Self-moving device, obstacle-crossing control method, medium, and program product

Abstract

This paper discloses a self-moving device and its obstacle-crossing control method, medium, and program product. The self-moving device includes a body and a walking mechanism disposed on the body. The method includes: during the self-moving device's task execution, searching for a first forward path and a first backward path based on the self-moving device's location; after controlling the walking mechanism to rise relative to the body based on the relative position of the first forward path and an obstacle recognition area, attempting to cross the actual obstacle area corresponding to the obstacle recognition area; if it is determined based on the first backward path and / or the relative position of the first forward path and the obstacle recognition area that the self-moving device has crossed the actual obstacle area, controlling the walking mechanism to descend relative to the body. This invention at least partially solves the technical problems of low success rate in obstacle crossing and the impact of obstacle crossing on the cleaning effect of cleaning robots.

Description

[Technical Field]

[0001] This work relates to the field of robotics technology, and in particular to a self-moving device and obstacle crossing control method, medium and program product. [Previous Technology]

[0002] Self-moving devices are robots that can move autonomously and perform tasks, bringing many conveniences to people's lives. For example, cleaning robots in smart homes, such as sweeping robots, mopping robots, and robot vacuum and mop combos, can move autonomously and replace people in completing some household chores.

[0003] Self-moving devices encounter many obstacles during operation. Obstacles such as passageways, thresholds, and steps, if exceeding a certain height threshold, become difficult for the self-moving device to overcome. Since cleaning robots prioritize floor coverage, they struggle to cross thresholds exceeding a certain height threshold, resulting in significant areas remaining uncleaned. Related technologies suffer from low success rates in obstacle crossing and the impact of obstacle crossing on the cleaning robot's effectiveness. [Summary of the Invention]

[0004] This invention provides a self-moving device and obstacle crossing control method, medium and program product, which at least to some extent solves the problems of low success rate of crossing obstacles and the impact of crossing obstacles on the cleaning effect of cleaning robots.

[0005] In a first aspect of this invention, a method for controlling obstacle crossing of a self-moving device is provided. The self-moving device includes a body and a walking mechanism disposed on the body. The method includes: during the self-moving device's task execution, searching a first forward path and a first backward path based on the location of the self-moving device; controlling the walking mechanism to rise relative to the body based on the relative position of the first forward path and an obstacle recognition area, so that the self-moving device attempts to cross a real obstacle area corresponding to the obstacle recognition area while its head is raised; if it is determined based on the relative position of the first backward path and / or the first forward path and the obstacle recognition area that the self-moving device has crossed the real obstacle area, controlling the walking mechanism to descend relative to the body.

[0006] In conjunction with the first aspect, in some embodiments, the walking mechanism includes a guide wheel disposed at the front of the body; the step of controlling the walking mechanism to rise relative to the body according to the relative position of the first forward path and the obstacle recognition area includes: in response to the distance between the end of the first forward path and the first side boundary of the obstacle recognition area decreasing to a first distance threshold, driving the guide wheel to begin rising relative to the body, so as to raise the head portion of the body; the step of controlling the walking mechanism to descend relative to the body includes: driving the guide wheel to begin descending relative to the body, so as to lower the head portion of the body.

[0007] In conjunction with the first aspect, in some embodiments, it further includes: determining whether the first forward path has crossed the second side boundary of the obstacle recognition area; if the first forward path has crossed the second side boundary of the obstacle recognition area, determining that the self-moving device has crossed the real obstacle area.

[0008] In conjunction with the first aspect, in some embodiments, it further includes: determining whether the first backward path passes through the first side boundary of the obstacle recognition area, and whether the distance between the end of the first backward path and the first side boundary decreases to a second distance threshold; if the first backward path passes through the first side boundary of the obstacle recognition area and the distance between the end of the first backward path and the first side boundary decreases to the second distance threshold, it is determined that the self-moving device has crossed the real obstacle area.

[0009] In conjunction with the first aspect, in some embodiments, the method further includes: determining whether the first forward path crosses the second side boundary of the obstacle recognition area, whether the first backward path crosses the first side boundary of the obstacle recognition area, and whether the distance between the end of the first backward path and the first side boundary decreases to a second distance threshold; and determining that the self-moving device has crossed the real obstacle area when any of the following conditions are met first: the first forward path has crossed the second side boundary of the obstacle recognition area; or the first backward path passes through the first side boundary of the obstacle recognition area, and the distance between the end of the first backward path and the first side boundary decreases to the second distance threshold.

[0010] In conjunction with the first aspect, in some embodiments, after controlling the walking mechanism to rise relative to the body according to the relative position of the first forward path and the obstacle recognition area, the method further includes: if the first forward path does not reach the position between two target path nodes, in response to the distance between the self-moving device and the first side boundary of the obstacle recognition area increasing to a third distance threshold, controlling the walking mechanism to lower relative to the body; wherein one of the target path nodes is on a target side outside the obstacle recognition area, the target side being the opposite side of the side where the self-moving device is located, and the other target path node is within the obstacle recognition area.

[0011] In conjunction with the first aspect, in some embodiments, before controlling the walking mechanism to lift relative to the body according to the relative position of the first forward path and the obstacle recognition area, the method further includes: determining whether the self-moving device is in the upward step direction of the obstacle recognition area; if so, performing the step of controlling the walking mechanism to lift relative to the body according to the relative position of the first forward path and the obstacle recognition area.

[0012] In conjunction with the first aspect, in some embodiments, the walking mechanism further includes an active wheel assembly disposed on the body; the step of controlling the walking mechanism to rise relative to the body according to the relative position of the first forward path and the obstacle recognition area further includes: in response to the distance between the end of the first forward path and the first side boundary of the obstacle recognition area decreasing to the first distance threshold, driving the active wheel assembly to begin rising relative to the body, so as to raise the head portion; the step of controlling the walking mechanism to descend relative to the body further includes: driving the active wheel assembly to begin descending relative to the body, so as to lower the head portion.

[0013] In conjunction with the first aspect, in some embodiments, the method further includes: exploring key beneficial locations during the execution of a task by the self-moving device; if the key beneficial location is found, controlling the walking mechanism to lift relative to the body to attempt to cross the key beneficial location. In conjunction with the first aspect, in some embodiments, before controlling the walking mechanism to lift relative to the body, the method further includes: acquiring collision accumulation features generated by the self-moving device moving along the key beneficial location; and in response to the collision accumulation features satisfying a first preset condition, controlling the walking mechanism to lift relative to the body.

[0014] In conjunction with the first aspect, in some embodiments, exploring key beneficial locations during the execution of a task by the self-moving device includes: if a necessary path to enter a first enclosed area is explored, determining whether the size of the first enclosed area is greater than a first size threshold; if the size of the first enclosed area is greater than the first size threshold, indicating that a key beneficial location to enter the first enclosed area has been explored.

