Autonomous mobile device and obstacle-crossing control method therefor, and medium and program product

Abstract

Disclosed are an autonomous mobile device and an obstacle-crossing control method therefor, and a medium, a program product and a computer program, which belong to the technical field of robots. The method comprises: controlling an autonomous mobile device to cross a target obstacle on the basis of a first obstacle-crossing strategy, wherein the first obstacle-crossing strategy refers to crossing an obstacle by combining a first obstacle-crossing action with a second obstacle-crossing action, the first obstacle-crossing action being moving towards the target obstacle at a first forward speed, and the second obstacle-crossing action being moving in a rotating manner towards the target obstacle; and when the autonomous mobile device fails to cross the obstacle on the basis of the first obstacle-crossing strategy, controlling the autonomous mobile device to cross the target obstacle on the basis of a second obstacle-crossing strategy, wherein the second obstacle-crossing strategy refers to crossing an obstacle by combining a third obstacle-crossing action with the second obstacle-crossing action, the third obstacle-crossing action being moving towards the target obstacle at a second forward speed, which is higher than the first forward speed.

Description

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

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202410851426.1, filed on June 27, 2024, the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of robots, in particular to a self-moving device, an obstacle crossing control method, a medium, a program product and a computer program. BACKGROUND

[0004] A self-moving device is a robot that can move autonomously and perform work tasks, bringing many conveniences to people's lives. For example, a sweeping robot, a mopping robot, and a sweeping and mopping integrated robot in a smart home can move autonomously and replace people to complete some housework.

[0005] A self-moving device will encounter many obstacles during work, especially in some work scenarios where there are passages, thresholds, steps, etc. If the passage, threshold, and step obstacles are more than a certain threshold from the ground, the self-moving device will have difficulty crossing during work, such as a door threshold obstacle that is more than a certain height threshold from the ground when the sweeping robot is normally sweeping. Therefore, the success rate of the self-moving device passing through obstacles in the related art is low.

[0006] SUMMARY

[0007] The embodiments of the present disclosure provide a self-moving device, an obstacle crossing control method, a medium, a program product and a computer program, which at least partially solve the technical problem of low success rate of the self-moving device passing through obstacles in the related art.

[0008] According to an embodiment of the first aspect of the present disclosure, a self-moving device obstacle crossing control method is provided, comprising: controlling the self-moving device to cross a target obstacle with a first obstacle crossing strategy, the first obstacle crossing strategy being a combination of a first obstacle crossing action and a second obstacle crossing action for obstacle crossing, the first obstacle crossing action being a straight movement toward the target obstacle at a first forward speed, and the second obstacle crossing action being a rotation movement toward the target obstacle; in the case of failure of obstacle crossing with the first obstacle crossing strategy, controlling the self-moving device to cross the target obstacle with a second obstacle crossing strategy, the second obstacle crossing strategy being a combination of a third obstacle crossing action and the second obstacle crossing action for obstacle crossing, the third obstacle crossing action being a straight movement toward the target obstacle at a second forward speed, and the second forward speed being greater than the first forward speed.

[0009] In some embodiments, the controlling the self-moving device to cross the target obstacle with the first obstacle-crossing strategy comprises: controlling the self-moving device to attempt to cross the target obstacle with the first obstacle-crossing action and the second obstacle-crossing action alternately; and if the self-moving device fails to cross the target obstacle with the first obstacle-crossing action and the second obstacle-crossing action alternately for a first number of times, determining that the self-moving device fails to cross the target obstacle with the first obstacle-crossing strategy.

[0010] In some embodiments, the controlling the self-moving device to cross the target obstacle with the first obstacle-crossing strategy comprises: controlling the self-moving device to attempt to cross the target obstacle with the first obstacle-crossing action; if the self-moving device fails to cross the target obstacle with the first obstacle-crossing action, controlling the self-moving device to attempt to cross the target obstacle with the second obstacle-crossing action; and if the self-moving device fails to cross the target obstacle with the second obstacle-crossing action, controlling the self-moving device to attempt to cross the target obstacle with the first obstacle-crossing action.

