Threshold crossing method and mobile robot

Abstract

This disclosure relates to the field of intelligent robot technology, and more particularly to a threshold-crossing method and a mobile robot. The method includes: controlling the mobile robot to move along a preset route; determining a target threshold based on map information of the mobile robot's current location; or, determining the target threshold based on environmental information along the mobile robot's current route; and adjusting the mobile robot's obstacle-crossing actions to the target threshold so that the mobile robot can cross the target threshold. This disclosure utilizes zoning information or environmental information to determine the target threshold, and adjusts the corresponding obstacle-crossing actions according to the actual situation of the target threshold, avoiding repeated trial actions that lead to low task execution efficiency or damage to the robot body, thereby improving the success rate of threshold crossing.

Description

Technical Field

[0001] This disclosure relates to the field of intelligent robot technology, and more particularly to a threshold-crossing method and a mobile robot. Background Technology

[0002] Cleaning robots can move freely throughout an indoor environment to perform tasks such as inspection and cleaning. During this process, the cleaning robot needs to overcome various low obstacles, such as marble thresholds in the bathroom, sliding door thresholds in the kitchen, and water-blocking thresholds on the balcony. If it cannot overcome these obstacles, it will lead to serious product problems such as missed cleaning or inspection.

[0003] Currently, the industry's solutions for various obstacle-crossing issues mainly involve using various sensors to detect the robot's status and then using fixed actions to overcome obstacles such as thresholds. For example, when encountering an obstacle, at least one of the side brushes or mopping components can be controlled to assist the cleaning robot in crossing it. However, this obstacle-crossing method relies on adjustments to the cleaning robot's structure, making it unsuitable for all models and potentially requiring repeated attempts to determine if it can successfully climb over obstacles.

[0004] Therefore, the existing methods for overcoming thresholds are not sufficiently reasonable, resulting in a low success rate for cleaning mobile robots when encountering threshold-type obstacles, which in turn affects the user's product experience. Summary of the Invention

[0005] To address the aforementioned technical problems, this disclosure provides a threshold-crossing method and a mobile robot to improve the success rate of threshold crossing.

[0006] In a first aspect, embodiments of this disclosure provide a threshold crossing method, including:

[0007] Control the mobile robot to move along a preset route;

[0008] The target threshold is determined based on map information of the mobile robot's current location; or,

[0009] The target threshold is determined based on the environmental information along the current route of the mobile robot.

[0010] Adjust the mobile robot's obstacle-crossing action in response to the target threshold so that the mobile robot can cross the target threshold.

[0011] In some embodiments, determining the target threshold based on map information of the current location of the mobile robot includes:

[0012] Determine the first and second adjacent partitions of the map information, as well as the boundary line between the first and second partitions;

[0013] The location information of the target threshold is determined based on the non-restricted area segment in the boundary line of the partition.

[0014] In some embodiments, determining the target threshold based on environmental information along the current route of the mobile robot includes:

[0015] Determine the location where the mobile robot fails to move along the preset route;

[0016] Obtain the target boundary points on both sides of the location where the mobile robot fails to move along the preset route;

[0017] The threshold position information and threshold direction of the target threshold are determined based on the lines connecting the target boundary points.

[0018] In some embodiments, obtaining the target boundary points on both sides of the location where the mobile robot failed to move along the preset route includes:

[0019] Using the location where the movement failed as the center, obtain obstacle points within a preset search radius;

[0020] When the number of consecutive obstacle points exceeds a preset number, the consecutive obstacle points are determined as a group of candidate boundary points.

[0021] For each group of candidate boundary points, the average position of the candidate boundary points is determined as the target boundary point.

[0022] In some embodiments, the threshold crossing method further includes, after adjusting the obstacle-crossing action of the mobile robot towards the target threshold, the threshold-crossing method further includes:

[0023] Record the location information of the target threshold, and record the obstacle crossing action parameters of the successful obstacle crossing action;

[0024] When the mobile robot's path again includes the target threshold, adjusting the mobile robot's obstacle-crossing action for the target threshold further includes:

[0025] The mobile robot is controlled to cross the target threshold according to the obstacle-crossing action parameters.

[0026] In some embodiments, wherein the target threshold includes threshold location information and threshold direction, the step of adjusting the mobile robot's obstacle-crossing action for the target threshold includes:

[0027] Adjust the mobile robot's obstacle-crossing starting point, obstacle-crossing speed, and / or obstacle-crossing direction for the threshold;

[0028] Control the mobile robot to move to the obstacle crossing starting point, and move towards the target threshold at the obstacle crossing speed and in the obstacle crossing direction.

