Obstacle inclination method, robot and computer readable storage medium

Abstract

The application discloses a tilting obstacle crossing method, a robot and a computer readable storage medium. The tilting obstacle crossing method comprises the following steps: in response to the robot encountering an obstacle, the robot is controlled to start a tilting obstacle crossing mode; in the tilting obstacle crossing mode, one of the two driving wheels is controlled to be reversed, so that the line between the two driving wheels is arranged at an angle with the outer surface of the obstacle; the other of the two driving wheels is controlled to be forward rotated, so that the inclined groove on the other of the two driving wheels is clamped with the obstacle and crosses the obstacle under the action of the driving force; the driving wheel that has crossed the obstacle is controlled to stop rotating, and the driving wheel that has not crossed the obstacle is controlled to be forward rotated, so that the inclined groove of the driving wheel that has not crossed the obstacle is clamped with the obstacle and crosses the obstacle under the action of the driving force. Through the above method, the tilting obstacle crossing method can reduce the possibility of body collision of the robot in the process of crossing the obstacle, and can further improve the obstacle crossing ability of the robot.

Description

Technical Field

[0001] This application relates to the field of obstacle crossing technology, specifically to a tilting obstacle crossing method, a robot, and a computer-readable storage medium. Background Technology

[0002] Robots are highly intelligent and flexible in their cleaning, greatly freeing up people's hands. They can be used in various scenarios such as living rooms, bedrooms, and kitchens. However, with the popularization of robots, their shortcomings in mobility have gradually become apparent. Taking robotic vacuum cleaners as an example, most homes have obstacles such as steps, sliding glass door tracks, and carpets. When robotic vacuum cleaners encounter these obstacles during their cleaning process, they often get obstructed or stuck, needing to overcome them to continue cleaning. However, due to the structural characteristics of robotic vacuum cleaners, the head is raised high, and after the drive wheels clear the obstacle, the head slams heavily to the ground. Therefore, collisions are prone to occur during obstacle-crossing, leading to damage. Furthermore, robotic vacuum cleaners may be unable to pass through tall obstacles at all. Summary of the Invention

[0003] This application proposes a tilting obstacle-crossing method, a robot, and a computer-readable storage medium, aiming to solve the above-mentioned problems.

[0004] To solve the above-mentioned technical problems, one technical solution adopted in this application is: providing a tilting obstacle-crossing method, which is applied to a robot. The robot includes a body and two drive wheels respectively installed on both sides of the body. The tire surface of the drive wheels is provided with inclined grooves. The tilting obstacle-crossing method includes: in response to the robot encountering an obstacle, controlling the robot to activate a tilting obstacle-crossing mode; in the tilting obstacle-crossing mode, controlling one of the two drive wheels to rotate in reverse so that the line connecting the two drive wheels is set at an angle to the outer surface of the obstacle; controlling the other of the two drive wheels to rotate forward so that the inclined groove on the other drive wheel engages with the obstacle, and the robot crosses the obstacle under the action of driving force; controlling the drive wheel that has crossed the obstacle to stop rotating, and controlling the drive wheel that has not crossed the obstacle to rotate forward so that the inclined groove on the drive wheel that has not crossed the obstacle engages with the obstacle, and the robot crosses the obstacle under the action of driving force.

[0005] The tilting obstacle-crossing method further includes: determining whether the robot has successfully crossed the obstacle; in response to the robot successfully crossing the obstacle, controlling the robot to exit the tilting obstacle-crossing mode and enter the normal working mode; wherein, in the normal working mode, the two drive wheels rotate synchronously.

[0006] The steps for determining whether the robot has successfully overcome the obstacle include: obtaining the robot's pitch angle and determining whether the robot's pitch angle is less than a preset pitch angle threshold; if the pitch angle is less than the preset pitch angle threshold, the robot is determined to have successfully overcome the obstacle.

[0007] The tilting obstacle-crossing method also includes: in response to the robot being stuck by an obstacle, controlling the two drive wheels to alternately rotate forward and backward to enable the robot to get out of trouble.

[0008] Prior to the step of controlling the robot to activate the tilt obstacle-crossing mode, the tilt obstacle-crossing driving method further includes: obtaining the robot's posture and the position of the drive wheels; determining whether the drive wheels are in contact with an obstacle based on the posture and the position of the drive wheels; and controlling the robot to activate the tilt obstacle-crossing mode in response to the drive wheels contacting an obstacle.