[0011] In some embodiments, the self-moving device comprises a body, a guiding assembly arranged at a front portion of the body, and a walking assembly arranged at the body, and the controlling the self-moving device to attempt to cross the target obstacle with the first obstacle-crossing action comprises: driving the guiding assembly to lift relative to the body so as to elevate a head portion of the body relative to a support surface; and driving the walking assembly to move straight towards the target obstacle at a first forward speed, wherein the first forward speed is greater than a walking speed of the self-moving device before the self-moving device attempts to cross the target obstacle.

[0012] In some embodiments, the self-moving device further comprises a main brush device and a rotating disc for mounting a mop, and the controlling the self-moving device to attempt to cross the target obstacle with the first obstacle-crossing action further comprises: controlling the self-moving device to perform at least one of the following cooperative actions: driving the walking assembly to lift relative to the body and / or to elevate the main brush device relative to the support surface before the walking assembly moves straight towards the target obstacle at the first forward speed; and driving the rotating disc to rotate during the walking assembly moves straight towards the target obstacle at the first forward speed.

[0013] In some embodiments, the control of the self-moving device to cross the target obstacle in the second obstacle-crossing strategy comprises: controlling the self-moving device to attempt to cross the target obstacle by alternately performing the third obstacle-crossing action and the second obstacle-crossing action; and if the number of times of attempting to cross the target obstacle by alternately performing the third obstacle-crossing action and the second obstacle-crossing action reaches a second number threshold, indicating that the obstacle-crossing in the second obstacle-crossing strategy fails.

[0014] In some embodiments, the control of the self-moving device to attempt to cross the target obstacle by alternately performing the third obstacle-crossing action and the second obstacle-crossing action comprises: controlling the self-moving device to attempt to cross the target obstacle by performing the third obstacle-crossing action; controlling the self-moving device to attempt to cross the target obstacle by performing the second obstacle-crossing action if the obstacle-crossing by performing the third obstacle-crossing action fails; and controlling the self-moving device to attempt to cross the target obstacle by performing the third obstacle-crossing action if the obstacle-crossing by performing the second obstacle-crossing action fails.

[0015] In some embodiments, the self-moving device comprises a body, a guiding assembly arranged at a front portion of the body, and a walking assembly arranged at the body, and the control of the self-moving device to attempt to cross the target obstacle by performing the third obstacle-crossing action comprises: driving the guiding assembly to be lifted relative to the body so as to elevate a nose portion of the body relative to a support surface; and driving the walking assembly to move straight toward the target obstacle at the second forward speed.

[0016] In some embodiments, the self-moving device further comprises a main brush device and a rotating disc for mounting a mop, and the control of the self-moving device to attempt to cross the target obstacle by performing the third obstacle-crossing action further comprises: controlling the self-moving device to perform at least one cooperative action, which comprises: driving the main brush device to be lifted relative to the body and / or relative to the support surface before the walking assembly moves straight toward the target obstacle at the second forward speed; and driving the rotating disc to rotate during the movement of the walking assembly straight toward the target obstacle at the second forward speed.

[0017] In some embodiments of the first aspect, the moving assembly of the self-moving device comprises a first driving wheel and a second driving wheel, and the controlling the self-moving device to attempt to cross the target obstacle in the second obstacle-crossing action comprises: controlling the self-moving device to move backward to a first preset distance from the target obstacle; controlling the self-moving device to rotate in a first direction to make the second driving wheel attempt to cross the target obstacle; and controlling the self-moving device to rotate in a second direction to make the first driving wheel attempt to cross the target obstacle, wherein the first direction is opposite to the second direction.

[0018] In some embodiments of the first aspect, the controlling the self-moving device to rotate in the first direction comprises: driving the second driving wheel to rotate in the moving direction of the self-moving device with a first preset duty cycle pulse signal while the first driving wheel is fixed; and the controlling the self-moving device to rotate in the second direction comprises: driving the first driving wheel to rotate in the moving direction of the self-moving device with a second preset duty cycle pulse signal while the second driving wheel is fixed, wherein the first preset duty cycle and the second preset duty cycle are both greater than a duty cycle of a pulse signal used to drive the first driving wheel and the second driving wheel before the self-moving device attempts to cross the target obstacle.