[0029] In some embodiments, adjusting the mobile robot's obstacle-crossing starting point, obstacle-crossing speed, and / or obstacle-crossing direction for the threshold includes:

[0030] Calculate the distance required for the robot to accelerate from a standstill to a preset obstacle-crossing speed, and obtain the preset obstacle-crossing distance;

[0031] The obstacle crossing starting point is determined based on the obstacle crossing distance, and the distance between the obstacle crossing starting point and the threshold is the obstacle crossing distance; and / or

[0032] The direction perpendicular to the threshold direction and toward the target threshold is determined as the obstacle-crossing direction.

[0033] In some embodiments, adjusting the obstacle-crossing action of the mobile robot towards the target threshold further includes:

[0034] Obtain the body tilt angle of the mobile robot when it fails to overcome the obstacle;

[0035] The obstacle-crossing speed and / or obstacle-crossing direction of the mobile robot are determined based on the body tilt angle.

[0036] Control the mobile robot to cross the target threshold along the obstacle-crossing direction and / or at the obstacle-crossing speed.

[0037] In some embodiments, determining the obstacle-crossing speed of the mobile robot based on the fuselage tilt angle includes:

[0038] The height of the target threshold is determined based on the fuselage tilt angle, and the target obstacle-crossing speed is determined based on the height of the target threshold.

[0039] The step of determining the obstacle-crossing direction of the mobile robot based on the body tilt angle includes: determining the projection direction of the body tilt direction onto the horizontal plane according to the body tilt angle, and determining the opposite direction of the projection direction as the target obstacle-crossing direction.

[0040] In a second aspect, embodiments of this disclosure provide a mobile robot, the mobile robot including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the various steps of the threshold crossing method as described in the first aspect.

[0041] This disclosure provides a threshold crossing method and a mobile robot that uses zoning information or environmental information to determine the target threshold and adjusts the corresponding obstacle crossing actions according to the actual situation of the target threshold. This avoids repeated trial actions that lead to low task execution efficiency or damage to the robot body, thereby improving the success rate of threshold crossing.

[0042] In some embodiments, when the partition information is successfully acquired, the position information of the target threshold is fitted using two partitions adjacent to the target threshold, so as to determine the corresponding preset obstacle-crossing action using the position information of the target threshold, thereby assisting the mobile robot in crossing the target threshold.

[0043] In some embodiments, when obstacle crossing fails, the environmental information around the location of the failed obstacle crossing is explored to obtain the position of the wall adjacent to the target threshold, thereby determining the real-time position information of the target threshold, and further adjusting the obstacle crossing action to cross the obstacle, thereby improving the success rate of threshold crossing.

[0044] In some embodiments, by saving the obstacle-crossing action parameters when successfully crossing the target threshold, the existing obstacle-crossing action parameters can be used to directly cross the same target threshold the next time it needs to be crossed, saving the computation of obstacle-crossing action parameters and ensuring successful crossing of the target obstacle.

[0045] In some embodiments, by using the threshold location information and threshold direction of the target threshold, the mobile robot's obstacle crossing starting point, obstacle crossing speed, and / or obstacle crossing direction are adaptively adjusted, enabling the mobile robot to attempt to cross the threshold in the best possible state, avoiding wasted kinetic energy and unnecessary repeated attempts, thereby improving the success rate of threshold crossing.

[0046] In some embodiments, the threshold information is estimated based on the body state of the mobile robot when it fails to cross the threshold, and then the optimal obstacle crossing action parameters are determined, so that the threshold crossing method can be applied to various scenarios, improving the flexibility and universality of the threshold crossing method. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0048] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 A flowchart of a threshold crossing method provided in this disclosure embodiment;

[0050] Figure 2 A schematic diagram illustrating a threshold crossing provided in an embodiment of this disclosure;

[0051] Figure 3 A schematic diagram illustrating a threshold crossing provided in an embodiment of this disclosure;

[0052] Figure 4 A side view of the fuselage state of a mobile robot when it fails to overcome an obstacle, provided for the implementation of this disclosure;

[0053] Figure 5 A top view of the body state of a mobile robot when it fails to overcome an obstacle, provided in an embodiment of this disclosure;

[0054] Figure 6 A schematic diagram of the threshold crossing device provided in the embodiments of this disclosure;

[0055] Figure 7 This is a schematic diagram of the structure of a mobile robot provided in an embodiment of this disclosure. Detailed Implementation

[0056] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0057] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0058] This disclosure provides a threshold crossing method, which will be described below with reference to specific embodiments.