[0009] To solve the above-mentioned technical problems, another technical solution adopted in this application is: to provide a robot, which includes a body, two drive wheels and a controller. The two drive wheels are respectively installed on both sides of the body, and inclined grooves are provided on the tire surface of each drive wheel. The controller is disposed on the body and is connected to the two drive wheels respectively, and is used to control the operation of the drive wheels using any of the above-mentioned tilting obstacle crossing methods.

[0010] The inclined groove includes a first inclined groove and a second inclined groove arranged at intervals. The first inclined groove and the second inclined groove are arranged opposite to each other on the tire surface and are distributed in a mirror image.

[0011] The tread density of the tire tread near the groove is greater than that of the tire tread away from the groove.

[0012] The groove runs from the center of the tire tread to the side of the drive wheel tire.

[0013] The inclined groove includes a first sidewall and a second sidewall that are perpendicular to each other. The first sidewall is perpendicular to the tire surface, and the second sidewall is at an acute angle to the plane containing the tire surface.

[0014] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide a computer-readable storage medium that stores program instructions internally, which are executed by a processor to implement the tilting obstacle crossing method of the robot described above.

[0015] The beneficial effects of this application are as follows: Unlike the prior art, the tilting obstacle-crossing method of this application includes: in response to the robot encountering an obstacle, controlling the robot to activate the tilting obstacle-crossing mode; in the tilting obstacle-crossing mode, controlling one of the two drive wheels to rotate in reverse so that the line connecting the two drive wheels is set at an angle to the outer surface of the obstacle; controlling the other of the two drive wheels to rotate forward so that the inclined groove on the other of the two drive wheels engages with the obstacle, and the robot crosses the obstacle under the action of driving force; controlling the drive wheel that has crossed the obstacle to stop rotating, and controlling the drive wheel that has not crossed the obstacle to rotate forward so that the inclined groove of the drive wheel that has not crossed the obstacle engages with the obstacle, and the robot crosses the obstacle under the action of driving force. By means of the above method, this application sets inclined grooves on the tire surface of the drive wheel, and first controls one drive wheel to reverse and then drives the other drive wheel to drive forward, so as to engage the inclined groove of the other drive wheel with the obstacle, which can increase the drive wheel's climbing ability on the obstacle, thereby improving its obstacle crossing ability; and the tilting obstacle crossing method of this application adopts an asynchronous obstacle crossing method, which can improve the problem that the robot head is lifted high and the head falls heavily after the drive wheel crosses the obstacle, which can reduce the possibility of robot body collision during obstacle crossing, and can further improve the robot's obstacle crossing ability. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0017] Figure 1 This is a flowchart illustrating the first embodiment of the tilting obstacle-crossing method provided in this application;

[0018] Figure 2 This is a structural schematic diagram of the first embodiment of the robot of this application;

[0019] Figure 3 This is a schematic diagram illustrating the process of an embodiment of the robot using a left-tilting obstacle-crossing mode provided in this application.

[0020] Figure 4 This is a flowchart illustrating the second embodiment of the tilting obstacle-crossing method provided in this application;

[0021] Figure 5 yes Figure 4 A flowchart illustrating an embodiment of step S201;

[0022] Figure 6 This is a flowchart illustrating the third embodiment of the tilting obstacle-crossing method provided in this application;

[0023] Figure 7 This is a schematic diagram illustrating the state of the robot being stuck by an obstacle, as provided in this application.

[0024] Figure 8 This is a structural schematic diagram of the second embodiment of the robot of this application;

[0025] Figure 9 This is a schematic diagram of the structure of the first embodiment of the drive wheel in this application;

[0026] Figure 10 This is a schematic diagram of the structure of the second embodiment of the drive wheel in this application;

[0027] Figure 11 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application.

