Sweeping robot and obstacle crossing method

Abstract

The invention relates to the technical field of sweeping robots, particularly discloses a sweeping robot and an obstacle crossing method, and aims to solve the problem of inconvenience in obstacle crossing in the prior art. The method comprises the steps of obtaining distance information between the left and right sides of the sweeping robot and an obstacle; based on the distance information, determining a walking wheel which preferentially climbs over an obstacle and executing a climbing operation; the change of the rotating angle of the robot body of the sweeping robot in the walking wheel climbing process is monitored and compared with a preset first angle threshold value, if the rotating angle is larger than the first angle threshold value, it is judged that obstacle crossing of the side succeeds, and if the rotating angle is smaller than the first angle threshold value, it is judged that obstacle crossing of the side fails; and after the left and right walking wheels climb over for the first time, detecting obstacle crossing states of two sides, and if no obstacle crossing failure mark exists, determining that obstacle crossing is successful. The robot is designed according to existing requirements, when the robot encounters an obstacle, the crossing sequence of the left wheel and the right wheel can be adjusted according to the distance of the obstacle, and the crossing effect is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sweeping robots, in particular to a sweeping robot and an obstacle crossing method. BACKGROUND

[0002] At present, the mainstream sweeping robots on the market generally adopt a mode of synchronous forward obstacle crossing of the two driving wheels to deal with ground obstacles. This traditional obstacle crossing mode can meet the basic cleaning needs in flat ground or low obstacle scenes. However, when the sweeping robot faces complex obstacle scenes such as sliding rails and steps, the limitations of this obstacle crossing mode become apparent.

[0003] In actual use, when the two driving wheels cross obstacles synchronously, the factors such as wheel stress and contact obstacle angle are difficult to be completely consistent, and it is easy to appear the condition that one wheel successfully crosses and the other wheel fails. Once in this predicament, if the sweeping robot still maintains synchronous driving of the two wheels to cross obstacles, it not only cannot get rid of the current predicament, but also causes repeated collision and jamming of the machine body at the edge of the obstacle. Continuous invalid attempts not only consume power, but also may cause wear and tear of internal parts of the machine, eventually triggering an alarm mode and forcing the cleaning task to be interrupted.

[0004] This problem seriously affects the user experience, greatly reduces the automatic cleaning advantage of the sweeping robot, and users have to frequently manually intervene to deal with the problem of the machine being stuck; from the perspective of cleaning task completion rate, frequent obstacle crossing failure causes the robot to be unable to complete cleaning work according to the planned path, reduces the cleaning efficiency, and affects the household cleaning effect.

[0005] Based on this, the present application provides a sweeping robot and an obstacle crossing method, which can eliminate the disadvantages of the existing device. SUMMARY

[0006] The present application aims to provide a sweeping robot and an obstacle crossing method, which solves the problem of inconvenient obstacle crossing in the prior art.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solutions: An obstacle crossing method of a sweeping robot, comprising: obtaining distance information of the left and right sides of the sweeping robot and obstacles; determining a walking wheel that preferentially crosses the obstacle and performing a crossing operation based on the distance information; The robot monitors the change in the rotation angle of its body during the obstacle crossing process and compares it with a preset first angle threshold. If the change in the rotation angle of the robot body is greater than the first angle threshold, the obstacle crossing on that side is determined to be successful. If the change in the rotation angle of the robot body is less than the first angle threshold, the obstacle crossing on that side is determined to be unsuccessful. After each of the left and right wheels completes its first obstacle crossing, the obstacle crossing status on both sides is checked. If there is no obstacle crossing failure indicator on either side, the obstacle crossing is considered successful; if there is an obstacle crossing failure indicator, the obstacle crossing operation is performed again.

[0008] A further embodiment includes obtaining the distance information between the robot vacuum cleaner and obstacles on its left and right sides, including: The first distance sensor and the second distance sensor, which are set on both sides of the robot vacuum cleaner and matched with the left and right wheels, respectively detect the distance between the obstacle and the left wheel and the right wheel.