[0059] Figure 1 This is a flowchart illustrating a threshold-crossing method provided in an embodiment of this disclosure. This method can be applied to mobile robots, such as robotic vacuum cleaners. It is understood that the threshold-crossing method provided in this disclosure can also be applied to other scenarios.

[0060] The following is about Figure 1 The threshold-crossing method shown is described below, and the specific steps of this method are as follows:

[0061] S101. Control the mobile robot to move along a preset route.

[0062] A preset route refers to a series of waypoints or path plans set for a mobile robot, defining the specific route the robot takes when performing a task. Preset routes can be static or dynamically generated, depending on the task requirements and environmental conditions of the mobile robot.

[0063] S102. Determine the target threshold based on map information of the current location of the mobile robot; or, determine the target threshold based on environmental information on the current route of the mobile robot.

[0064] The target threshold and the threshold that mobile robots are about to cross.

[0065] The map information includes information about the mobile robot's working environment, specifically the location information of various obstacles such as thresholds in the working environment. As the mobile robot moves along a preset route, after determining its own location based on the map information, it further determines whether there are thresholds around its location. If a threshold exists and the preset route passes through it, then that threshold is identified as the target threshold, and its location, height, direction, and other attribute information are obtained.

[0066] In other situations, the mobile robot may not have acquired accurate map information. For example, the layout of obstacles in the robot's working environment may change, and this change information may not be updated in the map in a timely manner. This prevents the robot from determining its own position based on the map information, and also prevents it from acquiring information about obstacles around its location. In this case, the mobile robot determines the target threshold based on the real-time environmental information it acquires.

[0067] Specifically, the mobile robot uses visual sensors or lidar to collect environmental data along its route in real time. Based on the collected environmental data, it determines whether there is a threshold on the current route. If so, the threshold is used as the target threshold, and its position, height, direction and other attribute information are obtained.

[0068] S103. Adjust the obstacle-crossing action of the mobile robot to the target threshold so that the mobile robot can cross the target threshold.

[0069] Based on information such as the location and orientation of the target threshold, the obstacle-crossing action is adjusted accordingly to adapt to different attributes such as the location, height, and orientation of the target threshold. The obstacle-crossing action corresponding to the target threshold is obtained, and the mobile robot is controlled to execute the obstacle-crossing action corresponding to the target threshold, so as to finally cross the target threshold.

[0070] This embodiment controls a mobile robot to move along a preset route; determines a target threshold based on map information of the robot's current location; or determines a target threshold based on environmental information along the robot's current route; and adjusts the robot's obstacle-crossing actions to the target threshold so that the robot can cross the target threshold. By using zoning information or environmental information to determine the target threshold and adjusting the corresponding obstacle-crossing actions according to the actual situation of the target threshold, the embodiment avoids repeated trial actions that lead to low task execution efficiency or damage to the robot body, thereby improving the success rate of threshold crossing.

[0071] In some embodiments, determining the target threshold based on map information of the current location of the mobile robot includes: determining a first partition and a second partition adjacent to the map information, as well as the partition boundary line between the first partition and the second partition; and determining the location information of the target threshold based on the non-restricted area line segment in the partition boundary line.

[0072] The map is divided into different zones, each corresponding to a room or a feature area. Thresholds are usually located at the boundaries between different zones. When map information is successfully obtained, potential thresholds can be identified by analyzing the boundary line between the first and second zones.

[0073] The boundary lines between zones may include areas that mobile robots cannot pass through, such as walls and fences. These inaccessible areas are marked as restricted areas in the map information, so the boundary lines between zones include restricted area segments.

[0074] Correspondingly, the portion other than the restricted area segment becomes the non-restricted area segment, which corresponds to the passable area of ​​the mobile robot in the actual environment. That is, the threshold that the cleaning robot may have to cross when moving from the first zone to the second zone. The location information of the target threshold is determined based on the location of the non-restricted area segment.

[0075] Specifically, the location of the non-restricted area line segment is the location of the target threshold, and the direction of the non-restricted area line segment is the direction of the target threshold.

[0076] Based on this, the mobile robot's obstacle-crossing action is adjusted according to the position and / or direction of the target threshold, so that the mobile robot can cross the target threshold.

