Robot vacuum cleaner travel control method, robot vacuum cleaner, and storage medium

Abstract

To provide a travel control method for a robot cleaner in particular, a robot cleaner, and a storage medium in relation to a technical field of home automation.SOLUTION: A travel control method includes the steps of: in a travel process of a robot cleaner, collecting three-dimensional information including at least height information and depth information of a step-type obstacle within a front area by using a sensor system; and, when at least the height information and the depth information satisfy an obstacle crossing condition, performing an obstacle crossing action to cross the step-type obstacle, and cleaning the step-type obstacle. In embodiments of the present specification, the depth information of the step-type obstacle is considered during obstacle crossing, so that refined and intelligent obstacle crossing can be performed on the step-type obstacle, thereby avoiding occurrence of obstacle crossing abnormality.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present specification relates to the technical field of home automation, and in particular to a method for controlling the travel of a robot vacuum cleaner, a robot vacuum cleaner, and a storage medium. [Background technology]

[0002] A robot vacuum cleaner is a device that automatically cleans while moving. The robot vacuum cleaner can clean in place of human labor to some extent, reducing the human workload and improving cleaning efficiency.

[0003] A robot vacuum cleaner may encounter various types of obstacles during its travel, and therefore needs to overcome the obstacles. Currently, robot vacuum cleaners only perform a single obstacle-overcoming action for obstacles, which does not meet the demand for refined and intelligent obstacle-overcoming for specific types of obstacles in the working environment. Therefore, obstacle-overcoming abnormalities may occur, such as the robot vacuum cleaner being trapped. Summary of the Invention

[0004] According to the embodiments of the present specification, a travel control method for a robot vacuum cleaner, a robot vacuum cleaner, and a storage medium are provided that perform finely detailed and intelligent obstacle climbing over a stair-like obstacle and avoid the occurrence of obstacle climbing abnormalities.

[0005] According to the examples herein, A method for controlling travel of a robot cleaner, comprising: The robot cleaner is provided with a sensor system capable of acquiring three-dimensional information of an obstacle, collecting, by the sensor system during the travel of the robot cleaner, three-dimensional information of a staircase-like obstacle having a first surface and a second surface in a forward area, including height information including height information of the first surface, depth information including depth information of the projection of the second surface onto a horizontal plane, width information including width information of the second surface, and gradient information including angle information between the second surface and the horizontal plane; and performing an obstacle climbing operation to climb over the staircase-like obstacle when the height information is equal to or less than a first threshold, the depth information is equal to or greater than a second threshold, the width information is equal to or greater than a third threshold, and the gradient information is equal to or less than a fourth threshold.

[0006] In one exemplary embodiment, the first threshold is 5 to 10 cm, the second threshold is 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner, the third threshold is 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner, and the fourth threshold is 20° to 40°.

[0007] According to an embodiment of the present specification, there is provided a method for controlling travel of a robot cleaner, the robot cleaner being provided with a sensor system capable of acquiring three-dimensional information of an obstacle; collecting, by the sensor system during the travel of the robot cleaner, three-dimensional information of a staircase-like obstacle having a first surface and a second surface in a forward area, including height information including height information of the first surface, depth information including depth information of the projection of the second surface onto a horizontal plane, and gradient information including information of an angle between the second surface and the horizontal plane; The driving control method further includes a step of performing an obstacle climbing operation to climb over the stair-like obstacle when the height information is equal to or less than a first threshold, the depth information is equal to or greater than a second threshold, and the gradient information is equal to or less than a fourth threshold.

[0008] In one exemplary embodiment, the first threshold is 5 to 10 cm, the second threshold is 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner, and the fourth threshold is 20° to 40°.

[0009] According to the examples herein, A method for controlling travel of a robot cleaner, comprising: The robot cleaner is provided with a sensor system capable of acquiring three-dimensional information of an obstacle, collecting, by the sensor system during the travel of the robot cleaner, three-dimensional information of a staircase-like obstacle having a first surface and a second surface in a forward area, the information including height information of the first surface, depth information of the second surface projected onto a horizontal plane, and width information of the second surface; The driving control method further includes a step of performing an obstacle climbing operation to climb over the stair-like obstacle when the height information is equal to or less than a first threshold, the depth information is equal to or greater than a second threshold, and the width information is equal to or greater than a third threshold.

[0010] In one exemplary embodiment, the first threshold is 5 to 10 cm, the second threshold is 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner, and the third threshold is 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner.

[0011] According to the examples herein, A method for controlling travel of a robot cleaner, comprising: The robot cleaner is provided with a sensor system capable of acquiring three-dimensional information of an obstacle, collecting, by the sensor system during the travel of the robot cleaner, three-dimensional information of a staircase-like obstacle having a first surface and a second surface in a forward area, the information including height information of the first surface and depth information of a projection of the second surface onto a horizontal plane; When the height information is equal to or less than a first threshold and the depth information is equal to or greater than a second threshold, performing an obstacle climbing operation to climb over the stair-like obstacle is further provided.

[0012] In one exemplary embodiment, the first threshold is 5 to 10 cm, and the second threshold is 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner.

[0013] According to the examples herein, A method for controlling travel of a robot cleaner, comprising: The robot cleaner is provided with a sensor system capable of acquiring three-dimensional information of an obstacle, collecting three-dimensional information including at least height information and depth information of a stair-like obstacle in a forward area by the sensor system during a traveling process of the robot cleaner; If at least the height information and depth information satisfy an obstacle climbing condition, the method further includes a step of performing an obstacle climbing operation to climb over the stair-like obstacle and clearing the stair-like obstacle.

[0014] In one exemplary embodiment, the three-dimensional information further includes at least one of width information of the stair-like obstacle and gradient information of the stair-like obstacle, and the step of performing the obstacle overcoming operation includes: executing the obstacle-crossing operation when the height information, depth information, and width information satisfy the obstacle-crossing condition; or performing the obstacle climbing operation when the height information, depth information, and gradient information satisfy an obstacle climbing condition. Alternatively, the method includes a step of executing the obstacle-overcoming operation when the height information, depth information, width information, and gradient information satisfy an obstacle-overcoming condition.

[0015] In one exemplary embodiment, the sensor system includes at least one of a monocular sensor, a binocular sensor, a line laser sensor, a plane laser sensor, an LDS sensor, and a Dtof sensor.

[0016] In one exemplary embodiment, the step of performing the obstacle overcoming operation includes: If the height information is equal to or less than a first threshold, adjusting the traveling direction of the robot cleaner so that an angle formed between the detection direction of the sensor system and a first surface of the staircase-like obstacle satisfies a predetermined angle condition; and executing the obstacle overcoming operation when the depth information is equal to or greater than a second threshold when the predetermined angle condition is satisfied.

[0017] In one exemplary embodiment, the step of performing the obstacle overcoming operation includes: activating an obstacle-overcoming member to perform the obstacle-overcoming movement with the obstacle-overcoming member; Alternatively, the method may include controlling the acceleration of the robot cleaner so that the robot cleaner overcomes the stair-like obstacle.

[0018] In one exemplary embodiment, the step of activating the obstacle-overcoming member comprises: When the height information is greater than a set height and equal to or less than a first threshold, controlling the robot cleaner to stop when the robot cleaner travels to a designated position where a distance between the robot cleaner and the staircase-like obstacle is equal to or less than a fifth threshold; and actuating an obstacle-overcoming member to cause said obstacle-overcoming movement to be performed by said obstacle-overcoming member.

[0019] In one exemplary embodiment, the step of controlling the robot cleaner to accelerate includes: When the height information is equal to or less than a set height that is smaller than a first threshold, if a distance between the robot cleaner and the staircase-like obstacle becomes smaller than a sixth threshold, controlling the robot cleaner to move backward until the distance between the robot cleaner and the staircase-like obstacle becomes equal to or greater than the sixth threshold; and controlling the acceleration of the robot cleaner so that the robot cleaner overcomes the stair-like obstacle.

[0020] In one exemplary embodiment, if the height information and / or the depth information does not satisfy an obstacle climbing condition, an obstacle avoidance operation is performed to clean the edge of the stair-like obstacle.

[0021] In one exemplary embodiment, the three-dimensional information further includes at least one of width information of the stair-like obstacle and gradient information of the stair-like obstacle, and when the height information and the depth information satisfy an obstacle-overcoming condition and at least one of the width information and the gradient information does not satisfy the obstacle-overcoming condition, the obstacle avoidance operation is performed to clean the edge of the stair-like obstacle.

[0022] In one exemplary embodiment, the step of performing an obstacle avoidance operation includes: controlling the robot cleaner to decelerate and travel toward an edge of the staircase-like obstacle; The method includes adjusting a traveling direction of the robot cleaner to clean the edge of the stair-like obstacle.

[0023] According to the examples herein, A method for controlling travel of a robot cleaner, comprising: The robot cleaner is provided with a sensor system capable of acquiring three-dimensional information of an obstacle, collecting three-dimensional information including at least depth information of a stair-like obstacle in a forward area by the sensor system during a traveling process of the robot cleaner; If the depth information does not satisfy an obstacle clearance condition, performing an obstacle avoidance operation to clean the edge of the step-like obstacle is further provided.

[0024] In one exemplary embodiment, the three-dimensional information further includes at least one of height information of the stair-like obstacle, width information of the stair-like obstacle, and gradient information of the stair-like obstacle, and the step of performing the obstacle avoidance operation includes: If the depth information satisfies the obstacle-overcoming condition and at least one of the height information, the width information, and the gradient information does not satisfy the obstacle-overcoming condition, the step of performing the obstacle avoidance operation to clean the edge of the stair-like obstacle is included.

[0025] In one exemplary embodiment, the step of performing the obstacle avoidance operation includes the steps of controlling the robot vacuum cleaner to decelerate and travel toward an edge of the stair-like obstacle, and adjusting the travel direction of the robot vacuum cleaner to clean the edge of the stair-like obstacle.

[0026] According to the examples herein, A robot vacuum cleaner, The aircraft and a sensor system mounted on the aircraft; The sensor system collects three-dimensional information including at least height information and depth information of a stair-like obstacle in a forward area during the traveling process of the robot cleaner, and the robot cleaner performs an obstacle climbing operation to climb over the stair-like obstacle when at least the height information and depth information satisfy an obstacle climbing condition, thereby cleaning the stair-like obstacle.

[0027] According to the examples herein, A robot vacuum cleaner, The aircraft and a sensor system mounted on the aircraft; The sensor system collects three-dimensional information including at least depth information of a step-like obstacle in a forward area during the traveling process of the robot cleaner, and the robot cleaner performs an obstacle avoidance operation and cleans the edge of the step-like obstacle if the depth information does not satisfy an obstacle climbing condition.

[0028] According to the examples herein, A computer-readable storage medium storing a computer program, There is also provided a computer-readable storage medium that, when executed by a processor, performs the above cruise control method.

[0029] According to the examples herein, A computer program product comprising a computer program, There is also provided a program product that, when executed by a processor, performs the cruise control method.

[0030] According to the robot vacuum cleaner travel control method, robot vacuum cleaner, and storage medium according to the present disclosure, the robot vacuum cleaner is provided with a sensor system capable of acquiring three-dimensional information about an obstacle. During the robot vacuum cleaner's travel, the sensor system can collect three-dimensional information, including at least height and depth information, about a step-like obstacle in a forward area. If the height and depth information satisfy an obstacle-climbing condition, the robot vacuum cleaner can perform an obstacle-climbing operation to climb over the step-like obstacle and clean the step-like obstacle. In this manner, the sensor system can identify the specific type of obstacle and perform fine-tuned obstacle climbing for the step-like obstacle. By simultaneously taking into account the height and depth information of the step-like obstacle and comprehensively considering the actual situation of the step-like obstacle, fine-tuned and intelligent obstacle climbing for the step-like obstacle can be performed, thereby avoiding obstacle climbing abnormalities. For example, problems such as rolling down or being suspended in mid-air after climbing over the obstacle can be avoided. [Brief explanation of the drawings]

[0031] In order to more clearly explain the technical means in the embodiments of this specification or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. The drawings in the following description are only some embodiments of this specification, and those skilled in the art can also derive other drawings based on these drawings without any creative efforts.

[0032] [Figure 1] 1 is a schematic diagram illustrating the configuration of a robot cleaner according to an embodiment of the present specification. [Figure 2] 1 is a schematic diagram illustrating steps of a cruise control method according to an embodiment of the present specification. [Figure 3] FIG. 1 is a side view of a staircase obstacle according to an embodiment of the present disclosure. [Figure 4] FIG. 1 is a front view of a staircase obstacle according to an embodiment of the present disclosure. [Figure 5] 1 is a schematic diagram illustrating steps of a cruise control method according to an embodiment of the present specification. [Figure 6] 1 is a schematic diagram illustrating steps of a cruise control method according to an embodiment of the present specification. [Figure 7] 1 is a schematic diagram illustrating steps of a cruise control method according to an embodiment of the present specification. [Figure 8] 1 is a schematic diagram illustrating steps of a cruise control method according to an embodiment of the present specification. [Figure 9] 1 is a schematic diagram illustrating steps of a cruise control method according to an embodiment of the present specification. DETAILED DESCRIPTION OF THE INVENTION

[0033] Hereinafter, the technical means in the embodiments of the present specification will be clearly and completely described with reference to the drawings in the embodiments of the present specification. Obviously, the described embodiments are only a part of the embodiments of the present specification, and not all of them. It should be understood that the specific embodiments described herein are merely for the purpose of illustrating the present disclosure and do not limit the present disclosure. All other embodiments that a person skilled in the art can obtain based on the described embodiments of the present disclosure fall within the scope of protection of the present disclosure. Furthermore, relational terms such as "first," "second," etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any actual relationship or order between these entities or operations. Furthermore, for example, "greater than or equal to" can be understood as "or greater than." For example, "smaller than or equal to" can be understood as "or less than."

[0034] According to an embodiment of the present disclosure, a robotic vacuum cleaner is provided.

[0035] The robot vacuum cleaner may be an autonomous robot that can autonomously move within a working area and autonomously complete cleaning tasks without external human input or control. The working area may include an indoor area and an outdoor area. The indoor area may include a home room, an office, a shopping mall, a factory workshop, etc. The outdoor area may include a lawn, a garden, a road, etc. The cleaning tasks may include sweeping (e.g., washing floors, mopping floors, sweeping floors, etc.), mowing the lawn, removing snow, etc.

[0036] The robotic cleaner includes, but is not limited to, a robot sweeper, a robot scrubber, a robot with integrated sweeping and mopping functions, a mowing robot, a robot snow removal machine, etc. The robotic cleaner can clean by sweeping and then mopping the floor, or by performing sweeping and mopping separately. Here, the sweeping and then mopping method can involve mopping while sweeping, thereby improving cleaning efficiency. The sweeping and mopping method can involve sweeping the floor first, and then mopping the floor after the sweeping is completed, thereby improving cleaning effectiveness.