[0015] In conjunction with the first aspect, in some embodiments, the method further includes: obtaining a key boundary; when the key boundary is used as an obstacle, searching for a path from the end of the second forward path of the self-moving device to the current location of the self-moving device; if no path is found from the end of the second forward path to the current location of the self-moving device, it indicates that a necessary path to the first closed area has been explored, and the key boundary passes through the necessary path.

[0016] In conjunction with the first aspect, in some embodiments, obtaining the key boundary includes: obtaining the line connecting the end of the second forward path and the tail of the self-moving device to obtain an auxiliary line segment; connecting the set of obstacles within a preset distance range of the self-moving device to obtain a set of line segments; and obtaining from the set of line segments a connecting line segment that meets the length of the obstacle, intersects with the auxiliary line segment, and is closest to the self-moving device as the key boundary.

[0017] In conjunction with the first aspect, in some embodiments, determining whether the size of the first closed region is greater than a first size threshold includes: scanning the first closed region to obtain multiple dimensional features; performing a weighted sum calculation on the multiple dimensional features to obtain a weighted score; if the weighted score is greater than a preset score threshold, it indicates that the size of the first closed region is greater than the first size threshold.

[0018] In conjunction with the first aspect, in some embodiments, the collision accumulation feature includes the cumulative number of collisions and the cumulative collision distance generated by the self-moving device moving along the key beneficial position, and the method further includes: counting the cumulative number of collisions and the cumulative collision distance generated by the self-moving device moving along the key beneficial position; if the counted cumulative number of collisions reaches a first threshold and the counted cumulative collision distance reaches a collision distance threshold, it indicates that the collision accumulation feature satisfies a first preset condition.

[0019] In conjunction with the first aspect, in some embodiments, it further includes: during the execution of a task by the self-moving device, in response to the self-moving device being trapped in the second enclosed area, controlling the walking mechanism to lift relative to the body so that the self-moving device attempts to detach from the second enclosed area while the head portion is raised; wherein the second enclosed area is an area with a size smaller than a second size threshold.

[0020] In conjunction with the first aspect, in some embodiments, it further includes: if the self-moving device is within a preset distance range within a preset time threshold, and the collision accumulation characteristics generated by the self-moving device meet a second preset condition, it is determined that the self-moving device is trapped in the second closed area.

[0021] In a second aspect of this invention, a self-moving device is provided, comprising: a processor; and a memory for storing processor-executable instructions, wherein the processor is configured to execute the instructions to implement the obstacle-crossing control method for the self-moving device according to any embodiment of the first aspect.

[0022] In the present invention, a computer-readable storage medium is provided, wherein a computer program is stored thereon, characterized in that the computer program, when executed by a processor, implements the obstacle crossing control method of the self-moving device described in any embodiment of the first aspect.

[0023] In a fourth aspect of this invention, a computer program product is provided, comprising a computer program, characterized in that, when the computer program is executed by a processor, it implements the obstacle crossing control method for the self-moving device described in any embodiment of the first aspect.

[0024] One or more technical solutions provided in this embodiment of the invention have at least the following technical effects or advantages: During the execution of a task by a self-moving device, the walking mechanism is controlled to rise relative to the body according to the relative position of the first forward path of the self-moving device and the obstacle recognition area, so that the self-moving device attempts to cross the real obstacle area with its head raised at a reasonable time; and when it is determined that the self-moving device has crossed the real obstacle area according to the first forward path and / or the first backward path, the walking mechanism is lowered relative to the body, so that the self-moving device can restore its head in time after crossing the real obstacle area to continue to perform cleaning and other work, so that the self-moving device such as the cleaning robot can cross obstacles by raising and lowering the walking mechanism relative to the body at a reasonable time, thereby improving the success rate of crossing obstacles to at least a certain extent, and also improving the cleaning effect of the cleaning robot.

Implementation Method

[0040] In order to better understand the above technical solutions, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0041] This embodiment of the invention provides an obstacle-crossing control method for a self-moving device. This self-moving device, relying on a certain level of artificial intelligence, can automatically move within a work environment and complete corresponding tasks, such as cleaning and patrolling. It can also perform map construction, positioning, or object retrieval. When the self-moving device is a cleaning robot, the work environment can be the room that the cleaning robot needs to clean; when the self-moving device is a patrolling robot in a factory, the work environment can be the factory that needs to be patrolled; when the self-moving device is a navigation robot, the work environment can be a public place such as a park or shopping mall that needs to be navigated.

[0042] In some embodiments, the self-moving device can be a cleaning robot such as a sweeping robot, a mopping robot, or a sweeping and mopping robot. When the cleaning robot is cleaning, its body is raised to a certain height from the ground, and obstacles such as thresholds, steps, and passageways that exceed this height will be difficult to overcome.

[0043] As shown in Figures 1A and 1B, Figure 1A shows a schematic diagram of the structure of the self-moving device in some embodiments of the present invention, and Figure 1B shows a bottom view of the self-moving device in some embodiments of the present invention. The self-moving device 10 includes: a body 110, a sensing element 120 disposed on the body 110, and a walking mechanism, wherein the walking mechanism includes a guiding element and a walking element.

[0044] In some embodiments, the traveling element includes a first drive wheel 131, a motor (not shown) connected to the first drive wheel 131 for driving the first drive wheel 131, a servo motor (not shown) connected to the first drive wheel 131 for raising and lowering the first drive wheel 131, a second drive wheel 132, a motor (not shown) connected to the second drive wheel 132 for driving the second drive wheel 132, and a servo motor (not shown) connected to the second drive wheel 132 for raising and lowering the second drive wheel 132. It should be noted that the first drive wheel 131 and the second drive wheel 132 constitute a drive wheel assembly. The servo motor connected to the first drive wheel 131 is used to drive the first drive wheel 131 to rise and fall relative to the body 110, so that when the self-moving device is in the usage posture, the part of the body 110 that is close to the first drive wheel 131 can rise and fall relative to the ground. The servo motor connected to the second drive wheel 132 is used to drive the second drive wheel 132 to rise and fall relative to the body 110, so that when the self-moving device is in the usage posture, the part of the body 110 that is close to the second drive wheel 131 can rise and fall relative to the ground.

[0045] In some embodiments, the body 110 forms the outer shell of the self-moving device 10 and houses other components.

[0046] In some embodiments, the body 110 may be a flattened cylinder. The sensing element 120 is used to collect sensing data of the self-moving device 10 in the traveling area. The sensing data includes data related to the self-moving device 10 itself during travel and data related to the surrounding environmental objects. The data related to the self-moving device 10 itself includes, but is not limited to, the traveling position, traveling speed, and traveling distance of the self-moving device 10. The data related to the environmental objects includes, but is not limited to, the distance between the self-moving device 10 and walls, steps, thresholds, and wires.

