Obstacle crossing method, apparatus, readable storage medium, and mobile robot

Abstract

The application provides an obstacle crossing method and device, a readable storage medium and a mobile robot, and relates to the technical field of mobile robots. The obstacle crossing method is applied to a mobile robot including at least two driving wheels, and the obstacle crossing method includes the following steps: determining a driving posture of the mobile robot in the process that the mobile robot travels in a first direction and passes through an obstacle; determining a first driving wheel and a second driving wheel in the at least two driving wheels in the state that the driving posture is deflected, and the first driving wheel is located in front of the second driving wheel in the first direction; adjusting the rotating speed of the first driving wheel and / or the rotating speed of the second driving wheel, so that the rotating speed of the first driving wheel is smaller than the rotating speed of the second driving wheel, until the mobile robot crosses the obstacle. The application enhances the obstacle crossing ability of the mobile robot and improves the obstacle crossing efficiency of the mobile robot.

Description

Technical Field

[0001] This application relates to the field of mobile robot technology, and more specifically, to an obstacle-crossing method, apparatus, readable storage medium, and mobile robot. Background Technology

[0002] With the increasing prevalence of mobile robots, their obstacle-crossing ability is a crucial parameter. Mobile robots with high obstacle-crossing capabilities face fewer obstacles and can reach more areas for cleaning. Summary of the Invention

[0003] This application aims to address the technical problem of low equilibrium efficiency in existing or related technologies.

[0004] Therefore, the first aspect of this application proposes a method for overcoming obstacles.

[0005] The second aspect of this application proposes an obstacle-crossing device.

[0006] The third aspect of this application proposes an obstacle-crossing device.

[0007] The fourth aspect of this application proposes a readable storage medium.

[0008] The fifth aspect of this application proposes a mobile robot.

[0009] In view of the above, according to the first aspect of this application, an obstacle-crossing method is proposed for a mobile robot, the mobile robot including at least two drive wheels, the obstacle-crossing method comprising: determining the driving posture of the mobile robot while it is traveling along a first direction and passing through an obstacle; determining a first drive wheel and a second drive wheel among the at least two drive wheels when the driving posture is in a deflection state, wherein the first drive wheel is located in front of the second drive wheel in the first direction; adjusting the rotational speed of the first drive wheel and / or the rotational speed of the second drive wheel so that the rotational speed of the first drive wheel is less than the rotational speed of the second drive wheel, until the mobile robot crosses the obstacle.

[0010] In this technical solution, during the movement of the mobile robot, obstacles are detected on its path. When an obstacle is detected and the robot passes over it, the robot's posture while passing over the obstacle is monitored. Specifically, the first direction is the robot's direction of travel. When the robot passes over an obstacle, the first direction is the direction it is traveling towards the obstacle. When the robot is traveling in the first direction, at least two of its drive wheels are facing the obstacle. While the robot is passing over the obstacle, its posture is monitored. If the robot is detected to be deflected, it is determined that at least two drive wheels have not simultaneously climbed the obstacle during obstacle-crossing. At this point, the robot needs to identify the first and second drive wheels of the at least two drive wheels that have not simultaneously climbed the obstacle, with the first drive wheel preceding the second drive wheel.

[0011] The first drive wheel and the second drive wheel are coaxial.

[0012] It should be noted that the first drive wheel and the second drive wheel are coaxially arranged drive wheels, and the number of the first drive wheel and the second drive wheel can be one or more.

[0013] In this technical solution, by adjusting the rotation speed of the first drive wheel that has climbed the obstacle and / or the second drive wheel that has not climbed the obstacle, the rotation speed of the first drive wheel that has climbed the obstacle is made less than the rotation speed of the second drive wheel that has not climbed the obstacle, thus preventing the first drive wheel from continuing to move forward on the obstacle, reducing the gap between the first drive wheel and the second drive wheel, and improving the obstacle-crossing ability of the mobile robot.

[0014] It should be noted that after the mobile robot passes over the obstacle, the rotation speed of the first and second drive wheels is restored to the original speed, and the mobile robot continues to move.

[0015] In the technical solution of this application, during the process of the mobile robot overcoming obstacles, it is monitored whether the mobile robot deviates. If the mobile robot deviates, the first drive wheel and the second drive wheel whose speed needs to be adjusted are determined in a timely manner. By adjusting the speed of at least one of the first drive wheel and the second drive wheel, the first drive wheel in front and the second drive wheel in the rear are prevented from causing the body of the mobile robot to rotate, thereby enhancing the obstacle-crossing ability of the mobile robot and improving the obstacle-crossing efficiency of the mobile robot.

[0016] In some technical solutions, optionally, adjusting the rotational speed of the first drive wheel and / or the rotational speed of the second drive wheel includes:

[0017] Reduce the speed of the first drive wheel, and / or stop the first drive wheel, and / or increase the speed of the second drive wheel.

[0018] In this technical solution, when adjusting the rotational speed of at least one of the first and second drive wheels, the adjusted rotational speed of the first drive wheel needs to be less than that of the second drive wheel. Specifically, when the mobile robot deflects, the first drive wheel is in front of the second drive wheel. If the first and second drive wheels continue to move at their original rotational speeds, the robot's body will continue to deflect. Therefore, the rotational speed of the first drive wheel needs to be less than that of the second drive wheel, so that the second drive wheel, which has not yet climbed the obstacle, can climb the obstacle, and the first drive wheel, which has already climbed the obstacle, will not continue to move forward.

[0019] It should be noted that the first drive wheel is in front of the second drive wheel. For example, the first drive wheel is on the obstacle, and the second drive wheel is below the obstacle, meaning the first drive wheel has already climbed onto the obstacle, but the second drive wheel has not yet climbed onto it. Another example is that the first drive wheel has already passed the obstacle, while the second drive wheel has just climbed onto the obstacle, or has not yet climbed onto it.

[0020] In the technical solution of this application, by adjusting the rotation speed of at least one of the first drive wheel and the second drive wheel, the rotation speed of the first drive wheel located in front is less than the rotation speed of the second drive wheel located behind, thereby avoiding the mobile robot from rotating due to the inconsistent progress of the first drive wheel and the second drive wheel in crossing obstacles, and improving the mobile robot's ability to cross obstacles.

[0021] In some technical solutions, optionally, the mobile robot includes an optical sensor; determining the driving posture of the mobile robot includes: acquiring optical signals collected by the optical sensor; determining the positional relationship between at least two drive wheels and obstacles based on the optical signals; and determining that the driving posture is in a deflection state when the positional relationship satisfies the target relationship.

[0022] In this technical solution, the mobile robot also includes an optical sensor. The optical sensor can collect the optical signals of the mobile robot itself and the optical signals of the environment. It can determine whether the positional relationship between at least two drive wheels and the obstacle is a target relationship by collecting the optical signals. When it is determined that the positional relationship between at least two drive wheels and the obstacle is a target relationship, the mobile robot is determined to be in a deflection state, that is, the mobile robot is in an obstacle-crossing state, and the first drive wheel is in front of the second drive wheel.

[0023] Specifically, after acquiring the optical signal, the optical signal is transmitted to the controller of the mobile robot. The controller can analyze and process the optical signal to determine the positional relationship between at least two drive wheels of the mobile robot and the obstacle.

[0024] In this technical solution, an optical sensor is installed in the mobile robot, and the positional relationship between at least two drive wheels and obstacles is detected by the optical signals collected by the optical sensor. If the positional relationship of at least two drive wheels meets the target relationship, it is determined that there is a first drive wheel in front and a second drive wheel in the rear, thereby accurately determining whether the mobile robot deviates during obstacle crossing and improving the accuracy of detection.

[0025] In some technical solutions, the target relationship may optionally include at least one of the following: the first drive wheel is located on the obstacle or the first drive wheel is located in front of the obstacle in one direction, and the second drive wheel is located behind the obstacle in the first direction; the first drive wheel is located in front of the obstacle in the first direction, and the second drive wheel is located on the obstacle.

[0026] In this technical solution, at least two drive wheels include a first drive wheel located at the front and a second drive wheel located at the rear. The target relationship includes two scenarios: the second drive wheel has not yet climbed the obstacle and it has already climbed the obstacle. Specifically, if the first drive wheel has climbed or crossed the obstacle before the second drive wheel has climbed it, or if the first drive wheel has crossed the obstacle after the second drive wheel has climbed it, then the first drive wheel is determined to be in front of the second drive wheel, and the positional relationship between the first drive wheel, the second drive wheel, and the obstacle is the target relationship.