[0037] In the prior art, robot vacuum cleaners often overcome different types of obstacles by using a unified obstacle-surmounting strategy. For example, when a stair-like obstacle is overcome, the robot vacuum cleaner often overcomes the obstacle by using the same or similar obstacle-surmounting strategy as for other obstacles, such as carpets. The inventors have found through research that the robot vacuum cleaners in the prior art do not have the ability to identify the type of obstacle and are unable to identify the specific type of obstacle. As a result, when a stair-like obstacle is overcome, the robot vacuum cleaner overcomes the obstacle by using the same or similar obstacle-surmounting strategy as for other obstacles, such as carpets. Because it is not possible to implement refined and intelligent obstacle-surmounting for stair-like obstacles, the robot vacuum cleaner may experience obstacle-surmounting abnormalities, such as rolling down, hanging in the air, or being trapped after overcoming the obstacle.

[0038] In traditional home cleaning environments, the layout of house floor plans and the vertical space within rooms are often simplified and unified. When a robot vacuum cleaner needs to actively overcome an obstacle, it typically only needs to overcome a threshold-like obstacle. Since the robot vacuum cleaner does not need to drive over such an obstacle, the implementer only needs to consider whether the obstacle can be overcome based on its height. However, the applicant has discovered that with the improvement in the quality of modern housing, house floor plans have become increasingly diverse and complex, such as apartment buildings, loft homes, split-floor homes, and setback homes. This creates height differences between different areas, and requires the connection of stairs with different numbers, heights, widths, and slopes. Furthermore, to fully and rationally utilize space, storage spaces within homes are also stacked vertically, and these storage spaces are also connected to the ground via stairs. As a result, modern residential environments have a variety of staircases with different shapes and sizes, particularly with different depths, widths, and slopes. In such a complex cleaning environment with large height differences, if only a conventional obstacle climbing method for threshold-type obstacles is used and only the height of the obstacle is taken into consideration, the depth and width will be insufficient, making it easy for the robot to fall or become suspended in the air while climbing over the obstacle; or the slope will be too high, making it easy for the robot to slip or roll down while climbing over the obstacle. Both of these abnormal situations increase the probability of damage to the robot, affect the normal work efficiency of the robot, and degrade the user experience.

[0039] Therefore, a robot vacuum cleaner according to embodiments of the present specification may include a body, a controller, one or more cleaning members, a sensor system including one or more sensors, etc. The body may be circular, rectangular, or have another shape. The controller may include a microcontroller unit (MCU). Of course, the controller may further include other elements capable of control functions. The cleaning members may include side brushes, a rotating brush (also called a floor brush), a duster disc (also called a mop disc), etc. The side brushes can collect foreign matter and move it toward the center of the bottom of the robot vacuum cleaner. The rotating brush is provided in a rotating brush chamber at the bottom of the body of the robot vacuum cleaner. The rotating brush chamber is connected to the dust suction passage of the robot vacuum cleaner. The rotating brush can pick up foreign matter at the bottom of the robot vacuum cleaner and send it into the dust chamber through the dust suction port. The duster disc is used for floor mopping or floor cleaning. A duster is provided on the duster disc. The robot vacuum cleaner is provided with a water tank. Water in the water tank flows through the holes into the duster, wetting it. The wetted duster is then used to mop floors. The robot vacuum cleaner cleans up foreign objects, including, but not limited to, dust, hair, pet waste, etc. The controller controls the robot vacuum cleaner, for example, controlling its travel.

[0040] In one exemplary embodiment, the robot vacuum cleaner may include one or more side brushes. For example, the robot vacuum cleaner may include two side brushes. The one or more side brushes may be the same or different. For example, the one or more side brushes may have the same or different shapes. All of the one or more side brushes may be oscillating. Alternatively, all of the one or more side brushes may be fixed. Alternatively, some of the side brushes may be oscillating and others may be fixed. The oscillation may include swinging the side brushes outward from the robot vacuum cleaner and / or retracting them into the robot vacuum cleaner. In this way, during the process of cleaning along the edges, the side brushes may be controlled to swing outward from the robot vacuum cleaner, thereby providing a higher coverage rate and reducing areas that are not cleaned. In addition, considering that the swinging side brushes may trap the robot vacuum cleaner and increase the risk of contacting an obstacle (becoming contaminated by the obstacle or contaminating the obstacle), the side brushes may be controlled to retract into the robot vacuum cleaner. The side brushes may have an internally retracted state and an externally swinging state. The externally swinging state may be a state in which at least a portion of the side brush is extended to the outside of the robot vacuum cleaner. The internally retracted state may be a state in which at least a portion of the side brush is retracted into the interior of the robot vacuum cleaner. In the externally swinging state, the portion of the side brush located outside the periphery of the body is larger than the portion of the side brush located outside the periphery of the body in the internally retracted state. Specifically, in the externally swinging state, at least a portion of the side brush extends beyond the maximum width position of the periphery of the body of the robot vacuum cleaner, or the side brush may extend beyond the periphery of the body of the robot vacuum cleaner but does not extend beyond the maximum width position of the periphery of the body. In the internally retracted state, the side brush does not extend beyond the periphery of the body of the robot vacuum cleaner, or the side brush may extend beyond the periphery of the body of the robot vacuum cleaner but does not extend beyond the maximum width position of the periphery of the body.

[0041] In one exemplary embodiment, the duster disks may include one or more first duster disks. For example, the duster disks may include two first duster disks. The one or more first duster disks may be the same or different. For example, the one or more first duster disks may have the same or different diameters. The one or more first duster disks may all be oscillating. Alternatively, the one or more first duster disks may all be fixed. Alternatively, some of the plurality of first duster disks may be oscillating and others may be fixed. The oscillation may include swinging outward from the robot vacuum cleaner and / or retracting into the robot vacuum cleaner. In this way, by controlling the first duster disk to swing outward from the robot vacuum cleaner during cleaning along the edge, a higher coverage rate can be achieved and the area of ​​missed cleaning can be reduced. Furthermore, in consideration of the increased risk of the robot vacuum cleaner being trapped by the first duster disk swung outward and coming into contact with an obstacle (being contaminated by or contaminating the obstacle), the first duster disk may be controlled to retract into the interior of the robot vacuum cleaner. The first duster disk may have an internal retracted state and an external swinging state. The external swinging state may be a state in which at least a portion of the first duster disk is retracted to the exterior of the robot vacuum cleaner. The internal retracted state may be a state in which at least a portion of the first duster disk is retracted into the interior of the robot vacuum cleaner. In the external swinging state, the portion of the first duster disk located outside the periphery of the body is larger than the portion of the first duster disk located outside the periphery of the body in the internal retracted state. Specifically, in the external swinging state, at least a portion of the first duster disk may extend beyond the maximum width position of the periphery of the body, or the first duster disk may extend beyond the periphery of the body of the robot vacuum cleaner but not beyond the maximum width position of the periphery of the body.In the internal retracted state, the first duster disc does not extend beyond the periphery of the body of the robot vacuum cleaner, or the first duster disc may extend beyond the periphery of the body of the robot vacuum cleaner but not beyond the maximum width position of the periphery of the body.

[0042] The duster disc may further include one or more secondary duster discs. For example, the duster disc may further include two secondary duster discs. The one or more secondary duster discs may be the same or different. For example, the one or more secondary duster discs may have the same or different diameters. The one or more secondary duster discs may all be oscillating. Alternatively, the one or more secondary duster discs may all be fixed. Alternatively, some of the multiple secondary duster discs may be oscillating and others may be fixed. The oscillation may include swinging outward from the robot vacuum cleaner and / or retracting into the robot vacuum cleaner. In this way, by controlling the second duster disc to swing outward from the robot vacuum cleaner during cleaning along the edge, a higher coverage rate can be achieved and the area that is not cleaned can be reduced. Furthermore, in consideration of the increased risk of the robot vacuum cleaner being trapped by the second duster disc swung outward and coming into contact with an obstacle (being contaminated by or contaminating the obstacle), the second duster disc may be controlled to retract into the interior of the robot vacuum cleaner. The second duster disc may have an internal retracted state and an external swinging state. The external swinging state may be a state in which at least a portion of the second duster disc is retracted to the exterior of the robot vacuum cleaner. The internal retracted state may be a state in which at least a portion of the second duster disc is retracted into the interior of the robot vacuum cleaner. In the external swinging state, the portion of the second duster disc located outside the periphery of the body is larger than the portion of the second duster disc located outside the periphery of the body in the internal swinging state. Specifically, in the external swinging state, at least a portion of the second duster disc extends beyond the maximum width position of the periphery of the body, or the second duster disc may extend beyond the periphery of the body of the robot vacuum cleaner but not beyond the maximum width position of the periphery of the body. In the internal retracted state, the second duster disc does not extend beyond the periphery of the body of the robot vacuum cleaner, or the second duster disc may extend beyond the periphery of the body of the robot vacuum cleaner but not beyond the maximum width position of the periphery of the body.

[0043] The diameter of the second duster disc is smaller than the diameter of the first duster disc. The second duster disc may protrude beyond the contour of the robot vacuum cleaner body. For example, the second duster disc may be fixed, and the fixed second duster disc may protrude beyond the contour of the robot vacuum cleaner body. For example, the second duster disc may be oscillating, and thus may have an inward retracted state and an outward protruding state. In the inward retracted state and / or the outward protruding state, the second duster disc may protrude beyond the contour of the robot vacuum cleaner body. By providing the second duster disc, the first duster disc does not need to oscillate, providing a higher coverage rate and reducing missed cleaning areas. While providing a higher coverage rate, the manufacturing cost of the robot vacuum cleaner is also reduced.

[0044] For example, the duster discs may optionally include one or two first duster discs and one or two second duster discs. The one or two first duster discs may be fixed. The one or two second duster discs may be fixed. The one or two second duster discs are used for cleaning along the edges, providing higher cleaning efficiency and reducing missed areas. In this way, because the first and second duster discs are fixed and do not need to swing, a higher coverage rate is provided, while at the same time reducing manufacturing costs of the robot vacuum cleaner and further improving reliability of the robot vacuum cleaner.

[0045] A center point may be selected for the body. For example, the shape of the body of the robot vacuum cleaner may be circular, and the center point may include the center of the circle. For example, the shape of the body of the robot vacuum cleaner may be rectangular, and the center point may include the center of the rectangle. For example, the robot vacuum cleaner may include two drive wheels, and in this case, the center point may include the center point of a line connecting the two drive wheels, for example, the center point may be the center point of a line connecting the rotation centers of the two drive wheels. In this way, the maximum width position of the periphery of the body may include the position where the periphery of the body is farthest from the center point in the width direction of the body. For example, the distance between the body and an obstacle includes the minimum distance between the center point and the obstacle.

[0046] In one exemplary embodiment, as shown in FIG. 1 , the sensor system may include a monocular sensor, a binocular sensor, a line laser sensor, a plane laser sensor, a laser distance sensor (LDS), a direct time-of-flight sensor (Dtof), an indirect time-of-flight sensor (Itof), and any combination thereof. The monocular sensor may include a monocular vision sensor, such as a monocular camera. The binocular sensor may include a binocular vision sensor, such as a binocular camera.

[0047] The sensor system acquires three-dimensional information of an obstacle. The three-dimensional information indicates information about the obstacle in three-dimensional space, including, but not limited to, three-dimensional distance, three-dimensional size, and three-dimensional shape. The three-dimensional information enables the robot vacuum cleaner to accurately and comprehensively detect the obstacle, thereby helping the robot vacuum cleaner perform more refined and intelligent obstacle climbing according to the specific type of obstacle and avoiding obstacle climbing errors. The three-dimensional information not only improves cleaning efficiency but also provides more possibilities for future robot vacuum cleaners. Here, the three-dimensional distance may include the distance between any part of the obstacle and any part of the robot vacuum cleaner in three-dimensional space. The parts of the robot vacuum cleaner may include the robot vacuum cleaner body, rotating brush, side brush, duster disk, etc. The three-dimensional size may include height information, width information, depth information, etc. of the obstacle in three-dimensional space. The three-dimensional shape may include outline information of the obstacle in three-dimensional space. The three-dimensional shape may be used to determine the specific type of the obstacle, the pose of the obstacle, etc.

[0048] The sensor system may be attached to a specific position of the robot vacuum cleaner. The sensor system has a wide field of view at the specific position and is therefore likely to capture sufficient information about the surrounding environment. For example, the specific position may include the position of the charging port of the robot vacuum cleaner or the front of the robot vacuum cleaner's body. Of course, the specific position may also be other positions of the robot vacuum cleaner.

[0049] During the robot vacuum cleaner's travel, the sensor system may collect information about the surrounding environment and transmit the collected information to a controller. The controller may determine three-dimensional information about an obstacle based on the received information. Alternatively, the controller may transmit the received information to a background server. The server may determine three-dimensional information about the obstacle based on the received information and transmit the three-dimensional information about the obstacle to the controller. The server may be a background device, specifically, a single server or a distributed server cluster including multiple servers. The controller may transmit the information collected by the sensor system via a wireless communication method such as Bluetooth, Infrared Data (IrDA), Wireless Fidelity (WI-FI), Ultra Wide Band (UWB), Zigbee, or Near Field Communication (NFC). The collected information may include, but is not limited to, image data, contour data, and point cloud data of an object.

[0050] Hereinafter, specific implementations of the sensor system according to the embodiments of the present specification will be described in detail with some examples.

[0051] In one exemplary embodiment, the sensor system may include a binocular sensor. The binocular sensor can acquire three-dimensional information about an object. The binocular sensor may be attached to a specific position on the robot vacuum cleaner. The binocular sensor has a wide field of view at the specific position, making it easier to capture sufficient information about the surrounding environment. For example, the specific position may include the location of the charging port of the robot vacuum cleaner or the front of the robot vacuum cleaner's body. The binocular sensor can reduce the structural complexity and cost of the robot vacuum cleaner. It can also reduce the internal space of the robot vacuum cleaner. The saved space can be used to install a larger dust box, thereby improving cleaning performance, or to install a larger battery, thereby improving range. The binocular sensor uses multiple (e.g., two) cameras to capture image data of the same scene from two different viewing angles. The three-dimensional information of an object can be determined based on the difference between the two image data. This enables high-precision three-dimensional scanning of the surrounding environment of the robot vacuum cleaner and high-resolution sensing of the surrounding environment, for example, sensing of objects at a size of 5 mm.

[0052] The binocular sensor may include, for example, a binocular camera. The robot vacuum cleaner can identify the type and boundary range of an object by using the camera to acquire image information of wavelength bands such as visible light and / or infrared light of the object in the environment where the robot vacuum cleaner is located, and can calculate the three-dimensional shape and distance of the object using the parallax of the two cameras. Furthermore, the robot vacuum cleaner can avoid obstacles based on information such as the type, boundary range, three-dimensional shape, and distance of the obstacle, and can realize functions such as detecting dirt, detecting the material of the cleaning surface, detecting thresholds and stairs, identifying rooms and furniture, and identifying people or pets.

[0053] The binocular sensor collects disparity images of the same scene at two different viewing angles. Matching pixel points in the two disparity images can be obtained by a binocular matching algorithm (e.g., SAD, SIFT, ORB, BM, etc.). Based on the matching pixel points, the baseline (the physical distance between the two cameras) and focal length of the binocular sensor can be combined to obtain the three-dimensional information of the object by a triangulation algorithm. Of course, based on the two disparity images, a trained deep learning model can be used to obtain the three-dimensional information of the object. The deep learning model may include a convolutional neural network, etc.