[0047] In some embodiments, the sensing element 120 includes at least one of a camera, a three-axis accelerometer, a gyroscope, an odometer, an LDS (Laser Distance Sensor), an ultrasonic sensor, and a cliff sensor, wherein the LDS can be a single-line laser module, a dual-line laser module, or a TOF (Time of Flight) sensor module. For example, the camera is used to measure the driving position of the self-moving device 10, the three-axis accelerometer is used to acquire the acceleration and / or tilt angle of the self-moving device 10, the gyroscope is used to acquire the angular velocity and / or tilt angle of the self-moving device 10, and the odometer is used to acquire the driving distance of the self-moving device 10; the LDS is typically located on the top of the self-moving device 10 and is used to measure the distance between the self-moving device 10 and environmental objects using laser; the ultrasonic sensor is typically located on the side of the self-moving device 10 and is used to measure the distance between the self-moving device 10 and environmental objects using ultrasonic waves; the cliff sensor is typically located on the bottom of the self-moving device 10 and is used to measure the distance between the self-moving device 10 and environmental objects using infrared light.

[0048] This embodiment does not limit the number or location of the sensing elements 120.

[0049] As shown in Figure 1B, a first drive wheel 131 and a second drive wheel 132 are spaced apart on one side of the body 110. In some embodiments, the first drive wheel 131 is located approximately on the right side of the body 110 and is called the right wheel, while the second drive wheel 132 is arranged parallel to the first drive wheel 131 on the left side of the body 110 and is called the left wheel. It is understood that in other possible embodiments, the left wheel of the self-moving device 10 may also be designated as the first drive wheel 131 and the right wheel as the second drive wheel 132. This embodiment does not limit this. A motor connected to the first drive wheel 131 is also installed on the right side of the body 110 of the self-moving device 10. The drive circuit of the motor generates a corresponding drive current according to the first control signal to make the motor rotate, thereby controlling the driving direction and rotation speed of the first drive wheel 131. The first control signal corresponds to different duty cycles. The duty cycle is the ratio of the pulse signal's energizing time to its energizing period. A larger duty cycle results in a higher rotational speed of the first drive wheel 131, while a smaller duty cycle results in a lower rotational speed. For example, when the drive circuit of the motor connected to the first drive wheel 131 receives a first control signal with a duty cycle of 1 / 2, it generates a corresponding drive current. Under the action of this drive current, the motor connected to the first drive wheel 131 controls the drive direction of the first drive wheel 131 to be forward, with a rotational speed of 50 revolutions per minute. A motor connected to the second drive wheel 132 is also installed on the left side of the body 110 of the self-moving device 10. The motor's drive circuit generates a corresponding drive current based on the second control signal to rotate the motor, thereby controlling the drive direction and rotational speed of the second drive wheel 132. The second control signal corresponds to different duty cycles. For example, the drive circuit of the motor connected to the second drive wheel 132 receives the second control signal sent by the control unit, which corresponds to a duty cycle of 1 / 2. Based on the second control signal, it generates a corresponding drive current. Under the action of the drive current, the motor connected to the second drive wheel 132 controls the drive direction of the second drive wheel 132 to be forward, and the rotation speed is 50 revolutions per minute.

[0050] In some embodiments, the guiding element of the self-moving device 10 includes a guide wheel 141 disposed at the front of the body 110 and a servo motor connected to the guide wheel 141. The guide wheel 141 is used to change the direction of the self-moving device 10 during travel, and the servo motor connected to the guide wheel 141 is used to drive the guide wheel 141 to raise and lower the guide wheel 141 relative to the body 110, so that the head of the body 110 can be raised and lowered relative to the ground when the self-moving device is in the use posture.

[0051] In some embodiments, when the self-moving device 10 is a cleaning robot, a cleaning system is also included. The cleaning system includes dry cleaning elements and / or wet cleaning elements, wherein the main brush assembly 150 of the dry cleaning element is mounted on the bottom of the body 110. In some embodiments, the main brush assembly 150 is a drum-shaped rotating brush that rotates relative to a contact surface in the form of a roller. The wet cleaning element includes a turntable 160, a motor connected to the turntable 160 for driving the turntable 160 to rotate, and a mopping element mounted on the turntable 160.

[0052] It should be noted that the self-moving device 10 may also include other modules or components, or may only include some of the modules or components mentioned above. This embodiment does not limit this, and only uses the self-moving device 10 mentioned above as an example for explanation.

[0053] An obstacle crossing control method for a self-moving device is provided in this embodiment of the invention, as shown in Figure 2. Figure 2 shows a flowchart of the obstacle crossing control method for a self-moving device in some embodiments of the invention, including the following steps S101 to S103.

[0054] Step S101: During the execution of the task by the self-moving device 10, the first forward path and the first backward path are searched according to the location of the self-moving device 10.

[0055] In some embodiments, the self-moving device 10 performs tasks along a pre-planned running route, and searches for a first forward path and a first backward path on the running route in real time (that is, at a certain frequency) according to the location of the self-moving device 10. The tasks performed can be any one of tasks such as map building, cleaning, or patrolling.

[0056] As shown in Figure 3, the first forward path is the continuous path that the self-moving device 10 will track closest to the self-moving device 10 in the pre-planned operating route. In some embodiments, the first forward path may be a continuous path taken from the pre-planned operating route based on the size of the device 110, moving forward from the location of the self-moving device 10. In some embodiments, the first forward path is a path taken from the center position of the device 110 forward by one or nearly one size of the device 110, or a path taken from the nose position of the device 110 forward by half or nearly half the size of the device 110.

[0057] As shown in Figure 4, taking the center position of the body 110 forward by one body 110 size means that the distance L1 between the end of the first forward path and the center position of the body 110 is one body 110 size.

[0058] As shown in Figure 3, the first backward path is the closest continuous forward path to the self-moving device 10 that has been tracked by the self-moving device 10 in the pre-planned operating route. In some embodiments, the first backward path may be a continuous backward path taken from the location of the self-moving device 10 in the pre-planned operating route, based on the size of the body 110. In some embodiments, the first backward path is a path taken from the center position of the body 110 in the pre-planned operating route that is one body 110 size or close to one body 110 size backward, or a path taken from the tail position of the body 110 that is half a body 110 size or close to half a body 110 size backward.

[0059] As shown in Figure 5, taking the size of one body 110 backward from the center position of the body 110 means that the distance L2 between the end of the first backward path and the center position of the body 110 is one body 110 size.

[0060] It should be noted that "approaching the size of a full-size aircraft 110" means that the error between it and the full-size aircraft 110 is within the allowable range. "Approaching half the size of an aircraft 110" has a similar meaning. As shown in Figure 5, the size of the aircraft 110 is the distance L3 between the nose and tail, which can be measured by the front-to-back upward dimension of the orthographic projection of the aircraft 110 on the ground when the self-moving device is in its usage posture. The center position here is the geometric center of the aircraft 110. Taking the aircraft 110 as a flattened cylinder as an example, the center position of the aircraft 110 is the center of the circular cross-section.

[0061] Step S102: Control the walking mechanism to lift relative to the body 110 according to the relative position of the first forward path and the obstacle recognition area, so that the self-moving device 10 attempts to cross the real obstacle area corresponding to the obstacle recognition area when the head part is raised.

