions according to the updated spatial environment information of the obstacle crossing area includes:

[0041] If the mobile device fails to pass through the obstacle area from any of the first target positions, and the third number of failures to pass through the obstacle area from any of the first target positions meets the target threshold, one or more second target positions are determined based on the updated spatial environment information of the obstacle area.

[0042] In the above solution, the method further includes:

[0043] During the process of crossing the obstacle area, detecting whether there is a cliff area;

[0044] If there is a cliff area, the self-moving device is controlled to stop moving.

[0045] An obstacle crossing device, comprising:

[0046] a determining unit, configured to determine one or more first target locations based on spatial environment information of the obstacle surmounting area if it is determined that the self-mobile device cannot pass through the obstacle surmounting area at the current location;

[0047] A control unit, configured to control the self-moving device to move from the current position to any first target position;

[0048] The control unit is further configured to control the self-moving device to pass through the obstacle crossing area from any one of the first target positions.

[0049] A self-propelled device, comprising:

[0050] body;

[0051] A cleaning member, the cleaning member being arranged on the machine body and being used for cleaning the working surface;

[0052] at least one first sensor, the at least one first sensor being disposed on the body and configured to acquire spatial environment information of an obstacle crossing area;

[0053] a controller electrically connected to the at least one first sensor, configured to determine one or more first target positions based on the spatial environment information acquired by the at least one first sensor, and send a first movement instruction to the walking member if it is determined that the self-moving device cannot pass through the obstacle area at its current position;

[0054] The walking member is arranged on the body, and is used to drive the self-moving device to move from the current position to any first target position in response to the first movement instruction, and drive the self-moving device to cross the obstacle area from any first target position.

[0055] In the above scheme, the controller is also used to determine whether the self-mobile device can pass through the obstacle area at the current position when the self-mobile device is in the obstacle crossing mode. If the self-mobile device cannot pass through the obstacle area at the current position, one or more first target positions are determined based on the spatial environment information obtained by the at least one first sensor.

[0056] In the above scheme, the controller is also used to determine whether there is an obstacle in the first obstacle crossing sub-area corresponding to the current position based on the spatial environment information obtained by the at least one first sensor, and if so, determine that the self-moving device cannot successfully pass through the obstacle crossing area at the current position; the first obstacle crossing sub-area is a partial area in the obstacle crossing area corresponding to the current position and the width of the first obstacle crossing sub-area is not less than the maximum width of the self-moving device.

[0057] In the above solution, the device further includes:

[0058] a counter electrically connected to the at least one sensor and the controller, configured to count a first number of times that the self-mobile device fails to pass through the obstacle crossing area from the current position based on information acquired by the at least one first sensor;

[0059] The controller is further configured to determine whether there is an obstacle in a first obstacle surmounting sub-area corresponding to the current position based on the spatial environment information acquired by the at least one first sensor; if not and the first number counted by the counter meets a target threshold, determine that the self-moving device cannot pass through the obstacle surmounting area at the current position; the first obstacle surmounting sub-area is a partial area in the obstacle surmounting area corresponding to the current position and a width of the first obstacle surmounting sub-area is not less than a width of the self-moving device.

[0060] In the above solution, the controller is further configured to determine whether there is an obstacle in the first obstacle surmounting sub-area if the first number counted by the counter reaches a target threshold, and if so, determine that the self-moving device cannot pass through the obstacle surmounting area at the current position.

[0061] In the above scheme, the controller is also used to obtain the maximum width of the self-moving device, and determine one or more first target positions based on the spatial environment information of the obstacle crossing area and the maximum width, the width of the second obstacle crossing sub-area corresponding to the first target position is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle crossing sub-area.

[0062] In the above scheme, the controller is also used to determine one or more candidate positions based on the spatial environment information of the obstacle crossing area, and determine the one or more first target positions from the one or more candidate positions based on the width of the third obstacle crossing sub-area corresponding to the candidate position and the maximum width.

[0063] In the above solution, the controller is further configured to determine the one or more candidate positions starting from a target edge of the obstacle crossing area and according to spatial environment information of the obstacle crossing area.

[0064] In the above solution, the counter is further used to count a second number of times that the self-mobile device fails to pass through the obstacle crossing area from any first target location based on the information obtained by the at least one first sensor;

[0065] The at least one first sensor is further configured to obtain updated spatial environment information of the obstacle crossing area;

[0066] The controller is further configured to determine one or more second target positions based on the updated spatial environment information of the obstacle area obtained by the at least one first sensor if passing through the obstacle area from any of the first target positions fails and the second number counted by the counter meets the target threshold, until the self-mobile device successfully passes through the obstacle area from the determined Nth target position.

[0067] In the above solution, the controller is further configured to determine whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any first target position based on the updated spatial environment information of the obstacle surmounting area acquired by the at least one first sensor.

[0068] In the above solution, the controller is further configured to determine one or more second target positions based on the updated spatial environment information of the obstacle surmounting area acquired by the at least one first sensor if there is an obstacle in the second obstacle surmounting sub-area.

[0069] In the above solution, the controller is further configured to determine whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any one of the first target positions based on the updated spatial environment information of the obstacle surmounting area acquired by the at least one first sensor, and if not, send a second movement instruction to the walking member;

[0070] The walking member is further configured to drive the self-moving device to cross the obstacle crossing area from any first target position in response to the second movement instruction.

[0071] In the above solution, the counter is further used to count the third times when the self-mobile device fails to pass through the obstacle crossing area from any first target position;

[0072] The controller is further configured to determine one or more second target positions based on the updated spatial environment information of the obstacle crossing area if passage through the obstacle crossing area from any of the first target positions fails and the third number counted by the counter meets the target threshold.

[0073] In the above solution, the device further includes:

[0074] at least one second sensor, the at least one second sensor being disposed on the body and electrically connected to the controller, and configured to detect whether a cliff area exists;

[0075] The controller is further configured to send a stop movement instruction to the walking member if it is determined that the second sensor detects the presence of a cliff area during the process of crossing the obstacle crossing area;

[0076] The walking member is further configured to stop moving in response to the stop movement instruction.