[0054] Specifically, the controller may determine the three-dimensional information of the object based on the difference between the two sets of image data, or a background server may determine the three-dimensional information of the object based on the difference between the two sets of image data.

[0055] In another exemplary embodiment, the sensor system may further include a monocular camera and a structured light sensor (e.g., a line laser sensor, a cross light sensor, etc.) provided at the front of the robot vacuum cleaner. In this manner, the robot vacuum cleaner can identify the type and boundary range of an object by using the monocular camera to acquire image information of wavelength bands such as visible light and / or infrared light of the object in the environment in which the robot vacuum cleaner is located, and can further detect the three-dimensional shape and distance of the object using the structured light sensor in combination with the movement scanning of the robot or the rotation or movement of the LDS sensor. Furthermore, obstacle avoidance can be achieved based on information such as the type, boundary range, three-dimensional shape, and distance of the obstacle, and functions such as dirt detection, cleaning surface material detection, threshold stair detection, room and furniture identification, and human or pet identification can be realized.

[0056] In one exemplary embodiment, the sensor system may include any of a monocular sensor, a line laser sensor, an LDS sensor, and a Dtof sensor. Using any of a plurality of sensors in combination can similarly obtain three-dimensional information of an object. In this way, the power consumption of the robot vacuum cleaner can be reduced compared to a binocular sensor. The plurality of sensors may be attached to specific positions on the robot vacuum cleaner. The sensors have a wide field of view at the specific positions, making it easier to capture sufficient information about the surrounding environment. For example, the specific positions may include the position of the charging port of the robot vacuum cleaner and the front of the robot vacuum cleaner's body. The combination method of the plurality of sensors may be as follows:

[0057] For example, the sensor system may include a monocular sensor and a line laser sensor. The line laser sensor is a distance measurement sensor based on line laser technology, emitting a thin laser beam and receiving the reflected laser beam to measure distance using the principle of laser scattering. Because the line laser sensor can only detect obstacles along its laser line, at least two line laser sensors may be symmetrically arranged at the front of the robot vacuum cleaner, with a monocular sensor between the two line laser sensors. The monocular sensor can collect image data of an object. By aligning the data collected by the monocular sensor with the data collected by the line laser sensor, depth information can be added to the image data to obtain the three-dimensional information of the object.

[0058] Also, for example, the sensor system may include a monocular sensor and an LDS sensor. The monocular sensor can collect image data of an object. The image data is used to identify feature data such as the object's shape, texture, and color. The LDS sensor can collect point cloud data of the object. When used in combination, the image data collected by the monocular sensor and the point cloud data collected by the LDS sensor can be fused. The image data is used to aid in the analysis of the object in the point cloud and obtain three-dimensional information about the object.

[0059] Of course, the sensor system may include two or more other sensors from among a monocular sensor, a line laser sensor, an LDS sensor, and a Dtof sensor. By combining two or more of these sensors, three-dimensional information of an object can be obtained. In the examples of this specification, each sensor will not be listed individually.

[0060] As collectively shown in FIGS. 2, 3 and 4, an embodiment of the present specification further provides a method for controlling travel of a robot cleaner, which method includes the following steps 11 to 12.

[0061] In step 11, during the traveling process of the robot cleaner, the sensor system collects three-dimensional information including at least height information and depth information of the step-like obstacle in the forward area.

[0062] In one exemplary embodiment, the robot vacuum cleaner can clean a working area in an arc-shaped manner. During the arc-shaped cleaning process, the robot vacuum cleaner may use a sensor system to collect three-dimensional information about obstacles in the area ahead. Alternatively, during the cleaning process along an edge, the robot vacuum cleaner may use a sensor system to collect three-dimensional information about obstacles in the area ahead. Alternatively, during the returning process to the station, the robot vacuum cleaner may also use a sensor system to collect three-dimensional information about obstacles in the area ahead. The station may detach and / or attach cleaning members of the robot vacuum cleaner, charge the robot vacuum cleaner, and clear away debris in the dust chamber of the robot vacuum cleaner.

[0063] In one exemplary embodiment, the forward region may include an effective detection region of the sensor system, which may include at least one of an effective angle of view of a monocular vision sensor, an effective angle of view of a binocular vision sensor, an effective detection distance range of a line laser sensor, an effective detection distance range of a plane laser sensor, an effective detection distance range of an LDS sensor, and an effective detection distance range of a Dtof sensor.

[0064] In one exemplary embodiment, the stair-like obstacle is a building component connecting different surfaces. The surfaces connected by the stair-like obstacle may have different elevations or the same elevation. The surfaces connected by the stair-like obstacle may be flat or curved. For example, the stair-like obstacle may include a step staircase, a slope staircase, or a staircase between different areas in a room. Here, the staircase between different areas in a room may include a staircase between a balcony and a living room, a staircase between a bedroom and a living room, a staircase between a kitchen and a living room, etc.

[0065] As shown in FIGS. 3 and 4 , the stair-like obstacle may include a first surface and a second surface. The first surface is a vertical surface of the stair-like obstacle. The first surface intersects with the work surface and the second surface of the robot vacuum cleaner, respectively. The second surface is a tread surface of the stair-like obstacle. The second surface has a different elevation from the work surface. The second surface may be parallel to a horizontal plane or may form a certain angle therewith. The angle may be 1°, 5°, 10°, 20°, 30°, 40°, 50°, 70°, 80°, etc. The three-dimensional information of the stair-like obstacle includes at least height information and depth information. The height information may include height information of the first surface, and the depth information may include depth information of the projection of the second surface onto the horizontal plane. Of course, the three-dimensional information of the stair-like obstacle may include other information such as width information and / or slope information. The width information may include width information of the second surface. The gradient information may include information about an angle between the second surface and a horizontal plane.

[0066] In one exemplary embodiment, during the travel of the robot cleaner, a sensor system may collect information about the surrounding environment in a forward area and transmit the collected information to a controller. The controller may determine the type of obstacle based on the received information, and if the obstacle type is a stair-like obstacle, may acquire the three-dimensional information of the stair-like obstacle. Alternatively, the controller may transmit the received information to a background server. The server may determine the type of obstacle based on the received information, and if the obstacle type is a stair-like obstacle, may acquire the three-dimensional information of the stair-like obstacle and transmit the three-dimensional information of the stair-like obstacle to the controller.

[0067] For example, the sensor system may include a binocular sensor that captures image data from two different viewing angles of the same scene using multiple (e.g., two) cameras, and the controller or the server may input the two sets of image data into a trained deep learning model to obtain the three-dimensional information of the stair-like obstacle.

[0068] Furthermore, for example, the sensor system may include a monocular sensor and a line laser sensor. The controller or the server may align data collected by the monocular sensor with data collected by the line laser sensor, and may add depth information to the image data collected by the monocular sensor to obtain contour information of the obstacle. If the controller or the server determines that the obstacle is a staircase-like obstacle based on the contour information, the controller or the server may determine the three-dimensional information of the staircase-like obstacle.

[0069] In step 12, if at least the height information and the depth information satisfy the obstacle climbing condition, an obstacle climbing operation for climbing over the stair-like obstacle is performed to clean the stair-like obstacle.

[0070] In one exemplary embodiment, the obstacle climbing condition is a condition for a stair-like obstacle and is used to determine whether the robot cleaner should perform an obstacle climbing operation to climb over the stair-like obstacle. When at least height information and depth information simultaneously satisfy the obstacle climbing condition, the robot cleaner performs an obstacle climbing operation to climb over the stair-like obstacle. After climbing over the obstacle, the robot cleaner cleans the stair-like obstacle. Of course, after climbing over the obstacle, the robot cleaner may continue to move forward and clean another work area connected to the stair-like obstacle without cleaning the stair-like obstacle. Since the height information and depth information of the stair-like obstacle are simultaneously taken into consideration when climbing over the obstacle, the actual situation of the stair-like obstacle can be fully considered, thereby performing a refined and intelligent obstacle climbing for the stair-like obstacle and avoiding obstacle climbing abnormalities. For example, problems such as rolling down, hanging, or being trapped after climbing over the obstacle can be avoided. Specifically, for example, if a staircase-like obstacle is too short in the depth direction, abnormal problems such as the robot rolling down, hanging in the air, or being trapped after climbing over the obstacle can be avoided, ensuring that the robot vacuum cleaner can perform normal cleaning operations.

[0071] The obstacle climbing condition includes at least that the height information is equal to or less than a first threshold and that the depth information is equal to or greater than a second threshold. In this case, at least when the height information of the stair-like obstacle is equal to or less than the first threshold and the depth information of the stair-like obstacle is equal to or greater than a second threshold, the robot cleaner executes an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot cleaner. The first threshold may be determined based on a height between a body of the robot cleaner and a working surface. The first threshold may be in a range of 5 to 10 cm. For example, the first threshold may be 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 9.5 cm, 10 cm, etc. The second threshold may be a minimum obstacle climbing depth of the robot cleaner. The second threshold may be determined based on a size of the robot cleaner itself. For example, the second threshold may be determined based on a maximum diameter of the robot cleaner. The second threshold may be in a range of 1.1 to 1.5 times the maximum diameter of the robot cleaner. For example, the second threshold may be 1.1 times, 1.2 times, 1.3 times, 1.4 times, 1.45 times, 1.5 times, etc. of the maximum diameter of the robot vacuum cleaner. Specifically, the second threshold may be 35 cm, 36 cm, 40 cm, etc.

[0072] In one exemplary embodiment, the three-dimensional information may include only height information and depth information of the stair-like obstacle. In this case, if the height information and depth information simultaneously satisfy an obstacle-climbing condition, the robot vacuum cleaner may perform an obstacle-climbing operation to climb over the stair-like obstacle. After climbing over the obstacle, the robot vacuum cleaner may clean the stair-like obstacle. Of course, after climbing over the obstacle, the robot vacuum cleaner may continue to move forward and clean another work area connected to the stair-like obstacle without cleaning the stair-like obstacle. Since the height information and depth information of the stair-like obstacle are simultaneously taken into consideration when climbing over the obstacle, the actual situation of the stair-like obstacle can be fully taken into account, thereby performing a refined and intelligent obstacle climbing for the stair-like obstacle and preventing obstacle climbing abnormalities. For example, problems such as rolling down, hanging in the air, or being trapped after climbing over the obstacle can be prevented. Specifically, for example, problems such as rolling down, hanging in the air, or being trapped after climbing over the obstacle due to the stair-like obstacle being too short in the depth direction can be prevented, thereby ensuring that the robot vacuum cleaner can perform a normal cleaning operation. When the height information and / or depth information does not satisfy the obstacle climbing condition, the robot cleaner may perform an obstacle avoidance operation and clean the edge of the stair-like obstacle. By cleaning along the edge when the obstacle climbing condition is not satisfied, the area not cleaned can be reduced, the cleaning coverage rate can be improved, and the cleaning effect can be improved.

[0073] In this case, the robot vacuum cleaner may determine whether height information of the stair-like obstacle is equal to or less than a first threshold. If the height information of the stair-like obstacle is greater than the first threshold, the robot vacuum cleaner determines that the height of the stair-like obstacle is greater than the maximum obstacle-climbing height, and is unable to perform the obstacle-climbing operation. The robot vacuum cleaner may perform an obstacle avoidance operation and may clean the edge of the stair-like obstacle. If the height information of the stair-like obstacle is equal to or less than the first threshold, the robot vacuum cleaner may determine that the height of the stair-like obstacle is less than the maximum obstacle-climbing height, and is able to perform the obstacle-climbing operation. The robot vacuum cleaner may further determine whether depth information of the stair-like obstacle is equal to or greater than a second threshold. If the depth information of the stair-like obstacle is less than the second threshold, the robot vacuum cleaner may determine that an abnormality such as rolling down or becoming suspended in the depth direction may occur after climbing over the obstacle, and is able to perform the obstacle avoidance operation. If the depth information of the staircase-like obstacle is equal to or greater than the second threshold, it is assumed that the depth of the staircase-like obstacle is greater than the minimum obstacle-climbing depth, and that no obstacle-climbing abnormalities such as rolling down in the depth direction or hanging in the air will occur after climbing over the obstacle, and the robot vacuum cleaner can perform the obstacle-climbing operation.

[0074] Of course, the above determination process is merely an example. Actual applications are not limited to this. For example, first, it may be determined whether the depth information of the staircase-like obstacle is equal to or greater than the second threshold, and if the depth information is equal to or greater than the second threshold, it may be further determined whether the height information of the staircase-like obstacle is equal to or less than the first threshold.

[0075] In one exemplary embodiment, the three-dimensional information may include height information, depth information, and width information of the stair-like obstacle. If the height information, depth information, and width information simultaneously satisfy an obstacle-climbing condition, the robot vacuum cleaner may perform an obstacle-climbing operation to climb over the stair-like obstacle. After climbing over the obstacle, the robot vacuum cleaner may clean the stair-like obstacle. Of course, after climbing over the obstacle, the robot vacuum cleaner may continue to move forward and clean another work area connected to the stair-like obstacle without cleaning the stair-like obstacle. By simultaneously taking into account the height information, depth information, and width information of the stair-like obstacle, the actual situation of the stair-like obstacle can be fully considered when climbing over the obstacle, thereby enabling more precise and intelligent obstacle climbing for the stair-like obstacle and avoiding obstacle climbing abnormalities. For example, problems such as rolling over, hanging in the air, or being trapped after climbing over the obstacle can be avoided, ensuring that the robot vacuum cleaner can perform a normal cleaning operation. Specifically, for example, abnormal problems such as rolling down, hanging, or being trapped after climbing over a step-like obstacle that is too short in the depth direction can be avoided. Furthermore, abnormal problems such as rolling down, hanging, or being trapped after climbing over a step-like obstacle that is too narrow in the width direction can be avoided. If at least one of the height information, depth information, and width information does not satisfy the obstacle climbing condition, the robot vacuum cleaner may perform an obstacle avoidance operation and clean the edge of the step-like obstacle. By cleaning along the edge when the obstacle climbing condition is not satisfied, the area not cleaned can be reduced, the cleaning coverage rate can be improved, and the cleaning effect can be improved.