[0062] In some embodiments, it is predicted whether the first forward path will pass through the high threshold recognition area. If it is predicted that the first forward path will pass through the obstacle recognition area, step S102 is triggered: the walking mechanism is controlled to lift relative to the body 110 according to the relative position of the first forward path and the obstacle recognition area.

[0063] It is understood that the obstacle recognition area is the area where real obstacle areas are pre-identified and marked on the map. Real obstacle areas can be obstacles such as steps, passageways with height, and thresholds. The obstacle recognition areas correspond one-to-one with the step recognition area, passageway recognition area, and threshold recognition area.

[0064] In some embodiments, attempting to cross the real obstacle area corresponding to the obstacle identification area while the nose section of the body 110 is raised includes: while the nose section is raised, moving straight towards the real obstacle area at a certain forward speed according to the position of the obstacle identification area, in order to attempt to directly cross the real obstacle area corresponding to the obstacle identification area.

[0065] In some embodiments, the walking mechanism includes a guide wheel 141 disposed at the front of the body 110. In step S102, the walking mechanism is controlled to lift relative to the body 110 according to the relative position of the first forward path and the obstacle recognition area. This includes responding to the distance between the end of the first forward path and the first side boundary of the obstacle recognition area decreasing to a first distance threshold, driving the guide wheel 141 to start lifting relative to the body 110, so that the head part of the body 110 is raised, thereby making the body 110 tilted upward at the head part.

[0066] In some embodiments, the first distance threshold is a value of 0 or a value close to 0.

[0067] As shown in Figure 6A, when the self-moving device 10 is in the usage posture, the head of the body 110 is raised, which makes the head tilted upward relative to the support surface of the guide wheel 141 (e.g., the ground), which is more conducive to directly rushing across the real obstacle area corresponding to the obstacle recognition area on the map.

[0068] In some other embodiments, step S102, which controls the walking mechanism to lift relative to the body 110 according to the relative position of the first forward path and the obstacle recognition area, includes: in response to the intersection of the first forward path and the first side boundary of the obstacle recognition area, driving the guide wheel 141 to start lifting relative to the body 110 so that the head part of the body 110 is raised.

[0069] As shown in Figure 4, taking the obstacle recognition area as a threshold recognition area as an example, there will be a certain error between the boundary of the threshold recognition area and the boundary of the actual threshold area. For example, the error range L0 is 0 to 1 times the size of the body 110. When the distance between the first forward path and the first side boundary of the threshold recognition area decreases to the first distance threshold, the drive guide wheel 141 starts to lift relative to the body 110, so that the head of the body 110 crosses the actual threshold area corresponding to the threshold recognition area after being raised. Through the above technical solution, the self-moving device 10 can start to lift the walking mechanism relative to the body 110 when there is still a sufficient and reasonable sprint distance between the head of the body 110 and the boundary of the actual threshold area, so as not to lift the walking mechanism too early or too late.

[0070] If the walking mechanism of the self-moving device 10 lifts relative to the body 110 too early, it will affect the cleaning effect. For example, after the walking mechanism is lifted, the calibration position of the ranging sensor changes, and the distance measurement and obstacle avoidance effect will decrease. Therefore, it is necessary to lift the walking mechanism at a position that is not too far from the actual obstacle area. The self-moving device 10 needs to maintain a sufficient sprint distance from the actual obstacle area to pass through more easily. If the walking mechanism lifts relative to the body 110 too late, it will be detrimental to the self-moving device 10 passing through obstacles with height. According to one or more embodiments of step S102 above, the self-moving device 10 is predicted to pass through the actual obstacle area based on the first forward path, and the walking mechanism is controlled to start lifting relative to the head 110 based on the relative position of the first forward path and the obstacle identification area representing the actual obstacle area. Therefore, the walking mechanism can be controlled to lift relative to the body 110 at a reasonable time, so as not to lift too early and affect the cleaning effect of the self-moving device, nor to lift too late and lack sprint distance, affecting the success rate of the self-moving device 10 directly passing through the actual obstacle area.

[0071] In some other embodiments, the self-moving device 10 further includes a drive wheel assembly disposed on the body 110, the drive wheel assembly including a first drive wheel 131 and a second drive wheel 132 spaced apart on one side of the body 110. Controlling the lifting of the walking mechanism relative to the body 110 based on the relative position of the first forward path and the obstacle recognition area includes: responding to a decrease in the distance between the end of the first forward path and the first side boundary of the obstacle recognition area to a first distance threshold, driving both the guide wheel 141 and the drive wheel assembly to begin lifting relative to the body 110, thereby raising the head portion of the body 110.

[0072] After the self-moving device 10 has raised its walking mechanism relative to the body 110, it is also necessary to lower the walking mechanism relative to the body 110 at a reasonable time. Lowering it too early will affect the success rate of the self-moving device 10 directly passing through the real obstacle area, while lowering it too late will affect the cleaning effect of the self-moving device. Therefore, after step S102, step S103 is also executed: if it is determined that the self-moving device 10 has crossed the real obstacle area based on the relative position of the first backward path and / or the first forward path with the obstacle recognition area, the walking mechanism is controlled to lower relative to the body 110.

[0073] In some embodiments, it is only determined whether the first forward path has crossed the second side boundary of the obstacle recognition area. If the first forward path has crossed the second side boundary of the obstacle recognition area, it is determined that the self-moving device 10 has crossed the real obstacle area. The first forward path has crossed the second side boundary when the first forward path is completely outside the second side boundary, so that at least half of the body 110 has crossed the obstacle.

[0074] In other embodiments, it is determined whether the first backward path passes through the first side boundary of the obstacle recognition area, and whether the distance between the end of the first backward path and the first side boundary decreases to a second distance threshold; if the first backward path passes through the first side boundary of the obstacle recognition area and the distance between the end of the first backward path and the first side boundary decreases to the second distance threshold, it is determined that the self-moving device 10 has crossed the real obstacle area.

[0075] In some other embodiments, it is determined whether the first forward path crosses the second side boundary of the obstacle recognition area, whether the first backward path passes through the first side boundary of the obstacle recognition area, and whether the distance between the end of the first backward path and the first side boundary decreases to a second distance threshold; if any of the following conditions are met first, it is determined that the self-moving device 10 has crossed the real obstacle area: Condition 1: The first forward path has crossed the second side boundary of the obstacle recognition area; Condition 2: The first backward path passes through the first side boundary of the obstacle recognition area, and the distance between the end of the first backward path and the first side boundary decreases to a second distance threshold.

[0076] In the specific implementation process, it can be determined first whether the first forward path has crossed the second side boundary of the obstacle recognition area; if so, it indicates that the self-moving device 10 has crossed the real obstacle area; if not, it can be determined whether the first backward path has passed the first side boundary of the obstacle recognition area; if the first backward path has passed the first side boundary of the obstacle recognition area, it can be determined whether the distance between the end of the first backward path and the first side boundary is less than or equal to the second distance threshold; when the distance between the end of the first backward path and the first side boundary is less than or equal to the second distance threshold, it is determined that the self-moving device 10 has crossed the real obstacle area.