[0028] Labeling: Robot 100, Body 110, Drive wheel 120, Inclined groove 130, First inclined groove 131, Second inclined groove 132, Controller 140, First sidewall A, Second sidewall B, Computer-readable storage medium 200, Program instructions 210. Detailed Implementation

[0029] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0031] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0032] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0033] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0034] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0035] Robots are highly intelligent and flexible in their cleaning, greatly freeing up people's hands. They can be used in various scenarios such as living rooms, bedrooms, and kitchens. However, with the popularization of robots, their shortcomings in mobility have gradually become apparent. Taking robotic vacuum cleaners as an example, most homes have obstacles such as steps, sliding glass door tracks, and carpets. When robotic vacuum cleaners encounter these obstacles during their cleaning process, they often get obstructed or stuck, needing to overcome them to continue cleaning. However, due to the structural characteristics of robotic vacuum cleaners, the head is raised high, and after the drive wheels clear the obstacle, the head slams heavily to the ground. Therefore, collisions are prone to occur during obstacle-crossing, leading to damage. Furthermore, robotic vacuum cleaners may be unable to pass through tall obstacles at all.

[0036] To address the aforementioned problems, this application first proposes a tilting obstacle-crossing method, please refer to [link / reference needed]. Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the tilting obstacle-crossing method provided in this application. In this embodiment, the tilting obstacle-crossing method can be applied to robots, such as... Figure 1 As shown, the tilting obstacle-crossing method of this embodiment specifically includes steps S101 to S104:

[0037] Step S101: In response to the robot encountering an obstacle, control the robot to activate the tilt obstacle-crossing mode.

[0038] Please see Figure 2 , Figure 2 This is a structural schematic diagram of the first embodiment of the robot of this application, as shown below. Figure 2 As shown, the robot 100 in this embodiment includes a body 110 and two drive wheels 120 respectively installed on both sides of the body. The tire surface of the drive wheels 120 is provided with inclined grooves 130.

[0039] In this embodiment, when the robot 100 encounters an obstacle through a camera or other detection device while walking, it can be controlled to activate the tilt obstacle-crossing mode.

[0040] Step S102: In the tilt obstacle crossing mode, control one of the two drive wheels to reverse so that the line connecting the two drive wheels is set at an angle to the outer surface of the obstacle.

[0041] When robot 100 activates the tilting obstacle-crossing mode, robot 100 can control one of its two drive wheels 120 to reverse, that is, control one side of robot 100 to move backward a certain distance, so that the line connecting the two drive wheels 120 forms an angle with the outer surface of the obstacle. In this embodiment, the angle can be set to 0 to 30°. In other embodiments, the size of the angle can be set based on the actual situation and is not limited here.

[0042] Step S103: Control the other of the two drive wheels to rotate forward so that the groove on the other of the two drive wheels engages with the obstacle and, under the action of driving force, crosses the obstacle.

[0043] When the robot controls one of the two drive wheels 120 to reverse, that is, after controlling one side of the robot 100 to move backward a certain distance, it controls the other drive wheel 120 to rotate forward. During the forward rotation, the inclined groove 130 on the other drive wheel 120 engages with the obstacle. At this time, the drive wheel 120 will climb over the obstacle under the action of driving force.

[0044] Step S104: Control the drive wheel that has climbed over the obstacle to stop rotating, and control the drive wheel that has not climbed over the obstacle to rotate forward, so that the groove of the drive wheel that has not climbed over the obstacle engages with the obstacle, and climbs over the obstacle under the action of driving force.

[0045] When one of the two drive wheels 120 passes over the obstacle, it can be controlled to stop rotating. At this time, the drive wheel 120 that has not passed over the obstacle is controlled to rotate forward so that the inclined groove of the drive wheel 120 that has not passed over the obstacle engages with the obstacle and passes over the obstacle under the action of driving force.

[0046] In this embodiment, the tilt obstacle crossing mode can be divided into a left tilt obstacle crossing mode and a right tilt obstacle crossing mode. When there is a wall or obstacle on the right side of the robot 100, the robot 100 adopts the left tilt obstacle crossing mode; when there is a wall or obstacle on the left side of the robot 100, the robot 100 adopts the right tilt obstacle crossing mode. The obstacle crossing principles of the left tilt obstacle crossing mode and the right tilt obstacle crossing mode are similar.