[0027] In the technical solution of this application, when a first drive wheel located in front and a second drive wheel located behind are detected among at least two drive wheels, it can be determined that the mobile robot deflects when traveling through an obstacle, which improves the accuracy of detecting whether the mobile robot deflects. Furthermore, based on the positional relationship between the drive wheels and the obstacle, the first drive wheel and the second drive wheel among at least two drive wheels can be accurately determined.

[0028] In some technical solutions, optionally, the mobile robot includes an angle sensor; determining the driving posture of the mobile robot includes: acquiring the body tilt angle and driving rotation angle collected by the angle sensor; and determining that the driving posture is in a deflection state when the body tilt angle is greater than a second angle threshold and the driving rotation angle is greater than a third angle threshold.

[0029] In this technical solution, the mobile robot includes an angle sensor, which can detect the mobile robot's driving posture. The mobile robot's controller can detect whether the mobile robot deviates during obstacle crossing based on changes in the driving posture.

[0030] In this technical solution, when the tilt angle of the robot body is detected to be greater than the second angle threshold, it can be determined that the mobile robot is in an obstacle-crossing state. When the rotation angle of the mobile robot is detected to be greater than the third angle threshold, it can be determined that the mobile robot has deflected during the obstacle-crossing process.

[0031] In the technical solution of this application, an angle sensor is set in the mobile robot, and the driving posture of the mobile robot can be accurately identified by the driving rotation angle and body tilt angle collected by the angle sensor. If the driving rotation angle and body tilt angle are greater than the second angle threshold and the third angle threshold respectively, it is determined that the mobile robot has deflected during obstacle crossing, thus improving the accuracy of detection.

[0032] In some technical solutions, optionally, determining the driving posture of the mobile robot includes: obtaining at least two rotational resistances corresponding to at least two drive wheels; and determining that the driving posture is in a deflection state when the resistance difference between the at least two rotational resistances is greater than a first difference threshold.

[0033] In this technical solution, the rotational resistance corresponding to at least two drive wheels can be continuously detected during the movement of the mobile robot. After collecting at least two rotational resistances, the resistance difference between the at least two rotational resistances is calculated. When the resistance difference is greater than a first difference threshold, it is determined that there is a first drive wheel that has climbed the obstacle and a second drive wheel that has not climbed the obstacle.

[0034] In the technical solution of this application, the mobile robot can detect the rotational resistance of each drive wheel. When the resistance difference between at least two rotational resistances corresponding to at least two drive wheels is greater than a first difference threshold, it can be determined that there is a first drive wheel that has climbed the obstacle and a second drive wheel that has not climbed the obstacle. This allows for identification of whether the mobile robot has deflected during obstacle crossing, thus improving the accuracy of detection.

[0035] In some technical solutions, optionally, the rotational resistance of the first drive wheel is less than the rotational resistance of the second drive wheel.

[0036] In this technical solution, when the mobile robot deflects during obstacle crossing, the first drive wheel has already climbed the obstacle, while the second drive wheel has not. The first drive wheel that has climbed the obstacle has less rotational resistance than the second drive wheel that has not climbed the obstacle, as there is no obstacle blocking it.

[0037] In the technical solution of this application, by comparing the magnitude of the rotational resistance, the first drive wheel and the second drive wheel of at least two drive wheels can be accurately identified, which further improves the accuracy of subsequent speed adjustment of the first drive wheel and the second drive wheel.

[0038] In some technical solutions, optionally, the mobile robot includes a body and a telescopic mechanism, with the drive wheels connected to the body via the telescopic mechanism; determining the driving posture of the mobile robot includes: acquiring at least two telescopic dimensions corresponding to at least two telescopic mechanisms; and determining that the driving posture is in a deflection state if the size difference between at least two telescopic dimensions is greater than a second difference threshold.

[0039] In this technical solution, the drive wheel is connected to the body of the mobile robot through a telescopic mechanism, and the drive wheel can extend and retract from the body through the telescopic mechanism.

[0040] Specifically, when the mobile robot walks on flat ground, the drive wheels touch the ground, and the robot's weight presses down on the drive wheels, overcoming the force of the elastic components and causing the drive wheels to retract into the robot body. When the mobile robot overcomes obstacles, the robot body is lifted by the obstacle, causing the drive wheels to extend beyond the body. The drive wheels that have not overcome the obstacle extend a greater distance beyond the body, while the drive wheels that have overcome the obstacle extend a smaller distance beyond the body.

[0041] In this technical solution, the mobile robot also includes a ranging sensor, which can measure the telescopic dimensions of the telescopic mechanism. Each drive wheel is connected to a telescopic mechanism, so the ranging sensor can collect the telescopic dimensions of each telescopic mechanism. When the difference between the telescopic dimensions is greater than a second difference threshold, it is determined that at least two drive wheels exist, namely a first drive wheel located on the obstacle and a second drive wheel located under the obstacle.

[0042] In the technical solution of this application, each drive wheel is connected to the body of the mobile robot through a telescopic mechanism, and the mobile robot can detect the telescopic dimension of each telescopic mechanism. When the difference between the telescopic dimensions is greater than a second difference threshold, it can be determined that at least two drive wheels have either climbed the obstacle (first drive wheel) or not (second drive wheel), thereby identifying whether the mobile robot has deflected during obstacle crossing and improving the accuracy of detection.

[0043] In some technical solutions, optionally, the telescopic dimension of the telescopic mechanism connected to the first drive wheel is smaller than the telescopic dimension of the telescopic mechanism connected to the first drive wheel.

[0044] In this technical solution, when the mobile robot deflects during obstacle crossing, the first drive wheel has already climbed the obstacle, while the second drive wheel has not. The distance between the first drive wheel that has climbed the obstacle and the mobile robot is relatively close, meaning that the telescopic mechanism connected to the first drive wheel has a smaller telescopic dimension. Conversely, the distance between the second drive wheel that has not climbed the obstacle and the mobile robot is relatively far, meaning that the telescopic mechanism connected to the second drive wheel has a larger telescopic dimension.

[0045] In the technical solution of this application, by comparing the telescopic dimensions of the telescopic structure connected to the drive wheel, the first drive wheel and the second drive wheel among at least two drive wheels can be accurately identified, which further improves the accuracy of subsequent speed adjustment of the first drive wheel and the second drive wheel.

[0046] In some technical solutions, the mobile robot may optionally include a position sensor and an inertial measurement unit (IMU). Before determining the mobile robot's driving posture while it is traveling along a first direction and passing through an obstacle, the obstacle-crossing method may further include: acquiring the spatial attitude angle collected by the inertial measurement unit; determining the obstacle that the mobile robot is passing through if the spatial attitude angle is greater than a first angle threshold; acquiring the obstacle position collected by the position sensor; wherein the spatial attitude angle includes pitch angle and / or roll angle.

[0047] In this technical solution, the mobile robot is equipped with a sensor monitoring system, which includes a position sensor and an inertial measurement unit. The inertial measurement unit is used to monitor the spatial attitude angle of the mobile robot in real time, including the pitch angle and roll angle.

[0048] It should be noted that the sensor data from the inertial measurement unit (IMU) undergoes filtering and processing to ensure accuracy and real-time performance. Algorithms such as Kalman filters can be used to process the sensor data acquired by the IMU.

[0049] In this technical solution, the position sensor is used to record the position of the mobile robot. Specifically, when the spatial attitude angle collected by the inertial measurement unit exceeds the first angle threshold, it is determined that the mobile robot is in an obstacle-crossing state, that is, the mobile robot has passed the obstacle. At this time, the recorded position is the position information of the obstacle, and the position information of the obstacle is stored in the local storage area of ​​the mobile robot, so that the mobile robot can call the position information of the obstacle for path planning in subsequent driving.

[0050] In the technical solution of this application, an inertial measurement unit and a position sensor are set in the mobile robot. The spatial attitude angle collected by the inertial measurement unit can determine whether the mobile robot is in an obstacle-crossing state, that is, whether the mobile robot has passed through an obstacle. This improves the certainty of the mobile robot's own driving status monitoring. Furthermore, when passing through an obstacle, the position sensor records the position information of the obstacle, which facilitates the mobile robot to perform path planning based on the position information of the obstacle.

[0051] In some technical solutions, the mobile robot also includes: a vacuuming component; after obtaining the location of the obstacle from the position sensor, the obstacle-crossing method also includes:

[0052] When the mobile robot passes through an obstacle, the vacuuming component is controlled to operate at a target suction power, which ranges from 85% to 100% of the maximum suction power.