[0076] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, depth information is equal to or greater than a second threshold, and width information is equal to or greater than a third threshold. In this case, when at least the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, and the width information of the stair-like obstacle is equal to or greater than the third threshold, the robot cleaner executes an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot cleaner. The first threshold may be determined based on a height between a body of the robot cleaner and a working surface. The first threshold may be in a range of 5 to 10 cm. For example, the first threshold may be 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 9.5 cm, 10 cm, etc. The second threshold may be a minimum obstacle climbing depth of the robot cleaner. The second threshold may be determined based on a size of the robot cleaner itself. For example, the second threshold may be determined based on a maximum diameter of the robot cleaner. The second threshold may be in the range of 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner. For example, the second threshold may be 1.1, 1.2, 1.3, 1.4, 1.45, 1.5, etc. times the maximum diameter of the robot vacuum cleaner. The third threshold may be the minimum width for the robot vacuum cleaner to clear an obstacle. The third threshold may be determined based on the size of the robot vacuum cleaner itself. For example, the third threshold may be determined based on the maximum diameter of the robot vacuum cleaner. For example, the third threshold may be obtained based on the wheelbase between two drive wheels of the robot vacuum cleaner. The third threshold may be in the range of 1.1 to 1.5 times the maximum diameter or wheelbase of the robot vacuum cleaner. For example, the third threshold may be 1.1, 1.15, 1.2, 1.3, 1.4, 1.45, 1.5, etc. times the maximum diameter or wheelbase of the robot vacuum cleaner. Preferably, the third threshold range is 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner, thus effectively avoiding problems such as rolling down, hanging in the air, and being trapped after climbing over an obstacle.

[0077] In this case, the robot vacuum cleaner may determine whether height information of the stair-like obstacle is equal to or less than a first threshold. If the height information of the stair-like obstacle is greater than the first threshold, the robot vacuum cleaner may determine that the height of the stair-like obstacle is greater than the maximum obstacle-climbing height and may not perform the obstacle-climbing operation. The robot vacuum cleaner may perform an obstacle avoidance operation to clean the edge of the stair-like obstacle. If the height information of the stair-like obstacle is equal to or less than the first threshold, the robot vacuum cleaner may determine that the height of the stair-like obstacle is less than the maximum obstacle-climbing height and may perform the obstacle-climbing operation. The robot vacuum cleaner may further determine whether depth information of the stair-like obstacle is equal to or greater than a second threshold. If the depth information of the stair-like obstacle is less than the second threshold, the robot vacuum cleaner may determine that an obstacle-climbing abnormality, such as rolling down or hanging in the air in the depth direction, may occur after climbing over the obstacle and may perform the obstacle avoidance operation. If the depth information of the stair-like obstacle is equal to or greater than the second threshold, it is determined that the depth of the stair-like obstacle is greater than the minimum obstacle-overcoming depth, and that abnormalities such as rolling down or becoming suspended in the depth direction will not occur after overcoming the obstacle, and the robot vacuum cleaner may perform an obstacle-overcoming operation. The robot vacuum cleaner may further determine whether width information of the stair-like obstacle is equal to or greater than a third threshold. If the width information of the stair-like obstacle is less than the third threshold, it is determined that abnormalities such as rolling down or becoming suspended in the width direction will occur after overcoming the obstacle, and the robot vacuum cleaner may perform an obstacle avoidance operation. If the width information of the stair-like obstacle is equal to or greater than the third threshold, it is determined that the width of the stair-like obstacle is greater than the minimum obstacle-overcoming width, and that abnormalities such as rolling down or becoming suspended in the width direction will not occur after overcoming the obstacle. The robot vacuum cleaner may perform an obstacle-overcoming operation to clean the stair-like obstacle.

[0078] Of course, the above determination process is merely illustrative. Actual applications are not limited to these. For example, first, it may be determined whether the depth information of the staircase-like obstacle is equal to or greater than a second threshold. If the depth information is equal to or greater than the second threshold, it may be further determined whether the height information of the staircase-like obstacle is equal to or less than a first threshold. If the height information is equal to or less than the first threshold, it may be further determined whether the width information of the staircase-like obstacle is equal to or greater than a third threshold. Also, for example, first, it may be determined whether the width information of the staircase-like obstacle is equal to or greater than a third threshold. If the width information is equal to or greater than the third threshold, it may be further determined whether the depth information of the staircase-like obstacle is equal to or greater than a second threshold. If the depth information is equal to or greater than the second threshold, it may be further determined whether the height information of the staircase-like obstacle is equal to or less than the first threshold.

[0079] In this embodiment, if the height information satisfies the obstacle-climbing condition, and if the height information does not satisfy the obstacle-climbing condition, it can be understood using the contents described in the previous embodiment.

[0080] In one exemplary embodiment, the three-dimensional information may include height information, depth information, and slope information of the stair-like obstacle. If the height information, depth information, and slope information simultaneously satisfy an obstacle-climbing condition, the robot vacuum cleaner may perform an obstacle-climbing operation to climb over the stair-like obstacle. After climbing over the obstacle, the robot vacuum cleaner may clean the stair-like obstacle. Of course, after climbing over the obstacle, the robot vacuum cleaner may continue to move forward and clean another work area connected to the stair-like obstacle without cleaning the stair-like obstacle. By simultaneously taking into account the height information, depth information, and slope information of the stair-like obstacle and comprehensively considering the actual situation of the stair-like obstacle, the robot vacuum cleaner can perform more precise and intelligent obstacle climbing over the stair-like obstacle, avoid obstacle climbing abnormalities, and ensure that the robot vacuum cleaner performs a normal cleaning operation. For example, problems such as rolling over, hanging in the air, or being trapped after climbing over the obstacle can be avoided. Specifically, for example, abnormal problems such as rolling down, hanging, or being trapped after climbing over a step-like obstacle due to the step being too short in the depth direction can be avoided. Furthermore, it can be avoided that the robot vacuum cleaner slides down after climbing over the obstacle due to the angle between the second surface of the step-like obstacle and the horizontal plane being too large, making the second surface too steep. The robot vacuum cleaner may perform an obstacle avoidance operation and clean the edge of the step-like obstacle if at least one of the height information, depth information, and slope information does not satisfy the obstacle climbing condition. By cleaning along the edge when the obstacle climbing condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0081] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, depth information is equal to or greater than a second threshold, and gradient information is equal to or less than a fourth threshold. In this case, when at least the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, and the gradient information of the stair-like obstacle is equal to or less than a fourth threshold, the robot cleaner executes an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot cleaner. The first threshold may be determined based on a height between a body of the robot cleaner and a working surface. The first threshold may be in a range of 5 to 10 cm. For example, the first threshold may be 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 9.5 cm, 10 cm, etc. The second threshold may be a minimum obstacle climbing depth of the robot cleaner. The second threshold may be determined based on a size of the robot cleaner itself. For example, the second threshold may be determined based on a maximum diameter of the robot cleaner. The second threshold value ranges from 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner. For example, the second threshold value may be 1.1, 1.2, 1.3, 1.4, 1.45, 1.5 times the maximum diameter of the robot vacuum cleaner. The fourth threshold value may be the maximum gradient of the robot vacuum cleaner overcoming an obstacle. The fourth threshold value may be determined based on attribute information of the robot vacuum cleaner, such as the weight of the robot vacuum cleaner and the friction coefficient of the drive wheels. The fourth threshold value may range from 20° to 40°. For example, the fourth threshold value may be 20°, 25°, 30°, 36°, 40°, etc.

[0082] In this case, the robot vacuum cleaner may determine whether height information of the stair-like obstacle is equal to or less than a first threshold. If the height information of the stair-like obstacle is greater than the first threshold, the robot vacuum cleaner may determine that the height of the stair-like obstacle is greater than the maximum obstacle-climbing height and may not perform the obstacle-climbing operation. The robot vacuum cleaner may perform an obstacle avoidance operation to clean the edge of the stair-like obstacle. If the height information of the stair-like obstacle is equal to or less than the first threshold, the robot vacuum cleaner may determine that the height of the stair-like obstacle is less than the maximum obstacle-climbing height and may perform the obstacle-climbing operation. The robot vacuum cleaner may further determine whether depth information of the stair-like obstacle is equal to or greater than a second threshold. If the depth information of the stair-like obstacle is less than the second threshold, the robot vacuum cleaner may determine that an obstacle-climbing abnormality, such as rolling down or hanging in the air in the depth direction, may occur after climbing over the obstacle and may perform the obstacle avoidance operation. If the depth information of the stair-like obstacle is equal to or greater than the second threshold, it is determined that the depth of the stair-like obstacle is greater than the minimum obstacle-crossing depth, and that an obstacle-crossing abnormality such as rolling down or hanging in the air in the depth direction will not occur after crossing the obstacle, and the robot vacuum cleaner may perform an obstacle-crossing operation. The robot vacuum cleaner may further determine whether the gradient information of the stair-like obstacle is equal to or less than a fourth threshold. If the gradient information of the stair-like obstacle is greater than the fourth threshold, it is determined that the stair-like obstacle is steep and cannot travel normally. The robot vacuum cleaner may perform an obstacle avoidance operation. If the gradient information of the stair-like obstacle is equal to or less than the fourth threshold, it is determined that the gradient of the stair-like obstacle is gentle. The robot vacuum cleaner may perform an obstacle-crossing operation to clean the stair-like obstacle.

[0083] Of course, the above determination process is merely illustrative. Actual applications are not limited to these. For example, first, it may be determined whether the depth information of the staircase-like obstacle is equal to or greater than a second threshold. If the depth information is equal to or greater than the second threshold, it may be further determined whether the height information of the staircase-like obstacle is equal to or less than a first threshold. If the height information is equal to or less than the first threshold, it may be further determined whether the gradient information of the staircase-like obstacle is equal to or less than a fourth threshold. Also, for example, first, it may be determined whether the gradient information of the staircase-like obstacle is equal to or less than a fourth threshold. If the gradient information is equal to or less than the fourth threshold, it may be further determined whether the depth information of the staircase-like obstacle is equal to or greater than a second threshold. If the depth information is equal to or greater than the second threshold, it may be further determined whether the height information of the staircase-like obstacle is equal to or less than the first threshold.

[0084] In this embodiment, if the height information satisfies the obstacle-climbing condition, and if the height information does not satisfy the obstacle-climbing condition, it can be understood using the contents described in the previous embodiment.

[0085] In one exemplary embodiment, the three-dimensional information may include height information, depth information, width information, and slope information of the stair-like obstacle. The robot vacuum cleaner may perform an obstacle-climbing operation to climb over the stair-like obstacle if the height information, depth information, width information, and slope information simultaneously satisfy an obstacle-climbing condition. After climbing over the obstacle, the robot vacuum cleaner may clean the stair-like obstacle. Of course, after climbing over the obstacle, the robot vacuum cleaner may continue to move forward and clean another work area connected to the stair-like obstacle without cleaning the stair-like obstacle. Since the height information, depth information, width information, and slope information of the stair-like obstacle are simultaneously taken into consideration when climbing over an obstacle, the actual situation of the stair-like obstacle can be fully considered, thereby enabling more precise and intelligent obstacle climbing over the stair-like obstacle and avoiding obstacle climbing abnormalities. For example, problems such as rolling over, hanging in the air, or being trapped after climbing over an obstacle can be avoided, ensuring that the robot vacuum cleaner can perform a normal cleaning operation. Specifically, for example, if a step-like obstacle is too short in the depth direction, abnormal problems such as rolling down, hanging, or being trapped after climbing over the obstacle can be avoided. Furthermore, if a step-like obstacle is too narrow in the width direction, abnormal problems such as rolling down, hanging, or being trapped after climbing over the obstacle can be avoided. Furthermore, if the angle between the second surface of the step-like obstacle and the horizontal plane is too large, making the second surface too steep, the robot vacuum cleaner can avoid slipping down after climbing over the obstacle. The robot vacuum cleaner may perform an obstacle avoidance operation if at least one of the height information, depth information, width information, and slope information does not satisfy the obstacle climbing condition. By cleaning along the edge when the obstacle climbing condition is not satisfied, the area missed for cleaning can be reduced, the cleaning coverage rate can be improved, and the cleaning effect can be improved.

[0086] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, depth information is equal to or greater than a second threshold, width information is equal to or greater than a third threshold, and gradient information is equal to or less than a fourth threshold. In this case, if the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, the width information of the stair-like obstacle is equal to or greater than the third threshold, and the gradient information of the stair-like obstacle is equal to or less than the fourth threshold, the robot cleaner executes an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot cleaner. The first threshold may be determined based on a height between a body of the robot cleaner and a working surface. The first threshold may be in a range of 5 to 10 cm. For example, the first threshold may be 5 cm, 6 cm, 7 cm, 8 cm, 9 cm, 9.5 cm, 10 cm, etc. The second threshold may be a minimum obstacle climbing depth of the robot cleaner. The second threshold may be determined based on a size of the robot cleaner itself. For example, the second threshold may be determined based on the maximum diameter of the robot vacuum cleaner. The second threshold ranges from 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner. For example, the second threshold may be 1.1, 1.2, 1.3, 1.4, 1.45, 1.5, etc. times the maximum diameter of the robot vacuum cleaner. The third threshold may be the minimum width for the robot vacuum cleaner to overcome an obstacle. The third threshold may be determined based on the size of the robot vacuum cleaner itself. For example, the third threshold may be determined based on the maximum diameter of the robot vacuum cleaner. For example, the third threshold may be obtained based on the wheelbase between two drive wheels of the robot vacuum cleaner. The third threshold ranges from 1.1 to 1.5 times the maximum diameter or wheelbase of the robot vacuum cleaner. For example, the third threshold may be 1.1, 1.15, 1.2, 1.3, 1.4, 1.45, 1.5, etc. times the maximum diameter or wheelbase of the robot vacuum cleaner. Preferably, the third threshold ranges from 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner, thus effectively avoiding problems such as rolling down, hanging, being trapped after climbing over an obstacle, etc. The fourth threshold may be the maximum obstacle climbing gradient of the robot vacuum cleaner.The fourth threshold may be determined based on attribute information such as the weight of the robot cleaner and the friction coefficient of the drive wheels. The fourth threshold may be in a range of 20° to 40°. For example, the fourth threshold may be 20°, 25°, 30°, 36°, 40°, etc.

[0087] In this case, the robot vacuum cleaner may determine whether height information of the stair-like obstacle is equal to or less than a first threshold. If the height information of the stair-like obstacle is greater than the first threshold, the robot vacuum cleaner determines that the height of the stair-like obstacle is greater than the maximum obstacle-climbing height, and is unable to perform the obstacle-climbing operation. The robot vacuum cleaner may perform an obstacle avoidance operation and may clean the edge of the stair-like obstacle. If the height information of the stair-like obstacle is equal to or less than the first threshold, the robot vacuum cleaner may determine that the height of the stair-like obstacle is less than the maximum obstacle-climbing height, and is able to perform the obstacle-climbing operation. The robot vacuum cleaner may further determine whether depth information of the stair-like obstacle is equal to or greater than a second threshold. If the depth information of the stair-like obstacle is less than the second threshold, the robot vacuum cleaner may determine that an obstacle-climbing abnormality, such as rolling down or hanging in the air in the depth direction, may occur after climbing over the obstacle, and is able to perform the obstacle avoidance operation. If the depth information of the stair-like obstacle is equal to or greater than the second threshold, it is determined that the depth of the stair-like obstacle is greater than the minimum obstacle-overcoming depth, and that an obstacle-overcoming abnormality such as rolling down or becoming suspended in the depth direction will not occur after overcoming the obstacle, and the robot vacuum cleaner may perform an obstacle-overcoming operation. The robot vacuum cleaner may further determine whether width information of the stair-like obstacle is equal to or greater than a third threshold. If the width information of the stair-like obstacle is less than the third threshold, it is determined that an obstacle-overcoming abnormality such as rolling down or becoming suspended in the width direction will occur after overcoming the obstacle, and the robot vacuum cleaner may perform an obstacle avoidance operation. If the width information of the stair-like obstacle is equal to or greater than the third threshold, it is determined that the width of the stair-like obstacle is greater than the minimum obstacle-overcoming width, and that an obstacle-overcoming abnormality such as rolling down or becoming suspended in the width direction will not occur after overcoming the obstacle, and the robot vacuum cleaner may perform an obstacle-overcoming operation. The robot vacuum cleaner may further determine whether gradient information of the stair-like obstacle is equal to or less than a fourth threshold. If the gradient information of the stair-like obstacle is greater than a fourth threshold, the gradient of the stair-like obstacle is considered to be steep. The robot cleaner can perform an obstacle avoidance operation. If the gradient information of the stair-like obstacle is equal to or less than the fourth threshold, the gradient of the stair-like obstacle is considered to be gentle.The robot cleaner can perform obstacle climbing operations.