[0077] Figure 2 This is a schematic diagram illustrating a threshold crossing method as provided in an embodiment of this disclosure. Figure 2 As shown, the boundary line between the first and second zones includes the restricted zone segment L1 and the non-restricted zone segment L2. The position of the non-restricted zone segment is the position of the target threshold, and the direction of the non-restricted zone segment is the direction of the target threshold.

[0078] The mobile robot moves from the starting point 20 to 21, fails to overcome the obstacle and retreats to 22. Based on the non-restricted line segment L2, it determines the position of the target threshold and moves its own position from 22 to 23 accordingly. It then performs the obstacle-crossing action corresponding to the target threshold to cross the target threshold and reach 24, and finally moves to the target point 25.

[0079] This embodiment of the disclosure, upon successful acquisition of partition information, uses two adjacent partitions to fit the position information of the target threshold, thereby using the position information of the target threshold to determine the corresponding obstacle action and assist the mobile robot in crossing the target threshold.

[0080] In some embodiments, when map information acquisition fails or the map information is incorrect, a target threshold is determined based on environmental information along the current travel route of the mobile robot. Specifically, this includes: determining the location where the mobile robot failed to move along a preset route; acquiring target boundary points on both sides of the location where the mobile robot failed to move along the preset route; and determining the threshold location information and threshold direction of the target threshold based on the line connecting the target boundary points.

[0081] A movement failure location is the point where a mobile robot fails to overcome an obstacle while moving along a preset route. When a mobile robot cannot correctly acquire map information and fails to overcome an obstacle at a certain location, it needs to re-explore based on the currently collected environmental information to determine the location and direction of the target threshold.

[0082] The target boundary points are the boundary points at both ends of the target threshold determined by the mobile robot after exploring the environment.

[0083] The process of obtaining target boundary points on both sides of the mobile robot's failed movement location on the preset route includes: obtaining obstacle points within a preset search radius centered on the failed movement location; when the number of consecutive obstacle points exceeds a preset number, the consecutive obstacle points are determined as a group of candidate boundary points; for each group of candidate boundary points, the average position of the candidate boundary points is determined as the target boundary point.

[0084] The location where the movement failed is adjacent to the target threshold location that caused the robot's obstacle crossing failure. Using the location of the movement failure as the center, an outward search is performed to obtain multiple obstacle points within a preset search radius. When target boundary points are found on both sides of the location of the movement failure, the line connecting these target boundary points is determined to be the location of the target threshold.

[0085] Understandably, the search scope covers the location of the target threshold.

[0086] The target threshold is usually connected to a wall on both sides, and the wall has a certain width. When the mobile robot searches outward from the location where it failed to move, the continuous obstacle points obtained are likely to correspond to the wall adjacent to the target threshold. When the number of continuous obstacle points obtained exceeds the preset number and forms a set of candidate boundary points, it is determined that the set of candidate boundary points corresponds to the wall adjacent to the target threshold.

[0087] Furthermore, for each group of candidate boundary points, the average position of multiple candidate boundary points is calculated as the target boundary point, i.e., the endpoint of the target threshold. The target boundary points on both sides of the failed move position correspond to the two endpoints of the target threshold, and the line connecting the target boundary points on both sides of the failed move position represents the target threshold in the actual environment. Accordingly, the position of the connecting line is the threshold position information of the target threshold, and the direction of the connecting line is the threshold direction of the target threshold.

[0088] Based on this, the mobile robot's obstacle-crossing action is adjusted according to the position and / or direction of the target threshold, so that the mobile robot can cross the target threshold.

[0089] Figure 3 This is a schematic diagram illustrating a threshold crossing method as provided in an embodiment of this disclosure. Figure 3 As shown, the mobile robot moves from the starting point 30 to point 31, fails to overcome the obstacle, and retreats to point 32, marking the failure position 31. Using the failure position 31 as the center, the surrounding environment is searched within a preset search radius W. A set of candidate boundary points is obtained on both sides of the failure position 31, and two target boundary points are calculated, denoted as M1 and M2. The line connecting M1 and M2 is further determined as the target threshold, denoted as M.

[0090] Based on the position and / or orientation of the target threshold M, the mobile robot adjusts its position from 32 to 33, performs the corresponding obstacle-crossing action to cross the target threshold and reach 34, and finally moves to the target point 35.