[0077] It should be noted that the aforementioned second side boundary and the first side boundary are two opposite boundaries extending along the length of the obstacle recognition area. As shown in Figures 4 and 5, the first side boundary refers to the side boundary b1 of the obstacle recognition area closer to the location of the self-moving device 10 before the self-moving device 10 crosses the real obstacle area. The second side boundary refers to the side boundary b2 of the obstacle recognition area farther from the location of the self-moving device 10 before the self-moving device 10 crosses the real obstacle area.

[0078] In some embodiments, the second distance threshold is a value of 0 or a value close to 0.

[0079] In some embodiments, when the walking mechanism includes a guide wheel 141 disposed at the front of the body 110, the step S103 of controlling the walking mechanism to descend relative to the body 110 includes: driving the guide wheel 141 to begin descending relative to the body 110 so that the head portion of the body 110 is lowered.

[0080] As shown in Figure 5, taking the obstacle recognition area as a threshold recognition area as an example, when the first backward path passes through the first side boundary b1 of the threshold recognition area and the distance between the first backward path and the first side boundary b1 of the threshold recognition area decreases to a second distance threshold, the driving walking mechanism begins to descend relative to the body 110. Through the above technical solution, the self-moving device 10 can lower the guide wheel 141 at a reasonable time point after crossing the real threshold area.

[0081] In some other embodiments, when the walking mechanism includes a guide wheel 141 disposed at the front of the body 110 and a drive wheel assembly disposed at the middle of the body 110, the step S103 of controlling the walking mechanism to descend relative to the body 110 includes: driving both the guide wheel 141 and the drive wheel assembly to begin descending relative to the body 110, so that the head portion of the body 110 is lowered.

[0082] Taking a cleaning robot as an example, lowering the head of the body 110 can restore the cleaning robot to its normal cleaning state. As shown in Figure 6B, when the self-moving device 10 is in its usage posture, lowering the head of the body 110 can restore the body 110 to a state that is basically parallel to the support surface (e.g., the ground) of the guide wheel 141 and the drive wheel assembly, thereby restoring the cleaning robot to its normal cleaning state.

[0083] The maximum number of times the guide wheel 141 and the drive wheel assembly can be raised and lowered is affected by the maximum mechanical lifespan of the servo motor (a mechanical drive that controls the raising and lowering of the wheels). After the self-moving device 10 raises its walking mechanism relative to the body 110, it is desirable to successfully cross the real obstacle area before lowering the walking mechanism relative to the body 110. However, in actual scenarios, the self-moving device 10 may adjust its position at local locations near obstacles, as shown in Figure 3. The movement direction of the self-moving device 10 may deviate from the pre-planned route, or even deviate significantly from the obstacle position. For example, the possible walking route of the self-moving device 10 may be from position PosiblePos1 to position PosiblePos2, without successfully crossing to the opposite side of the real obstacle area. During this time, it is desirable to keep the walking mechanism raised relative to the body 110, and within the number of attempts to cross the obstacle, the self-moving device 10 should continue to attempt to cross the obstacle in the real obstacle area to avoid frequent raising and lowering of the walking mechanism relative to the body 110.

[0084] In order to avoid frequent raising and lowering of the walking mechanism relative to the body 110, in some embodiments, after controlling the walking mechanism to rise relative to the body 110 according to the relative position of the first forward path and the obstacle recognition area, the method further includes: if the first forward path does not reach the position between the two target path nodes, in response to the distance between the self-moving device 10 and the first side boundary of the obstacle recognition area increasing to a third distance threshold, controlling the walking mechanism to fall relative to the body 110. This achieves that the walking mechanism is kept in a raised state relative to the body 110 during the process of the self-moving device 10 attempting to cross the real obstacle area multiple times before successfully crossing it. If the real obstacle area is not successfully crossed, the walking mechanism is only controlled to fall relative to the body 110 after the self-moving device 10 moves away from the real obstacle area. This avoids frequent raising and lowering of the guide wheel 141 and / or the drive wheel assembly relative to the body 110 during the process of attempting to cross the real obstacle area multiple times, reducing the number of times the wheels are raised and lowered, thereby extending the service life of the servo motor.

[0085] In some embodiments, one target path node is located on the target side outside the obstacle recognition area, which is the opposite side of the side where the self-moving device 10 is located, and the other target path node is located within the obstacle recognition area. Referring to Figure 3, the node at the location of the self-moving device 10 is NodeCur. On the continuous path that the self-moving device 10 will track, there are forward nodes PreNode1, PreNode2, PreNode3, and PreNode4, etc., sequentially forward from the location of the self-moving device 10. On the continuous path that the self-moving device 10 has already tracked, there are backward nodes BackNode1, BackNode2, etc., sequentially backward from the location of the self-moving device 10. Therefore, the two target path nodes can be forward nodes PreNode3 and PreNode4.

[0086] Since real obstacle areas have two types of steps: one-way steps and two-way steps. As shown in Figure 7A, a one-way step means that when passing from one side to the other, it is an upward step, and the reverse is a downward step. As shown in Figure 7B, a two-way step means that when passing from either side to the other, it is an upward step. Therefore, in some embodiments, in order to reduce unnecessary lifting and lowering of the walking mechanism, before controlling the lifting of the walking mechanism relative to the body 110 according to the relative position of the first forward path and the obstacle recognition area, the method further includes: determining whether the self-moving device 10 is in the upward step direction of the obstacle recognition area; if so, executing the step of controlling the lifting of the walking mechanism relative to the body 110 according to the relative position of the first forward path and the obstacle recognition area; if the self-moving device 10 is in the downward step direction of the obstacle recognition area, it is not necessary to lift the walking mechanism relative to the body 110, thereby reducing unnecessary lifting and lowering of the walking mechanism.

[0087] In some embodiments, when the task performed by the self-mobile device 10 is to quickly build a map, the quick map building begins at a random location. According to a pre-planned route, the device searches for the nearest unknown boundary in the map being built and controls the self-mobile device 10 to move to the nearest unknown boundary in the map being built (the so-called unknown boundary refers to the intersection of the known obstacle-free location and the unknown location in the map being built). The ranging sensor updates the information of the unknown boundary in the map being built. Then, the device continues to search for the next nearest unknown boundary in the map being built and repeats the above process until all unknown boundaries have been explored, and then the quick map building is completed. As shown in Figure 8, the control logic of the obstacle crossing control method of the self-moving device 10 provided in this embodiment is described below, taking rapid map construction as an example: Start map construction and proceed to step S1; Step S1: Explore whether there are unknown boundaries in the map being constructed. If yes, proceed to step S2; if no, map construction is completed; Step S2: Search for the first forward path and the first backward path on the running route; Step S3: Check whether the first forward path passes through the obstacle recognition area. If yes, proceed to step S4; if no, proceed to step S8; Step S4: Check whether the self-moving device 10 is in the step-up direction of the obstacle recognition area. If yes, proceed to steps S5-S6; if no, proceed to step S8; Step S5: In response to the relative position of the first forward path and the obstacle recognition area decreasing to a first distance threshold, drive the guide wheel 141 to start lifting relative to the body 110, so that the head of the body 110 tilts up, thereby allowing the self-moving device 10 to continue walking in the tilted-up state, so as to attempt to cross the real obstacle area at least once; Step S6: Determine whether the self-moving device 10 has crossed the real obstacle area based on the relative position of the first backward path and / or the first forward path with the obstacle recognition area. If so, proceed to step S7; Step S7: Drive the guide wheel 141 to begin descending relative to the body 110, and then proceed to step S8; Step S8: The self-moving device 10 moves to the nearest unknown boundary and returns to step S1 to find the next nearest unknown boundary.