[0053] In this technical solution, the mobile robot also includes a dust collection component, which includes a dust collection port and cleaning components such as side brushes located at the bottom of the mobile robot. During the movement of the mobile robot, the side brushes sweep the dust along the way to the vicinity of the dust collection port, and the dust is sucked into the dust collection box of the mobile robot through the dust collection port.

[0054] In this technical solution, when the position sensor detects the location of an obstacle, the mobile robot controls the suction component to operate at a higher target suction power as it passes over the obstacle. The target suction power ranges from greater than or equal to 85% of the maximum suction power to less than or equal to 100% of the maximum suction power, enabling the mobile robot to perform secondary cleaning of the obstacle location with greater suction power, thus improving the cleaning effect.

[0055] In the technical solution of this application, since the location of the obstacle is more likely to accumulate dirt, the mobile robot can record the location information of the obstacle and run with a higher target suction force when passing the obstacle location again during subsequent travel, thereby improving the cleaning effect of the obstacle location.

[0056] In some technical solutions, optionally, when the mobile robot passes through an obstacle location, before controlling the suction components to operate at the target suction power, the obstacle-crossing method also includes:

[0057] Control the mobile robot to travel to the base station and perform dust collection at the base station;

[0058] Once the dust collection action is completed, control the mobile robot to travel along the target trajectory, which passes through the locations of obstacles.

[0059] In this technical solution, the target driving trajectory is a driving trajectory planned based on the location of obstacles. After the mobile robot completes this driving, it is controlled to return to the station to collect dust. After returning to the station to collect dust, it drives according to the planned target driving trajectory to carry out special cleaning of the obstacle location.

[0060] It should be noted that during the obstacle-crossing process of the mobile robot, there is a certain height difference between the obstacle and the ground. Due to changes in the robot's pitch and roll angles, the suction port may temporarily lift off the ground, causing dust and debris inside the suction port to fall and cause secondary pollution to the obstacle location. Upon returning to the station, the mobile robot will use its planned target trajectory to clean the obstacle locations that may have experienced secondary pollution again, preventing dust residue from remaining in the obstacle areas.

[0061] In the technical solution of this application, the mobile robot can record the location information of obstacles and plan a target driving trajectory for secondary cleaning of the location of obstacles based on the location information of obstacles. After the mobile robot completes the cleaning, it drives according to the first driving trajectory and controls the dust collection component to operate with the target suction force during the driving process, thereby improving the cleaning effect on the location of obstacles.

[0062] According to a second aspect of this application, an obstacle-crossing device is provided for use in a mobile robot, the mobile robot including at least two drive wheels, and the obstacle-crossing device comprising:

[0063] The determination module is used to determine the driving posture of the mobile robot as it travels along a first direction and passes through obstacles.

[0064] A determination module is used to determine, when the driving posture is in a yaw state, a first drive wheel and a second drive wheel of at least two drive wheels, wherein the first drive wheel is located in front of the second drive wheel in a first direction;

[0065] An adjustment module is used to adjust the rotational speed of the first drive wheel and / or the rotational speed of the second drive wheel so that the rotational speed of the first drive wheel is less than the rotational speed of the second drive wheel until the mobile robot passes over the obstacle.

[0066] In the technical solution of this application, during the process of the mobile robot overcoming obstacles, it is monitored whether the mobile robot deviates. If the mobile robot deviates, the first drive wheel and the second drive wheel whose speed needs to be adjusted are determined in a timely manner. By adjusting the speed of at least one of the first drive wheel and the second drive wheel, the first drive wheel in front and the second drive wheel in the rear are prevented from causing the body of the mobile robot to rotate, thereby enhancing the obstacle-crossing ability of the mobile robot and improving the obstacle-crossing efficiency of the mobile robot.

[0067] According to a third aspect of this application, an obstacle-crossing device is provided, comprising a processor and a memory. The memory stores a program or instructions, which, when executed by the processor, implement the steps of the obstacle-crossing method as described in any of the above-described technical solutions. Therefore, this obstacle-crossing device possesses all the beneficial effects of the obstacle-crossing methods in any of the above-described technical solutions, which will not be elaborated further here.

[0068] According to the fourth aspect of this application, a readable storage medium is provided on which a program or instructions are stored. When the program or instructions are executed by a processor, they implement the steps of the obstacle-crossing method as described in any of the above technical solutions, and thus have all the beneficial technical effects of the obstacle-crossing method in any of the above technical solutions.

[0069] According to the fifth aspect of this application, a mobile robot is proposed, comprising: an obstacle-crossing device as in any of the above-described technical solutions, and / or a readable storage medium as in any of the above-described technical solutions, thus having all the beneficial technical effects of the obstacle-crossing device as in any of the above-described technical solutions, and / or the readable storage medium as in any of the above-described technical solutions, which will not be elaborated further here.

[0070] Additional aspects and advantages of this application will become apparent in the following description or may be learned by practice of this application. Attached Figure Description

[0071] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0072] Figure 1 This illustration shows one of the flowcharts of an obstacle-crossing method provided in some embodiments of this application;

[0073] Figure 2 This illustration shows one of the structural schematic diagrams of a mobile robot provided in some embodiments of this application;

[0074] Figure 3 One of the obstacle-crossing schematic diagrams of a mobile robot in some embodiments of this application is shown;

[0075] Figure 4 This is the second schematic diagram of an obstacle crossing by a mobile robot in some embodiments of this application;

[0076] Figure 5 This is a second schematic diagram of the structure of a mobile robot provided in some embodiments of this application;

[0077] Figure 6 Structural block diagrams of mobile robots provided in some embodiments of this application are shown;

[0078] Figure 7 The second schematic flowchart of an obstacle-crossing method provided in some embodiments of this application is shown;

[0079] Figure 8 The following is a structural block diagram of one of the embodiments of an obstacle-crossing device provided in this application;

[0080] Figure 9The second structural block diagram of an obstacle-crossing device provided in some embodiments of this application is shown.

[0081] Figure 10 Structural block diagrams of mobile robots provided in some embodiments of this application are shown.

[0082] The attached figures are labeled as follows:

[0083] 200 Mobile robot, 202 Main body, 204 Drive wheel, 2042 First drive wheel, 2044 Second drive wheel, 206 Driven wheel, 208 Telescopic mechanism, 300 Obstacles. Detailed Implementation

[0084] To better understand the above-mentioned objectives, features, and advantages of this application, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, these embodiments and the features described herein can be combined with each other.

[0085] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0086] The following reference Figures 1 to 10 This application describes obstacle-crossing methods, obstacle-crossing devices, readable storage media, and mobile robots according to some embodiments.

[0087] According to one embodiment of this application, Figure 1 This document illustrates one of the flowcharts of an obstacle-crossing method provided in some embodiments of this application, such as... Figure 1 As shown, an obstacle-crossing method is proposed and applied to a mobile robot, which includes at least two drive wheels. The obstacle-crossing method includes:

[0088] Step 102: Determine the driving posture of the mobile robot as it travels along the first direction and passes through obstacles.

[0089] In this embodiment, during the movement of the mobile robot, the presence of obstacles on its path is detected. When an obstacle is detected and the robot passes over it, the robot's posture while passing over the obstacle is monitored. Specifically, the first direction is the direction of travel of the mobile robot. When the mobile robot passes over an obstacle, the first direction is the direction it is traveling towards the obstacle. For example, when the mobile robot is traveling in the first direction, at least two of its drive wheels can be directly facing the obstacle. Figure 2 This document shows one of the structural schematic diagrams of a mobile robot provided in some embodiments of this application, such as... Figure 2 As shown, the mobile robot 200 includes a body 202, drive wheels 204, and driven wheels 206. The two drive wheels can be controlled simultaneously, or they can be controlled separately for more precise movement control. The two drive wheels are arranged along a transverse axis defined by the body 202. To enable the mobile robot 200 to move more stably or with greater mobility on the ground, the mobile robot 200 may include one or more driven wheels 206, including but not limited to omnidirectional wheels, and these driven wheels may be located in front of or behind the body 202.

[0090] Step 104: When the driving posture is in a yaw state, determine the first drive wheel and the second drive wheel of at least two drive wheels, with the first drive wheel located in front of the second drive wheel in the first direction.