[0088] Of course, the above determination process is merely illustrative. Actual applications are not limited to these. For example, first, it may be determined whether the depth information of the staircase-like obstacle is equal to or greater than a second threshold. If the depth information is equal to or greater than the second threshold, it may be further determined whether the height information of the staircase-like obstacle is equal to or less than a first threshold. If the height information is equal to or less than the first threshold, it may be further determined whether the gradient information of the staircase-like obstacle is equal to or less than a fourth threshold. If the gradient information is equal to or less than the fourth threshold, it may be further determined whether the width information of the staircase-like obstacle is equal to or greater than a third threshold. Also, for example, first, it may be determined whether the gradient information of the staircase-like obstacle is equal to or less than a fourth threshold. If the gradient information is equal to or less than the fourth threshold, it may be further determined whether the width information of the staircase-like obstacle is equal to or greater than a third threshold. If the width information is equal to or greater than the third threshold, it may be further determined whether the depth information of the staircase-like obstacle is equal to or greater than a second threshold. If the depth information is equal to or greater than the second threshold, it may be further determined whether the height information of the staircase-like obstacle is equal to or less than the first threshold.

[0089] In this embodiment, if the height information satisfies the obstacle-climbing condition, and if the height information does not satisfy the obstacle-climbing condition, it can be understood using the contents described in the previous embodiment.

[0090] In one or more exemplary embodiments described above, when the height information of the stair-like obstacle is equal to or less than a first threshold, the traveling direction of the robot cleaner may be adjusted so that the angle between the detection direction of the sensor system and the first surface of the stair-like obstacle satisfies a predetermined angle condition. The predetermined angle condition is used to reduce the deviation between the sensor system and the first surface of the stair-like obstacle so that other three-dimensional information of the obstacle, such as depth information, width information, and gradient information, can be accurately acquired. Optionally, the predetermined angle condition may be 85° to 95°. This allows the sensor system to face the first surface of the stair-like obstacle so that other three-dimensional information of the obstacle, such as depth information, width information, and gradient information, can be easily accurately acquired. When the angle between the detection direction of the sensor system and the first surface of the stair-like obstacle satisfies the predetermined angle condition, the sensor system may again collect at least one of three-dimensional information of the stair-like obstacle in the forward area, such as depth information, width information, and gradient information. For example, if the newly collected three-dimensional information includes depth information of a staircase-like obstacle, and if the depth information satisfies the predetermined angle condition and is equal to or greater than a second threshold, an obstacle overcoming operation can be performed. Furthermore, for example, the newly collected three-dimensional information may further include at least one of width information and gradient information. In this case, if the depth information is equal to or greater than the second threshold, and the width information is equal to or greater than a third threshold and / or the gradient information is equal to or less than a fourth threshold, an obstacle overcoming operation can be performed. In this way, erroneous determinations can be reduced and the success rate of overcoming obstacles can be improved.

[0091] In one exemplary embodiment, the robot vacuum cleaner may activate an obstacle-climbing member to perform the obstacle-climbing action. The obstacle-climbing member may be a member for assisting the robot vacuum cleaner in climbing over an obstacle. The obstacle-climbing member includes a swinging member. The swinging member is swingable around its own swing axis. The swinging member is swingable when activated. As a result, the swinging member can assist the robot vacuum cleaner in climbing over an obstacle by contacting the obstacle and generating a relative acting force with the obstacle. Alternatively, the robot vacuum cleaner may accelerate to climb over a stair-shaped obstacle. By accelerating to climb over an obstacle, the number of times the obstacle-climbing member is activated can be reduced, reducing wear on the robot vacuum cleaner due to obstacle climbing and extending the service life of the obstacle-climbing member and the robot vacuum cleaner. Furthermore, it takes a certain amount of time to activate the obstacle-climbing member. This saves cleaning time and improves cleaning efficiency.

[0092] If the three-dimensional information of the stair-like obstacle satisfies the obstacle climbing condition, the robot cleaner may select a specific obstacle climbing method based on the height information of the stair-like obstacle. The obstacle climbing method using an obstacle climbing member is suitable for high stair-like obstacles. The obstacle climbing method using acceleration is suitable for low stair-like obstacles. The robot cleaner may determine whether the height information of the stair-like obstacle is equal to or greater than a set height. If the height information of the stair-like obstacle is greater than the set height and equal to or less than a first threshold, the robot cleaner may activate the obstacle climbing member to perform an obstacle climbing operation using the obstacle climbing member. If the height information of the stair-like obstacle is smaller than the set height, the robot cleaner may control acceleration travel so as to climb over the stair-like obstacle. The set height value may be in a range of 3 cm to 5 cm. The set height may be 3 cm, 4 cm, 5 cm, etc.

[0093] When the height information of the stair-like obstacle is greater than a set height and equal to or less than a first threshold, the robot cleaner may be controlled to stop when it travels to a designated position, and then the robot cleaner may be controlled to travel by activating an obstacle-climbing member and performing the obstacle-climbing operation using the obstacle-climbing member. The distance between the designated position and the stair-like obstacle is equal to or less than a fifth threshold. The fifth threshold is used to cause the robot cleaner to decelerate and travel to the edge of the stair-like obstacle. The range of the fifth threshold may be 0.5 cm to 2 cm. For example, the fifth threshold may be 0.8 cm, 1 cm, 1.5 cm, etc.

[0094] If the height information of the stair-like obstacle is smaller than a set height, the robot vacuum cleaner may acquire a distance between itself and the stair-like obstacle. The distance between the robot vacuum cleaner and the stair-like obstacle may include a minimum distance between the robot vacuum cleaner and the stair-like obstacle. If the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than a sixth threshold, it is determined that there is a sufficiently long acceleration distance between the robot vacuum cleaner and the stair-like obstacle, and the robot vacuum cleaner may be controlled to accelerate so as to overcome the stair-like obstacle. If the distance between the robot vacuum cleaner and the stair-like obstacle is smaller than the sixth threshold, it is determined that the distance between the robot vacuum cleaner and the stair-like obstacle is too short and there is not enough acceleration distance, and the robot vacuum cleaner may be controlled to move backward until the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than the sixth threshold. This provides a sufficiently long distance for the robot vacuum cleaner to accelerate. Next, the robot vacuum cleaner may be controlled to accelerate so as to overcome the stair-like obstacle. Optionally, if the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than the sixth threshold and equal to or less than a seventh distance, the robot vacuum cleaner may be controlled to accelerate. In this way, there is a sufficiently long acceleration distance between the robot cleaner and the stair-like obstacle, and the distance between the robot cleaner and the stair-like obstacle can be avoided from being too long.

[0095] The fact that the three-dimensional information of the staircase-like obstacle satisfies the obstacle-climbing condition may include the fact that at least the height information and the depth information simultaneously satisfy the obstacle-climbing condition. For example, the fact that the three-dimensional information of the staircase-like obstacle satisfies the obstacle-climbing condition may be expressed as follows: Only the height information and the depth information simultaneously satisfy the obstacle overcoming condition; Only the height information, the depth information, and the width information simultaneously satisfy the obstacle overcoming condition; Only the height information, the depth information, and the gradient information simultaneously satisfy the obstacle overcoming condition; The height information, depth information, width information, and gradient information may simultaneously satisfy an obstacle overcoming condition.

[0096] According to a method for controlling the travel of a robot vacuum cleaner according to an embodiment of the present disclosure, the robot vacuum cleaner is provided with a sensor system capable of acquiring three-dimensional information about an obstacle. During the travel of the robot vacuum cleaner, the sensor system can collect three-dimensional information, including at least height and depth information about a step-like obstacle in a forward area. If the height and depth information satisfy an obstacle-surmounting condition, the robot vacuum cleaner can perform an obstacle-surmounting operation to overcome the step-like obstacle and clean the step-like obstacle. In this manner, the sensor system can identify the specific type of obstacle and perform a refined obstacle-surmounting operation for the step-like obstacle. By simultaneously taking into account the height and depth information of the step-like obstacle and comprehensively considering the actual situation of the step-like obstacle, the robot vacuum cleaner can perform a refined and intelligent obstacle-surmounting operation for the step-like obstacle, avoiding obstacle-surmounting abnormalities and ensuring that the robot vacuum cleaner performs a normal cleaning operation. For example, problems such as rolling down or hanging in the air after overcoming an obstacle can be avoided.

[0097] As shown in FIG. 5, according to an embodiment of the present specification, there is further provided a method for controlling travel of a robot cleaner, which method includes the following steps 21 to 22.

[0098] In step 21, during the traveling process of the robot cleaner, the sensor system collects three-dimensional information including height information, depth information, width information and gradient information of the stair-like obstacle in the forward area.

[0099] In step 22, if the height information is equal to or less than a first threshold, the depth information is equal to or greater than a second threshold, the width information is equal to or greater than a third threshold, and the gradient information is equal to or less than a fourth threshold, an obstacle climbing operation is performed to climb over the staircase-like obstacle.

[0100] In one exemplary embodiment, the robot vacuum cleaner can clean a working area in an arc-shaped manner. During the arc-shaped cleaning process, the robot vacuum cleaner may use a sensor system to collect three-dimensional information about obstacles in the area ahead. Alternatively, during the cleaning process along an edge, the robot vacuum cleaner may use a sensor system to collect three-dimensional information about obstacles in the area ahead. Alternatively, during the returning process to the station, the robot vacuum cleaner may also use a sensor system to collect three-dimensional information about obstacles in the area ahead. The station may detach and / or attach cleaning members of the robot vacuum cleaner, charge the robot vacuum cleaner, and clear away debris in the dust chamber of the robot vacuum cleaner.

[0101] In one exemplary embodiment, the forward region may include an effective detection region of the sensor system, which may include at least one of an effective angle of view of a monocular vision sensor, an effective angle of view of a binocular vision sensor, an effective detection distance range of a line laser sensor, an effective detection distance range of a plane laser sensor, an effective detection distance range of an LDS sensor, and an effective detection distance range of a Dtof sensor.

[0102] In one exemplary embodiment, the stair-like obstacle is a building component connecting different surfaces. The surfaces connected by the stair-like obstacle may have different elevations or the same elevation. The surfaces connected by the stair-like obstacle may be flat or curved. For example, the stair-like obstacle may include a step staircase, a slope staircase, or a staircase between different areas in a room. Here, the staircase between different areas in a room may include a staircase between a balcony and a living room, a staircase between a bedroom and a living room, a staircase between a kitchen and a living room, etc.

[0103] In one exemplary embodiment, during the travel of the robot cleaner, a sensor system may collect information about the surrounding environment in a forward area and transmit the collected information to a controller. The controller may determine the type of obstacle based on the received information, and if the obstacle type is a stair-like obstacle, may acquire the three-dimensional information of the stair-like obstacle. Alternatively, the controller may transmit the received information to a background server. The server may determine the type of obstacle based on the received information, and if the obstacle type is a stair-like obstacle, may acquire the three-dimensional information of the stair-like obstacle and transmit the three-dimensional information of the stair-like obstacle to the controller.

[0104] In one exemplary embodiment, the three-dimensional information may include height information, depth information, width information, and slope information of a stair-like obstacle. The robot vacuum cleaner may perform an obstacle climbing operation to climb over the stair-like obstacle if the height information, depth information, width information, and slope information simultaneously satisfy an obstacle climbing condition. The robot vacuum cleaner may perform an obstacle avoidance operation if at least one of the height information, depth information, width information, and slope information does not satisfy the obstacle climbing condition. By cleaning along the edge when the obstacle climbing condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0105] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, depth information is equal to or greater than a second threshold, width information is equal to or greater than a third threshold, and gradient information is equal to or less than a fourth threshold. In this case, when the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, the width information of the stair-like obstacle is equal to or greater than the third threshold, and the gradient information of the stair-like obstacle is equal to or less than a fourth threshold, the robot vacuum cleaner performs an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot vacuum cleaner. The first threshold may be determined based on a height between a body of the robot vacuum cleaner and a working surface. The second threshold may be a minimum obstacle climbing depth of the robot vacuum cleaner. The second threshold may be determined based on a size of the robot vacuum cleaner itself. The third threshold may be a minimum obstacle climbing width of the robot vacuum cleaner. The third threshold may be determined based on a size of the robot vacuum cleaner itself. The fourth threshold may be a maximum obstacle climbing gradient of the robot vacuum cleaner. The fourth threshold value may be determined based on attribute information such as the weight of the robot cleaner and the friction coefficient of the drive wheels.

[0106] In one exemplary embodiment, when the height information of the stair-like obstacle is equal to or less than a first threshold, the traveling direction of the robot cleaner may be adjusted so that the angle between the detection direction of the sensor system and the first surface of the stair-like obstacle satisfies a predetermined angle condition. The predetermined angle condition is used to reduce the deviation between the sensor system and the first surface of the stair-like obstacle so that other three-dimensional information of the obstacle, such as depth information, width information, and gradient information, can be accurately acquired. Optionally, the predetermined angle condition may be between 85° and 95°. This allows the sensor system to face the first surface of the stair-like obstacle so that other three-dimensional information of the obstacle, such as depth information, width information, and gradient information, can be easily accurately acquired. When the angle between the detection direction of the sensor system and the first surface of the stair-like obstacle satisfies the predetermined angle condition, the sensor system may again collect three-dimensional information of the stair-like obstacle in the forward area, such as at least one of depth information, width information, and gradient information. For example, if the newly collected three-dimensional information includes depth information of a staircase-like obstacle, and if the depth information satisfies the predetermined angle condition and is equal to or greater than a second threshold, an obstacle overcoming operation can be performed. Furthermore, for example, the newly collected three-dimensional information may further include at least one of width information and gradient information. In this case, if the depth information is equal to or greater than the second threshold, and the width information is equal to or greater than a third threshold and / or the gradient information is equal to or less than a fourth threshold, an obstacle overcoming operation can be performed. In this way, erroneous determinations can be reduced and the success rate of overcoming obstacles can be improved.