[0077] A computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the above-mentioned obstacle surmounting method.

[0078] A computer program product includes a computer program, wherein the computer program implements the above obstacle surmounting method when executed by a processor.

[0079] The obstacle crossing method, apparatus, equipment, computer storage medium and computer program product provided in the embodiments of the present application determine one or more first target positions based on the spatial environment information of the obstacle crossing area if it is determined that the self-mobile device cannot pass through the obstacle crossing area at the current position, control the self-mobile device to move from the current position to any first target position, and control the self-mobile device to cross the obstacle crossing area from any first target position. In this way, if the sweeping machine fails to overcome the obstacle at the current position, it can re-determine a new position for overcoming the obstacle, thereby ensuring that the sweeping machine can still successfully overcome other obstacles when encountering other obstacles during overcoming the obstacle, solving the problem that the sweeping machine will fail to overcome the obstacle due to interference from other obstacles at the obstacle crossing location when overcoming the obstacle, and improving the obstacle crossing success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1A flowchart of an obstacle surmounting method provided in an embodiment of the present application;

[0081] Figure 2 A schematic diagram of an obstacle surmounting scenario in an obstacle surmounting method provided in an embodiment of the present application;

[0082] Figure 3 A schematic diagram of another obstacle surmounting scenario in an obstacle surmounting method provided in an embodiment of the present application;

[0083] Figure 4 A schematic diagram of another obstacle surmounting scenario in an obstacle surmounting method provided in an embodiment of the present application;

[0084] Figure 5 A schematic structural diagram of an obstacle surmounting device provided in an embodiment of the present application;

[0085] Figure 6 A schematic structural diagram of a self-moving device provided in an embodiment of the present application;

[0086] Figure 7 A schematic structural diagram of another self-moving device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0087] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0088] It should be understood that the “embodiments of the present application” or “the aforementioned embodiments” mentioned throughout the specification mean that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, “in the embodiments of the present application” or “in the aforementioned embodiments” appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. In the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0089] Unless otherwise specified, when an electronic device performs any step in the embodiments of the present application, the processor of the electronic device may perform the step. It is also worth noting that the embodiments of the present application do not limit the order in which the electronic device performs the following steps. In addition, the methods used to process data in different embodiments may be the same method or different methods. It should also be noted that any step in the embodiments of the present application can be independently executed by the electronic device, that is, when the electronic device performs any step in the following embodiments, it can be independent of the execution of other steps.

[0090] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0091] The present application embodiment provides an obstacle crossing method, which can be applied to a self-propelled device. Figure 1 As shown, the method may include the following steps:

[0092] Step 101: If it is determined that the mobile device cannot pass through the obstacle area at the current location, one or more first target locations are determined based on spatial environment information of the obstacle area.

[0093] The self-moving device may include a sweeping robot or a mopping robot, etc., which have a cleaning function and can move autonomously. Specifically, the self-moving device takes a sweeping robot as an example to illustrate the obstacle crossing method provided in this application.

[0094] In other embodiments of the present application, the obstacle crossing area may include the area where the obstacle that the sweeping robot needs to overcome is located (i.e., the obstacle area), the area within a specific range in front of the area where the obstacle is located, and the area within a specific range around the sweeping robot; it should be noted that the area within a specific range in front of the area where the obstacle is located can be determined based on the current position of the sweeping robot and the position of the obstacle; the area within a specific range around the sweeping robot can be determined based on the current position of the sweeping robot. In addition, the spatial environment information can be information that can characterize the condition of the spatial environment of the corresponding area; in a feasible implementation, the spatial environment information of the obstacle crossing area can refer to the spatial environment information of the second area.

[0095] In other embodiments of the present application, it is possible to first determine whether the robot vacuum cleaner can pass through obstacles at its current location. If the robot vacuum cleaner cannot pass through obstacles at its current location, the first target location is re-determined. Specifically, the determination of whether the robot vacuum cleaner can pass through obstacles at its current location is made based on the spatial environment information of the first obstacle-crossing sub-area corresponding to the robot vacuum cleaner's current location. Of course, the determination of whether the robot vacuum cleaner can pass through obstacles at its current location can also be made based on the spatial environment information of the first obstacle-crossing sub-area and the number of obstacle-crossing failures at its current location.

[0096] Step 102: Control the mobile device to move from the current position to any first target position.

[0097] Specifically, if multiple first target positions are determined, any first target position can be selected from the multiple first target positions; then, the sweeping robot can be controlled to move from the current position to any first target position; if only one first target position is determined, the sweeping robot is controlled to move from the current position to the only first target position.

[0098] Step 103: Control the mobile device to cross the obstacle area from any first target position.

[0099] Specifically, if multiple first target positions are determined and the sweeping robot moves to any first target position, the sweeping robot can be controlled to start from any first target position and cross the area where the corresponding obstacle is located; if only one first target position is determined and the sweeping robot moves from the current position to the only first target position, the sweeping robot can be controlled to start from the only first target position and cross the area where the corresponding obstacle is located.

[0100] In other embodiments of the present application, step 101 may be implemented in the following manner:

[0101] A1. When the self-mobile device is in obstacle crossing mode, determine whether the self-mobile device can pass through the obstacle crossing area at the current position. If the self-mobile device cannot pass through the obstacle crossing area at the current position, determine one or more first target positions based on spatial environment information of the obstacle crossing area.

[0102] The obstacle crossing mode may refer to a specific operating mode in which the robot vacuum cleaner traverses obstacles. It should be noted that when the robot vacuum cleaner is in obstacle crossing mode, it is determined whether the robot vacuum cleaner can successfully traverse obstacles at its current location. If it cannot successfully traverse the obstacle, a new obstacle crossing location (i.e., the first target location) is re-determined. This allows the robot vacuum cleaner to only determine whether it can successfully traverse obstacles when in obstacle crossing mode, further improving its operating efficiency and data processing efficiency, and extending its battery life.