[0088] During the task performed by the self-moving device 10, there may still be unidentified obstacles, making it difficult to predict whether the self-moving device 10 will pass through the actual obstacle area based on the first forward path. Therefore, in some embodiments, the obstacle crossing control method for the self-moving device 10 provided in this invention may further include: exploring key beneficial locations during the task performed by the self-moving device 10; if a key beneficial location is found, controlling the walking mechanism to rise relative to the body 110 to attempt to cross the key beneficial location.

[0089] Taking the task of map construction as an example, the self-moving device 10 explores unknown boundaries during the map construction process; if a key beneficial location is discovered during the exploration of the unknown boundary, the walking mechanism is controlled to rise relative to the body 110. It should be noted that a key beneficial location refers to a location that must be passed to enter a sufficiently large enclosed area, such as the only threshold to enter a room.

[0090] In some embodiments, exploring key beneficial locations includes: if a necessary path to the first closed region is found, determining whether the size of the first closed region is greater than a first size threshold; if the size of the first closed region is greater than the first size threshold, it indicates that a key beneficial location to the first closed region has been found.

[0091] It should be noted that the real obstacle area is located in a key position in the first closed area (e.g., an independent and closed room) and is the only way to the first closed area. When the real obstacle area is closed (e.g., the door is closed), and no path can be found from the first closed area to the other side of the real obstacle area, it means that this path is the only way to enter the first closed area.

[0092] As shown in Figure 9, if the self-moving device 10 is about to enter room 2 from room 1, and the obstacle recognition area is blocked by an obstacle, there will be no other path from room 1 to the other side of room 2. In this case, path S is the necessary path, and AB is the critical boundary that the necessary path passes through. If the critical boundary AB is treated as an obstacle, the path search from the target point inside room 2 to the point outside room 2 will fail.

[0093] In some embodiments, a key boundary is obtained, and when the key boundary is used as an obstacle, a path from the end of the second forward path to the current location of the self-moving device 10 is searched; if no path from the end of the second forward path to the location of the self-moving device 10 is found, it indicates that a necessary path to enter the first closed area has been explored, and the key boundary passes through the necessary path.

[0094] It should be noted that the second forward path is the continuous path that the self-moving device 10 will track closest to the self-moving device 10 in the pre-planned running route, which can be the size of a body 110 or close to the size of a body 110.

[0095] In some embodiments, obtaining the key boundary includes: obtaining the line connecting the end of the second forward path of the self-moving device 10 and the tail portion of the self-moving device 10 to obtain an auxiliary line segment; connecting the set of obstacles within a preset distance range of the self-moving device 10 to obtain a set of line segments; and obtaining from the set of line segments a connecting line segment that meets the length of the obstacle area (e.g., the threshold length), intersects with the auxiliary line segment, and is closest to the self-moving device 10, as the key boundary of the necessary path.

[0096] As shown in Figure 9, taking the real obstacle area as the real threshold area as an example, before the self-moving device 10 crosses the real threshold area, the tail part T of the body 110 of the self-moving device 10 is on one side of the real threshold area, and the end F of the second forward path is on the other side of the real threshold area. The line segment connecting T and F is denoted as the auxiliary line segment TF. All obstacles within the preset distance range of the self-moving device 10 are selected. These obstacles are connected to obtain the line segment set XY. When the line segment xy belonging to the line segment set XY intersects with the auxiliary line segment TF, and the length of the xy line segment meets the threshold length (e.g., 80~100cm), the condition is met. Among the line segments in the XY set that meet the condition, the line segment closest to the current position of the self-moving device 10 is the critical boundary AB. For example, the line segment AC in Figure 9 meets the threshold length but does not intersect with the auxiliary line segment TF, so it cannot be used as the critical boundary of the necessary path. When the critical boundary AB is treated as an obstacle, if no path from room 2 to location T can be found from location F, then the critical boundary AB passes through the necessary path to reach the first closed area.

[0097] Since the self-moving device 10 is outside the first closed area, it is difficult to identify the complete shape of the first closed area and it is difficult to directly determine whether the size of the first closed area is greater than the first size threshold. Therefore, in some embodiments, it is also included: scanning the first closed area to obtain multiple dimensional features; performing weighted sum calculation on the multiple dimensional features to obtain a weighted score; if the weighted score is greater than a preset score threshold, it indicates that the size of the first closed area is greater than the first size threshold, and thus it is determined that the first closed area is a large closed area.

[0098] In some embodiments, the first closed region is scanned to obtain features in three dimensions: area feature, length feature and width feature. The area feature, length feature and width feature are weighted and calculated to obtain a weighted score.

[0099] In some implementations, a weighting coefficient is configured for each dimension feature, for example: 'a' points per square meter, 'b' points per meter of length, and 'c' points per meter of width. The weighted score is calculated as area * a + length * b + width * c. By weighting and calculating multiple dimension features, the accuracy of the self-moving device 10 in determining the size of the first closed region is improved. For example, the weighting coefficient configured for each dimension feature could be: 1 point per square meter of area, 1 point per meter of length, and 1 point per meter of width. When the cumulative score exceeds 3 points, it indicates that the size of the first closed region is greater than a first size threshold.

[0100] In order to further reduce unnecessary lifting of the walking mechanism, after exploring the key beneficial position for entering the first closed area and before controlling the walking mechanism to lift relative to the body, the method further includes: acquiring the collision accumulation features generated by the movement of the mobile device 10 along the key beneficial position; and controlling the walking mechanism to lift relative to the body 110 in response to the collision accumulation features satisfying a first preset condition.

[0101] It is understood that the collision accumulation feature is a feature generated by a bumper sensor, which is a sensor that senses the position of an obstacle in front by squeezing into it. The collision accumulation feature may include the cumulative number of collisions and / or the cumulative collision distance generated by the movement of the self-moving device 10 along a key beneficial position.

[0102] In some embodiments, the self-moving device 10 will collide with the obstacle during its movement along the obstacle, thereby obtaining the collision sensing position generated by the movement along the key beneficial position. The collision sensing positions are clustered to obtain the cumulative number of collisions and / or the cumulative collision distance, wherein the cumulative collision distance is the contour length formed by the clustering of the collision sensing positions.