[0091] This embodiment of the disclosure explores the environmental information around the failed obstacle crossing location when obstacle crossing fails, in order to obtain the position of the wall adjacent to the target threshold, thereby determining the real-time position information of the target threshold, and further adjusting the obstacle crossing action to cross the obstacle, thereby improving the success rate of threshold crossing.

[0092] Based on the above embodiments, after adjusting the obstacle-crossing action of the mobile robot to the target threshold, the threshold crossing method further includes: recording the position information of the target threshold, and recording the obstacle-crossing action parameters of the successful obstacle-crossing action.

[0093] When the mobile robot's travel path includes the target threshold again, adjusting the mobile robot's obstacle-crossing action for the target threshold further includes: controlling the mobile robot to cross the target threshold according to the obstacle-crossing action parameters.

[0094] Specifically, obstacle crossing parameters include the obstacle crossing start point, obstacle crossing speed, and / or obstacle crossing direction.

[0095] When the mobile robot successfully crosses the target threshold, it is determined that the obstacle-crossing action parameters are applicable to the target threshold. The position information of the target threshold and the corresponding obstacle-crossing action parameters are recorded so that the mobile robot can call them the next time it encounters the same threshold.

[0096] When the mobile robot performs a cleaning task again, it determines whether the route of this cleaning task passes through the target threshold based on the location information of the target threshold; if so, when the mobile robot needs to cross the target threshold, it directly calls the obstacle crossing action parameters corresponding to the target threshold that were previously stored.

[0097] This embodiment of the disclosure saves the obstacle-crossing action parameters when successfully crossing the target threshold. When the same target threshold needs to be crossed again, the existing obstacle-crossing action parameters can be used to cross it directly, saving the amount of calculation of obstacle-crossing action parameters and ensuring successful crossing of the target obstacle.

[0098] Based on any of the above embodiments, if the target threshold includes threshold position information and threshold direction, then adjusting the obstacle-crossing action of the mobile robot towards the target threshold includes: adjusting the obstacle-crossing starting point, obstacle-crossing speed, and / or obstacle-crossing direction of the mobile robot towards the threshold; controlling the mobile robot to move to the obstacle-crossing starting point, and moving towards the target threshold at the obstacle-crossing speed and according to the obstacle-crossing direction.

[0099] Specifically, adjusting the obstacle-crossing starting point, obstacle-crossing speed, and / or obstacle-crossing direction of the mobile robot for the threshold includes: calculating the distance required for the robot to accelerate from a standstill to a preset obstacle-crossing speed, obtaining a preset obstacle-crossing distance; determining the obstacle-crossing starting point based on the obstacle-crossing distance, wherein the distance between the obstacle-crossing starting point and the threshold is the obstacle-crossing distance; and / or determining the direction perpendicular to the threshold direction and toward the target threshold as the obstacle-crossing direction.

[0100] The obstacle-crossing starting point is the position where the mobile robot begins to execute the obstacle-crossing action, for example... Figure 2 Position 23 as shown, or as... Figure 3 Position 33 is shown; obstacle crossing speed is the speed at which the mobile robot crosses the target threshold; obstacle crossing direction is the direction in which the mobile robot moves toward the target threshold.

[0101] After determining the preset obstacle-crossing speed of the mobile robot for the target threshold, based on the acceleration of the mobile robot, the acceleration distance required for the mobile robot to accelerate from a standstill to the preset obstacle-crossing speed is determined, and the obstacle-crossing starting point is determined at the acceleration distance from the target threshold, so that the mobile robot can move and accelerate towards the target threshold from the obstacle-crossing starting point and reach the preset obstacle-crossing speed when it reaches the target threshold.

[0102] Optionally, an obstacle-crossing starting point is determined at a distance greater than the acceleration distance from the target threshold, so that the mobile robot moves and accelerates from the obstacle-crossing starting point towards the target threshold, reaches a preset obstacle-crossing speed before reaching the target threshold, and moves at a speed greater than the preset obstacle-crossing speed when reaching the target threshold.

[0103] And / or, determine that the obstacle crossing direction is towards and perpendicular to the target threshold, so that the power of the mobile robot acts more directly in the vertical direction of the target threshold, reducing the lateral forces that may cause the mobile robot to deviate from the path or lose balance, and minimizing the friction between the mobile robot and the target threshold, so as to reduce the difficulty of the mobile robot crossing the threshold at the preset obstacle crossing speed.