[0103] In other embodiments of the present application, the above-mentioned determination of whether the mobile device can pass through the obstacle area at the current location includes:

[0104] Determine whether there is an obstacle in the first obstacle sub-area corresponding to the current position based on the spatial environment information of the obstacle crossing area; the first obstacle sub-area is a partial area in the obstacle crossing area corresponding to the current position and the width of the first obstacle sub-area is not less than the maximum width of the self-moving device.

[0105] If there is an obstacle in the first obstacle surmounting sub-area, it is determined that the mobile device cannot pass through the obstacle surmounting area at the current position.

[0106] Specifically, it is possible to determine whether there is an obstacle in the first obstacle sub-area based on the spatial environment information of the first obstacle sub-area corresponding to the current position; the first obstacle sub-area can be a partial area of the obstacle area corresponding to the current position in the obstacle area, and an area within a specific range in front of the partial area.

[0107] In a feasible implementation, the obstacle that the sweeping robot needs to cross at the current position may be as follows: Figure 2 、 Figure 3 and Figure 4 As shown in C, position A1, position A2 and position A3 may be the current position of the sweeping robot, and position B1, position B2 and position B3 may be the re-determined first target position; Figure 2 If there is an obstacle in the first obstacle crossing sub-area corresponding to the current position of the sweeping robot, then it can be considered that the sweeping robot cannot pass through the obstacle crossing area (that is, the area where the obstacle C is located) at the current position A1; Figure 3 The first obstacle surmounting sub-area corresponding to the current position of the robot vacuum cleaner is shown as free of obstacles. However, the width of the obstacle-free area within the first obstacle surmounting sub-area is smaller than the maximum width of the robot vacuum cleaner. Therefore, it can be assumed that the robot vacuum cleaner cannot pass through the obstacle surmounting area (i.e., the area where obstacle C is located) at its current position A2. Furthermore, by determining whether there are obstacles in the first obstacle surmounting sub-area, the robot vacuum cleaner can determine whether it can pass through the obstacle surmounting area at its current position. This ensures that the robot vacuum cleaner can successfully surmount obstacles, thereby ensuring its cleaning efficiency.

[0108] In other embodiments of the present application, the above-mentioned determination of whether the mobile device can pass through the obstacle area at the current location includes:

[0109] Determine whether there is an obstacle in the first obstacle sub-area corresponding to the current position based on the spatial environment information of the obstacle surmounting area, where the obstacle sub-area is a portion of the obstacle surmounting area corresponding to the current position and the width of the first obstacle surmounting sub-area is not less than the width of the self-moving device;

[0110] If there is no obstacle in the first obstacle surmounting sub-area, obtaining a first number of times the mobile device fails to pass through the obstacle surmounting area from the current position;

[0111] If the first count reaches the target threshold, it is determined that the self-mobile device cannot pass through the obstacle area at the current position.

[0112] Specifically, it is possible to determine whether there is an obstacle in the first obstacle crossing sub-area based on the spatial environment information of the first obstacle crossing sub-area corresponding to the current position; if there is no obstacle in the first obstacle crossing sub-area, then in order to improve the success rate of obstacle crossing, it is possible to further determine the first time that the sweeping robot cannot cross the obstacle area at the current position. If the first number exceeds the target threshold, it can be determined that the sweeping robot cannot pass through the obstacle area at the current position, thereby also improving the success rate of obstacle crossing of the sweeping robot.

[0113] In one possible implementation, Figure 4Although there is no obstacle in the first obstacle crossing sub-area corresponding to the current position A3 of the sweeping robot, there are slippery stains in the first obstacle crossing sub-area, which causes the sweeping robot to fail to cross the obstacle at position A3 many times, and then the first number of obstacle crossing failures exceeds the target threshold. At this time, the sweeping robot cannot pass through the obstacle crossing area (that is, the area where obstacle C is located) at the current position A3.

[0114] In other embodiments of the present application, if the first number reaches the target threshold, determining that the mobile device cannot pass through the obstacle area at the current location includes:

[0115] If the first count reaches the target threshold, determine whether there is an obstacle in the first obstacle crossing sub-area;

[0116] If so, it is determined that the mobile device cannot pass through the obstacle area at the current location.

[0117] Specifically, if the number of times the robot vacuum fails to traverse an obstacle at its current location exceeds a target threshold, it will re-determine whether there is an obstacle in the first obstacle traversal sub-area. If an obstacle is again determined to be present, the robot vacuum will be deemed unable to traverse the obstacle traversal sub-area at its current location. It should be noted that while the robot vacuum is traversing an obstacle, a living being with a heartbeat may pass through the first obstacle traversal sub-area and be identified as an obstacle. If the living being has already left the first obstacle traversal sub-area, re-determination can avoid misjudgments and ensure efficient obstacle traversal.

[0118] In other embodiments of the present application, the step 101 of “determining one or more first target locations based on the spatial environment information of the obstacle crossing area” can be implemented in the following manner:

[0119] B1. Get the maximum width of the mobile device.

[0120] B2. Determine one or more first target positions based on the spatial environment information of the obstacle crossing area and the maximum width of the self-moving device.

[0121] The width of the second obstacle surmounting sub-region corresponding to the first target position is not less than the maximum width of the self-moving device, and there is no obstacle in the second obstacle surmounting sub-region.

[0122] It should be noted that the first target position can be determined by combining the spatial environment information of the obstacle crossing area and the maximum width of the sweeping robot. In this way, there are no obstacles in the second obstacle crossing sub-area corresponding to the first target position selected, and it is ensured that the sweeping robot will not be stuck in the second obstacle crossing area.

[0123] In other embodiments of the present application, determining one or more first target positions based on the spatial environment information of the obstacle crossing area and the maximum width of the self-moving device includes:

[0124] Determine one or more candidate locations based on spatial environment information of the obstacle crossing area;

[0125] One or more first target locations are determined from the one or more candidate locations according to the width of the third obstacle crossing sub-area corresponding to the candidate location and the maximum width of the self-moving device.