[0107] In one exemplary embodiment, the robot vacuum cleaner may activate an obstacle-climbing member to perform the obstacle-climbing action. The obstacle-climbing member may be a member for assisting the robot vacuum cleaner in climbing over an obstacle. The obstacle-climbing member includes a swinging member. The swinging member is swingable around its own swing axis. The swinging member is swingable when activated. As a result, the swinging member can assist the robot vacuum cleaner in climbing over an obstacle by contacting the obstacle and generating a relative acting force with the obstacle. Alternatively, the robot vacuum cleaner may accelerate to climb over a stair-shaped obstacle. By accelerating to climb over an obstacle, the number of times the obstacle-climbing member is activated can be reduced, reducing wear on the robot vacuum cleaner due to obstacle climbing and extending the service life of the obstacle-climbing member and the robot vacuum cleaner. Furthermore, it takes a certain amount of time to activate the obstacle-climbing member. This saves cleaning time and improves cleaning efficiency.

[0108] If the three-dimensional information of the stair-like obstacle satisfies the obstacle climbing condition, the robot cleaner may select a specific obstacle climbing method based on the height information of the stair-like obstacle. The obstacle climbing method using an obstacle climbing member is suitable for high stair-like obstacles. The obstacle climbing method using acceleration is suitable for low stair-like obstacles. The robot cleaner may determine whether the height information of the stair-like obstacle is equal to or greater than a set height. If the height information of the stair-like obstacle is greater than the set height and equal to or less than a first threshold, the robot cleaner may activate the obstacle climbing member to perform an obstacle climbing operation using the obstacle climbing member. If the height information of the stair-like obstacle is smaller than the set height, the robot cleaner may control acceleration travel so as to climb over the stair-like obstacle. The set height value may be in a range of 3 cm to 5 cm. The set height may be 3 cm, 4 cm, 5 cm, etc.

[0109] When the height information of the stair-like obstacle is greater than a set height and equal to or less than a first threshold, the robot cleaner may be controlled to stop when it travels to a designated position, and then the robot cleaner may be controlled to travel by activating an obstacle-climbing member and performing the obstacle-climbing operation using the obstacle-climbing member. The distance between the designated position and the stair-like obstacle is equal to or less than a fifth threshold. The fifth threshold is used to cause the robot cleaner to decelerate and travel to the edge of the stair-like obstacle. The range of the fifth threshold may be 0.5 cm to 2 cm. For example, the fifth threshold may be 0.8 cm, 1 cm, 1.5 cm, etc.

[0110] If the height information of the stair-like obstacle is smaller than a set height, the robot vacuum cleaner may acquire a distance between itself and the stair-like obstacle. The distance between the robot vacuum cleaner and the stair-like obstacle may include a minimum distance between the robot vacuum cleaner and the stair-like obstacle. If the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than a sixth threshold, it is determined that there is a sufficiently long acceleration distance between the robot vacuum cleaner and the stair-like obstacle, and the robot vacuum cleaner may be controlled to accelerate so as to overcome the stair-like obstacle. If the distance between the robot vacuum cleaner and the stair-like obstacle is smaller than the sixth threshold, it is determined that the distance between the robot vacuum cleaner and the stair-like obstacle is too short and there is not enough acceleration distance, and the robot vacuum cleaner may be controlled to move backward until the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than the sixth threshold. This provides a sufficiently long distance for the robot vacuum cleaner to accelerate. Next, the robot vacuum cleaner may be controlled to accelerate so as to overcome the stair-like obstacle. Optionally, if the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than the sixth threshold and equal to or less than a seventh distance, the robot vacuum cleaner may be controlled to accelerate. In this way, there is a sufficiently long acceleration distance between the robot cleaner and the stair-like obstacle, and the distance between the robot cleaner and the stair-like obstacle can be avoided from being too long.

[0111] According to the travel control method of a robot vacuum cleaner according to the embodiments of the present specification, a sensor system can identify the specific type of obstacle and perform fine-tuned obstacle climbing for a step-like obstacle. When climbing over an obstacle, the height information, depth information, width information, and gradient information of the step-like obstacle can be simultaneously taken into consideration, and the actual situation of the step-like obstacle can be fully taken into consideration. This allows for more fine-tuned and intelligent obstacle climbing for the step-like obstacle and prevents obstacle climbing abnormalities. For example, problems such as rolling down or hanging in the air after climbing over an obstacle can be avoided.

[0112] As shown in FIG. 6, according to an embodiment of the present specification, there is further provided a method for controlling travel of a robot cleaner, which includes the following steps 31 to 32.

[0113] In step 31, during the traveling process of the robot cleaner, the sensor system collects three-dimensional information including height information, depth information and gradient information of the stair-like obstacle in the forward area.

[0114] In step 32, if the height information is equal to or less than the first threshold, the depth information is equal to or greater than the second threshold, and the gradient information is equal to or less than the fourth threshold, an obstacle climbing operation is performed to climb over the staircase-like obstacle.

[0115] In one exemplary embodiment, the robot vacuum cleaner can clean a working area in an arc-shaped manner. During the arc-shaped cleaning process, the robot vacuum cleaner may use a sensor system to collect three-dimensional information about obstacles in the area ahead. Alternatively, during the cleaning process along an edge, the robot vacuum cleaner may use a sensor system to collect three-dimensional information about obstacles in the area ahead. Alternatively, during the returning process to the station, the robot vacuum cleaner may also use a sensor system to collect three-dimensional information about obstacles in the area ahead. The station may detach and / or attach cleaning members of the robot vacuum cleaner, charge the robot vacuum cleaner, and clear away debris in the dust chamber of the robot vacuum cleaner.

[0116] In one exemplary embodiment, the forward region may include an effective detection region of the sensor system, which may include at least one of an effective angle of view of a monocular vision sensor, an effective angle of view of a binocular vision sensor, an effective detection distance range of a line laser sensor, an effective detection distance range of a plane laser sensor, an effective detection distance range of an LDS sensor, and an effective detection distance range of a Dtof sensor.

[0117] In one exemplary embodiment, the stair-like obstacle is a building component connecting different surfaces. The surfaces connected by the stair-like obstacle may have different elevations or the same elevation. The surfaces connected by the stair-like obstacle may be flat or curved. For example, the stair-like obstacle may include a step staircase, a slope staircase, or a staircase between different areas in a room. Here, the staircase between different areas in a room may include a staircase between a balcony and a living room, a staircase between a bedroom and a living room, a staircase between a kitchen and a living room, etc.

[0118] In one exemplary embodiment, during the travel of the robot cleaner, a sensor system may collect information about the surrounding environment in a forward area and transmit the collected information to a controller. The controller may determine the type of obstacle based on the received information, and if the obstacle type is a stair-like obstacle, may acquire the three-dimensional information of the stair-like obstacle. Alternatively, the controller may transmit the received information to a background server. The server may determine the type of obstacle based on the received information, and if the obstacle type is a stair-like obstacle, may acquire the three-dimensional information of the stair-like obstacle and transmit the three-dimensional information of the stair-like obstacle to the controller.

[0119] In one exemplary embodiment, the three-dimensional information may include height information, depth information, and slope information of a stair-like obstacle. The robot vacuum cleaner may perform an obstacle climbing operation to climb over the stair-like obstacle if the height information, depth information, and slope information simultaneously satisfy an obstacle climbing condition. The robot vacuum cleaner may perform an obstacle avoidance operation and clean the edge of the stair-like obstacle if at least one of the height information, depth information, and slope information does not satisfy the obstacle climbing condition. By cleaning along the edge when the obstacle climbing condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0120] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, depth information is equal to or greater than a second threshold, and gradient information is equal to or less than a fourth threshold. In this case, when at least the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, and the gradient information of the stair-like obstacle is equal to or less than a fourth threshold, the robot vacuum cleaner performs an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot vacuum cleaner. The first threshold may be determined based on a height between a body of the robot vacuum cleaner and a working surface. The second threshold may be a minimum obstacle climbing depth of the robot vacuum cleaner. The second threshold may be determined based on a size of the robot vacuum cleaner itself. The fourth threshold may be a maximum obstacle climbing gradient of the robot vacuum cleaner. The fourth threshold may be determined based on attribute information of the robot vacuum cleaner, such as a weight of the robot vacuum cleaner and a friction coefficient of a drive wheel.

[0121] In one exemplary embodiment, the three-dimensional information may include height information, depth information, width information, and slope information of a stair-like obstacle. The robot vacuum cleaner may perform an obstacle climbing operation to climb over the stair-like obstacle if the height information, depth information, width information, and slope information simultaneously satisfy an obstacle climbing condition. The robot vacuum cleaner may perform an obstacle avoidance operation if at least one of the height information, depth information, width information, and slope information does not satisfy the obstacle climbing condition. By cleaning along the edge when the obstacle climbing condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0122] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, depth information is equal to or greater than a second threshold, width information is equal to or greater than a third threshold, and gradient information is equal to or less than a fourth threshold. In this case, when the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, the width information of the stair-like obstacle is equal to or greater than the third threshold, and the gradient information of the stair-like obstacle is equal to or less than a fourth threshold, the robot vacuum cleaner performs an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot vacuum cleaner. The first threshold may be determined based on a height between a body of the robot vacuum cleaner and a working surface. The second threshold may be a minimum obstacle climbing depth of the robot vacuum cleaner. The second threshold may be determined based on a size of the robot vacuum cleaner itself. The third threshold may be a minimum obstacle climbing width of the robot vacuum cleaner. The third threshold may be determined based on a size of the robot vacuum cleaner itself. The fourth threshold may be a maximum obstacle climbing gradient of the robot vacuum cleaner. The fourth threshold value may be determined based on attribute information such as the weight of the robot cleaner and the friction coefficient of the drive wheels.

[0123] In one exemplary embodiment, when the height information of the stair-like obstacle is equal to or less than a first threshold, the traveling direction of the robot cleaner may be adjusted so that the angle between the detection direction of the sensor system and the first surface of the stair-like obstacle satisfies a predetermined angle condition. The predetermined angle condition is used to reduce the deviation between the sensor system and the first surface of the stair-like obstacle so that other three-dimensional information of the obstacle, such as depth information, width information, and gradient information, can be accurately acquired. Optionally, the predetermined angle condition may be between 85° and 95°. This allows the sensor system to face the first surface of the stair-like obstacle so that other three-dimensional information of the obstacle, such as depth information, width information, and gradient information, can be easily accurately acquired. When the angle between the detection direction of the sensor system and the first surface of the stair-like obstacle satisfies the predetermined angle condition, the sensor system may again collect three-dimensional information of the stair-like obstacle in the forward area, such as at least one of depth information, width information, and gradient information. For example, if the newly collected three-dimensional information includes depth information of a staircase-like obstacle, and if the depth information satisfies the predetermined angle condition and is equal to or greater than a second threshold, an obstacle overcoming operation can be performed. Furthermore, for example, the newly collected three-dimensional information may further include at least one of width information and gradient information. In this case, if the depth information is equal to or greater than the second threshold, and the width information is equal to or greater than a third threshold and / or the gradient information is equal to or less than a fourth threshold, an obstacle overcoming operation can be performed. In this way, erroneous determinations can be reduced and the success rate of overcoming obstacles can be improved.

[0124] In one exemplary embodiment, the robot vacuum cleaner may activate an obstacle-climbing member to perform the obstacle-climbing action. The obstacle-climbing member may be a member for assisting the robot vacuum cleaner in climbing over an obstacle. The obstacle-climbing member includes a swinging member. The swinging member is swingable around its own swing axis. The swinging member is swingable when activated. As a result, the swinging member can assist the robot vacuum cleaner in climbing over an obstacle by contacting the obstacle and generating a relative acting force with the obstacle. Alternatively, the robot vacuum cleaner may accelerate to climb over a stair-shaped obstacle. By accelerating to climb over an obstacle, the number of times the obstacle-climbing member is activated can be reduced, reducing wear on the robot vacuum cleaner due to obstacle climbing and extending the service life of the obstacle-climbing member and the robot vacuum cleaner. Furthermore, it takes a certain amount of time to activate the obstacle-climbing member. This saves cleaning time and improves cleaning efficiency.

[0125] If the three-dimensional information of the stair-like obstacle satisfies the obstacle climbing condition, the robot cleaner may select a specific obstacle climbing method based on the height information of the stair-like obstacle. The obstacle climbing method using an obstacle climbing member is suitable for high stair-like obstacles. The obstacle climbing method using acceleration is suitable for low stair-like obstacles. The robot cleaner may determine whether the height information of the stair-like obstacle is equal to or greater than a set height. If the height information of the stair-like obstacle is greater than the set height and equal to or less than a first threshold, the robot cleaner may activate the obstacle climbing member to perform an obstacle climbing operation using the obstacle climbing member. If the height information of the stair-like obstacle is smaller than the set height, the robot cleaner may control acceleration travel so as to climb over the stair-like obstacle. The set height value may be in a range of 3 cm to 5 cm. The set height may be 3 cm, 4 cm, 5 cm, etc.

[0126] When the height information of the stair-like obstacle is greater than a set height and equal to or less than a first threshold, the robot cleaner may be controlled to stop when it travels to a designated position, and then the robot cleaner may be controlled to travel by activating an obstacle-climbing member and performing the obstacle-climbing operation using the obstacle-climbing member. The distance between the designated position and the stair-like obstacle is equal to or less than a fifth threshold. The fifth threshold is used to cause the robot cleaner to decelerate and travel to the edge of the stair-like obstacle. The range of the fifth threshold may be 0.5 cm to 2 cm. For example, the fifth threshold may be 0.8 cm, 1 cm, 1.5 cm, etc.

[0127] If the height information of the stair-like obstacle is smaller than a set height, the robot vacuum cleaner may acquire a distance between itself and the stair-like obstacle. The distance between the robot vacuum cleaner and the stair-like obstacle may include a minimum distance between the robot vacuum cleaner and the stair-like obstacle. If the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than a sixth threshold, it is determined that there is a sufficiently long acceleration distance between the robot vacuum cleaner and the stair-like obstacle, and the robot vacuum cleaner may be controlled to accelerate so as to overcome the stair-like obstacle. If the distance between the robot vacuum cleaner and the stair-like obstacle is smaller than the sixth threshold, it is determined that the distance between the robot vacuum cleaner and the stair-like obstacle is too short and there is not enough acceleration distance, and the robot vacuum cleaner may be controlled to move backward until the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than the sixth threshold. This provides a sufficiently long distance for the robot vacuum cleaner to accelerate. Next, the robot vacuum cleaner may be controlled to accelerate so as to overcome the stair-like obstacle. Optionally, if the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than the sixth threshold and equal to or less than a seventh distance, the robot vacuum cleaner may be controlled to accelerate. In this way, there is a sufficiently long acceleration distance between the robot cleaner and the stair-like obstacle, and the distance between the robot cleaner and the stair-like obstacle can be avoided from being too long.

[0128] According to the travel control method of a robot vacuum cleaner according to the embodiments of the present specification, a sensor system can identify the specific type of obstacle and perform fine-tuned obstacle climbing for a step-like obstacle. When climbing over an obstacle, the height information, depth information, and gradient information of the step-like obstacle can be simultaneously taken into consideration, and the actual situation of the step-like obstacle can be fully taken into consideration. This allows for more fine-tuned and intelligent obstacle climbing for the step-like obstacle and prevents obstacle climbing abnormalities. For example, problems such as rolling down or hanging in the air after climbing over an obstacle can be avoided.