[0104] It is understandable that the optimal obstacle-crossing speed of a mobile robot is strongly correlated with its hardware structure. For each type of mobile robot, its optimal obstacle-crossing speed can be obtained through calibration experiments and used as the preset obstacle-crossing speed.

[0105] Optionally, the optimal obstacle-crossing speed of the mobile robot is also related to the height of the threshold. For thresholds of different heights, the same model of mobile robot has different optimal obstacle-crossing speeds, that is, the preset obstacle-crossing speed is determined by the model of the mobile robot and the height of the target threshold.

[0106] Specifically, obstacle-crossing experiments were conducted for each model and different threshold heights to determine the minimum speed at which the mobile robot can cross the threshold as the preset obstacle-crossing speed under the current working conditions.

[0107] This embodiment of the disclosure adaptively adjusts the mobile robot's obstacle-crossing starting point, speed, and / or direction based on the obstacle location information and direction of the target threshold. This enables the mobile robot to attempt to cross the threshold in the best possible state, avoiding wasted kinetic energy and unnecessary repeated attempts, thereby improving the success rate of threshold crossing.

[0108] In some embodiments, adjusting the obstacle-crossing action of the mobile robot in relation to the target threshold further includes: obtaining the body tilt angle of the mobile robot when it fails to cross the obstacle; determining the obstacle-crossing speed and / or obstacle-crossing direction of the mobile robot based on the body tilt angle; and controlling the mobile robot to cross the target threshold along the obstacle-crossing direction and / or at the obstacle-crossing speed.

[0109] One possible scenario is that when the mobile robot cannot correctly obtain map information and fails to obtain the target boundary points on both sides of the location where the movement failed, the information of the threshold is estimated based on the robot's body state when it fails to cross the threshold, following the steps described above, and then the optimal obstacle-crossing action parameters are determined.

[0110] Specifically, determining the obstacle-crossing speed of the mobile robot based on the body tilt angle includes: determining the height of the target threshold based on the body tilt angle, and determining the target obstacle-crossing speed based on the height of the target threshold; determining the obstacle-crossing direction of the mobile robot based on the body tilt angle includes: determining the projection direction of the body tilt direction onto the horizontal plane based on the body tilt angle, and determining the opposite direction of the projection direction as the target obstacle-crossing direction.

[0111] Figure 4 A side view of the fuselage state of a mobile robot when it fails to overcome an obstacle, as provided in this disclosure. Figure 4 As shown, when the mobile robot fails to overcome the obstacle, the body gets stuck on the threshold, forming a certain angle 41 with the ground. The size of this angle is also the size of the body tilt angle 42, and the size of the body tilt angle can reflect the height of the target threshold.

[0112] Given a specific aircraft model, different threshold heights correspond to different preset obstacle-crossing speeds. Therefore, after determining the height of the target threshold based on the aircraft tilt angle, the preset obstacle-crossing speed corresponding to the target threshold height is further determined based on the pre-calibration results.

[0113] Figure 5 This is a top view of the body state of a mobile robot when it fails to overcome an obstacle, as provided in an embodiment of this disclosure. Figure 5 As shown, when the mobile robot fails to overcome an obstacle, its movement direction 51 is not perpendicular to the threshold direction. At this time, the perpendicular direction of the threshold direction is determined based on the robot's body state as the target obstacle-crossing direction.

[0114] Specifically, let the vertical upward direction of the mobile robot's body be the z-axis direction. When the mobile robot fails to overcome an obstacle and its movement direction is not perpendicular to the threshold direction, the angle between the mobile robot's z-axis direction and the opposite direction of gravity, g', is the robot's tilt angle. The tilt direction is the opposite direction of gravity pointing towards the mobile robot's z-axis direction, and the corresponding direction of the mobile robot's z-axis direction pointing towards the opposite direction of gravity is the opposite direction of the tilt direction. Further, projecting the opposite direction of the tilt direction onto the horizontal plane yields the target obstacle-crossing direction.

[0115] Combination Figure 4 as well as Figure 5 Arrow 43 points from the z-axis of the mobile robot towards the opposite direction of gravity g'. Projecting it onto the horizontal plane, we get the following: Figure 5 The obstacle crossing direction 52 shown is perpendicular to the threshold direction.

[0116] The embodiments disclosed herein estimate threshold information based on the robot's body state when it fails to cross a threshold, and then determine the optimal obstacle-crossing action parameters, so that the threshold-crossing method can be applied to various scenarios, improving the flexibility and universality of the threshold-crossing method.