[0126] Specifically, based on the spatial environment information of the obstacle crossing area, the area without obstacles and that can be crossed can be screened as a candidate position. Then, the position where the width of the third obstacle crossing sub-area is not less than the maximum width of the sweeping robot can be screened from the candidate positions as the first target position, thereby ensuring the accuracy of the determined first target position.

[0127] In other embodiments of the present application, determining one or more candidate locations based on the spatial environment information of the obstacle crossing area includes:

[0128] Starting from the target edge of the obstacle crossing area, one or more candidate locations are determined based on the spatial environment information of the obstacle crossing area.

[0129] Among them, when determining the candidate position, it can be from Figure 2 、 Figure 3 and Figure 4 The candidate positions are screened starting from the target edge of the obstacle C shown in FIG; of course, when determining the first target position, the screening can also be started from the target edge of the obstacle C. In a feasible implementation, the target edge can be the edge of the obstacle away from the current position of the sweeping robot, that is, the candidate position can be determined starting from the edge of the obstacle away from the current position of the sweeping robot to improve the determination efficiency. In addition, Figure 2 、 Figure 3 and Figure 4 Position B1, position B2 and position B3 in can be the first target position.

[0130] In other embodiments of the present application, the method may further include:

[0131] If the mobile device fails to pass through the obstacle area from any first target location, obtaining a second number of times the mobile device fails to pass through the obstacle area from any first target location;

[0132] If the second number meets the target threshold, the updated spatial environment information of the obstacle crossing area is obtained;

[0133] One or more second target positions are determined according to the updated spatial environment information of the obstacle crossing area, until the mobile device successfully passes through the obstacle crossing area from the determined Nth target position.

[0134] In an embodiment of the present application, if the sweeping robot fails to overcome an obstacle from the first target position, it is necessary to determine the second number of times it has failed to overcome the obstacle from the first target position. If the second number exceeds the target threshold, one or more second target positions can be re-determined based on the updated spatial environment information of the obstacle crossing area, and the obstacle can be overcome from any of the second target positions. If it still fails, one or more third target positions can be determined based on the updated spatial environment information of the obstacle crossing area, and the cycle repeats until the sweeping robot successfully overcomes the obstacle from the determined Nth target position. It should be noted that the process of determining the third target position and the Nth target position is the same as the process of determining the second target position in the present application and will not be repeated here.

[0135] In other embodiments of the present application, before the above “determining one or more second target positions based on the updated spatial environment information of the obstacle crossing area”, the following steps are also included:

[0136] According to the updated spatial environment information of the obstacle surmounting area, it is determined whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any first target position.

[0137] Accordingly, the above-mentioned determining one or more second target positions based on the updated spatial environment information of the obstacle crossing area includes:

[0138] If there is an obstacle in the second obstacle surmounting sub-area, one or more second target positions are determined according to the updated spatial environment information of the obstacle surmounting area.

[0139] It should be noted that after obtaining the updated spatial environment information of the obstacle crossing area, in order to avoid misjudging the obstacle crossing success rate, it is possible to judge again whether there is an obstacle in the second obstacle crossing sub-area based on the updated spatial environment information of the obstacle crossing area. If there is an obstacle in the second obstacle crossing sub-area, the second target position can be determined based on the updated spatial environment information of the obstacle crossing area.

[0140] In other embodiments of the present application, before the above “determining one or more second target positions based on the updated spatial environment information of the obstacle crossing area”, the following steps are also included:

[0141] Determine whether there is an obstacle in the second obstacle sub-area corresponding to any first target position according to the updated spatial environment information of the obstacle surmounting area;

[0142] If there is no obstacle in the second obstacle surmounting sub-area, the mobile device is controlled to traverse the obstacle surmounting area from any first target position.

[0143] It should be noted that if there is no obstacle in the second obstacle crossing sub-area, then the obstacle crossing is performed again from any first target position; if the obstacle crossing is successful again from any first target position, the process ends.

[0144] In other embodiments of the present application, when executing "if there is no obstacle in the first obstacle surmounting sub-area, controlling the mobile device to traverse the obstacle surmounting area from any first target position", determining one or more second target positions based on the updated spatial environment information of the obstacle surmounting area includes:

[0145] If any first target location fails to pass through the obstacle area, and the third number of failures of the mobile device to pass through the obstacle area from any first target location meets the target threshold, one or more second target locations are determined based on the updated spatial environment information of the obstacle area.

[0146] If the obstacle cannot be overcome from any first target position again, it can be further determined whether the third number of obstacle overcoming failures from the first target position exceeds the target threshold. If the third number exceeds the target threshold, it means that the obstacle cannot be successfully overcome at the first target position. At this time, the second target position can be determined based on the updated spatial environment information of the obstacle overcoming area, which can prevent the sweeping robot from missing the best position for successful obstacle overcoming and ensure that the sweeping robot can successfully overcome the obstacle. At the same time, it can prevent the sweeping robot from moving back and forth.

[0147] In other embodiments of the present application, the method further includes:

[0148] When crossing an obstacle area, detect whether there is a cliff area;

[0149] If there is a cliff area, control the mobile device to stop moving.

[0150] It should be noted that when the robot vacuum cleaner is navigating obstacles from the first target location and / or the second target location, the cliff sensor can continuously detect cliffs in the area in front of the robot vacuum cleaner and stop moving when a cliff is detected, thereby preventing the robot vacuum cleaner from falling into the cliff area and damaging the robot vacuum cleaner. In one feasible implementation, the cliff area can be a high-altitude area outside the edge of a balcony or a step, etc.