[0009] A further embodiment, based on the distance information, determines the priority wheel for vaulting obstacles and performs the vaulting operation; including: After obtaining the distance information between the robot vacuum cleaner and obstacles on both the left and right sides, if the distance to the obstacle on both the left and right sides is greater than the first safe distance, then either side can be selected to pass the obstacle first. If at least one side is less than or equal to the first safe distance from the obstacle, the side closer to the obstacle shall pass first.

[0010] A further embodiment of the proposed solution includes, If the obstacle crossing failure sign is only on the right side, drive the right wheel again to cross the obstacle; if the obstacle crossing failure sign is only on the left side, drive the left wheel again to cross the obstacle; if the obstacle crossing failure sign is on both sides, drive the left and right wheels again to cross the obstacle.

[0011] A further solution includes acquiring obstacle height information and adjusting the bottom height of the robot's casing based on that information.

[0012] Further solutions include obtaining obstacle heights, such as: Camera installation parameter calibration: Measurement of camera height H above ground and pitch angle. ; Height calculation is based on perspective transformation relationships, and the pixels in the image Corresponding actual coordinates satisfy: Where Y is the vertical height, and the ground is... Z represents the horizontal distance; the top pixel of the obstacle. Corresponding height That is, the height of the obstacle, h: Z is estimated using prior information or motion disparity.

[0013] A robotic vacuum cleaner includes: The robot housing has two symmetrical lifting notches on its lower end face, and each lifting notch is equipped with a walking wheel; A floating component connected to the walking wheel is used to drive the walking wheel to move up and down; A camera array mounted on the surface of the robot's shell is used to acquire forward movement information; The first distance sensor and the second distance sensor, which are located on both sides of the robot housing and matched with the left and right walking wheels, are used to detect the distance of obstacles from the left and right walking wheels, respectively. The sweeping robot uses the obstacle-crossing method described in any one of claims 1-6.

[0014] In a further embodiment, the floating component includes a connecting frame connected to the walking wheels. The upper end of the connecting frame is connected to a connecting horizontal plate. The connecting horizontal plate is slidably mounted on a vertical guide rod. The lower end of the vertical guide rod is fixedly connected to the bottom of the robot housing. Each connecting horizontal plate has a transmission block at its inner end. A buffer guide rod is slidably mounted on the transmission block. The upper end of the buffer guide rod is fixedly connected to the end of the frame plate. The frame plate and the transmission block are connected by a connecting spring. The frame plate is connected to a drive unit for moving it up and down.

[0015] In a further embodiment, the drive unit includes a rack plate fixedly mounted on the upper end of the frame plate. One side of the rack plate meshes with a drive gear. A transmission shaft is fixedly mounted on the axis of the drive gear. Both ends of the transmission shaft are rotatably connected to a shaft frame. The bottom of the shaft frame is fixedly connected to the bottom of the robot housing. A worm gear is fixedly mounted on the other end of the transmission shaft. The lower side of the worm gear meshes with a worm. The worm is connected to a drive motor for driving its rotation. A motor frame is provided inside the robot housing to facilitate the installation of the drive motor.

[0016] In a further embodiment, the bottom of the robot housing is provided with a cleaning component and a cleaning drive component that drives the cleaning component. The cleaning component includes at least one rotating brush. The bristles of the rotating brush are made of wear-resistant nylon material, and the bristle density gradually increases from the inside to the outside along the radial direction of the brush.

[0017] In a further embodiment, the surface of the robot shell is also equipped with an ultrasonic sensor. The data from the ultrasonic sensor, the camera group, the first distance sensor, and the second distance sensor are input to the control chip to assist in determining the material and shape of the obstacle.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention is designed to meet existing needs. When encountering obstacles, the left and right wheels can be adjusted according to the distance to the obstacles to improve the overtaking effect. This invention can also adjust the height of the equipment chassis according to the height of the obstacle, thereby further improving the crossing effect. The walking wheels are hub motors, which are independently driven, which helps to improve the crossing effect. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention.