[0047] For example, in the left-tilt obstacle course mode, please refer to [link / reference]. Figure 3 , Figure 3This is a schematic diagram illustrating an embodiment of the robot's obstacle-crossing mode using a left-tilt obstacle-crossing approach, as provided in this application. Figure 3 As shown in (a), when robot 100 is crossing an obstacle, it first needs to raise its head so that its head can pass over the obstacle, and then... Figure 3 As shown in (b), robot 100 can continue to move forward until the drive wheel 120 is pressed against the obstacle and slips against the side of the obstacle for a certain period of time. After this, robot 100 can control the left drive wheel 120 to reverse, that is, control the left side of robot 100 to move backward a certain distance, so that the line connecting the drive wheels 120 is set at an angle to the outer surface of the obstacle; at this time, as Figure 3 As shown in (c), the robot 100 can control the right drive wheel 120 to rotate forward, so that the inclined groove 130 on the right drive wheel 120 engages with the obstacle, and the robot can climb over the obstacle under the action of driving force. Finally, as Figure 3 As shown in (d), the robot 100 controls the right drive wheel 120 to stop rotating and controls the left drive wheel 120 to rotate forward, so that the inclined groove 130 of the left drive wheel 120 engages with the obstacle and climbs over the obstacle under the action of driving force.

[0048] In this embodiment, the robot 100 can reduce the possibility of collision of the robot body 110 during obstacle crossing by using asynchronous obstacle crossing. That is, it can reduce the possibility of the robot head colliding with the ground during obstacle crossing, and at the same time reduce the noise of the robot 100 during obstacle crossing, and reduce the possibility of damage to the precision sensors on the robot 100.

[0049] Unlike existing technologies, the tilting obstacle-crossing method of this application includes: in response to the robot 100 encountering an obstacle, controlling the robot 100 to activate a tilting obstacle-crossing mode; in the tilting obstacle-crossing mode, controlling one of the two drive wheels 120 to reverse so that the line connecting the two drive wheels 120 forms an angle with the outer surface of the obstacle; controlling the other of the two drive wheels 120 to rotate forward so that the inclined groove 130 on the other drive wheel engages with the obstacle, and the robot overcomes the obstacle under the action of driving force; controlling the drive wheel 120 that has overcome the obstacle to stop rotating, and controlling the drive wheel 120 that has not overcome the obstacle to rotate forward so that the inclined groove 130 of the drive wheel 120 that has not overcome the obstacle engages with the obstacle, and the drive wheel 120 overcomes the obstacle under the action of driving force. In this application, a groove 130 is provided on the tire surface of the drive wheel 120. One drive wheel 120 is first controlled to reverse and then the other drive wheel 120 is driven to move forward, so that the groove of the other drive wheel 120 can be engaged with the obstacle. This can increase the climbing ability of the drive wheel 120 on the obstacle, thereby improving its obstacle crossing ability. Moreover, the tilting obstacle crossing method of this application adopts an asynchronous obstacle crossing method, which can improve the problem that the robot 100's head is lifted high and the head falls heavily after the drive wheel 120 crosses the obstacle. This can reduce the possibility of collision of the robot body 110 during the obstacle crossing process and further improve the obstacle crossing ability of the robot 100.

[0050] Optionally, based on Figure 1 For an example, please refer to the following: Figure 4 , Figure 4 This is a flowchart illustrating the second embodiment of the tilting obstacle-crossing method provided in this application. Figure 4 As shown, after the robot overcomes the obstacle, the tilting obstacle-crossing method in this embodiment further includes steps S201 to S202:

[0051] Step S201: Determine whether the robot has successfully overcome the obstacle.

[0052] After robot 100 overcomes an obstacle, its pitch angle can be obtained to determine whether the robot has successfully overcome the obstacle.

[0053] Step S202: In response to the robot successfully overcoming the obstacle, control the robot to exit the tilt obstacle-overcoming mode and enter the normal working mode; wherein, in the normal working mode, the two drive wheels rotate synchronously.

[0054] If robot 100 successfully overcomes the obstacle, it is controlled to exit the tilting obstacle-crossing mode and enter the normal working mode; in the normal working mode, the two drive wheels 120 rotate synchronously.

[0055] If robot 100 fails to overcome the obstacle, the robot 100's posture and the position of drive wheel 120 are obtained, adjusted, and then the tilt obstacle-crossing mode is continued.

[0056] Optionally, the method for determining whether the robot has successfully overcome the obstacle is as follows: Figure 5 As shown, please refer to Figure 5 , Figure 5 yes Figure 4 A flowchart illustrating an embodiment of step S201. This embodiment can be achieved through, as shown below... Figure 5 The method shown implements step S201, and the specific implementation steps include steps S301 to S302:

[0057] Step S301: Obtain the robot's pitch angle and determine whether the robot's pitch angle is less than a preset pitch angle threshold.