[0151] The obstacle crossing method provided in the embodiment of the present application can re-determine a new position for obstacle crossing if the sweeping machine fails to cross the obstacle at the current position, thereby ensuring that the sweeping machine can still successfully cross the obstacle if it encounters other obstacles during obstacle crossing. This solves the problem that the sweeping machine may fail to cross the obstacle due to interference from other obstacles at the obstacle crossing location, thereby improving the obstacle crossing success rate.

[0152] Based on the above embodiments, the embodiments of the present application provide an obstacle crossing device, which can be applied to Figure 1 In the obstacle crossing method provided in the corresponding embodiment, refer to Figure 5 As shown, the obstacle surmounting device may include: a determination unit 21 and a control unit 22, wherein:

[0153] The determining unit 21 is configured to determine one or more first target locations based on spatial environment information of the obstacle surmounting area if it is determined that the self-mobile device cannot pass through the obstacle surmounting area at the current location;

[0154] A control unit 22 is used to control the mobile device to move from a current position to any first target position;

[0155] The control unit 22 is further configured to control the self-moving device to cross the obstacle crossing area from any first target position.

[0156] In other embodiments of the present application, the determination unit 21 is also used to determine whether the self-mobile device can pass through the obstacle area at the current position when the self-mobile device is in the obstacle crossing mode. If the self-mobile device cannot pass through the obstacle area at the current position, one or more first target positions are determined according to the spatial environment information of the obstacle area.

[0157] In other embodiments of the present application, the determining unit 21 is further configured to perform the following steps:

[0158] Determine whether there is an obstacle in a first obstacle sub-area corresponding to the current position based on the spatial environment information of the obstacle surmounting area, where the first obstacle sub-area is a portion of the obstacle surmounting area corresponding to the current position and the width of the first obstacle sub-area is not less than the maximum width of the self-moving device;

[0159] If so, it is determined that the mobile device cannot pass through the obstacle area at the current location.

[0160] In other embodiments of the present application, the determining unit 21 is further configured to perform the following steps:

[0161] Determine whether there is an obstacle in a first obstacle sub-area corresponding to the current position based on the spatial environment information of the obstacle surmounting area, where the first obstacle sub-area is a portion of the obstacle surmounting area corresponding to the current position and the width of the first obstacle sub-area is not less than the width of the self-moving device;

[0162] If not, obtaining the first number of times the mobile device fails to pass through the obstacle area from the current position;

[0163] If the first count reaches the target threshold, it is determined that the self-mobile device cannot pass through the obstacle area at the current position.

[0164] In other embodiments of the present application, the determining unit 21 is further configured to perform the following steps:

[0165] If the first count reaches the target threshold, determine whether there is an obstacle in the first obstacle crossing sub-area;

[0166] If so, it is determined that the mobile device cannot pass through the obstacle area at the current location.

[0167] In other embodiments of the present application, the determining unit 21 is further configured to perform the following steps:

[0168] Get the maximum width from the mobile device;

[0169] One or more first target positions are determined based on the spatial environment information of the obstacle surmounting area and the maximum width of the self-moving device. The width of the second obstacle surmounting sub-area corresponding to the first target position is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle surmounting sub-area.

[0170] In other embodiments of the present application, the determining unit 21 is further configured to perform the following steps:

[0171] Determine one or more candidate locations based on spatial environment information of the obstacle crossing area;

[0172] One or more first target locations are determined from the one or more candidate locations according to the width of the third obstacle crossing sub-area corresponding to the candidate location and the maximum width of the self-moving device.

[0173] In other embodiments of the present application, the determining unit 21 is further configured to determine one or more candidate positions starting from a target edge of the obstacle crossing area and according to spatial environment information of the obstacle crossing area.

[0174] In other embodiments of the present application, the determining unit 21 is further configured to perform the following steps:

[0175] If the mobile device fails to pass through the obstacle area from any first target location, obtaining a second number of times the mobile device fails to pass through the obstacle area from any first target location;

[0176] If the second number meets the target threshold, the updated spatial environment information of the obstacle crossing area is obtained;

[0177] One or more second target positions are determined according to the updated spatial environment information of the obstacle crossing area, until the mobile device successfully passes through the obstacle crossing area from the determined Nth target position.

[0178] In other embodiments of the present application, the determining unit 21 is further configured to determine whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any first target position according to the updated spatial environment information of the obstacle surmounting area.

[0179] In other embodiments of the present application, the determining unit 21 is further configured to determine one or more second target positions according to the updated spatial environment information of the obstacle surmounting area if there is an obstacle in the second obstacle surmounting sub-area.

[0180] In other embodiments of the present application, the determining unit 21 is further configured to perform the following steps:

[0181] Determine whether there is an obstacle in the second obstacle sub-area corresponding to any first target position according to the updated spatial environment information of the obstacle surmounting area;

[0182] If there is no obstacle in the second obstacle surmounting sub-area, the mobile device is controlled to traverse the obstacle surmounting area from any first target position.

[0183] In other embodiments of the present application, the determination unit 21 is also used to determine one or more second target positions based on the updated spatial environment information of the obstacle area if the mobile device fails to pass through the obstacle area from any first target position and the third number of failures to pass through the obstacle area from any first target position meets the target threshold.

[0184] In other embodiments of the present application, the determining unit 21 is further configured to detect whether there is a cliff area during the process of crossing the obstacle area;

[0185] The control unit 22 is further configured to control the self-moving device to stop moving if there is a cliff area.

[0186] It should be noted that the specific description of the steps performed by each unit can be referred to Figure 1 The obstacle surmounting method provided in the corresponding embodiment will not be described in detail here.

[0187] The obstacle crossing device provided in the embodiments of the present application can re-determine a new position for obstacle crossing if the sweeping machine fails to cross an obstacle at the current position, thereby ensuring that the sweeping machine can still successfully cross the obstacle if it encounters other obstacles during obstacle crossing. This solves the problem that the sweeping machine may fail to cross the obstacle due to interference from other obstacles at the obstacle crossing location, thereby improving the obstacle crossing success rate.