[0020] Figure 2 This is a schematic diagram of the bottom structure of the present invention.

[0021] Figure 3 This is a schematic diagram of the internal structure of the present invention.

[0022] Figure 4 This is a schematic diagram of the floating component structure of the present invention.

[0023] Figure 5 This is a schematic diagram of the preferred left-side obstacle crossing method of the present invention.

[0024] Figure 6 This is a schematic diagram illustrating the preferred right-side obstacle crossing feature of the present invention.

[0025] Figure 7 This is a schematic diagram of any one-sided obstacle crossing according to the present invention.

[0026] Figure label annotations: Cover plate 100, robot housing 101; First distance sensor 200, camera group 201, second distance sensor 202; 300 traveling wheels, 301 lifting notch; Sweeping component 400, sweeping drive component 401; Floating components 500, battery pack 600; Connecting frame 501, connecting horizontal plate 502, vertical guide rod 503, transmission shaft rod 504, drive gear 505, shaft frame 506, worm gear 507, worm 508, drive motor 509, motor frame 510, connecting spring 511, buffer guide rod 512, rack plate 513. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] like Figures 1-4 As shown, this embodiment of the invention provides a sweeping robot, including a robot housing 101. A cover plate 100 is fitted to the upper end of the robot housing 101. Two lifting notches 301 are symmetrically provided on the lower end of the robot housing 101. A walking wheel 300 is provided at each lifting notch 301. The walking wheel 300 is connected to a floating component 500 for driving its up-and-down movement. The floating component 500 drives the walking wheel 300 to move up and down, thereby improving the device's obstacle-crossing ability. The bottom of the robot housing 101 also provides a cleaning component 400 and a cleaning drive component 401 for driving the cleaning component 400. The robot housing 101 is also equipped with a battery pack 600 for power supply. The surface of the robot housing 101 is equipped with a camera group 201 for acquiring forward information. The robot housing 101 is equipped with a first distance sensor 200 and a second distance sensor 202 on both sides, which are matched with the left and right walking wheels 300. When encountering obstacles, the first distance sensor 200 and the second distance sensor 202 can detect the distance of the obstacle respectively, so as to provide a basis for overcoming obstacles. The first distance sensor 200 detects the distance of the obstacle from the left wheel, and the second distance sensor 202 detects the distance of the obstacle from the right wheel.

[0029] The floating component 500 includes a connecting frame 501 connected to the walking wheel 300. The upper end of the connecting frame 501 is connected to a connecting horizontal plate 502. The connecting horizontal plate 502 is slidably mounted on a vertical guide rod 503. The lower end of the vertical guide rod 503 is fixedly connected to the bottom of the robot housing 101. Each connecting horizontal plate 502 has a transmission block at its inner end. A buffer guide rod 512 is slidably mounted on the transmission block. The upper end of the buffer guide rod 512 is fixedly connected to the end of the frame plate. The frame plate and the transmission block are connected by a connecting spring 511. The frame plate is connected to a drive unit for moving it up and down. Under the action of the drive unit, the frame plate drives the buffer guide rod 512 to move up and down. With the transmission of the connecting spring 511, the connecting frame 501 can slide up and down along the vertical guide rod 503, thereby adjusting the height of the walking wheel 300.

[0030] The drive unit includes a rack plate 513 fixedly mounted on the upper end of the frame plate. One side of the rack plate 513 meshes with a drive gear 505. A transmission shaft 504 is fixedly mounted on the axis of the drive gear 505. Both ends of the transmission shaft 504 are rotatably connected to a shaft frame 506. The bottom of the shaft frame 506 is fixedly connected to the bottom of the robot housing 101. A worm gear 507 is fixedly mounted on the other end of the transmission shaft 504. The lower side of the worm gear 507 meshes with a worm 508. The worm 508 is connected to a drive motor 509 for driving its rotation. The robot housing 101 has a motor frame 510 inside for easy installation of the drive motor 509. Driven by the drive motor 509, the worm 508 and the worm gear 507 match to drive the transmission shaft 504 to rotate. The transmission shaft 504 matches the drive gear 505 and the motor frame 510, thereby providing power for floating.