[0019] In some embodiments of the first aspect, the self-moving device comprises a body, a guiding assembly arranged at the front of the body, a moving assembly arranged on the body, and a rotating disc arranged on the body for mounting a wiping member, and the method further comprises: driving the rotating disc to rotate upward during the moving of the moving assembly at the first moving speed straight toward the target obstacle; and driving the rotating disc to rotate downward during the moving of the moving assembly at the second moving speed straight toward the target obstacle.

[0020] In some embodiments of the first aspect, the self-moving device comprises a body, a guiding assembly arranged at the front of the body, and a moving assembly arranged on the body, and the moving assembly comprises a first driving wheel and a second driving wheel arranged at intervals, and the method further comprises: if the self-moving device enters a stuck state during the crossing of the target obstacle, after lifting the moving assembly relative to the body and lowering the guiding assembly, controlling the self-moving device to enter a preparation state for getting unstuck, the preparation state being a state in which the first driving wheel has a moving space, the first driving wheel being a driving wheel that needs to cross the target obstacle; and after lowering the first driving wheel relative to the body, driving the first driving wheel to move toward the target obstacle at a target rotating speed, the target rotating speed being greater than a rotating speed of the first driving wheel before the self-moving device attempts to cross the target obstacle.

[0021] With reference to the first aspect, in some embodiments, the controlling the self-moving device to enter the preparation state of getting rid of the trouble includes: controlling the self-moving device to move to a second preset distance from the front obstacle; and controlling the self-moving device to rotate relative to the target obstacle to have a moving space between the first driving wheel and the target obstacle.

[0022] With reference to the first aspect, in some embodiments, the controlling the self-moving device to rotate relative to the target obstacle to have a moving space between the first driving wheel and the target obstacle includes: driving the second driving wheel to rotate to the advancing direction close to the target obstacle and / or driving the first driving wheel to rotate to the retreating direction away from the target obstacle, so as to have the moving space between the first driving wheel and the target obstacle.

[0023] According to a second aspect of the present disclosure, a self-moving device is provided, comprising: a processor; and a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the self-moving device obstacle-crossing control method according to any of the embodiments of the first aspect.

[0024] According to a third aspect of the present disclosure, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the self-moving device obstacle-crossing control method according to any of the embodiments of the first aspect.

[0025] According to a fourth aspect of the present disclosure, a computer program product is provided, comprising a computer program, and the computer program is executed by a processor to implement the self-moving device obstacle-crossing control method according to any of the embodiments of the first aspect.

[0026] According to a fifth aspect of the present disclosure, a computer program is provided, comprising computer program code, which, when executed on a computer, causes the computer to perform the self-moving device obstacle-crossing control method according to any of the embodiments of the first aspect.

[0027] According to the one or more technical solutions provided by the embodiments of the present disclosure, at least the following technical effects or advantages are achieved:

[0028] The self-moving device is controlled to cross the target obstacle in a first obstacle-crossing strategy, and in the case that the obstacle-crossing fails in the first obstacle-crossing strategy, the self-moving device is controlled to cross the target obstacle in a second obstacle-crossing strategy. The first obstacle-crossing strategy is to combine a first obstacle-crossing action and a second obstacle-crossing action to cross the obstacle, and the second obstacle-crossing strategy is to combine a third obstacle-crossing action and the second obstacle-crossing action to cross the obstacle. The first obstacle-crossing action is to move straight toward the target obstacle at a first forward speed, the second obstacle-crossing action is a rotating motion toward the target obstacle, and the third obstacle-crossing action is to move straight toward the target obstacle at a second forward speed greater than the first forward speed. The above technical solution realizes combination of multiple obstacle-crossing actions to attempt to cross the target obstacle, instead of using a single obstacle-crossing action to cross the target obstacle. After the first obstacle-crossing strategy fails, the self-moving device is controlled to rush toward the target obstacle at a greater forward speed, so as to be able to cross a higher obstacle, and the probability of crossing the obstacle is improved, thereby improving the success rate of crossing the obstacle. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0030] FIG. 1A shows a structural schematic diagram of a self-moving device in some embodiments of the present disclosure;