[0129] As shown in FIG. 7, according to an embodiment of the present specification, there is further provided a method for controlling travel of a robot cleaner, which method includes the following steps 41 to 42.

[0130] In step 41, during the traveling process of the robot cleaner, the sensor system collects three-dimensional information including height information, depth information and width information of the stair-like obstacle in the forward area.

[0131] In step 42, if the height information is equal to or less than a first threshold, the depth information is equal to or greater than a second threshold, and the width information is equal to or greater than a third threshold, an obstacle climbing operation is performed to climb over the staircase-like obstacle.

[0132] In one exemplary embodiment, the robot vacuum cleaner can clean a working area in an arc-shaped manner. During the arc-shaped cleaning process, the robot vacuum cleaner may use a sensor system to collect three-dimensional information about obstacles in the area ahead. Alternatively, during the cleaning process along an edge, the robot vacuum cleaner may use a sensor system to collect three-dimensional information about obstacles in the area ahead. Alternatively, during the returning process to the station, the robot vacuum cleaner may also use a sensor system to collect three-dimensional information about obstacles in the area ahead. The station may detach and / or attach cleaning members of the robot vacuum cleaner, charge the robot vacuum cleaner, and clear away debris in the dust chamber of the robot vacuum cleaner.

[0133] In one exemplary embodiment, the forward region may include an effective detection region of the sensor system, which may include at least one of an effective angle of view of a monocular vision sensor, an effective angle of view of a binocular vision sensor, an effective detection distance range of a line laser sensor, an effective detection distance range of a plane laser sensor, an effective detection distance range of an LDS sensor, and an effective detection distance range of a Dtof sensor.

[0134] In one exemplary embodiment, the stair-like obstacle is a building component connecting different surfaces. The surfaces connected by the stair-like obstacle may have different elevations or the same elevation. The surfaces connected by the stair-like obstacle may be flat or curved. For example, the stair-like obstacle may include a step staircase, a slope staircase, or a staircase between different areas in a room. Here, the staircase between different areas in a room may include a staircase between a balcony and a living room, a staircase between a bedroom and a living room, a staircase between a kitchen and a living room, etc.

[0135] In one exemplary embodiment, during the travel of the robot cleaner, a sensor system may collect information about the surrounding environment in a forward area and transmit the collected information to a controller. The controller may determine the type of obstacle based on the received information, and if the obstacle type is a stair-like obstacle, may acquire the three-dimensional information of the stair-like obstacle. Alternatively, the controller may transmit the received information to a background server. The server may determine the type of obstacle based on the received information, and if the obstacle type is a stair-like obstacle, may acquire the three-dimensional information of the stair-like obstacle and transmit the three-dimensional information of the stair-like obstacle to the controller.

[0136] In one exemplary embodiment, the three-dimensional information may include height information, depth information, and width information of a stair-like obstacle. The robot vacuum cleaner may perform an obstacle climbing operation to climb over the stair-like obstacle if the height information, depth information, and width information simultaneously satisfy an obstacle climbing condition. The robot vacuum cleaner may perform an obstacle avoidance operation and clean the edge of the stair-like obstacle if at least one of the height information, depth information, and width information does not satisfy the obstacle climbing condition. By cleaning along the edge when the obstacle climbing condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0137] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, that depth information is equal to or greater than a second threshold, and that width information is equal to or greater than a third threshold. In this case, when at least the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, and the width information of the stair-like obstacle is equal to or greater than a third threshold, the robot vacuum cleaner performs an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot vacuum cleaner. The first threshold may be determined based on a height between a body of the robot vacuum cleaner and a working surface. The second threshold may be a minimum obstacle climbing depth of the robot vacuum cleaner. The second threshold may be determined based on a size of the robot vacuum cleaner itself. For example, the second threshold may be determined based on a maximum diameter of the robot vacuum cleaner. The third threshold may be a minimum obstacle climbing width of the robot vacuum cleaner. The third threshold may be determined based on a size of the robot vacuum cleaner itself, for example, the third threshold may be determined based on a maximum diameter of the robot vacuum cleaner.

[0138] In one exemplary embodiment, the three-dimensional information may include height information, depth information, width information, and slope information of a stair-like obstacle. The robot vacuum cleaner may perform an obstacle climbing operation to climb over the stair-like obstacle if the height information, depth information, width information, and slope information simultaneously satisfy an obstacle climbing condition. The robot vacuum cleaner may perform an obstacle avoidance operation if at least one of the height information, depth information, width information, and slope information does not satisfy the obstacle climbing condition. By cleaning along the edge when the obstacle climbing condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0139] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, depth information is equal to or greater than a second threshold, width information is equal to or greater than a third threshold, and gradient information is equal to or less than a fourth threshold. In this case, when the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, the width information of the stair-like obstacle is equal to or greater than the third threshold, and the gradient information of the stair-like obstacle is equal to or less than the fourth threshold, the robot vacuum cleaner performs an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot vacuum cleaner. The first threshold may be determined based on a height between a body of the robot vacuum cleaner and a working surface. The second threshold may be a minimum obstacle climbing depth of the robot vacuum cleaner. The second threshold may be determined based on a size of the robot vacuum cleaner itself. For example, the second threshold may be determined based on a maximum diameter of the robot vacuum cleaner. The third threshold may be a minimum obstacle climbing width of the robot vacuum cleaner. The third threshold may be determined based on a size of the robot vacuum cleaner itself. The fourth threshold may be a maximum gradient at which the robot cleaner can overcome an obstacle. The fourth threshold may be determined based on attribute information of the robot cleaner, such as a weight of the robot cleaner and a friction coefficient of a drive wheel. The fourth threshold may be in a range of 20° to 40°.

[0140] According to the travel control method of a robot vacuum cleaner according to the embodiments of the present specification, a sensor system can identify the specific type of obstacle and perform fine-tuned obstacle climbing for a step-like obstacle. When climbing over an obstacle, height information, depth information, and width information of the step-like obstacle can be simultaneously taken into consideration, and the actual situation of the step-like obstacle can be fully taken into consideration. This allows for more fine-tuned and intelligent obstacle climbing for the step-like obstacle and prevents obstacle climbing abnormalities. For example, problems such as rolling down or hanging in the air after climbing over an obstacle can be avoided.

[0141] As shown in FIG. 8, according to an embodiment of the present specification, there is further provided a method for controlling travel of a robot cleaner, which method includes the following steps 51 to 52.

[0142] In step 51, during the traveling process of the robot cleaner, the sensor system collects three-dimensional information including height information and depth information of the step-like obstacle in the forward area.

[0143] In step 52, if the height information is equal to or less than a first threshold value and the depth information is equal to or greater than a second threshold value, an obstacle climbing operation is performed to climb over the staircase-like obstacle.

[0144] In one exemplary embodiment, the robot vacuum cleaner can clean a working area in an arc-shaped manner. During the arc-shaped cleaning process, the robot vacuum cleaner may use a sensor system to collect three-dimensional information about obstacles in the area ahead. Alternatively, during the cleaning process along an edge, the robot vacuum cleaner may use a sensor system to collect three-dimensional information about obstacles in the area ahead. Alternatively, during the returning process to the station, the robot vacuum cleaner may also use a sensor system to collect three-dimensional information about obstacles in the area ahead. The station may detach and / or attach cleaning members of the robot vacuum cleaner, charge the robot vacuum cleaner, and clear away debris in the dust chamber of the robot vacuum cleaner.

[0145] In one exemplary embodiment, the forward region may include an effective detection region of the sensor system, which may include at least one of an effective angle of view of a monocular vision sensor, an effective angle of view of a binocular vision sensor, an effective detection distance range of a line laser sensor, an effective detection distance range of a plane laser sensor, an effective detection distance range of an LDS sensor, and an effective detection distance range of a Dtof sensor.

[0146] In one exemplary embodiment, the stair-like obstacle is a building component connecting different surfaces. The surfaces connected by the stair-like obstacle may have different elevations or the same elevation. The surfaces connected by the stair-like obstacle may be flat or curved. For example, the stair-like obstacle may include a step staircase, a slope staircase, or a staircase between different areas in a room. Here, the staircase between different areas in a room may include a staircase between a balcony and a living room, a staircase between a bedroom and a living room, a staircase between a kitchen and a living room, etc.

[0147] In one exemplary embodiment, during the travel of the robot cleaner, a sensor system may collect information about the surrounding environment in a forward area and transmit the collected information to a controller. The controller may determine the type of obstacle based on the received information, and if the obstacle type is a stair-like obstacle, may acquire the three-dimensional information of the stair-like obstacle. Alternatively, the controller may transmit the received information to a background server. The server may determine the type of obstacle based on the received information, and if the obstacle type is a stair-like obstacle, may acquire the three-dimensional information of the stair-like obstacle and transmit the three-dimensional information of the stair-like obstacle to the controller.

[0148] In one exemplary embodiment, the three-dimensional information may include only height information and depth information of a stair-like obstacle. In this case, the robot cleaner may perform an obstacle climbing operation to climb over the stair-like obstacle if the height information and depth information simultaneously satisfy an obstacle climbing condition. If the height information and / or depth information does not satisfy the obstacle climbing condition, the robot cleaner may perform an obstacle avoidance operation and clean the edge of the stair-like obstacle. By cleaning along the edge when the obstacle climbing condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0149] In one exemplary embodiment, the three-dimensional information may include height information, depth information, and width information of a stair-like obstacle. The robot vacuum cleaner may perform an obstacle climbing operation to climb over the stair-like obstacle if the height information, depth information, and width information simultaneously satisfy an obstacle climbing condition. The robot vacuum cleaner may perform an obstacle avoidance operation and clean the edge of the stair-like obstacle if at least one of the height information, depth information, and width information does not satisfy the obstacle climbing condition. By cleaning along the edge when the obstacle climbing condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0150] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, that depth information is equal to or greater than a second threshold, and that width information is equal to or greater than a third threshold. In this case, when at least the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, and the width information of the stair-like obstacle is equal to or greater than the third threshold, the robot vacuum cleaner performs an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot vacuum cleaner. The first threshold may be determined based on a height between a body of the robot vacuum cleaner and a working surface. The second threshold may be a minimum obstacle climbing depth of the robot vacuum cleaner. The second threshold may be determined based on a size of the robot vacuum cleaner itself. For example, the second threshold may be determined based on a maximum diameter of the robot vacuum cleaner. The third threshold may be a minimum obstacle climbing width of the robot vacuum cleaner. The third threshold may be determined based on a size of the robot vacuum cleaner itself.

[0151] In one exemplary embodiment, the three-dimensional information may include height information, depth information, and slope information of a stair-like obstacle. The robot vacuum cleaner may perform an obstacle climbing operation to climb over the stair-like obstacle if the height information, depth information, and slope information simultaneously satisfy an obstacle climbing condition. The robot vacuum cleaner may perform an obstacle avoidance operation and clean the edge of the stair-like obstacle if at least one of the height information, depth information, and slope information does not satisfy the obstacle climbing condition. By cleaning along the edge when the obstacle climbing condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0152] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, that depth information is equal to or greater than a second threshold, and that gradient information is equal to or less than a fourth threshold. In this case, when at least the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, and the gradient information of the stair-like obstacle is equal to or less than a fourth threshold, the robot cleaner executes an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot cleaner. The first threshold may be determined based on a height between a body of the robot cleaner and a working surface. The second threshold may be a minimum obstacle climbing depth of the robot cleaner. The second threshold may be determined based on a size of the robot cleaner itself. For example, the second threshold may be determined based on a maximum diameter of the robot cleaner. The fourth threshold may be a maximum obstacle climbing gradient of the robot cleaner. The fourth threshold may be determined based on attribute information of the robot cleaner, such as the weight of the robot cleaner and the friction coefficient of the drive wheels. The fourth threshold may be in a range of 20° to 40°.

[0153] In one exemplary embodiment, the three-dimensional information may include height information, depth information, width information, and slope information of a stair-like obstacle. The robot vacuum cleaner may perform an obstacle climbing operation to climb over the stair-like obstacle if the height information, depth information, width information, and slope information simultaneously satisfy an obstacle climbing condition. The robot vacuum cleaner may perform an obstacle avoidance operation if at least one of the height information, depth information, width information, and slope information does not satisfy the obstacle climbing condition. By cleaning along the edge when the obstacle climbing condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0154] The obstacle climbing condition includes at least that height information is equal to or less than a first threshold, depth information is equal to or greater than a second threshold, width information is equal to or greater than a third threshold, and gradient information is equal to or less than a fourth threshold. In this case, when the height information of the stair-like obstacle is equal to or less than the first threshold, the depth information of the stair-like obstacle is equal to or greater than the second threshold, the width information of the stair-like obstacle is equal to or greater than the third threshold, and the gradient information of the stair-like obstacle is equal to or less than the fourth threshold, the robot vacuum cleaner performs an obstacle climbing operation to climb over the stair-like obstacle. The first threshold may be a maximum obstacle climbing height of the robot vacuum cleaner. The first threshold may be determined based on a height between a body of the robot vacuum cleaner and a working surface. The second threshold may be a minimum obstacle climbing depth of the robot vacuum cleaner. The second threshold may be determined based on a size of the robot vacuum cleaner itself. For example, the second threshold may be determined based on a maximum diameter of the robot vacuum cleaner. The third threshold may be a minimum obstacle climbing width of the robot vacuum cleaner. The third threshold may be determined based on a size of the robot vacuum cleaner itself. The fourth threshold may be a maximum gradient at which the robot cleaner can overcome an obstacle. The fourth threshold may be determined based on attribute information of the robot cleaner, such as a weight of the robot cleaner and a friction coefficient of a drive wheel. The fourth threshold may be in a range of 20° to 40°.

[0155] In one exemplary embodiment, when the height information of the stair-like obstacle is equal to or less than a first threshold, the traveling direction of the robot cleaner may be adjusted so that the angle between the detection direction of the sensor system and the first surface of the stair-like obstacle satisfies a predetermined angle condition. The predetermined angle condition is used to reduce the deviation between the sensor system and the first surface of the stair-like obstacle so that other three-dimensional information of the obstacle, such as depth information, width information, and gradient information, can be accurately acquired. Optionally, the predetermined angle condition may be between 85° and 95°. This allows the sensor system to face the first surface of the stair-like obstacle so that other three-dimensional information of the obstacle, such as depth information, width information, and gradient information, can be easily accurately acquired. When the angle between the detection direction of the sensor system and the first surface of the stair-like obstacle satisfies the predetermined angle condition, the sensor system may again collect three-dimensional information of the stair-like obstacle in the forward area, such as at least one of depth information, width information, and gradient information. For example, if the newly collected three-dimensional information includes depth information of a staircase-like obstacle, and if the depth information satisfies the predetermined angle condition and is equal to or greater than a second threshold, an obstacle overcoming operation can be performed. Furthermore, for example, the newly collected three-dimensional information may further include at least one of width information and gradient information. In this case, if the depth information is equal to or greater than the second threshold, and the width information is equal to or greater than a third threshold and / or the gradient information is equal to or less than a fourth threshold, an obstacle overcoming operation can be performed. In this way, erroneous determinations can be reduced and the success rate of overcoming obstacles can be improved.