[0103] In some embodiments, if the collision accumulation feature includes the cumulative number of collisions and the cumulative collision distance generated by the self-moving device 10 moving along the key beneficial position, then the cumulative number of collisions and the cumulative collision distance of the self-moving device 10 moving along the key beneficial position are counted; if the counted cumulative number of collisions reaches the first threshold and the counted cumulative collision distance reaches the collision distance threshold, it indicates that the collision accumulation feature meets the first preset condition. In other embodiments, if the counted cumulative number of collisions reaches the first threshold or the counted cumulative collision distance reaches the collision distance threshold, it indicates that the collision accumulation feature meets the first preset condition.

[0104] It should be noted that the collision distance threshold is a threshold set according to the normal length range of the obstacle. For example, if the normal length of the threshold is 70~100cm, then the collision distance threshold can be set to 70cm.

[0105] In some embodiments, since the obtained key boundary is located in a key beneficial position, the cumulative number of collisions and the cumulative collision distance within a preset distance of the key boundary can be counted.

[0106] In some embodiments, when the distance between the current location of the self-moving device 10 and the location where the collision accumulation feature is generated exceeds a preset distance threshold, indicating that the self-moving device 10 has crossed the key beneficial location and entered the first closed area, the walking mechanism is controlled to lower relative to the body 110 so that the head part is lowered, so that the body 110 can be restored to a state that is basically parallel to the support surface (e.g., the ground) of the guide wheel 141 and the active wheel set, thereby restoring the cleaning robot to the normal cleaning state.

[0107] In some embodiments, the obstacle crossing control method of the self-moving device 10 provided in this invention further includes: detecting whether the self-moving device 10 is trapped in a second closed area during the self-moving device 10's task execution; in response to the self-moving device 10 being trapped in the second closed area, controlling the walking mechanism to rise relative to the body 110 so that the self-moving device 10 attempts to leave the second closed area while the head part is raised, wherein the second closed area is an area with a size smaller than a second size threshold.

[0108] In some embodiments, if the self-moving device 10 is within a preset distance range within a preset time threshold, and the collision accumulation characteristics generated by the self-moving device 10 within the preset time threshold meet the second preset condition, it indicates that the self-moving device 10 is trapped in the second closed area, thereby determining that the self-moving device 10 is trapped by a ground obstacle of a certain height, such as a U-shaped, O-shaped, or square chair, appliance, etc.

[0109] In some embodiments, the cumulative collision features generated within a preset time threshold include the cumulative number of collisions and the collision trajectory. As shown in FIG10, if the cumulative number of collisions generated within the preset time threshold reaches the second threshold and the collision trajectory is distributed around the self-moving device 10, then it is determined that the cumulative collision features generated within the preset time threshold satisfy the second preset condition.

[0110] In some embodiments, the collision sensing locations generated within a preset time threshold are clustered to obtain the cumulative number of collisions and collision trajectories within the preset time threshold.

[0111] Based on the same inventive concept, this invention also provides a self-moving device, as shown in FIG11. FIG11 shows a schematic diagram of the structure of a self-moving device provided in some embodiments of this invention. The self-moving device includes: a processor 1102; and a memory 1104 for storing executable instructions of the processor 1102, wherein the processor 1102 is configured to execute the instructions to implement the obstacle crossing control method of the self-moving device described in any of the above embodiments.

[0112] In Figure 11, a bus architecture (represented by bus 1100) is shown. Bus 1100 may include any number of interconnected buses and bridges. Bus 1100 connects various circuits including one or more processors represented by processor 1102 and memory represented by memory 1104. Bus 1100 may also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 1105 provides an interface between bus 1100 and receiver 1101 and transmitter 1103. Receiver 1101 and transmitter 1103 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 1102 is responsible for managing bus 1100 and general processing, while memory 1104 may be used to store data used by processor 1102 during operation.

[0113] Based on the same inventive concept, this invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the obstacle crossing control method for the self-moving device described in any of the above embodiments.

[0114] Based on the same inventive concept, this invention provides a computer program product, including a computer program that, when executed by a processor, implements the obstacle crossing control method for the self-moving device described in any of the above embodiments.

[0115] Those skilled in the art will understand that embodiments of this invention can be provided as methods, systems, or computer program products. Therefore, this invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this invention can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, magnetic disk memory, CD-ROM, optical memory, etc.) containing computer-usable program code.

[0116] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0117] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0118] These computer program instructions may also be loaded onto a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby providing steps for implementing the functions specified in one or more flowcharts and / or one or more blocks of a block diagram.

[0119] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the invention.

[0120] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from the spirit and scope of this invention. Thus, if such modifications and variations of this invention fall within the scope of the patent application of this invention and its equivalents, this invention also intends to include such modifications and variations. [Simplified Explanation of the Diagram]

[0025] In order to more clearly illustrate the technical solutions in the embodiments of this invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without making any progressive efforts.

[0026] Figure 1A shows a schematic diagram of the structure of the self-moving device in some embodiments of the present invention;

[0027] Figure 1B shows a bottom view of the self-moving device in some embodiments of the present invention;

[0028] Figure 2 shows a flowchart of an obstacle crossing control method for a self-moving device in some embodiments of the present invention;

[0029] Figure 3 shows a schematic diagram of a pre-planned running route passing through an obstacle recognition area in some embodiments of this invention;

[0030] Figure 4 shows a schematic diagram in which the distance L1 between the end of the first forward path and the first side boundary of the obstacle recognition area is reduced to a first distance threshold in some embodiments of the present invention;

[0031] Figure 5 shows a schematic diagram in some embodiments of the present invention where the distance L2 between the end of the first backward path and the first side boundary of the obstacle recognition area is reduced to a second distance threshold and the first forward path crosses the second side boundary of the obstacle recognition area;

[0032] Figure 6A shows a schematic diagram of the state of the walking mechanism after being raised relative to the body in some embodiments of this invention;

[0033] Figure 6B shows a schematic diagram of the state after the walking mechanism is lowered relative to the body in some embodiments of this invention;

[0034] Figure 7A shows a schematic diagram of a one-way step in some embodiments of this invention;

[0035] Figure 7B shows a schematic diagram of a two-way step in some embodiments of this invention;

[0036] Figure 8 illustrates a schematic diagram of the map construction process in some embodiments of this invention;

[0037] Figure 9 shows a schematic diagram of obtaining key boundaries in some embodiments of this invention;

[0038] Figure 10 shows a schematic diagram of a self-moving device being trapped in a second enclosed area in some embodiments of this invention.

[0039] Figure 11 shows a schematic diagram of a self-moving device in some embodiments of the present invention.

Claims

1. A method for controlling obstacle crossing of a self-moving device, wherein the self-moving device includes a body and a walking mechanism disposed on the body, the method comprising: During the execution of the task by the self-moving device, a first forward path and a first backward path are searched based on the location of the self-moving device; Based on the relative position of the first forward path and the obstacle recognition area, the walking mechanism is controlled to rise relative to the body, so that the self-moving device attempts to cross the real obstacle area corresponding to the obstacle recognition area while the head of the device is raised; if it is determined based on the relative position of the first backward path and / or the first forward path and the obstacle recognition area that the self-moving device has crossed the real obstacle area, the walking mechanism is controlled to descend relative to the body.