[0117] Figure 6 This is a schematic diagram of the threshold crossing device provided in the embodiments of this disclosure. The threshold crossing device can be a mobile robot as described in the above embodiments, or it can be a component or assembly within the mobile robot. The threshold crossing device provided in the embodiments of this disclosure can execute the processing flow provided in the threshold crossing method embodiments, such as... Figure 6 As shown, the threshold crossing device 60 includes: a control module 61, a determination module 62, and an adjustment module 63; wherein, the control module 61 is used to control the mobile robot to move along a preset route; the determination module 62 is used to determine the target threshold based on map information of the current location of the mobile robot; or, to determine the target threshold based on environmental information on the current route of the mobile robot; the adjustment module 63 is used to adjust the corresponding obstacle-crossing action of the mobile robot towards the target threshold, so that the mobile robot can cross the target threshold.

[0118] Optionally, the determining module 62 includes a first determining unit 621, used to determine the first partition, the second partition, and the partition boundary line between the first partition and the second partition of the map information; and to determine the location information of the target threshold based on the non-restricted area line segment in the partition boundary line.

[0119] Optionally, the determining module 62 includes a second determining unit 622, used to determine the position where the mobile robot fails to move along the preset route; obtain the target boundary points on both sides of the position where the mobile robot fails to move along the preset route; and determine the threshold position information and threshold direction of the target threshold based on the line connecting the target boundary points.

[0120] Optionally, the second determining unit 622 is specifically used to obtain obstacle points within a preset search radius centered on the location where the movement failed; when the number of consecutive obstacle points exceeds a preset number, the consecutive obstacle points are determined as a group of candidate boundary points; for each group of candidate boundary points, the average position of the candidate boundary points is determined as the target boundary point.

[0121] Optionally, the threshold crossing device 60 further includes a recording module 64, used to record the position information of the target threshold and the obstacle crossing action parameters of the successful obstacle crossing action; the adjustment module 63 is also used to control the mobile robot to cross the target threshold according to the obstacle crossing action parameters when the mobile robot's travel route includes the target threshold again.

[0122] Optionally, the target threshold includes threshold position information and threshold direction. The adjustment module 63 includes an adjustment unit 631 and a control unit 632. The adjustment unit 631 is used to adjust the obstacle crossing starting point, obstacle crossing speed, and / or obstacle crossing direction of the mobile robot towards the threshold. The control unit 632 is used to control the mobile robot to move to the obstacle crossing starting point and move towards the target threshold at the obstacle crossing speed and in the obstacle crossing direction.

[0123] Optionally, the adjustment unit 631 is used to calculate the distance required for the robot to accelerate from a standstill to a preset obstacle-crossing speed, thereby obtaining a preset obstacle-crossing distance; determine the obstacle-crossing starting point based on the obstacle-crossing distance, wherein the distance between the obstacle-crossing starting point and the threshold is the obstacle-crossing distance; and / or determine the direction perpendicular to the threshold direction and toward the target threshold as the obstacle-crossing direction.

[0124] Optionally, the adjustment unit 631 is further configured to acquire the body tilt angle when the mobile robot fails to overcome the obstacle; determine the obstacle-crossing speed and / or obstacle-crossing direction of the mobile robot based on the body tilt angle; and the control unit 632 is further configured to control the mobile robot to cross the target threshold along the obstacle-crossing direction and / or at the obstacle-crossing speed.

[0125] Optionally, the adjustment unit 631 is specifically used to determine the height of the target threshold based on the body tilt angle, and to determine the target obstacle-crossing speed based on the height of the target threshold; the step of determining the obstacle-crossing direction of the mobile robot based on the body tilt angle includes: determining the projection direction of the body tilt direction on the horizontal plane based on the body tilt angle, and determining the opposite direction of the projection direction as the target obstacle-crossing direction.

[0126] Figure 6 The threshold crossing device shown in the embodiment can be used to execute the technical solution of the above method embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[0127] Figure 7 This is a schematic diagram of the structure of a mobile robot provided in an embodiment of this disclosure. The mobile robot provided in this embodiment of the disclosure can execute the processing flow provided in the threshold crossing method embodiment, such as... Figure 7As shown, the mobile robot 70 includes: a memory 71, a processor 72, a computer program, and a communication interface 73; wherein the computer program is stored in the memory 71 and configured to be executed by the processor 72 as described above for the threshold crossing method.