[0031] FIG. 1B shows a bottom view of the self-moving device in some embodiments of the present disclosure;

[0032] FIG. 1C shows a schematic diagram of a guide wheel of the self-moving device relative to the body being lifted in some embodiments of the present disclosure;

[0033] FIG. 1D shows a schematic diagram of the guide wheel of the self-moving device relative to the body being lowered in some embodiments of the present disclosure;

[0034] FIG. 2 shows a flowchart of a control method for obstacle-crossing of the self-moving device in some embodiments of the present disclosure;

[0035] FIG. 3A shows a schematic diagram of a first obstacle-crossing action in some embodiments of the present disclosure;

[0036] FIG. 3B shows a schematic diagram of a third obstacle-crossing action in some embodiments of the present disclosure;

[0037] FIG. 4 shows an exploded schematic diagram of a second obstacle-crossing action in some embodiments of the present disclosure;

[0038] FIG. 5 shows a control logic for obstacle-crossing of the self-moving device in some embodiments of the present disclosure;

[0039] FIG. 6A shows a side view of the self-moving device in a stuck state according to some embodiments of the present disclosure;

[0040] FIG. 6B shows a top view of the self-moving device in a stuck state according to some embodiments of the present disclosure;

[0041] FIG. 7 shows a step-by-step diagram of the self-moving device getting unstuck according to some embodiments of the present disclosure;

[0042] FIG. 8 shows a structural diagram of the self-moving device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0043] In order to better understand the above technical solutions, the technical solutions of the embodiments of the present disclosure will be described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific features in the embodiments of the present disclosure and the specific embodiments are detailed descriptions of the technical solutions of the embodiments of the present disclosure, and not limitations of the technical solutions of the present disclosure. In the case of no conflict, the technical features in the embodiments of the present disclosure and the specific embodiments can be combined with each other.

[0044] The control method for obstacle crossing of a self-moving device provided by the embodiments of the present disclosure is used to control the self-moving device to cross a target obstacle when the self-moving device encounters the target obstacle during work. The self-moving device can automatically move and complete corresponding work in a work scene by means of certain artificial intelligence, such as cleaning, cruising, etc., and can also realize map building, positioning or object searching, etc. When the self-moving device is a cleaning robot, the work environment can be a room that needs to be cleaned by the cleaning robot; when the self-moving device is a cruising robot in a factory, the work environment can be a factory that needs to be cruised; when the self-moving device is a navigation robot, the work environment can be a public place such as a park or a shopping mall that needs to be navigated. The target obstacle refers to an obstacle that exceeds a height threshold and whose both sides are the work area of the self-moving device. The height threshold here is the distance from the ground when the self-moving device is working. For example, the target obstacle can be a threshold, a passageway, a step, etc.

[0045] 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 integrated robot, etc. The cleaning robot is about 2 cm away from the ground when sweeping, and cannot cross the threshold, passageway, step, etc. that exceeds 2 cm, so the target obstacle is the obstacle that exceeds 2 cm.

[0046] As shown in FIG. 1A and FIG. 1B, FIG. 1A shows a structural diagram of the self-moving device according to some embodiments of the present disclosure, and FIG. 1B shows a bottom view of the self-moving device according to some embodiments of the present disclosure. The self-moving device 10 includes a body 110, a perception component 120, a walking component and a guiding component.