2. The obstacle crossing control method for a self-moving device as described in claim 1, wherein the walking mechanism includes guide wheels disposed at the front of the device body; The step of controlling the walking mechanism to rise relative to the body based on the relative position of the first forward path and the obstacle recognition area includes: responding to the distance between the end of the first forward path and the first side boundary of the obstacle recognition area decreasing to a first distance threshold, driving the guide wheel to begin rising relative to the body, so as to raise the head portion of the body; the step of controlling the walking mechanism to fall relative to the body includes: driving the guide wheel to begin falling relative to the body, so as to lower the head portion of the body.

3. The obstacle crossing control method for a self-moving device as described in claim 2 further includes: Determine whether the first forward path crosses the second side boundary of the obstacle recognition area. If the first forward path has crossed the second side boundary of the obstacle recognition area, determine that the self-moving device has crossed the real obstacle area. Alternatively, determine whether the first backward path passes through the first side boundary of the obstacle recognition area, and whether the distance between the end of the first backward path and the first side boundary has decreased to a second distance threshold. If the first backward path passes through the first side boundary of the obstacle recognition area and the distance between the end of the first backward path and the first side boundary has decreased to the second distance threshold, determine that the self-moving device has crossed the real obstacle area.

4. The obstacle crossing control method for a self-moving device as described in claim 2 further includes: Determine whether the first forward path crosses the second side boundary of the obstacle recognition area, whether the first backward path passes the first side boundary of the obstacle recognition area, and whether the distance between the end of the first backward path and the first side boundary decreases to a second distance threshold; if any of the following conditions are met first, determine that the self-moving device has crossed the real obstacle area: the first forward path has crossed the second side boundary of the obstacle recognition area; or the first backward path passes the first side boundary of the obstacle recognition area, and the distance between the end of the first backward path and the first side boundary decreases to the second distance threshold.

5. The obstacle crossing control method for a self-moving device as described in claim 1, wherein after controlling the walking mechanism to lift relative to the body based on the relative position of the first forward path and the obstacle recognition area, the method further includes: If the first forward path fails to reach the position between the two target path nodes, in response to the distance between the self-moving device and the first side boundary of the obstacle recognition area increasing to a third distance threshold, the walking mechanism is controlled to lower relative to the body; wherein, one of the target path nodes is on a target side outside the obstacle recognition area, the target side being the opposite side of the side where the self-moving device is located, and the other target path node is within the obstacle recognition area; wherein, before controlling the walking mechanism to rise relative to the body based on the relative position of the first forward path and the obstacle recognition area, the method further includes: determining whether the self-moving device is in the upward step direction of the obstacle recognition area; if so, performing the step of controlling the walking mechanism to rise relative to the body based on the relative position of the first forward path and the obstacle recognition area.

6. The obstacle crossing control method for a self-moving device as described in claim 2, wherein the walking mechanism further includes a set of drive wheels disposed on the body of the device; The step of controlling the walking mechanism to rise relative to the body based on the relative position of the first forward path and the obstacle recognition area further includes: responding to the decrease in the distance between the end of the first forward path and the first side boundary of the obstacle recognition area to the first distance threshold, driving the active wheel assembly to begin rising relative to the body, so as to raise the head section; the step of controlling the walking mechanism to fall relative to the body further includes: driving the active wheel assembly to begin falling relative to the body, so as to lower the head section.

7. The obstacle crossing control method for a self-moving device as described in claim 1, further comprising: During the execution of the task by the self-moving device, key and beneficial locations are explored; If the key advantageous position is discovered, the walking mechanism is controlled to rise relative to the body to attempt to cross the key advantageous position. Prior to raising the walking mechanism relative to the body, the method further includes: acquiring cumulative collision characteristics generated by the self-moving device moving along the key advantageous position; and, in response to the cumulative collision characteristics satisfying a first preset condition, controlling the walking mechanism to rise relative to the body.

8. The obstacle crossing control method for a self-moving device as described in claim 7, wherein exploring key advantageous locations during the self-moving device's task execution includes: If a necessary path to the first enclosed region is found, determine whether the size of the first enclosed region is greater than a first size threshold. If the size of the first enclosed area is greater than the first size threshold, it indicates that a key beneficial location for entering the first enclosed area has been explored. This further includes: obtaining a key boundary; searching for a path from the end of the second forward path of the self-moving device to the current location of the self-moving device, using the key boundary as an obstacle; if no path from the end of the second forward path to the current location of the self-moving device is found, it indicates that a necessary path for entering the first enclosed area has been explored, and the key boundary passes through the necessary path. Obtaining the key boundary includes: obtaining a line connecting the end of the second forward path to the tail of the self-moving device to obtain an auxiliary line segment; connecting a set of obstacles within a preset distance range of the self-moving device to obtain a set of line segments; and selecting from the set of line segments the connecting line segment that meets the obstacle length requirement, intersects the auxiliary line segment, and is closest to the self-moving device as the key boundary.

9. The obstacle crossing control method for a self-moving device as described in claim 8, wherein determining whether the size of the first enclosed region is greater than a first size threshold includes: The first closed region is scanned to obtain features in multiple dimensions; The multiple dimensional features are weighted and summed to obtain a weighted score; If the weighted score is greater than a preset score threshold, it indicates that the size of the first closed region is greater than the first size threshold.

10. The obstacle crossing control method for a self-moving device as described in claim 7, wherein the collision accumulation feature includes the cumulative number of collisions and the cumulative collision distance generated by the movement of the self-moving device along the key beneficial position, the method further comprising: Calculate the cumulative number of collisions and the cumulative collision distance generated by the self-moving device moving along the key beneficial position; If the cumulative number of collisions reaches the first threshold and the cumulative collision distance reaches the collision distance threshold, it indicates that the cumulative collision feature meets the first preset condition.

11. The obstacle crossing control method for a self-moving device as described in claim 1, further comprising: During the execution of a task by the self-moving device, in response to the self-moving device being trapped in a second enclosed area, the walking mechanism is controlled to rise relative to the body, so that the self-moving device attempts to escape from the second enclosed area while its head is raised; wherein, the second enclosed area is an area with a size smaller than a second size threshold, and further includes: if the self-moving device is within a preset distance range within a preset time threshold, and the cumulative collision characteristics generated by the self-moving device meet a second preset condition, it is determined that the self-moving device is trapped in the second enclosed area.

12. A self-moving device, comprising: processor; Memory for storing processor-executable instructions, wherein the processor is configured to execute the instructions to implement an obstacle-crossing control method for a self-moving device as described in any one of claims 1 to 11.

13. A computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements an obstacle-crossing control method for an independent mobile device as described in any one of claims 1 to 11.

14. A computer program product comprising a computer program, wherein when the computer program is executed by a processor, it implements an obstacle crossing control method for an independent mobile device as described in any one of claims 1 to 11.

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