[0031] The walking wheels 300 are hub motors, which make the equipment more flexible in movement and easier to overcome obstacles.

[0032] The robot housing 101 is also equipped with an ultrasonic sensor. Data from the ultrasonic sensor, along with data from the camera group 201, the first distance sensor 200, and the second distance sensor 202, are input to the control chip to assist in determining the material and shape of obstacles. During the operation of the robotic vacuum cleaner, the environment is complex and ever-changing; relying solely on information from a single sensor to determine obstacles has limitations. The combined input of data from the ultrasonic sensor, camera group 201, the first distance sensor 200, and the second distance sensor 202 to the control chip significantly improves the robot's ability to perceive and judge obstacles. Ultrasonic sensors can quickly detect the distance and approximate outline of obstacles by emitting and receiving ultrasonic waves, and are particularly effective at detecting transparent, dark-colored objects that are difficult for cameras to identify. The camera group 201, using image recognition technology, acquires visual information such as the shape and texture of obstacles to help determine their type. The first distance sensor 200 and the second distance sensor 202 accurately measure the distance between obstacles and the walking wheels, providing data support for obstacle-crossing path planning. After the data from these three sensors is fused with the ultrasonic sensor data, the control chip processes it through complex algorithms to more accurately determine the material and shape of obstacles. For example, it can distinguish between soft sofa cushions and hard table and chair legs, thereby selecting appropriate obstacle avoidance strategies, avoiding collisions, reducing invalid path planning caused by misjudgments, improving cleaning efficiency and robot operation safety.

[0033] The cleaning component 400 includes at least one rotating brush. The bristles of the rotating brush are made of wear-resistant nylon, and the bristle density gradually increases from the inside to the outside along the radial direction of the brush. This design plays an important role in improving the cleaning effect. Wear-resistant nylon has good wear resistance and bending fatigue resistance. During long-term friction with the ground and contact with dust and stains, it can maintain the shape and strength of the bristles, and is not prone to wear or breakage, thus extending the service life of the brush and reducing maintenance costs. The design of the bristle density gradually increasing from the inside to the outside can achieve layered cleaning. The inner layer of bristles near the center of rotation has a relatively low bristle density and has more room to move during rotation, which can effectively agitate larger dust and debris on the ground and loosen them. The outer layer of bristles has a high bristle density and forms a dense cleaning surface during rotation, like a fine filter, which can firmly absorb and roll in the fine dust, hair, etc. stirred up by the inner layer and leave no corner untouched. Whether it is a smooth tile floor in the living room or a short-pile carpet in the bedroom, it can achieve deep cleaning and significantly improve the cleaning quality of the robot vacuum cleaner.

[0034] Working principle: When the equipment encounters an obstacle while moving forward; like Figures 5-7 As shown, the camera group 201 can acquire obstacle image information, then obtain the corresponding obstacle height, and then adjust the extension range of the walking wheel 300 according to the obstacle height to match the corresponding walking height, thereby improving the obstacle crossing ability.

[0035] Under the action of the drive unit, the frame plate drives the buffer guide rod 512 to move up and down. With the transmission of the connecting spring 511, the connecting frame 501 can slide up and down along the vertical guide rod 503, thereby adjusting the height of the walking wheel 300.

[0036] 1. Based on the distribution of obstacles on both sides, select the wheel on the side that will pass the obstacle first. While the wheel on the side is passing the obstacle, monitor the angle of the machine in real time. If the angle change reaches the set threshold, the obstacle passing on the side is considered successful; otherwise, it is considered a failure.