[0128] In addition, this disclosure also provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the threshold crossing method described in the above embodiments.

[0129] Furthermore, this disclosure also provides a computer program product comprising a computer program or instructions that, when executed by a processor, implement the threshold crossing method as described above.

[0130] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0131] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0132] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

[0133] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0134] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0135] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of threshold crossing, characterized by, The threshold crossing method includes: Control the mobile robot to move along a preset route; The target threshold is determined based on map information of the mobile robot's current location; or, The target threshold is determined based on the environmental information along the current route of the mobile robot. Adjust the mobile robot's obstacle-crossing action in response to the target threshold so that the mobile robot can cross the target threshold.

2. The threshold crossing method of claim 1, wherein, The determination of the target threshold based on map information of the current location of the mobile robot includes: Determine the first and second adjacent partitions of the map information, as well as the boundary line between the first and second partitions; The location information of the target threshold is determined based on the non-restricted area segment in the boundary line of the partition.

3. The threshold crossing method of claim 1, wherein, The step of determining the target threshold based on environmental information along the current route of the mobile robot includes: Determine the location where the mobile robot fails to move along the preset route; Obtain the target boundary points on both sides of the location where the mobile robot fails to move along the preset route; The threshold position information and threshold direction of the target threshold are determined based on the lines connecting the target boundary points.

4. The threshold crossing method of claim 3, wherein, The step of obtaining the target boundary points on both sides of the location where the mobile robot failed to move along the preset route includes: Using the location where the movement failed as the center, obtain obstacle points within a preset search radius; When the number of consecutive obstacle points exceeds a preset number, the consecutive obstacle points are determined as a group of candidate boundary points. For each group of candidate boundary points, the average position of the candidate boundary points is determined as the target boundary point.

5. The threshold crossing method according to any one of claims 1 to 4, characterized in that, After adjusting the mobile robot's obstacle-crossing action for the target threshold, the threshold-crossing method further includes: Record the location information of the target threshold, and record the obstacle crossing action parameters of the successful obstacle crossing action; When the mobile robot's path again includes the target threshold, adjusting the mobile robot's obstacle-crossing action for the target threshold further includes: The mobile robot is controlled to cross the target threshold according to the obstacle-crossing action parameters.

6. The threshold crossing method according to any one of claims 1 to 4, characterized in that, The target threshold includes threshold location information and threshold direction. Adjusting the mobile robot's obstacle-crossing action for the target threshold includes: Adjust the mobile robot's obstacle-crossing starting point, obstacle-crossing speed, and / or obstacle-crossing direction for the threshold; Control the mobile robot to move to the obstacle crossing starting point, and move towards the target threshold at the obstacle crossing speed and in the obstacle crossing direction.

7. The threshold crossing method according to claim 6, characterized in that, Adjusting the mobile robot's obstacle-crossing starting point, obstacle-crossing speed, and / or obstacle-crossing direction for the threshold includes: Calculate the distance required for the robot to accelerate from a standstill to a preset obstacle-crossing speed, and obtain the preset obstacle-crossing distance; The obstacle crossing starting point is determined based on the obstacle crossing distance, and the distance between the obstacle crossing starting point and the threshold is the obstacle crossing distance; and / or The direction perpendicular to the threshold direction and toward the target threshold is determined as the obstacle-crossing direction.

8. The threshold crossing method according to any one of claims 1 to 4, characterized in that, The adjustment of the mobile robot's obstacle-crossing action to the target threshold also includes: Obtain the body tilt angle of the mobile robot when it fails to overcome the obstacle; The obstacle-crossing speed and / or obstacle-crossing direction of the mobile robot are determined based on the body tilt angle. Control the mobile robot to cross the target threshold along the obstacle-crossing direction and / or at the obstacle-crossing speed.

9. The threshold crossing method according to claim 8, characterized in that, Determining the obstacle-crossing speed of the mobile robot based on the fuselage tilt angle includes: The height of the target threshold is determined based on the fuselage tilt angle, and the target obstacle-crossing speed is determined based on the height of the target threshold. The step of determining the obstacle-crossing direction of the mobile robot based on the body tilt angle includes: determining the projection direction of the body tilt direction onto the horizontal plane according to the body tilt angle, and determining the opposite direction of the projection direction as the target obstacle-crossing direction.

10. A mobile robot, characterized in that, The mobile robot includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the various steps of the threshold crossing method as described in any one of claims 1 to 9.

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