[0188] Based on the above embodiments, the embodiments of the present application provide a self-moving device, which can be applied to Figure 1 In the obstacle crossing method provided in the corresponding embodiment, refer to Figure 6 and Figure 7 As shown, the self-mobile device 3 may include:

[0189] Body 31;

[0190] A cleaning member 32 is provided on the machine body and is used to clean the working surface;

[0191] At least one first sensor 33, which is provided on the body 31 and is used to obtain spatial environment information of the obstacle crossing area;

[0192] The controller 34 is electrically connected to the at least one first sensor 33 and is configured to determine one or more first target locations based on the spatial environment information obtained by the at least one first sensor, and send a first movement instruction to the walking member 35 if it is determined that the self-moving device cannot pass through the obstacle area at the current location;

[0193] Walking parts 35( Figure 6 and Figure 7 (not shown) is arranged on the body, and is used to drive the self-moving device from the current position to any first target position in response to the first movement instruction, and drive the self-moving device from any first target position to cross the obstacle area.

[0194] It should be noted that the body may refer to the body of the sweeping robot, the cleaning part may refer to the cleaning brush of the sweeping robot, and the walking part may refer to the roller of the sweeping robot.

[0195] In other embodiments of the present application, the controller 34 is also used to determine whether the self-mobile device can pass through the obstacle area at the current position when the self-mobile device is in the obstacle crossing mode; if the self-mobile device cannot pass through the obstacle area at the current position, determine one or more first target positions based on the spatial environment information obtained by at least one first sensor.

[0196] In other embodiments of the present application, the controller 34 is also used to determine whether there is an obstacle in the first obstacle crossing sub-area corresponding to the current position based on the spatial environment information obtained by at least one first sensor. If so, it is determined that the self-moving device cannot successfully pass through the obstacle crossing area at the current position; the first obstacle crossing sub-area is a partial area in the obstacle crossing area corresponding to the current position and the width of the first obstacle crossing sub-area is not less than the maximum width of the self-moving device.

[0197] In other embodiments of this application, refer to Figure 7 As shown, the self-mobile device also includes:

[0198] a counter 36 , the counter 36 being electrically connected to the at least one sensor and the controller, and configured to count a first number of times that the mobile device fails to pass through the obstacle area from a previous position based on information acquired by the at least one first sensor;

[0199] The controller 34 is further configured to determine whether there is an obstacle in a first obstacle crossing sub-area corresponding to the current position based on spatial environment information acquired by at least one first sensor; if not and the first number counted by the counter 36 meets the target threshold, it is determined that the self-moving device cannot pass through the obstacle crossing area at the current position; the first obstacle crossing sub-area is a partial area in the obstacle crossing area corresponding to the current position, and the width of the first obstacle crossing sub-area is not less than the width of the self-moving device.

[0200] In other embodiments of the present application, the controller 34 is further configured to determine whether there is an obstacle in the first obstacle surmounting sub-area if the first number counted by the counter 36 reaches a target threshold, and if so, determine that the mobile device cannot pass through the obstacle surmounting area at the current position.

[0201] In other embodiments of the present application, the controller 34 is also used to obtain the maximum width of the self-moving device, and determine one or more first target positions based on the spatial environment information and the maximum width of the obstacle crossing area, and the width of the second obstacle crossing sub-area corresponding to the first target position is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle crossing sub-area.

[0202] In other embodiments of the present application, the controller 34 is also used to determine one or more candidate positions based on the spatial environment information of the obstacle crossing area, and determine one or more first target positions from the one or more candidate positions based on the width and maximum width of the third obstacle crossing sub-area corresponding to the candidate position.

[0203] In other embodiments of the present application, the controller 34 is further configured to determine one or more candidate positions starting from a target edge of the obstacle crossing area and according to spatial environment information of the obstacle crossing area.

[0204] In other embodiments of the present application, the counter 36 is further configured to count a second number of times that the mobile device fails to pass through the obstacle area from any first target location based on information acquired by the at least one first sensor;

[0205] At least one first sensor 33 is further used to obtain updated spatial environment information of the obstacle crossing area;

[0206] The controller 34 is further configured to determine one or more second target positions based on the updated spatial environment information of the obstacle area obtained by at least one first sensor if the attempt to pass through the obstacle area from any first target position fails and the second number of times counted by the counter meets the target threshold, until the self-mobile device successfully passes through the obstacle area from the determined Nth target position.

[0207] In other embodiments of the present application, the controller 34 is further configured to determine whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any first target position based on the updated spatial environment information of the obstacle surmounting area acquired by the at least one first sensor 33 .

[0208] In other embodiments of the present application, the controller 34 is further configured to determine one or more second target positions based on the updated spatial environment information of the obstacle surmounting area acquired by the at least one first sensor if an obstacle exists in the second obstacle surmounting sub-area.

[0209] In other embodiments of the present application, the controller 34 is further configured to determine whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any first target position based on the updated spatial environment information of the obstacle surmounting area acquired by the at least one first sensor, and if not, send a second movement instruction to the walking element;

[0210] The walking member 35 is further configured to drive the self-moving device to cross the obstacle crossing area from any first target position in response to the second movement instruction.

[0211] In other embodiments of the present application, the counter 36 is further configured to count the third time that the mobile device fails to pass through the obstacle area from any first target location;

[0212] The controller 34 is further configured to determine one or more second target positions based on the updated spatial environment information of the obstacle crossing area if any first target position fails to pass through the obstacle crossing area and the third number counted by the counter 36 meets the target threshold.

[0213] In other embodiments of this application, refer to Figure 7 As shown, the self-mobile device also includes:

[0214] At least one second sensor 37, which is disposed on the body 31 and electrically connected to the controller, and is used to detect whether a cliff area exists;

[0215] The controller 34 is further configured to send a stop movement instruction to the walking member if it is determined that the second sensor detects the presence of a cliff area during the process of crossing the obstacle area;

[0216] The walking member 35 is further configured to stop moving in response to a stop movement instruction.