[0156] In one exemplary embodiment, the robot vacuum cleaner may activate an obstacle-climbing member to perform the obstacle-climbing action. The obstacle-climbing member may be a member for assisting the robot vacuum cleaner in climbing over an obstacle. The obstacle-climbing member includes a swinging member. The swinging member is swingable around its own swing axis. The swinging member is swingable when activated. As a result, the swinging member can assist the robot vacuum cleaner in climbing over an obstacle by contacting the obstacle and generating a relative acting force with the obstacle. Alternatively, the robot vacuum cleaner may accelerate to climb over a stair-shaped obstacle. By accelerating to climb over an obstacle, the number of times the obstacle-climbing member is activated can be reduced, reducing wear on the robot vacuum cleaner due to obstacle climbing and extending the service life of the obstacle-climbing member and the robot vacuum cleaner. Furthermore, it takes a certain amount of time to activate the obstacle-climbing member. This saves cleaning time and improves cleaning efficiency.

[0157] If the three-dimensional information of the stair-like obstacle satisfies the obstacle climbing condition, the robot cleaner may select a specific obstacle climbing method based on the height information of the stair-like obstacle. The obstacle climbing method using an obstacle climbing member is suitable for high stair-like obstacles. The obstacle climbing method using acceleration is suitable for low stair-like obstacles. The robot cleaner may determine whether the height information of the stair-like obstacle is equal to or greater than a set height. If the height information of the stair-like obstacle is greater than the set height and equal to or less than a first threshold, the robot cleaner may activate the obstacle climbing member to perform an obstacle climbing operation using the obstacle climbing member. If the height information of the stair-like obstacle is smaller than the set height, the robot cleaner may control acceleration travel so as to climb over the stair-like obstacle. The set height value may be in a range of 3 cm to 5 cm. The set height may be 3 cm, 4 cm, 5 cm, etc.

[0158] When the height information of the stair-like obstacle is greater than a set height and equal to or less than a first threshold, the robot cleaner may be controlled to stop when it travels to a designated position, and then the robot cleaner may be controlled to travel by activating an obstacle-climbing member and performing the obstacle-climbing operation using the obstacle-climbing member. The distance between the designated position and the stair-like obstacle is equal to or less than a fifth threshold. The fifth threshold is used to cause the robot cleaner to decelerate and travel to the edge of the stair-like obstacle. The range of the fifth threshold may be 0.5 cm to 2 cm. For example, the fifth threshold may be 0.8 cm, 1 cm, 1.5 cm, etc.

[0159] If the height information of the stair-like obstacle is smaller than a set height, the robot vacuum cleaner may acquire a distance between itself and the stair-like obstacle. The distance between the robot vacuum cleaner and the stair-like obstacle may include a minimum distance between the robot vacuum cleaner and the stair-like obstacle. If the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than a sixth threshold, it is determined that there is a sufficiently long acceleration distance between the robot vacuum cleaner and the stair-like obstacle, and the robot vacuum cleaner may be controlled to accelerate so as to overcome the stair-like obstacle. If the distance between the robot vacuum cleaner and the stair-like obstacle is smaller than the sixth threshold, it is determined that the distance between the robot vacuum cleaner and the stair-like obstacle is too short and there is not enough acceleration distance, and the robot vacuum cleaner may be controlled to move backward until the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than the sixth threshold. This provides a sufficiently long distance for the robot vacuum cleaner to accelerate. Next, the robot vacuum cleaner may be controlled to accelerate so as to overcome the stair-like obstacle. Optionally, if the distance between the robot vacuum cleaner and the stair-like obstacle is equal to or greater than the sixth threshold and equal to or less than a seventh distance, the robot vacuum cleaner may be controlled to accelerate. In this way, there is a sufficiently long acceleration distance between the robot cleaner and the stair-like obstacle, and the distance between the robot cleaner and the stair-like obstacle can be avoided from being too long.

[0160] According to the travel control method of a robot vacuum cleaner according to the embodiments of the present specification, a sensor system can identify the specific type of obstacle and perform fine-tuned obstacle climbing for a step-like obstacle. When climbing over an obstacle, the height information and depth information of the step-like obstacle can be simultaneously taken into consideration, and the actual situation of the step-like obstacle can be fully taken into account. This allows for more fine-tuned and intelligent obstacle climbing for the step-like obstacle, and prevents abnormalities from occurring during obstacle climbing. For example, problems such as rolling down or being suspended in mid-air after climbing over an obstacle can be avoided.

[0161] As shown in FIG. 9, according to an embodiment of the present specification, there is further provided a method for controlling travel of a robot cleaner, which method includes the following steps 61 to 62.

[0162] In step 61, during the traveling process of the robot cleaner, the sensor system collects three-dimensional information including at least depth information of the step-like obstacle in the forward area.

[0163] In step 62, if the depth information does not satisfy the obstacle clearance condition, an obstacle avoidance operation is performed to clear the edge of the step-like obstacle.

[0164] In one exemplary embodiment, the three-dimensional information may include depth information of a step-like obstacle. If the depth information does not satisfy the obstacle-surmounting condition, an obstacle avoidance operation is performed to clean the edge of the step-like obstacle. Because the depth information of the step-like obstacle is taken into consideration in this manner, it is possible to avoid abnormal problems such as rolling down, hanging, or being trapped after climbing over the obstacle due to the step-like obstacle being too short in the depth direction. By cleaning along the edge when the obstacle-surmounting condition is not satisfied, it is possible to reduce the area that is not cleaned, improve the cleaning coverage rate, and improve the cleaning effect.

[0165] In one exemplary embodiment, the three-dimensional information further includes at least one of height information, width information, and slope information of the stair-like obstacle. In this case, if the depth information satisfies the obstacle-overcoming condition but at least one of the height information, width information, and slope information does not satisfy the obstacle-overcoming condition, the obstacle avoidance operation may be performed. In this manner, at least one of the height information, width information, and slope information of the stair-like obstacle is taken into consideration. This can prevent problems such as rolling down, hanging, or being trapped after overcoming the obstacle. Furthermore, for example, it can prevent abnormal problems such as rolling down, hanging, or being trapped after overcoming the obstacle because the stair-like obstacle is too narrow in the width direction. Furthermore, it can prevent the robot vacuum cleaner from slipping down after overcoming the obstacle because the angle between the second surface of the stair-like obstacle and the horizontal plane is too large, making the second surface too steep. By cleaning along the edge when the obstacle-overcoming condition is not satisfied, it is possible to reduce missed cleaning areas, improve cleaning coverage, and improve cleaning effectiveness.

[0166] In one exemplary embodiment, the robot vacuum cleaner may be controlled to decelerate to the edge of a stair-like obstacle, and then the travel direction of the robot vacuum cleaner may be adjusted to clean the edge of the stair-like obstacle.

[0167] According to a method for controlling the travel of a robot vacuum cleaner according to an embodiment of the present disclosure, the robot vacuum cleaner is provided with a sensor system capable of acquiring three-dimensional information about an obstacle. During the travel of the robot vacuum cleaner, the sensor system can collect three-dimensional information including at least depth information about a step-like obstacle in a forward area. If the depth information does not satisfy a condition for climbing over the obstacle, an obstacle avoidance operation can be performed to clean the edge of the step-like obstacle. Since the depth information of the step-like obstacle is taken into consideration when climbing over the obstacle, finely tuned and intelligent obstacle avoidance can be performed for the step-like obstacle. This can reduce the problem of the robot vacuum cleaner getting caught on the step-like obstacle, effectively extending the service life of the device.

[0168] According to an embodiment of the present disclosure, there is further provided a robotic cleaner, the robotic cleaner including a body and a sensor system provided on the body. The sensor system collects three-dimensional information including at least height information and depth information of a step-like obstacle in a forward area during a traveling process of the robotic cleaner. The robotic cleaner may perform an obstacle climbing operation to climb over the step-like obstacle if at least the height information and the depth information satisfy an obstacle climbing condition.

[0169] According to an embodiment of the present specification, there is further provided another robot vacuum cleaner, the robot vacuum cleaner including a body and a sensor system provided on the body. The sensor system collects three-dimensional information including at least depth information of a step-like obstacle in a forward area during a traveling process of the robot vacuum cleaner. If the depth information does not satisfy an obstacle climbing condition, the robot vacuum cleaner performs an obstacle avoidance operation to clean the edge of the step-like obstacle.

[0170] According to an embodiment of the present specification, there is further provided a computer-readable storage medium that stores a computer program, the computer program being executed by a processor to realize the above-described cruise control method.

[0171] According to an embodiment of the present specification, there is further provided a computer program product including a computer program, the computer program product realizing the above-described cruise control method when the computer program is executed by a processor.

[0172] As will be understood by those skilled in the art, the present disclosure may be provided as a method, a system, or a computer program product. Therefore, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. The present disclosure may also take the form of a computer program product embodied in one or more computer-usable storage media (including, but not limited to, disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0173] This specification will be described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of this specification. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. The computer may be a personal computer, a laptop computer, a mobile phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0174] In the embodiments herein, each functional unit may be integrated into one processing unit, each functional unit may exist physically separately, or two or more functional units may be integrated into one processing unit.

[0175] It is understood by those skilled in the art that emphasis is placed on the description of each embodiment in this specification, and for parts of an embodiment that are not explained in detail, please refer to the description of the relevant parts of other embodiments. It is also understood that after reading the documents of this specification, those skilled in the art can arbitrarily combine some or all of the embodiments listed in this specification without any creative effort, and such combinations are also within the scope of disclosure and protection of this specification.

[0176] Although the present specification has been described with reference to examples, the above examples are merely intended to help those skilled in the art understand the core idea of ​​the present specification. As those skilled in the art will understand, there are many variations and modifications in the present specification. It is hoped that these variations and modifications will be included within the scope of the appended claims without departing from the spirit of the present specification.

Claims

1. A method for controlling travel of a robot cleaner, comprising: The robot cleaner is provided with a sensor system capable of acquiring three-dimensional information of an obstacle, collecting, by the sensor system during the traveling process of the robot cleaner, three-dimensional information of a staircase-like obstacle having a first surface and a second surface in a forward area, including height information including height information of the first surface, depth information including depth information of the projection of the second surface onto a horizontal plane, width information including width information of the second surface, and gradient information including angle information between the second surface and the horizontal plane; and performing an obstacle climbing operation to climb over the staircase-like obstacle when the height information is equal to or less than a first threshold, the depth information is equal to or greater than a second threshold, the width information is equal to or greater than a third threshold, and the gradient information is equal to or less than a fourth threshold. A driving control method characterized by:

2. The first threshold is 5 to 10 cm, the second threshold is 1.1 to 1.5 times the maximum diameter of the robot cleaner, the third threshold is 1.1 to 1.5 times the maximum diameter of the robot cleaner, and the fourth threshold is 20° to 40°.

2. The method of claim 1, wherein the vehicle speed is controlled by the vehicle speed control system.

3. A method for controlling travel of a robot cleaner, comprising: The robot cleaner is provided with a sensor system capable of acquiring three-dimensional information of an obstacle, collecting, by the sensor system during the travel of the robot cleaner, three-dimensional information of a staircase-like obstacle having a first surface and a second surface in a forward area, including height information including height information of the first surface, depth information including depth information of the projection of the second surface onto a horizontal plane, and gradient information including information of an angle between the second surface and the horizontal plane; and performing an obstacle climbing operation to climb over the stair-like obstacle when the height information is equal to or less than a first threshold, the depth information is equal to or greater than a second threshold, and the gradient information is equal to or less than a fourth threshold. A driving control method characterized by:

4. The first threshold is 5 to 10 cm, the second threshold is 1.1 to 1.5 times the maximum diameter of the robot vacuum cleaner, and the fourth threshold is 20° to 40°.

4. The method of claim 3, wherein the vehicle speed is controlled by the vehicle speed control system.

5. The sensor system includes at least one of a monocular sensor, a binocular sensor, a line laser sensor, a plane laser sensor, an LDS sensor, and a Dtof sensor.

2. The method of claim 1, wherein the vehicle speed is controlled by the vehicle speed control system.

6. The step of performing an obstacle overcoming operation includes: If the height information is equal to or less than a first threshold, adjusting the traveling direction of the robot cleaner so that an angle formed between the detection direction of the sensor system and a first surface of the stair-like obstacle satisfies a predetermined angle condition; and performing the obstacle overcoming operation when the depth information when the predetermined angle condition is satisfied is equal to or greater than a second threshold value.

2. The method of claim 1, wherein the vehicle speed is controlled by the vehicle speed control system.

7. The step of performing an obstacle overcoming operation includes: activating an obstacle-overcoming member to perform the obstacle-overcoming movement with the obstacle-overcoming member; Alternatively, the step of controlling acceleration travel of the robot cleaner so that the robot cleaner overcomes the stair-like obstacle.

2. The method of claim 1, wherein the vehicle speed is controlled by the vehicle speed control system.

8. The step of activating the obstacle-overcoming member includes: When the height information is greater than a set height and equal to or less than a first threshold, controlling the robot cleaner to stop when the robot cleaner travels to a designated position where a distance between the robot cleaner and the staircase-like obstacle is equal to or less than a fifth threshold; activating an obstacle-overcoming member to perform the obstacle-overcoming movement with the obstacle-overcoming member; 8. The cruise control method according to claim 7.

9. The step of controlling the robot cleaner to accelerate is and when the height information is equal to or less than a set height that is smaller than a first threshold, if a distance between the robot cleaner and the staircase-like obstacle becomes smaller than a sixth threshold, controlling the robot cleaner to move backward until the distance between the robot cleaner and the staircase-like obstacle becomes equal to or greater than the sixth threshold; and controlling the acceleration travel of the robot cleaner so that the robot cleaner overcomes the stair-like obstacle.

8. The cruise control method according to claim 7.

10. If the height information and / or the depth information does not satisfy an obstacle overcoming condition, performing an obstacle avoidance operation and cleaning an edge of the stair-like obstacle.

2. The method of claim 1, wherein the vehicle speed is controlled by the vehicle speed control system.

11. The three-dimensional information further includes at least one of width information of the stair-like obstacle and gradient information of the stair-like obstacle; and if the height information and the depth information satisfy an obstacle-overcoming condition and at least one of the width information and the gradient information does not satisfy the obstacle-overcoming condition, performing the obstacle avoidance operation to clean an edge of the stair-like obstacle.

11. The cruise control method according to claim 10.

12. The step of performing an obstacle avoidance operation includes: controlling the robot cleaner to decelerate and travel toward an edge of the staircase-like obstacle; adjusting a travel direction of the robot cleaner to clean the edge of the stair-like obstacle; 11. The cruise control method according to claim 10.

13. A computer-readable storage medium storing a program, When the program is executed, the method according to any one of claims 1 to 12 is performed. A computer-readable storage medium comprising:

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