[0037] If the right side is closer to the obstacle, prioritize using the right wheel to clear the obstacle. After clearing the obstacle on the right, proceed with clearing the obstacle on the left.

[0038] If the left side is closer to the obstacle, prioritize using the left wheel to clear the obstacle. After clearing the obstacle on the left, proceed with clearing the obstacle on the right.

[0039] If both obstacles are beyond a safe distance, choose one side to clear the obstacle. After clearing the obstacle, proceed to clear the other side.

[0040] 2. After the left and right wheels have completed the first round of overturning, check whether there are any signs of failed obstacle crossing on both sides.

[0041] If none of these conditions are met, then the obstacle crossing is considered successful.

[0042] If an obstacle exists, the current obstacle-crossing attempt is considered a failure, and a new attempt is required. For example: If, after the first round of obstacle crossing, there is only a sign indicating a failed obstacle crossing on the right, then another attempt will be made on the right side.

[0043] If, after the first round of obstacle crossing, there is only a sign indicating a failed obstacle crossing on the left, then another attempt will be made on the left side.

[0044] If there are signs of failure on both sides after the first round of obstacle crossing, then another round of obstacle crossing will be attempted on both sides. The object of this angle change monitoring is the "overall attitude of the fuselage", rather than the rotation angle of a single wheel. In essence, it indirectly judges whether the wheel on the side that is prioritized to cross the obstacle has successfully "lifted and crossed the obstacle" by changing the attitude of the fuselage. When the wheel successfully crosses the obstacle, the fuselage will have a significant angle deflection due to the lifting of the wheel on one side and the shift of the center of gravity. If it fails to cross the obstacle, the fuselage will have difficulty producing an effective angle change because the wheel is blocked by the obstacle.

[0045] II. Monitoring Scenarios and Triggering Timing for Changes in Rotation Angle Monitoring of changes in rotation angle only applies to the "walking wheels that are prioritized for obstacle crossing," and is initiated simultaneously with the obstacle crossing operation. Specific scenarios and timing are as follows: Monitoring activation prerequisite: Based on the distance information between the robot and the obstacle on the left and right sides, determine the "priority side to cross" (if the left side is closer, then the left side is prioritized; if both sides are beyond the safe distance, then either side can be selected), and send the "execute cross operation" command to the walking wheel on that side, while starting the monitoring of the rotation angle change.

[0046] Monitoring duration: from the moment the priority side's walking wheel makes contact with the obstacle and attempts to lift, until the end of the "preset overturning cycle" on that side (the cycle length is set by the robot control chip based on the estimated height of the obstacle to ensure sufficient time to complete a single overturning attempt).

[0047] Data source for monitoring: The rotation angle change value is collected in real time by the attitude sensors built into the fuselage (such as gyroscopes and tilt sensors) to ensure that the data accurately reflects the attitude deviation of the fuselage.

[0048] Obstacle crossing success / failure determination rules based on rotation angle change values 1. Obstacle crossing success determination: "Single trigger is sufficient" During the crossing process of the priority side walking wheel, as long as there is any monitoring moment where the collected rotation angle change value is greater than the preset first angle threshold, it is directly determined that the obstacle crossing on that side is successful, without waiting for the crossing cycle to end.

[0049] The core logic of the judgment is that once the robot body undergoes an angle change exceeding the threshold, it indicates that the priority side wheel has successfully lifted the robot body and crossed the obstacle (the center of gravity shift is significant enough). There is no need to continue monitoring that side, and the robot can immediately switch to the other side wheel to perform the overturning operation.

[0050] 2. Criteria for obstacle course failure: "Failure to meet the standard throughout the entire course is a valid reason for failure." If the obstacle crossing operation starts from the priority side's walking wheel and continues until the preset obstacle crossing cycle on that side is completely finished, and the change in rotation angle collected at all monitoring moments is less than the preset first angle threshold, and there is no instance of the threshold being reached or exceeded, then the obstacle crossing on that side is determined to have failed, and the status "obstacle crossing on that side failed" is marked in the robot control system.