[0217] It should be noted that the specific description of the steps performed by each device can be referred to Figure 1 The obstacle surmounting method provided in the corresponding embodiment will not be described in detail here.

[0218] The self-moving device provided in the embodiment of the present application can re-determine a new position to overcome the obstacle if the sweeper fails to overcome the obstacle at the current position, thereby ensuring that the sweeper can still successfully overcome the obstacle if it encounters other obstacles during overcoming the obstacle. This solves the problem that the sweeper may fail to overcome the obstacle due to interference from other obstacles at the obstacle location when overcoming the obstacle, and improves the success rate of obstacle overcoming.

[0219] Based on the above embodiments, the embodiments of the present application provide a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement Figure 1 The corresponding embodiment provides steps of the obstacle surmounting method.

[0220] Based on the above embodiments, the embodiments of the present application provide a computer program product, including a computer program, which can be executed by a processor to complete Figure 1 The corresponding embodiment provides steps of the obstacle surmounting method.

[0221] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0222] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0223] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0224] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0225] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An obstacle surmounting method, characterized in that: The method comprises: If it is determined that the self-mobile device cannot pass through the obstacle area at the current position, determining one or more first target positions according to the spatial environment information of the obstacle area; Controlling the self-moving device to move from the current position to any first target position; The self-moving device is controlled to cross the obstacle crossing area from any first target position.

2. The obstacle surmounting method according to claim 1, characterized in that: If it is determined that the mobile device cannot pass through the obstacle area at the current position, determining one or more first target positions according to the spatial environment information of the obstacle area includes: When the self-moving device is in the obstacle crossing mode, it is determined whether the self-moving device can pass through the obstacle crossing area at the current position; if the self-moving device cannot pass through the obstacle crossing area at the current position, one or more first target positions are determined according to the spatial environment information of the obstacle crossing area.

3. The method according to claim 2, characterized in that The determining whether the self-moving device can pass through the obstacle area at the current position includes: Determining whether there is an obstacle in a first obstacle surmounting sub-area corresponding to the current position based on the spatial environment information of the obstacle surmounting area, wherein the first obstacle surmounting sub-area is a portion of the obstacle surmounting area corresponding to the current position and a width of the first obstacle surmounting sub-area is not less than a maximum width of the self-moving device; If so, it is determined that the self-moving device cannot pass through the obstacle area at the current position.

4. The method according to claim 2, characterized in that The determining whether the self-moving device can pass through the obstacle area at the current position includes: Determining whether there is an obstacle in a first obstacle surmounting sub-area corresponding to the current position based on the spatial environment information of the obstacle surmounting area, wherein the first obstacle surmounting sub-area is a portion of the obstacle surmounting area corresponding to the current position and a width of the first obstacle surmounting sub-area is not less than a width of the self-moving device; If not, obtaining a first number of times that the mobile device fails to pass through the obstacle crossing area from the current position; If the first number reaches the target threshold, it is determined that the self-moving device cannot pass through the obstacle area at the current position.

5. The method according to claim 4, characterized in that If the first number of times reaches the target threshold, determining that the self-moving device cannot pass through the obstacle area at the current position includes: If the first number reaches a target threshold, determining whether there is an obstacle in the first obstacle crossing sub-area; If so, it is determined that the self-moving device cannot pass through the obstacle area at the current position.

6. The method according to claim 1, characterized in that The determining one or more first target positions according to the spatial environment information of the obstacle crossing area includes: Get the maximum width of the mobile device; One or more first target positions are determined based on the spatial environment information of the obstacle surmounting area and the maximum width of the self-moving device, wherein the width of the second obstacle surmounting sub-area corresponding to the first target position is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle surmounting sub-area.

7. The method according to claim 6, characterized in that The determining of one or more first target positions according to the spatial environment information of the obstacle crossing area and the width of the self-moving device includes: Determining one or more candidate locations based on the spatial environment information of the obstacle crossing area; The one or more first target locations are determined from the one or more candidate locations according to the width of the third obstacle crossing sub-area corresponding to the candidate location and the maximum width of the self-moving device.

8. The method according to claim 7, characterized in that The determining one or more candidate locations according to the spatial environment information of the obstacle crossing area includes: Starting from the target edge of the obstacle crossing area, the one or more candidate positions are determined according to the spatial environment information of the obstacle crossing area.

9. The method according to claim 1, characterized in that The method further comprises: If the mobile device fails to pass through the obstacle area from any of the first target locations, obtaining a second number of times the mobile device fails to pass through the obstacle area from any of the first target locations; If the second number of times meets the target threshold, obtaining updated spatial environment information of the obstacle crossing area; One or more second target positions are determined according to the updated spatial environment information of the obstacle crossing area, until the self-mobile device successfully passes through the obstacle crossing area from the determined Nth target position.

10. The method according to claim 9, characterized in that Before determining one or more second target positions according to the updated spatial environment information of the obstacle crossing area, the method further includes: Determining whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any one of the first target positions according to the updated spatial environment information of the obstacle surmounting area; Accordingly, determining one or more second target positions according to the updated spatial environment information of the obstacle crossing area includes: If so, one or more second target locations are determined according to the updated spatial environment information of the obstacle crossing area.

11. The method according to claim 9, characterized in that Before determining one or more second target positions according to the updated spatial environment information of the obstacle crossing area, the method further includes: Determining whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any one of the first target positions according to the updated spatial environment information of the obstacle surmounting area; If not, controlling the self-moving device to pass through the obstacle crossing area from any one of the first target positions; Accordingly, determining one or more second target positions according to the updated spatial environment information of the obstacle crossing area includes: If the mobile device fails to pass through the obstacle area from any of the first target positions, and the third number of failures to pass through the obstacle area from any of the first target positions meets the target threshold, one or more second target positions are determined based on the updated spatial environment information of the obstacle area.

12. The method according to claim 1, characterized in that The method further comprises: During the process of crossing the obstacle area, detecting whether there is a cliff area; If there is a cliff area, the self-moving device is controlled to stop moving.