[0058] After the robot 100 has been overcoming obstacles for a certain period of time, the pitch angle of the robot 100 during the obstacle-crossing process can be obtained from the gyroscope of the robot 100, and it can be determined whether the robot's pitch angle is less than the preset pitch angle threshold.

[0059] In this embodiment, the preset pitch angle threshold can be set to 0 to 10°. In other embodiments, the preset pitch angle threshold can be set based on the actual situation, and is not limited here.

[0060] Step S302: If the pitch angle is less than the preset pitch angle threshold, the robot is determined to have successfully crossed the obstacle.

[0061] If, after a certain period of time, the pitch angle of robot 100 is less than the preset pitch angle threshold, then the robot is judged to have successfully overcome the obstacle.

[0062] Optionally, based on Figure 1 For an example, please refer to the following: Figure 6 , Figure 6 This is a flowchart illustrating the third embodiment of the tilting obstacle-crossing method provided in this application. Figure 6 As shown, before the step of controlling the robot to activate the tilt obstacle-crossing mode, the tilt obstacle-crossing method of this embodiment further includes steps S401 to S403:

[0063] Step S401: Obtain the robot's posture and the position of the drive wheels.

[0064] When robot 100 detects an obstacle through camera equipment or other detection equipment, robot 100 will lift its head over the obstacle and continue to move forward for a certain period of time. During this period, robot 100 needs to use software to detect and identify the posture of robot 100 and the position of drive wheel 120.

[0065] Step S402: Determine whether the drive wheel is in contact with the obstacle based on the attitude and the position of the drive wheel.

[0066] The robot 100 can determine whether the drive wheel 120 is in contact with the obstacle based on its own posture and the position of the drive wheel 120 and the distance between the drive wheel 120 and the obstacle.

[0067] Step S403: In response to the drive wheel coming into contact with an obstacle, the robot is controlled to activate the tilt obstacle-crossing mode.

[0068] If the drive wheel 120 of robot 100 comes into contact with an obstacle, it is determined that robot 100 has encountered an obstacle. At this time, robot 100 can be controlled to activate the tilt obstacle-crossing mode described above.

[0069] Optionally, based on the above embodiments, in this embodiment, the tilting obstacle-crossing method further includes the following steps:

[0070] In response to the robot 100 being stuck by an obstacle, the two drive wheels 120 are controlled to alternately rotate forward and backward to free the robot 100 from the obstacle.

[0071] Please see Figure 7 , Figure 7 This is a schematic diagram illustrating the state of the robot being stuck by an obstacle, as provided in this application. Figure 7 As shown, when the obstacle is located at the center of the body 110 of robot 100, robot 100 is very likely to be stuck by the obstacle, causing robot 100 to be unable to move. At this time, when robot 100 detects that it is stuck by the obstacle, it can control the two drive wheels 120 on both sides of robot 100 to alternately rotate forward and reverse, so that robot 100 can get out of the obstacle.

[0072] Optionally, this application further proposes a robot, please refer to [link to relevant documentation]. Figure 8 , Figure 8 This is a structural schematic diagram of the second embodiment of the robot in this application. Figure 8 As shown, the robot in this embodiment includes a body 110, two drive wheels 120 and a controller 140.

[0073] In this embodiment, two drive wheels 120 are respectively installed on both sides of the machine body, and inclined grooves 130 are provided on the tire surface of each drive wheel 120; the controller 140 is disposed on the machine body 110 and is connected to the two drive wheels 120 respectively, and is used to control the drive wheels 120 to work using the tilt obstacle crossing method of any of the above embodiments.

[0074] Optionally, please refer to Figure 9 , Figure 9 This is a structural schematic diagram of the first embodiment of the drive wheel in this application. Figure 9As shown, in this embodiment, the inclined groove 130 on the tire surface of the drive wheel 120 includes a first inclined groove 131 and a second inclined groove 132 that are spaced apart. The first inclined groove 131 and the second inclined groove 132 are arranged opposite to each other on the tire surface and are distributed in a mirror image.