[0091] In one embodiment of the present invention, when the mobile robot passes through an obstacle, the robot's driving posture is monitored. If the mobile robot is detected to be in a deflection state, it is determined that at least two drive wheels of the mobile robot have not climbed the obstacle synchronously during the obstacle-crossing process. At this time, the mobile robot needs to identify the first drive wheel and the second drive wheel among the at least two drive wheels that have not climbed the obstacle synchronously, wherein the first drive wheel is in front of the second drive wheel.

[0092] For example, the first drive wheel has climbed onto the obstacle, while the second drive wheel has not, or the first drive wheel has passed over the obstacle, while the second drive wheel has not climbed onto the obstacle or is on the obstacle.

[0093] The following explanation uses a robotic vacuum cleaner as an example. For instance, when the robotic vacuum cleaner is moving toward an obstacle, if a deviation in the direction of movement of the robotic vacuum cleaner is detected, the first drive wheel and the second drive wheel whose rotation speed needs to be adjusted are determined.

[0094] For example, a robotic vacuum cleaner includes two drive wheels. During the process of the robotic vacuum cleaner overcoming obstacles, one drive wheel has already passed the obstacle, that is, the drive wheel is in front of the obstacle, while the other drive wheel has not yet passed the obstacle, that is, the drive wheel is behind the obstacle. At this time, it is determined that the robotic vacuum cleaner is in a deflection state.

[0095] For example, a robotic vacuum cleaner includes three drive wheels, which are coaxially arranged. During the process of the robotic vacuum cleaner overcoming obstacles, if it is detected that the robotic vacuum cleaner has deflected and one of the three drive wheels has climbed the obstacle while the remaining two drive wheels have not, then the drive wheel that has climbed the obstacle is identified as the first drive wheel, and the two drive wheels that have not climbed the obstacle are identified as the second drive wheels.

[0096] Step 106: Adjust the rotational speed of the first drive wheel and / or the rotational speed of the second drive wheel so that the rotational speed of the first drive wheel is less than the rotational speed of the second drive wheel, until the mobile robot passes over the obstacle.

[0097] In this embodiment, by adjusting the rotational speed of the first drive wheel and / or the second drive wheel, the rotational speed of the first drive wheel located in front is made less than the rotational speed of the second drive wheel located behind, thus preventing the first drive wheel from continuing to move forward, reducing the gap between the first drive wheel and the second drive wheel, and improving the obstacle-crossing ability of the mobile robot.

[0098] Figure 3 One of the obstacle-crossing diagrams of a mobile robot in some embodiments of this application is shown. Figure 4 This is shown as a second schematic diagram of an obstacle-crossing mobile robot in some embodiments of this application, such as... Figure 3 and Figure 4 As shown, the mobile robot 200 is a sweeping robot. During the obstacle crossing process, the sweeping robot deflects. At this time, the first drive wheel 2042 has climbed onto the obstacle 300, while the second drive wheel 2044 has not yet climbed onto the obstacle 300. Arrow A indicates the first direction.

[0099] For example, only the speed of the first drive wheel is adjusted, while the speed of the second drive wheel is not adjusted. Specifically, for example, the first drive wheel is controlled to stop rotating, while the second drive wheel is kept rotating at its original speed, so that the second drive wheel also climbs the obstacle and completes the obstacle-crossing driving of the sweeping robot.

[0100] For example, the rotation speeds of the first drive wheel and the second drive wheel can be adjusted synchronously. Specifically, for example, the first drive wheel can be controlled to decelerate while the second drive wheel can rotate at a higher speed, so that the second drive wheel can also climb the obstacle and complete the obstacle-crossing movement of the sweeping robot.

[0101] It should be noted that after the mobile robot passes over the obstacle, the rotation speed of the first and second drive wheels is restored to the original speed, and the mobile robot continues to move.

[0102] In this embodiment, during the obstacle-crossing process of the mobile robot, it is monitored whether the mobile robot deflects. If the mobile robot deflects, the first drive wheel and the second drive wheel whose speed needs to be adjusted are determined in a timely manner. By adjusting the speed of at least one of the first drive wheel and the second drive wheel, the first drive wheel in front and the second drive wheel in the rear are prevented from causing the body of the mobile robot to rotate, thereby enhancing the obstacle-crossing ability of the mobile robot and improving the obstacle-crossing efficiency of the mobile robot.

[0103] In some embodiments, optionally, adjusting the rotational speed of the first drive wheel and / or the rotational speed of the second drive wheel includes:

[0104] Reduce the speed of the first drive wheel, and / or stop the first drive wheel, and / or increase the speed of the second drive wheel.

[0105] In this embodiment, when adjusting the rotational speed of at least one of the first and second drive wheels, the adjusted rotational speed of the first drive wheel needs to be less than the rotational speed of the second drive wheel. Specifically, when the mobile robot deflects, the first drive wheel is in front of the second drive wheel. If the first and second drive wheels continue to move at their original rotational speeds, the robot's body will continue to deflect. Therefore, the rotational speed of the first drive wheel needs to be less than the rotational speed of the second drive wheel, so that the second drive wheel, which has not yet climbed the obstacle, can climb the obstacle, and the first drive wheel, which has already climbed the obstacle, will not continue to move forward.

[0106] It should be noted that the first drive wheel is in front of the second drive wheel. For example, the first drive wheel is on the obstacle, and the second drive wheel is below the obstacle, meaning the first drive wheel has already climbed onto the obstacle, but the second drive wheel has not yet climbed onto it. Another example is that the first drive wheel has already passed the obstacle, while the second drive wheel has just climbed onto the obstacle, or has not yet climbed onto it.

[0107] For example, the first drive wheel is controlled to decelerate, and the second drive wheel is controlled to accelerate until the second drive wheel climbs the obstacle.

[0108] For example, the first drive wheel is controlled to stop rotating, while the second drive wheel is controlled to maintain its original rotation speed until the second drive wheel climbs onto the obstacle.

[0109] For example, the first drive wheel is controlled to stop rotating, and the second drive wheel is controlled to accelerate until the second drive wheel climbs the obstacle.

[0110] For example, the first drive wheel is controlled to maintain its original speed, while the second drive wheel is controlled to accelerate until the second drive wheel climbs the obstacle.

[0111] In this embodiment, by adjusting the rotational speed of at least one of the first and second drive wheels, the rotational speed of the first drive wheel located in front is less than that of the second drive wheel located behind. This avoids the mobile robot from rotating due to the inconsistent progress of the first and second drive wheels in crossing obstacles, thereby improving the mobile robot's ability to cross obstacles.

[0112] In some embodiments, the mobile robot may optionally include an optical sensor; determining the driving posture of the mobile robot includes: acquiring optical signals collected by the optical sensor; determining the positional relationship between at least two drive wheels and an obstacle based on the optical signals; and determining that the driving posture is in a deflection state if the positional relationship satisfies the target relationship.

[0113] In this embodiment, the mobile robot also includes an optical sensor. The optical sensor can collect the optical signals of the mobile robot itself and the optical signals of the environment. It can determine whether the positional relationship between at least two drive wheels and the obstacle is a target relationship based on the collected optical signals. When it is determined that the positional relationship between at least two drive wheels and the obstacle is a target relationship, the mobile robot is determined to be in a deflection state, that is, the mobile robot is in an obstacle-crossing state, and the first drive wheel is in front of the second drive wheel.

[0114] For example, the optical sensor includes at least one of the following: a camera, a lidar.

[0115] For example, the mobile robot is a robotic vacuum cleaner. The optical sensor includes a camera, which is set on the front side wall or top of the robotic vacuum cleaner. During the movement of the robotic vacuum cleaner, the camera captures environmental images of the vicinity of the robotic vacuum cleaner. The image recognition algorithm identifies whether there are obstacles near the robotic vacuum cleaner and identifies the positional relationship between at least two drive wheels of the robotic vacuum cleaner and the obstacles.

[0116] For example, the mobile robot is a robotic vacuum cleaner. The optical sensors also include LiDAR. The LiDAR is set on the rotating mechanism on the top of the robotic vacuum cleaner. The rotating mechanism can drive the LiDAR to rotate 360°. During the operation of the robotic vacuum cleaner, the LiDAR collects the distance between the robotic vacuum cleaner and nearby objects, thereby constructing a planar spatial map of the environment in which the robotic vacuum cleaner is located. Based on the planar spatial map, the positional relationship between at least two drive wheels of the robotic vacuum cleaner and obstacles is identified.