[0051] The underlying logic is that if the angle change throughout the process fails to meet the standard, it means that the priority side's traveling wheel is always blocked by obstacles (such as the wheel being stuck on the edge of an obstacle or the body being unable to be lifted), and the effective overturning is not achieved. The process needs to be restarted.

[0052] The determination of the change in rotation angle is a key basis for the robot to decide whether to enter the "bilateral obstacle crossing result verification" and "retry process", and the specific correlation is as follows: Single-sided judgment → Double-sided verification: When the priority side walking wheel is successfully judged by "rotation angle change value > first angle threshold", the robot switches to the other side walking wheel to perform the overpass and repeats the same "rotation angle change monitoring and judgment" on the other side; after both sides have completed the first overpass, the presence of "obstacle overpass failure mark" on both sides is verified.

[0053] Failure flag → Retry trigger: If a side is marked as failed because "the total rotation angle change value is less than the first angle threshold", the robot will start retrying: if only one side fails, the side will be retried; if both sides fail, both sides will be retried separately. The same "rotation angle change judgment rule" will still be used during the retry process until both sides are judged to be successful (no failure flag), and the overall obstacle crossing process ends.

[0054] The obstacle height detection method for cameras is detailed below: 1. Preliminary preparation: The height H of the measuring camera above the ground and the pitch angle need to be calibrated. (Angle between the camera's optical axis and the horizontal plane).

[0055] 2. Ground line detection: The purpose is to find the horizon line (the boundary between the ground and the sky) in an image, and to determine the pixel rows of the ground in the image. Method: Capture an empty scene image (without obstacles), manually mark the horizon, and use image processing algorithms (such as Hough transform) to detect the horizon line.

[0056] 3. Obstacle Bottom Location: Assuming the bottom of the obstacle is in contact with the ground, its bottom pixel coordinates in the image are... ,in Approaching ground line (Needs to be adjusted according to the camera's tilt angle).

[0057] 4. Height Calculation: Based on perspective transformation, the height of pixels in the image... Corresponding actual coordinates satisfy: Where Y is the vertical height (ground is 1 / 2) Z represents the horizontal distance. The top pixel of the obstacle. Corresponding height That is, the height of the obstacle, h: Z can be estimated using prior information (such as ground texture scale) or motion parallax (continuous frame images).

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for obstacle crossing by a robotic vacuum cleaner, characterized in that, The method comprises the following steps: acquiring distance information of the left and right sides of the sweeping robot from the obstacle; determining the walking wheel that is preferred to cross the obstacle based on the distance information and performing the crossing operation; monitoring the change of the turning angle of the body of the sweeping robot during the crossing process of the walking wheel and comparing the change with a preset first angle threshold value, if the change of the turning angle of the body of the sweeping robot is greater than the first angle threshold value, it is determined that the obstacle crossing on this side is successful, if the change of the turning angle of the body of the sweeping robot is less than the first angle threshold value, it is determined that the obstacle crossing on this side is failed; after the left and right walking wheels complete the first crossing respectively, detecting the obstacle crossing status of the two sides, if there is no obstacle crossing failure flag, it is determined that the obstacle crossing is successful, if there is an obstacle crossing failure flag, the obstacle crossing operation is performed again.

2. The obstacle crossing method of the robotic floor cleaner of claim 1, wherein, The method of acquiring the distance information of the left and right sides of the sweeping robot from the obstacle comprises the following steps: detecting the distance between the obstacle and the left walking wheel and the distance between the obstacle and the right walking wheel through the first distance sensor and the second distance sensor arranged on the left and right sides of the sweeping robot and matched with the left and right walking wheels.