13. An obstacle crossing device, characterized in that: The device comprises: a determining unit, configured to determine one or more first target locations based on spatial environment information of the obstacle surmounting area if it is determined that the self-mobile device cannot pass through the obstacle surmounting area at the current location; A control unit, configured to control the self-moving device to move from the current position to any first target position; The control unit is further configured to control the self-moving device to pass through the obstacle crossing area from any one of the first target positions.

14. A self-propelled device, characterized in that: The device comprises: body; A cleaning member, the cleaning member being arranged on the machine body and being used for cleaning the working surface; at least one first sensor, the at least one first sensor being disposed on the body and configured to acquire spatial environment information of an obstacle crossing area; a controller electrically connected to the at least one first sensor, configured to determine one or more first target positions based on the spatial environment information acquired by the at least one first sensor, and send a first movement instruction to the walking member if it is determined that the self-moving device cannot pass through the obstacle area at its current position; The walking member is arranged on the body, and is used to drive the self-moving device to move from the current position to any first target position in response to the first movement instruction, and drive the self-moving device to cross the obstacle area from any first target position.

15. The device according to claim 14, characterized in that The controller is further configured to determine, when the self-mobile device is in an obstacle crossing mode, whether the self-mobile device can pass through the obstacle crossing area at its current position; and if the self-mobile device cannot pass through the obstacle crossing area at its current position, determine one or more first target positions based on the spatial environment information acquired by the at least one first sensor.

16. The device according to claim 15, characterized in that The controller is further used to determine whether there is an obstacle in the first obstacle crossing sub-area corresponding to the current position based on the spatial environment information obtained by the at least one first sensor, and if so, determine that the self-moving device cannot successfully pass through the obstacle crossing area at the current position; the first obstacle crossing sub-area is a partial area in the obstacle crossing area corresponding to the current position and the width of the first obstacle crossing sub-area is not less than the maximum width of the self-moving device.

17. The device according to claim 15, characterized in that The device further comprises: a counter electrically connected to the at least one sensor and the controller, configured to count a first number of times that the self-mobile device fails to pass through the obstacle crossing area from the current position based on information acquired by the at least one first sensor; The controller is further configured to determine whether there is an obstacle in a first obstacle surmounting sub-area corresponding to the current position based on the spatial environment information acquired by the at least one first sensor; if not and the first number counted by the counter meets a target threshold, determine that the self-moving device cannot pass through the obstacle surmounting area at the current position; the first obstacle surmounting sub-area is a partial area in the obstacle surmounting area corresponding to the current position and a width of the first obstacle surmounting sub-area is not less than a width of the self-moving device.

18. The device according to claim 17, characterized in that The controller is further configured to determine whether there is an obstacle in the first obstacle surmounting sub-area if the first number counted by the counter reaches a target threshold, and if so, determine that the self-moving device cannot pass through the obstacle surmounting area at the current position.

19. The device according to claim 14, characterized in that The controller is further configured to obtain the maximum width of the self-moving device and determine one or more first target positions based on the spatial environment information of the obstacle surmounting area and the maximum width, wherein the width of the second obstacle surmounting sub-area corresponding to the first target position is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle surmounting sub-area.

20. The device according to claim 19, characterized in that The controller is further configured to determine one or more candidate positions based on the spatial environment information of the obstacle crossing area, and determine the one or more first target positions from the one or more candidate positions based on the width of the third obstacle crossing sub-area corresponding to the candidate position and the maximum width.

21. The device according to claim 20, characterized in that The controller is further configured to determine the one or more candidate positions starting from a target edge of the obstacle crossing area and according to spatial environment information of the obstacle crossing area.

22. The apparatus according to claim 14, wherein The counter is further configured to count a second number of times that the self-moving device fails to pass through the obstacle crossing area from any one of the first target locations based on the information acquired by the at least one first sensor; The at least one first sensor is further configured to obtain updated spatial environment information of the obstacle crossing area; The controller is further configured to determine one or more second target positions based on the updated spatial environment information of the obstacle area obtained by the at least one first sensor if passing through the obstacle area from any of the first target positions fails and the second number counted by the counter meets the target threshold, until the self-mobile device successfully passes through the obstacle area from the determined Nth target position.

23. The device according to claim 22, characterized in that The controller is further configured to determine whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any one of the first target positions based on the updated spatial environment information of the obstacle surmounting area acquired by the at least one first sensor.

24. The device according to claim 23, characterized in that The controller is further configured to determine one or more second target positions based on the updated spatial environment information of the obstacle surmounting area acquired by the at least one first sensor if an obstacle exists in the second obstacle surmounting sub-area.

25. The apparatus according to claim 22, wherein The controller is further configured to determine whether there is an obstacle in the second obstacle surmounting sub-area corresponding to any one of the first target positions based on the updated spatial environment information of the obstacle surmounting area acquired by the at least one first sensor, and if not, send a second movement instruction to the walking member; The walking member is further configured to drive the self-moving device to cross the obstacle crossing area from any first target position in response to the second movement instruction.

26. The device according to claim 23, characterized in that The counter is further used to count the third times when the self-mobile device fails to pass through the obstacle crossing area from any first target position; The controller is further configured to determine one or more second target positions based on the updated spatial environment information of the obstacle crossing area if passage through the obstacle crossing area from any of the first target positions fails and the third number counted by the counter meets the target threshold.

27. The apparatus according to claim 22, wherein The device further comprises: at least one second sensor, the at least one second sensor being disposed on the body and electrically connected to the controller, and configured to detect whether a cliff area exists; The controller is further configured to send a stop movement instruction to the walking member if it is determined that the second sensor detects the presence of a cliff area during the process of crossing the obstacle crossing area; The walking member is further configured to stop moving in response to the stop movement instruction.

28. A computer-readable storage medium, characterized in that The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the obstacle surmounting method according to any one of claims 1 to 12.

29. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements the obstacle surmounting method according to any one of claims 1 to 12.

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