[0117] Specifically, after acquiring the optical signal, the optical signal is transmitted to the controller of the mobile robot. The controller can analyze and process the optical signal to determine the positional relationship between at least two drive wheels of the mobile robot and the obstacle.

[0118] In this embodiment, an optical sensor is installed in the mobile robot, and the positional relationship between at least two drive wheels and obstacles is detected by the optical signals collected by the optical sensor. If the positional relationship of at least two drive wheels satisfies the target relationship, it is determined that there is a first drive wheel of an obstacle in front and a second drive wheel of an obstacle behind, thereby accurately determining whether the mobile robot deviates during obstacle crossing and improving the accuracy of detection.

[0119] In some embodiments, the target relationship may optionally include at least one of the following: the first drive wheel is on the obstacle or the first drive wheel is in front of the obstacle in one direction, and the second drive wheel is behind the obstacle in the first direction; the first drive wheel is in front of the obstacle in the first direction, and the second drive wheel is on the obstacle.

[0120] In this embodiment, at least two drive wheels include a first drive wheel located at the front and a second drive wheel located at the rear. The target relationship includes two scenarios: the second drive wheel has not yet climbed the obstacle and it has already climbed the obstacle. Specifically, if the first drive wheel has climbed or crossed the obstacle before the second drive wheel has climbed it, or if the first drive wheel has crossed the obstacle after the second drive wheel has climbed it, then the first drive wheel is determined to be in front of the second drive wheel, and the positional relationship between the first drive wheel, the second drive wheel, and the obstacle is the target relationship.

[0121] In this embodiment of the application, when a first drive wheel located in front and a second drive wheel located behind are detected among at least two drive wheels, it can be determined that the mobile robot deflects when traveling through an obstacle, which improves the accuracy of detecting whether the mobile robot deflects. Furthermore, based on the positional relationship between the drive wheels and the obstacle, the first drive wheel and the second drive wheel among at least two drive wheels can be accurately determined.

[0122] In some embodiments, the mobile robot may optionally include an angle sensor; determining the driving posture of the mobile robot includes: acquiring the body tilt angle and driving rotation angle collected by the angle sensor; and determining that the driving posture is in a deflection state when the body tilt angle is greater than a second angle threshold and the driving rotation angle is greater than a third angle threshold.

[0123] In this embodiment, the mobile robot includes an angle sensor that can detect the mobile robot's driving posture. The mobile robot's controller can detect whether the mobile robot deviates during obstacle crossing based on changes in the driving posture.

[0124] For example, the mobile robot can be a robotic vacuum cleaner. The angle sensor includes a gyroscope, which is installed inside the robot's body. During operation, the gyroscope detects the robot's tilt angle and rotation angle. The tilt angle includes the left-right tilt angle, and the rotation angle includes the horizontal rotation angle. Specifically, a three-axis gyroscope is used. During operation, the gyroscope collects the angular velocities of the robot on three axes, and the rotation angle and tilt angle are determined based on these angular velocities.

[0125] In this embodiment, when the tilt angle of the robot body is detected to be greater than the second angle threshold, it can be determined that the mobile robot is in an obstacle-crossing state. When the rotation angle of the mobile robot is detected to be greater than the third angle threshold, it can be determined that the mobile robot has deflected during the obstacle-crossing process.

[0126] Taking a robotic vacuum cleaner as an example, if the robot is attempting to overcome an obstacle and neither of its drive wheels has cleared it, the front of the robot is lifted by the obstacle while the drive wheels attempt to clear it from below. The robot is primarily in a forward-backward tilt, with no significant tilt to either side. If one drive wheel has cleared the obstacle while the other hasn't, the wheel that cleared the obstacle is higher, while the wheel that hasn't is lower, causing a noticeable left-right tilt. Furthermore, the wheel that cleared the obstacle will inevitably move forward a certain distance, while the wheel that hasn't cleared it is blocked by the obstacle, resulting in a horizontal rotation of the robot, which can be detected by the angle sensor. Even if the obstacle is narrow, causing the wheel that cleared the obstacle to fall back to the other side, resulting in a drop in the height of the robot on that side, the process will still cause changes in the left-right tilt angle and the horizontal rotation angle. If both drive wheels pass over the obstacle, the robot will return to a horizontal position, or the robot's tail will be lifted by the obstacle, causing the machine to tilt with the front lower than the back.

[0127] In this embodiment, an angle sensor is installed in the mobile robot, and the driving posture of the mobile robot can be accurately identified by the driving rotation angle and body tilt angle collected by the angle sensor. If the driving rotation angle and body tilt angle are greater than the second angle threshold and the third angle threshold, respectively, it is determined that the mobile robot has deflected during obstacle crossing, thus improving the accuracy of detection.

[0128] In some embodiments, optionally, determining the driving posture of the mobile robot includes: acquiring at least two rotational resistances corresponding to at least two drive wheels; and determining that the driving posture is in a deflection state if the resistance difference between the at least two rotational resistances is greater than a first difference threshold.

[0129] In this embodiment, the rotational resistance corresponding to at least two drive wheels can be continuously detected during the movement of the mobile robot. After collecting at least two rotational resistances, the resistance difference between the at least two rotational resistances is calculated. When the resistance difference is greater than a first difference threshold, it is determined that there is a first drive wheel that has climbed the obstacle and a second drive wheel that has not climbed the obstacle.

[0130] For example, the rotational resistance of the drive wheel can be determined by detecting parameters such as the current and speed of the drive motor. Specifically, the mobile robot stores a mapping table between the drive motor current and the rotational resistance, or a mapping table between the drive motor speed and the rotational resistance. After reading the current or speed of the drive motor, the corresponding rotational resistance can be determined by looking up the table. The speed of the drive motor can be acquired using a magnetic code disk or a magnetic ring encoder.

[0131] It should be noted that, given a constant voltage in the drive motor, the greater the rotational resistance, the greater the current in the drive motor, and the slower the speed of the drive motor.

[0132] In this embodiment, the mobile robot can detect the rotational resistance of each drive wheel. When the resistance difference between at least two rotational resistances corresponding to at least two drive wheels is greater than a first difference threshold, it can determine that there is a first drive wheel that has climbed the obstacle and a second drive wheel that has not climbed the obstacle. This allows the robot to identify whether it has deflected during obstacle crossing, thus improving the accuracy of detection.

[0133] In some embodiments, the rotational resistance of the first drive wheel may be less than that of the second drive wheel.

[0134] In this embodiment, when the mobile robot deflects during obstacle crossing, the first drive wheel has already climbed the obstacle, while the second drive wheel has not. The first drive wheel that has climbed the obstacle has less rotational resistance than the second drive wheel that has not climbed the obstacle, as there is no obstacle blocking it.

[0135] In this embodiment, by comparing the magnitude of the rotational resistance, the first drive wheel and the second drive wheel among at least two drive wheels can be accurately identified, further improving the accuracy of subsequent speed adjustment of the first drive wheel and the second drive wheel.

[0136] In some embodiments, the mobile robot may optionally include a body and a telescopic mechanism, with drive wheels connected to the body via the telescopic mechanism; determining the driving posture of the mobile robot includes: acquiring at least two telescopic dimensions corresponding to at least two telescopic mechanisms; and determining that the driving posture is in a deflection state if the size difference between at least two telescopic dimensions is greater than a second difference threshold.

[0137] In this embodiment, the drive wheel is connected to the body of the mobile robot via a telescopic mechanism, and the drive wheel can extend and retract from the body via the telescopic mechanism.

[0138] For example, the mobile robot can be a robotic vacuum cleaner, which also incorporates a ranging sensor. Specifically, the robotic vacuum cleaner may include an ultrasonic ranging sensor positioned near the first end of the telescopic mechanism. The second end of the telescopic mechanism is connected to the drive wheel. When the telescopic mechanism extends, its extension is significant, meaning the distance between the first and second ends of the mechanism is relatively long. By measuring the distance between the second and first ends of the telescopic mechanism using the ultrasonic ranging sensor, the extension range of the telescopic mechanism can be determined.

[0139] Specifically, when the mobile robot walks on flat ground, the drive wheels touch the ground, and the robot's weight presses down on the drive wheels, overcoming the force of the elastic components and causing the drive wheels to retract into the robot body. When the mobile robot overcomes obstacles, the robot body is lifted by the obstacle, causing the drive wheels to extend beyond the body. The drive wheels that have not overcome the obstacle extend a greater distance beyond the body, while the drive wheels that have overcome the obstacle extend a smaller distance beyond the body.