[0075] like Figure 9 As shown, in this embodiment, the side of the tire tread of the drive wheel 120 is provided with a first inclined groove 131 and a second inclined groove 132, and the first inclined groove 131 and the second inclined groove 132 are distributed in a 180° mirror image; the first inclined groove 131 and the second inclined groove 132 form a certain angle with the tire tread; wherein, the first inclined groove 131 and the second inclined groove 132 are mainly used to closely adhere to obstacles, thereby getting stuck on the edges of obstacles and completing obstacle crossing. In this embodiment, the design of the first inclined groove 131 and the second inclined groove 132 can help improve the obstacle crossing and traction capabilities of the drive wheel 120, while ensuring the continuity of the drive wheel 120's operation.

[0076] In other embodiments, the tire surface of the drive wheel 120 may also be provided with multiple sets of first inclined grooves 131 and second inclined grooves 132. The position and distribution of the inclined grooves 130 can be set according to the actual situation and are not limited here. That is, the number, position and distribution of the inclined grooves 130 are not limited.

[0077] Optionally, such as Figure 9 As shown, in this embodiment, the tread density of the tire surface near the groove 130 is greater than the tread density of the tire surface away from the groove 130.

[0078] Furthermore, in this embodiment, the material of a portion of the inclined groove 130 may be the same as or different from that of the drive wheel 120, and no limitation is made here.

[0079] That is, in this embodiment, in order to prevent local slippage of the drive wheel 120, the tread density of the tire surface near the inclined groove 130 is set to be greater than that of the tire surface away from the inclined groove 130. This setting can reduce the impact of the inclined groove 130 on the normal operation of the drive wheel and reduce the possibility of the drive wheel 120 slipping due to the inclined groove 130.

[0080] In other embodiments, if the sloping groove 130 has little impact on the normal operation of the drive wheel 120, the tread density of the tire surface near the sloping groove 130 can also be the same as the tread density of the entire tire surface of the drive wheel 120.

[0081] Optionally, such as Figure 9 As shown, in this embodiment, the inclined groove 130 extends from the middle of the tire surface to the side of the tire of the drive wheel 120.

[0082] In this embodiment, the middle part is not the absolute central area. The meaning of the groove 130 extending from the middle of the tire surface to the side of the tire of the drive wheel 120 is that the width of the first groove 131 and the second groove 132 in the axial direction of the drive wheel in this embodiment is smaller than the width of the drive wheel 120.

[0083] Optionally, please refer to Figure 10 , Figure 10 This is a structural schematic diagram of the second embodiment of the drive wheel in this application. Figure 10 As shown, in this embodiment, the sidewall of the inclined groove 130 includes a first sidewall A and a second sidewall B that are perpendicular to each other. The first sidewall A is perpendicular to the tire surface, and the second sidewall B is at an acute angle to the plane where the tire surface is located.

[0084] like Figure 10 As shown, in this embodiment, taking the first inclined groove 131 as an example, it can be seen that the first sidewall A of the first inclined groove 131 is parallel to the diameter of the drive wheel 120, and the second sidewall B is perpendicular to the first sidewall A, but is set at an acute angle to the plane where the tire surface is located.

[0085] In other embodiments, the outer contour of the slant 130 is not limited to... Figure 9 and Figure 10 In this embodiment, it is sufficient that the inclined groove 130 can effectively hold the obstacle in place; no limitation is imposed here.

[0086] Furthermore, based on the above embodiments, in other embodiments, the drive wheel 120 may also be mounted in reverse, or the sloping groove 130 may be designed in reverse, so as to realize the backward tilting obstacle-crossing function of the robot 100.

[0087] Optionally, this application further proposes a computer-readable storage medium. See also... Figure 11 , Figure 11 This is a schematic diagram of an embodiment of the computer-readable storage medium provided in this application.

[0088] The computer-readable storage medium 200 of this application embodiment stores program instructions 210, which are executed to implement the tilt obstacle crossing method of any of the above embodiments.

[0089] Specifically, program instructions 210 can form a program file and be stored in the aforementioned storage medium as a software product, so that an electronic device (which may be a personal computer, server, or network device, etc.) or processor can execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, or terminal devices such as computers, servers, mobile phones, and tablets.

[0090] In this embodiment, the computer-readable storage medium 200 may be, but is not limited to, a USB flash drive, SD card, PD optical drive, portable hard drive, large-capacity floppy drive, flash memory, multimedia memory card, server, etc.