3. The obstacle crossing method of the robotic cleaner according to claim 2, wherein, The method of determining the walking wheel that is preferred to cross the obstacle based on the distance information and performing the crossing operation comprises the following steps: after acquiring the distance information of the left and right sides of the sweeping robot from the obstacle, if the distance between the left and right sides of the sweeping robot and the obstacle is greater than a first safety distance, one side is selected to cross the obstacle preferentially; if the distance between at least one side and the obstacle is less than or equal to the first safety distance, the side with shorter distance is selected to cross the obstacle preferentially. The method of performing the obstacle crossing operation again comprises the following steps:

4. The obstacle crossing method of the robotic floor cleaner of claim 1, wherein, if there is only a right side obstacle crossing failure flag, the right walking wheel is driven to cross the obstacle again, if there is only a left side obstacle crossing failure flag, the left walking wheel is driven to cross the obstacle again, if there are obstacle crossing failure flags on both sides, the left and right walking wheels are driven to cross the obstacle again respectively. The method further comprises acquiring the height information of the obstacle and adjusting the height of the bottom of the robot shell according to the height information of the obstacle.

5. The obstacle crossing method of the robotic floor cleaner of claim 1, wherein, The method of acquiring the height of the obstacle comprises the following steps:

6. The obstacle crossing method of the robotic floor cleaner of claim 1, wherein, The method comprises the following steps: Camera mounting parameter calibration measures camera height above ground H and pitch angle ; The height calculation is based on the perspective transformation relationship, the pixel corresponding actual coordinates satisfy: where Y is the vertical height, the ground is Z is the horizontal distance; the obstacle top pixel corresponding height that is, the obstacle height h: where Z is estimated by prior information or motion parallax.

7. A robot vacuum cleaner, characterized in that a robot shell, two lifting notches are symmetrically arranged on the lower end surface of the robot shell, and a walking wheel is arranged at each lifting notch; a floating component connected with the walking wheel, used to drive the walking wheel to move up and down; a camera group arranged on the surface of the robot shell, used to acquire forward information; a first distance sensor and a second distance sensor arranged on the left and right sides of the robot shell and matched with the left and right walking wheels, respectively used to detect the distance between the obstacle and the left and right walking wheels; The sweeping robot adopts the obstacle crossing method according to any one of claims 1-6. The floating component comprises a connecting frame connected with the walking wheel, the upper end of the connecting frame is connected with a connecting horizontal plate, the connecting horizontal plate is slidingly arranged on a vertical guide rod, the lower end of the vertical guide rod is connected and fixed with the inner bottom of the robot shell, the inner end of each connecting horizontal plate is provided with a transmission block, a buffer guide rod is slidingly arranged on the transmission block, the upper end of the buffer guide rod is connected and fixed with the end of a frame plate, the frame plate is connected with the transmission block through a connecting spring, and the frame plate is connected with a driving unit used to drive it to move up and down.

8. The robotic vacuum cleaner of claim 7, wherein, ​ 9. The robotic vacuum cleaner of claim 8, wherein, The driving unit comprises a rack plate fixedly arranged at the upper end of the shelf plate, one side of the rack plate is engaged with a driving gear, a transmission shaft rod is fixedly arranged on the axis of the driving gear, both ends of the transmission shaft rod are rotatably connected with a shaft support, the bottom of the shaft support is fixedly connected with the inner bottom of the robot shell, the other end of the transmission shaft rod is fixedly provided with a worm gear, the lower side of the worm gear is engaged with a worm, the worm is connected with a driving motor for driving the rotation of the worm, and the inner part of the robot shell is provided with a motor support for facilitating the installation of the driving motor.

10. The robotic vacuum cleaner of claim 9, wherein, The bottom of the robot shell is provided with a cleaning component and a cleaning driving component for driving the cleaning component, the cleaning component comprises at least one rotary brush, the bristles of the rotary brush are made of wear-resistant nylon material, and the bristle density gradually increases from inside to outside along the radial direction of the brush.

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