[0140] Figure 5 The second schematic diagram of the structure of the mobile robot provided in some embodiments of this application is shown, such as... Figure 5 As shown, the mobile robot 200 includes a body 202, a telescopic mechanism 208, a drive wheel 204 and a driven wheel 206. The drive wheel 204 is mounted on the body 202 through the telescopic mechanism 208, and the drive wheel 204 can extend and retract relative to the body 202 through the telescopic mechanism 208.

[0141] In this embodiment, the mobile robot also includes a ranging sensor, which can measure the telescopic dimensions of the telescopic mechanism. Each drive wheel is connected to a telescopic mechanism, so the ranging sensor can collect the telescopic dimensions of each telescopic mechanism. When the difference between the telescopic dimensions is greater than a second difference threshold, it is determined that at least two drive wheels exist, namely a first drive wheel located on the obstacle and a second drive wheel located under the obstacle.

[0142] In this embodiment, each drive wheel is connected to the body of the mobile robot through a telescopic mechanism, and the mobile robot can detect the telescopic dimension of each telescopic mechanism. When the difference between the telescopic dimensions is greater than a second difference threshold, it can be determined that at least two drive wheels have either climbed the obstacle (first drive wheel) or not (second drive wheel), thereby identifying whether the mobile robot has deflected during obstacle crossing and improving the accuracy of detection.

[0143] In some embodiments, optionally, the telescopic dimension of the telescopic mechanism connected to the first drive wheel is smaller than the telescopic dimension of the telescopic mechanism connected to the first drive wheel.

[0144] In this embodiment, when the mobile robot deflects during obstacle crossing, the first drive wheel has already climbed the obstacle, while the second drive wheel has not. The distance between the first drive wheel that has climbed the obstacle and the mobile robot is relatively close, meaning that the telescopic mechanism connected to the first drive wheel has a smaller telescopic dimension. Conversely, the distance between the second drive wheel that has not climbed the obstacle and the mobile robot is relatively far, meaning that the telescopic mechanism connected to the second drive wheel has a larger telescopic dimension.

[0145] In this embodiment, by comparing the telescopic dimensions of the telescopic structure connected to the drive wheel, the first drive wheel and the second drive wheel among at least two drive wheels can be accurately identified, further improving the accuracy of subsequent speed adjustment of the first drive wheel and the second drive wheel.

[0146] In some embodiments, optionally, the mobile robot further includes a position sensor and an inertial measurement unit (IMU). Before determining the driving posture of the mobile robot as it travels along a first direction and passes through an obstacle, the obstacle-crossing method further includes: acquiring spatial attitude angles collected by the inertial measurement unit; determining that the mobile robot has passed through an obstacle if the spatial attitude angle is greater than a first angle threshold; acquiring the obstacle position of the obstacle collected by the position sensor; wherein the spatial attitude angle includes pitch angle and / or roll angle.

[0147] In this embodiment, the mobile robot is equipped with a sensor monitoring system, which includes a position sensor and an inertial measurement unit. The inertial measurement unit is used to monitor the spatial attitude angle of the mobile robot in real time when it is moving, wherein the spatial attitude angle includes pitch angle and roll angle.

[0148] For example, the position sensor can be a photoelectric encoder. The photoelectric sensor on the robot vacuum cleaner is coaxially mounted with the reducer and the drive motor of the drive wheel. Since the photoelectric encoder and the drive wheel rotate synchronously, the detected number of pulses can be converted into the rotation angle of the drive wheel using the physical parameters between the code disk, the reducer, the motor, and the drive wheel, that is, the instantaneous position of the mobile robot relative to a certain reference point. It is understood that the position sensor can also be multiplexed from the optical sensors mentioned in the above embodiments, for example, recording position information based on image signals acquired by a camera.

[0149] For example, the inertial measurement unit includes an accelerometer and a gyroscope, wherein the gyroscope can serve as the angle sensor mentioned in the above embodiments.

[0150] For example, in the case of a robotic vacuum cleaner, the robot's three-axis acceleration is collected by the accelerometer in the inertial measurement unit and its three-axis angular velocity is collected by the gyroscope. Based on the three-axis acceleration and angular velocity, the robot can determine its spatial attitude angle. When the spatial attitude angle exceeds a first angle threshold, the robot reads the position information collected by the photoelectric encoder and records the position of the obstacle.

[0151] It should be noted that the sensor data from the inertial measurement unit (IMU) undergoes filtering and processing to ensure accuracy and real-time performance. Algorithms such as Kalman filters can be used to process the sensor data acquired by the IMU.

[0152] In this embodiment, the position sensor is used to record the position of the mobile robot. Specifically, when the spatial attitude angle collected by the inertial measurement unit exceeds the first angle threshold, it is determined that the mobile robot is in an obstacle-crossing state, that is, the mobile robot has passed the obstacle. At this time, the recorded position is the position information of the obstacle, and the position information of the obstacle is stored in the local storage area of ​​the mobile robot, so that the mobile robot can call the position information of the obstacle for path planning in subsequent driving.

[0153] In this embodiment, an inertial measurement unit and a position sensor are set in the mobile robot. The spatial attitude angle collected by the inertial measurement unit can determine whether the mobile robot is in an obstacle-crossing state, that is, whether the mobile robot has passed through an obstacle. This improves the certainty of the mobile robot's own driving status monitoring. Furthermore, when passing through an obstacle, the position sensor records the position information of the obstacle, which facilitates the mobile robot to perform path planning based on the position information of the obstacle.

[0154] In some embodiments, the mobile robot further includes a dust collection component; after acquiring the obstacle's position as determined by a position sensor, the obstacle-crossing method further includes:

[0155] When the mobile robot passes through an obstacle, the vacuuming component is controlled to operate at a target suction power, which ranges from 85% to 100% of the maximum suction power.

[0156] In this embodiment, the mobile robot also includes a dust collection component, which includes a dust collection port and cleaning components such as a side brush located at the bottom of the mobile robot. During the movement of the mobile robot, the side brush sweeps the dust along the way to the vicinity of the dust collection port, and the dust is sucked into the dust collection box of the mobile robot through the dust collection port.

[0157] In this embodiment, when the position sensor detects the location of an obstacle, the mobile robot controls the suction component to operate at a higher target suction power as it passes over the obstacle. The target suction power ranges from greater than or equal to 85% of the maximum suction power to less than or equal to 100% of the maximum suction power, enabling the mobile robot to perform secondary cleaning of the obstacle location with greater suction power, thus improving the cleaning effect.

[0158] The following explanation uses a robotic vacuum cleaner as an example. For instance, after successfully overcoming an obstacle using this obstacle-crossing method during its first cleaning run, the robotic vacuum cleaner records the obstacle's location. During subsequent cleaning runs, if it detects that it will pass the obstacle location again, it will operate with maximum suction power to collect the dust at that location, improving cleaning efficiency.

[0159] In this embodiment, since the location of the obstacle is more likely to accumulate dirt, the mobile robot can record the location information of the obstacle and run with a higher target suction force when passing the obstacle location again during subsequent travel, thereby improving the cleaning effect on the location of the obstacle.

[0160] In some embodiments, optionally, when the mobile robot passes through an obstacle location, the obstacle-crossing method further includes, before controlling the suction assembly to operate at the target suction power:

[0161] Control the mobile robot to travel to the base station and perform dust collection at the base station;

[0162] Once the dust collection action is completed, control the mobile robot to travel along the target trajectory, which passes through the locations of obstacles.

[0163] In this embodiment, the target driving trajectory is a driving trajectory planned based on the location of obstacles. After the mobile robot completes this driving, it is controlled to return to the station to collect dust. After returning to the station to collect dust, it drives according to the planned target driving trajectory to carry out special cleaning of the obstacle location.

[0164] It should be noted that during the obstacle-crossing process of the mobile robot, there is a certain height difference between the obstacle and the ground. Due to changes in the robot's pitch and roll angles, the suction port may temporarily lift off the ground, causing dust and debris inside the suction port to fall and cause secondary pollution to the obstacle location. Upon returning to the station, the mobile robot will use its planned target trajectory to clean the obstacle locations that may have experienced secondary pollution again, preventing dust residue from remaining in the obstacle areas.

[0165] For example, the target travel trajectory includes a moving sub-trajectory and a cleaning sub-trajectory. The moving sub-trajectory is the travel trajectory between two adjacent obstacle positions, and the cleaning sub-trajectory is the trajectory for cleaning the obstacle positions. When the mobile robot is traveling on the cleaning sub-trajectory, the vacuuming component is controlled to operate according to the target suction power. When the mobile robot is traveling on the moving sub-trajectory, the vacuuming component is controlled to stop operating. This ensures the cleaning effect while reducing the power consumption of the mobile robot.