[0091] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the electronic device to perform the steps in the above-described method embodiments.

[0092] Furthermore, if the aforementioned functions are implemented as software functions and sold or used as independent products, they can be stored in a mobile terminal-readable storage medium. That is, this application also provides a storage device storing program data, which can be executed to implement the methods of the above embodiments. This storage device can be, for example, a USB flash drive, an optical disc, or a server. In other words, this application can be embodied in the form of a software product, which includes several instructions to cause a smart terminal to execute all or part of the steps of the methods of each embodiment.

[0093] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0094] Any process or method description in the flowchart or otherwise herein can be understood as representing an apparatus, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0095] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequential list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (which may be a personal computer, server, network device, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0096] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for overcoming obstacles by tilting, characterized in that, Applied to a robot, the robot includes a body and two drive wheels respectively mounted on both sides of the body, the tire surfaces of the drive wheels are provided with inclined grooves, and the tilting obstacle-crossing method includes: In response to the robot encountering an obstacle, the robot is controlled to activate a tilt obstacle-crossing mode; In the tilt obstacle-crossing mode, one of the two drive wheels is controlled to reverse so that the line connecting the two drive wheels is set at an angle to the outer surface of the obstacle; Control the other of the two drive wheels to rotate forward so that the groove on the other drive wheel engages with the obstacle and, under the action of driving force, it passes over the obstacle; The drive wheel that has crossed the obstacle is controlled to stop rotating, and the drive wheel that has not crossed the obstacle is controlled to rotate forward, so that the groove of the drive wheel that has not crossed the obstacle engages with the obstacle, and the drive wheel crosses the obstacle under the action of driving force.

2. The tilting obstacle-crossing method according to claim 1, characterized in that, Also includes: Determine whether the robot has successfully overcome the obstacle; In response to the robot successfully overcoming the obstacle, the robot is controlled to exit the tilting obstacle-overcoming mode and enter the normal working mode; In normal operating mode, the two drive wheels rotate synchronously.

3. The tilting obstacle-crossing method according to claim 2, characterized in that, The step of determining whether the robot has successfully overcome the obstacle includes: Obtain the robot's pitch angle and determine whether the robot's pitch angle is less than a preset pitch angle threshold; If the pitch angle is less than the preset pitch angle threshold, the robot is determined to have successfully overcome the obstacle.

4. The tilting obstacle-crossing method according to claim 1, characterized in that, Also includes: In response to the robot being stuck by the obstacle, the two drive wheels are controlled to alternately rotate in both directions to free the robot from the obstacle.

5. The tilting obstacle-crossing method according to claim 1, characterized in that, Prior to the step of controlling the robot to activate the tilt obstacle-crossing mode, the tilt obstacle-crossing method further includes: Obtain the robot's posture and the position of the drive wheels; Based on the posture and the position of the drive wheel, it is determined whether the drive wheel is in contact with the obstacle; In response to the drive wheel coming into contact with the obstacle, the robot is controlled to activate the tilt obstacle-crossing mode.

6. A robot, characterized in that, include: Organism; Two drive wheels are respectively installed on both sides of the machine body, and the tire surface of each drive wheel is provided with inclined grooves; A controller, mounted on the machine body and connected to the two drive wheels respectively, is used to control the operation of the drive wheels using the tilting obstacle-crossing method according to any one of claims 1-5.

7. The robot according to claim 6, characterized in that, The inclined groove includes a first inclined groove and a second inclined groove arranged at intervals. The first inclined groove and the second inclined groove are arranged opposite to each other on the tire surface and are distributed in a mirror image.

8. The robot according to claim 6, characterized in that, The tread density of the tire surface near the groove is greater than that of the tire surface away from the groove.

9. The robot according to claim 6, characterized in that, The groove extends from the center of the tire surface to the side of the tire of the drive wheel.

10. The robot according to claim 9, characterized in that, The sidewalls of the inclined groove include a first sidewall and a second sidewall that are perpendicular to each other. The first sidewall is perpendicular to the tire surface, and the second sidewall is at an acute angle to the plane containing the tire surface.

11. A computer-readable storage medium, characterized in that, It internally stores program instructions that are executed to implement the tilting obstacle crossing method according to any one of claims 1-5.

Images