[0166] In this embodiment, the mobile robot can record the location information of obstacles and plan a target driving trajectory for secondary cleaning of the location of obstacles based on the location information of obstacles. After the mobile robot completes the cleaning, it drives according to the first driving trajectory and controls the dust collection component to operate with the target suction force during the driving process, thereby improving the cleaning effect on the location of obstacles. Figure 6 Structural block diagrams of mobile robots provided in some embodiments of this application are shown, such as... Figure 6 As shown, the mobile robot 200 includes a position sensor 210, an inertial measurement unit 212, an optical sensor 214, an angle sensor 216, a controller 218, and a dust collection assembly 220. The sensing signals collected by the position sensor 210, inertial measurement unit 212, optical sensor 214, and angle sensor 216 are transmitted to the controller 218. The controller 218 can detect and identify whether the mobile robot 200 deviates during obstacle crossing based on the acquired sensing signals, and the controller 218 can control the operating status of the dust collection assembly 220.

[0167] According to one embodiment of this application, Figure 7 This is illustrated as a second schematic flowchart of an obstacle-crossing method provided in some embodiments of this application, such as... Figure 7 As shown, an obstacle-crossing method is proposed and applied to mobile robots. The obstacle-crossing method includes:

[0168] Step 701: The drive wheels begin to overcome the obstacle;

[0169] Step 702: The two drive wheels rotate and roll, moving closer to the obstacle;

[0170] Step 703: Determine if any drive wheel has crossed the obstacle. If the result is yes, proceed to step 704. If the result is no, return to step 702.

[0171] Step 704: Determine whether both drive wheels have passed the obstacle. If the result is yes, proceed to step 710; otherwise, proceed to step 705.

[0172] Step 705: Determine which drive wheel crosses the obstacle. If it is left, proceed to step 706; if it is right, proceed to step 708.

[0173] Step 706, the left drive wheel stops rotating;

[0174] Step 707: Determine whether the right drive wheel has passed the obstacle. If the result is yes, proceed to step 710; otherwise, return to step 706.

[0175] Step 708, the right drive wheel stops rotating;

[0176] Step 709: Determine whether the left drive wheel has passed the obstacle. If the result is yes, proceed to step 710; otherwise, return to step 708.

[0177] Step 710: The drive wheels complete the obstacle crossing.

[0178] According to one embodiment of this application, Figure 8 The following is a structural block diagram of one of the embodiments of the obstacle-crossing device provided in this application, such as Figure 8 As shown, an obstacle-crossing device 800 is proposed for use in a mobile robot. The mobile robot includes at least two drive wheels, and the obstacle-crossing device 800 includes:

[0179] The determination module 802 is used to determine the driving posture of the mobile robot while it is traveling along a first direction and passing through obstacles.

[0180] The determining module 802 is used to determine, when the driving posture is in a deflection state, a first drive wheel and a second drive wheel among at least two drive wheels, wherein the first drive wheel is located in front of the second drive wheel in a first direction;

[0181] The adjustment module 804 is used to adjust the rotational speed of the first drive wheel and / or the rotational speed of the second drive wheel so that the rotational speed of the first drive wheel is less than the rotational speed of the second drive wheel until the mobile robot passes over the obstacle.

[0182] In this embodiment, during the obstacle-crossing process of the mobile robot, it is monitored whether the mobile robot deflects. If the mobile robot deflects, the first drive wheel and the second drive wheel whose speed needs to be adjusted are determined in a timely manner. By adjusting the speed of at least one of the first drive wheel and the second drive wheel, the first drive wheel in front and the second drive wheel in the rear are prevented from causing the body of the mobile robot to rotate, thereby enhancing the obstacle-crossing ability of the mobile robot and improving the obstacle-crossing efficiency of the mobile robot.

[0183] In some embodiments, the adjustment module 804 is optionally used to reduce the rotational speed of the first drive wheel, and / or control the first drive wheel to stop rotating, and / or increase the rotational speed of the second drive wheel.

[0184] In this embodiment, by adjusting the rotational speed of at least one of the first and second drive wheels, the rotational speed of the first drive wheel located in front is less than that of the second drive wheel located behind. This avoids the mobile robot from rotating due to the inconsistent progress of the first and second drive wheels in crossing obstacles, thereby improving the mobile robot's ability to cross obstacles.

[0185] In some embodiments, the mobile robot optionally includes optical sensors; the obstacle-crossing device 800 further includes:

[0186] The acquisition module is used to acquire the optical signals collected by the optical sensor;

[0187] The determining module 802 is used to determine the positional relationship between at least two drive wheels and an obstacle based on optical signals;

[0188] The determination module 802 is used to determine that the driving posture is in a deflection state when the positional relationship satisfies the target relationship.

[0189] In this embodiment, an optical sensor is installed in the mobile robot, and the positional relationship between at least two drive wheels and obstacles is detected by the optical signals collected by the optical sensor. If the positional relationship of at least two drive wheels meets the target relationship, the first drive wheel located in front and the second drive wheel located behind are identified, thereby accurately determining whether the mobile robot deviates during obstacle crossing and improving the accuracy of detection.

[0190] In some embodiments, the target relationship may optionally include at least one of the following: the first drive wheel is on the obstacle or the first drive wheel is in front of the obstacle in one direction, and the second drive wheel is behind the obstacle in the first direction; the first drive wheel is in front of the obstacle in the first direction, and the second drive wheel is on the obstacle.

[0191] In this embodiment of the application, when a first drive wheel located in front and a second drive wheel located behind are detected among at least two drive wheels, it can be determined that the mobile robot deflects when traveling through an obstacle, which improves the accuracy of detecting whether the mobile robot deflects. Furthermore, based on the positional relationship between the drive wheels and the obstacle, the first drive wheel and the second drive wheel among at least two drive wheels can be accurately determined.

[0192] In some embodiments, the mobile robot optionally includes an angle sensor; the obstacle-crossing device 800 further includes:

[0193] The acquisition module is used to acquire the fuselage tilt angle and driving rotation angle collected by the angle sensor;

[0194] The determination module 802 is used to determine that the driving attitude is in a deflection state when the fuselage tilt angle is greater than the second angle threshold and the driving rotation angle is greater than the third angle threshold.

[0195] In this embodiment, an angle sensor is installed in the mobile robot, and the driving posture of the mobile robot can be accurately identified by the driving rotation angle and body tilt angle collected by the angle sensor. If the driving rotation angle and body tilt angle are greater than the second angle threshold and the third angle threshold, respectively, it is determined that the mobile robot has deflected during obstacle crossing, thus improving the accuracy of detection.

[0196] In some embodiments, the obstacle-crossing device 800 may optionally further include:

[0197] The acquisition module is used to acquire at least two rotational resistances corresponding to at least two drive wheels;

[0198] The determination module 802 is used to determine that the driving posture is in a deflection state when the resistance difference between at least two rotational resistances is greater than a first difference threshold.

[0199] In this embodiment, the mobile robot can detect the rotational resistance of each drive wheel. When the resistance difference between at least two rotational resistances corresponding to at least two drive wheels is greater than a first difference threshold, it can determine that there is a first drive wheel that has climbed the obstacle and a second drive wheel that has not climbed the obstacle. This allows the robot to identify whether it has deflected during obstacle crossing, thus improving the accuracy of detection.

[0200] In some embodiments, the rotational resistance of the first drive wheel may be less than that of the second drive wheel.

[0201] In this embodiment, by comparing the magnitude of the rotational resistance, the first drive wheel and the second drive wheel among at least two drive wheels can be accurately identified, further improving the accuracy of subsequent speed adjustment of the first drive wheel and the second drive wheel.

[0202] In some embodiments, the mobile robot optionally includes a body and a telescopic mechanism, with drive wheels connected to the body via the telescopic mechanism; the obstacle-crossing device 800 further includes:

[0203] The acquisition module is used to acquire at least two telescopic dimensions corresponding to at least two telescopic mechanisms;

[0204] The determination module 802 is used to determine that the driving posture is in a deflection state when the size difference between at least two extension dimensions is greater than a second difference threshold.

[0205] In this embodiment, each drive wheel is connected to the body of the mobile robot through a telescopic mechanism, and the mobile robot can detect the telescopic dimension of each telescopic mechanism. When the difference between the telescopic dimensions is greater than a second difference threshold, it can be determined that at least two drive wheels have either climbed the obstacle (first drive wheel) or not (second drive wheel), thereby identifying whether the mobile robot has deflected during obstacle crossing and improving the accuracy of detection.

[0206] In some embodiments, optionally, the telescopic dimension of the telescopic mechanism connected to the first drive wheel is smaller than the telescopic dimension of the telescopic mechanism connected to the first drive wheel.

[0207] In this embodiment, by comparing the telescopic dimensions of the telescopic structure connected to the drive wheel, the first drive wheel and the second drive wheel among at least two drive wheels can be accurately identified, further improving the accuracy of subsequent speed adjustment of the first drive wheel and the second drive wheel.

[0208] In some embodiments, the mobile robot may optionally further include a position sensor and an inertial measurement unit; the obstacle-crossing device 800 may further include:

[0209] The acquisition module is used to acquire the spatial attitude angles collected by the inertial measurement unit.

[0210] The determination module is used to determine obstacles that the mobile robot will encounter when the spatial attitude angle is greater than a first angle threshold.

[0211] The acquisition module is used to acquire the position of the obstacle as collected by the position sensor; wherein, the spatial attitude angle includes pitch angle and / or roll angle.

[0212] In this embodiment, an inertial measurement unit and a position sensor are set in the mobile robot. The spatial attitude angle collected by the inertial measurement unit can determine whether the mobile robot is in an obstacle-crossing state, that is, whether the mobile robot has passed through an obstacle. This improves the certainty of the mobile robot's own driving status monitoring. Furthermore, when passing through an obstacle, the position sensor records the position information of the obstacle, which facilitates the mobile robot to perform path planning based on the position information of the obstacle.

[0213] In some embodiments, the mobile robot further includes: a vacuuming component; after acquiring the obstacle position collected by the position sensor, the obstacle-crossing device 800 further includes:

[0214] The control module is used to control the vacuuming components to operate at a target suction power when the mobile robot passes through an obstacle. The target suction power ranges from 85% to 100% of the maximum suction power.

[0215] In this embodiment, since the location of the obstacle is more likely to accumulate dirt, the mobile robot can record the location information of the obstacle and run with a higher target suction force when passing the obstacle location again during subsequent travel, thereby improving the cleaning effect on the location of the obstacle.

[0216] In some embodiments, the obstacle-crossing device 800 may optionally further include:

[0217] The control module is used to control the mobile robot to travel to the base station and perform dust collection at the base station;

[0218] The control module is used to control the mobile robot to travel along the target trajectory after the dust collection action is completed, wherein the target trajectory passes through the location of obstacles.

[0219] In this embodiment, the mobile robot can record the location information of obstacles and plan a target driving trajectory for secondary cleaning of the location of obstacles based on the location information of obstacles. After the mobile robot completes the cleaning, it drives according to the first driving trajectory and controls the dust collection component to operate with the target suction force during the driving process, thereby improving the cleaning effect on the location of obstacles.

[0220] According to one embodiment of this application, Figure 9 The following is a structural block diagram of an obstacle-crossing device provided in some embodiments of this application, such as... Figure 9 As shown, the obstacle-crossing device 900 includes a processor 902 and a memory 904. The memory 904 stores a program or instructions, which, when executed by the processor 902, implement the steps of the obstacle-crossing method as described in any of the above embodiments. Therefore, the obstacle-crossing device 900 possesses all the beneficial effects of the obstacle-crossing method in any of the above embodiments, and will not be elaborated further here.

[0221] According to one embodiment of this application, optionally, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the obstacle-crossing method as described in any of the above embodiments, and thus have all the beneficial technical effects of the obstacle-crossing method in any of the above embodiments.

[0222] Among them, readable storage media include read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0223] A computer-readable storage medium can be a tangible device that holds and stores instructions for use by an instruction execution device. A computer-readable storage medium can be an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing, but is not limited thereto. A non-exhaustive list of more specific examples of computer-readable storage media includes: portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable optical disc read-only memory (CD-ROM), digital universal disk (DVD), memory cards, floppy disks, encoding mechanical devices (e.g., punched cards or grooves with raised structures for recording instructions), and any suitable combination of the foregoing. The computer-readable storage medium used herein should not be construed as the transmission of signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media, or electrical signals transmitted through wires.

[0224] Figure 10 Structural block diagrams of mobile robots provided in some embodiments of this application are shown, such as... Figure 10 As shown, in one embodiment of this application, a mobile robot 1000 is optionally provided, including: an obstacle-crossing device 800 as described in any of the above embodiments, and / or a readable storage medium 1002 as described in any of the above embodiments, thus having all the beneficial technical effects of the obstacle-crossing device 800 and / or the readable storage medium 1002 as described in any of the above embodiments, which will not be elaborated further here.

[0225] It should be clarified that in the claims, description, and accompanying drawings of this application, the term "multiple" refers to two or more objects. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description process, not to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limitations on this application. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this application can be understood based on the specific circumstances of the above data.

[0226] In the claims, description, and accompanying drawings of this application, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of this application. In the claims, description, and accompanying drawings of this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0227] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An obstacle-crossing method, characterized in that, Applied to a mobile robot, the mobile robot including at least two drive wheels, the obstacle-crossing method includes: During the process of the mobile robot traveling in a first direction and passing through obstacles, the driving posture of the mobile robot is determined. When the driving posture is in a deflected state, a first drive wheel and a second drive wheel of at least two drive wheels are identified, with the first drive wheel located in front of the second drive wheel in the first direction; Adjust the rotational speed of the first drive wheel and / or the rotational speed of the second drive wheel so that the rotational speed of the first drive wheel is less than the rotational speed of the second drive wheel until the mobile robot passes the obstacle.

2. The obstacle-crossing method according to claim 1, characterized in that, Adjusting the speed of the first drive wheel and / or the speed of the second drive wheel includes: Reduce the speed of the first drive wheel, and / or stop the first drive wheel, and / or increase the speed of the second drive wheel.

3. The obstacle-crossing method according to claim 1, characterized in that, The mobile robot includes optical sensors, and determining the mobile robot's driving posture includes: Acquire the optical signals collected by the optical sensor; The positional relationship between at least two of the drive wheels and the obstacle is determined based on the optical signal; When the positional relationship satisfies the target relationship, the driving posture is determined to be in the deflection state.

4. The obstacle-crossing method according to claim 3, characterized in that, The target relationship includes at least one of the following: the first drive wheel is located on the obstacle or the first drive wheel is located in front of the obstacle in a first direction, and the second drive wheel is located behind the obstacle in the first direction; In a first direction, the first drive wheel is located in front of the obstacle, and the second drive wheel is located on the obstacle.

5. The obstacle-crossing method according to claim 1, characterized in that, The mobile robot includes an angle sensor; determining the mobile robot's driving posture includes: The fuselage tilt angle and driving rotation angle are acquired by the angle sensor. When the fuselage tilt angle is greater than the second angle threshold and the driving rotation angle is greater than the third angle threshold, the driving posture is determined to be in the deflection state.

6. The obstacle-crossing method according to claim 1, characterized in that, Determining the driving posture of the mobile robot includes: Obtain at least two rotational resistances corresponding to at least two of the drive wheels; If the resistance difference between at least two of the rotational resistances is greater than a first difference threshold, the driving posture is determined to be in the deflection state.

7. An obstacle-crossing device, characterized in that, Applied to a mobile robot, the mobile robot including at least two drive wheels, the obstacle-crossing device includes: The determination module is used to determine the driving posture of the mobile robot as it travels along a first direction and passes through obstacles. The determining module is used to determine, when the driving posture is in a deflection state, a first drive wheel and a second drive wheel among at least two drive wheels, wherein the first drive wheel is located in front of the second drive wheel in the first direction; An adjustment module is used to adjust the rotational speed of the first drive wheel and / or the rotational speed of the second drive wheel, so that the rotational speed of the first drive wheel is less than the rotational speed of the second drive wheel, until the mobile robot passes the obstacle.

8. An obstacle-crossing device, characterized in that, include: processor; A memory storing programs or instructions, wherein the processor, when executing the programs or instructions in the memory, implements the steps of the obstacle-crossing method as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the obstacle-crossing method as described in any one of claims 1 to 6.

10. A mobile robot, characterized in that, include: The obstacle-crossing device as described in claim 7 or 8; and / or The readable storage medium as described in claim 9.

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