[0047] In some embodiments, the walking assembly includes a first driving wheel 131, a motor (not shown) connected to the first driving wheel 131 for driving the first driving wheel 131, a steering engine (not shown) connected to the first driving wheel 131 for lifting the first driving wheel 131, a second driving wheel 132, a motor (not shown) connected to the second driving wheel 132 for driving the second driving wheel 132, and a steering engine (not shown) connected to the second driving wheel 132 for lifting the second driving wheel 132. It should be noted that the steering engine connected to the first driving wheel 131 is used to drive the first driving wheel 131 to lift relative to the body 110, so that in the use posture of the self-moving device, the part close to the first driving wheel 131 of the body 110 can be lifted relative to the ground; the steering engine connected to the second driving wheel 132 is used to drive the second driving wheel 132 to lift relative to the body 110, so that in the use posture of the self-moving device, the part close to the second driving wheel 132 of the body 110 can be lifted relative to the ground.

[0048] In some embodiments, the body 110 forms the shell of the self-moving device 10 and accommodates other components.

[0049] In some embodiments, the body 110 can be a flat cylinder. The perception assembly 120 is used to collect perception data of the self-moving device 10 in the travel area, which includes data related to the self-moving device 10 itself and data related to the surrounding environment objects during the travel, wherein the data related to the self-moving device 10 itself includes but is not limited to the travel position, travel speed and travel mileage of the self-moving device 10, etc., and the data related to the environment objects includes but is not limited to the distance between the self-moving device 10 and the wall, steps, door bars and power lines, etc.

[0050] In some embodiments, the perception assembly 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, etc. As an example, the camera is used to measure the travel position of the self-moving device 10, the three-axis accelerometer is used to obtain the acceleration and / or inclination angle of the self-moving device 10, the gyroscope is used to obtain the angular velocity and / or inclination angle of the self-moving device 10, and the odometer is used to obtain the travel mileage of the self-moving device 10; the LDS is usually arranged at the top of the self-moving device 10 and is used to measure the distance between the self-moving device 10 and the environment objects by laser; the ultrasonic sensor is usually arranged at the side of the self-moving device 10 and is used to measure the distance between the self-moving device 10 and the environment objects by ultrasonic wave; and the cliff sensor is usually arranged at the bottom of the self-moving device 10 and is used to measure the distance between the self-moving device 10 and the environment objects by infrared.

[0051] The number and location of the perception components 120 are not limited in the embodiments of the present disclosure.

[0052] As shown in FIG. 1B, the first driving wheel 131 and the second driving wheel 132 are arranged on one side of the body 110. In some embodiments, the first driving wheel 131 is arranged on the right side of the body 110, referred to as the right wheel, and the second driving wheel 132 is arranged on the left side of the body 110 in parallel with the first driving wheel 131, referred to as the left wheel. It can be understood that in other embodiments, the left wheel of the self-moving device 10 can be determined as the first driving wheel 131, and the right wheel can be determined as the second driving wheel 132, which is not limited in the embodiments of the present disclosure. A motor connected with the first driving wheel 131 is also installed on the right side of the body 110 of the self-moving device 10. The driving circuit of the motor generates a corresponding driving current to drive the motor according to the first control signal, so as to control the driving direction and the rotating speed of the first driving wheel 131. The first control signal corresponds to different duty cycles, and the duty cycle refers to the ratio of the power-on time to the power-on period of the pulse signal. The greater the duty cycle, the greater the rotating speed of the first driving wheel 131, and the smaller the duty cycle, the smaller the rotating speed of the first driving wheel 131. For example, the driving circuit of the motor connected with the first driving wheel 131 receives the first control signal corresponding to a duty cycle of 1 / 2, and generates a corresponding driving current according to the first control signal. Under the action of the driving current, the motor connected with the first driving wheel 131 controls the driving direction of the first driving wheel 131 to be the forward direction, and the rotating speed is 50 revolutions per minute. A motor connected with the second driving wheel 132 is also installed on the left side of the body 110 of the self-moving device 10. The driving circuit of the motor generates a corresponding driving current to drive the motor according to the second control signal, so as to control the driving direction and the rotating speed of the second driving wheel 132. The second control signal corresponds to different duty cycles. For example, the driving circuit of the motor connected with the second driving wheel 132 receives the second control signal corresponding to a duty cycle of 1 / 2 sent by the control unit, and generates a corresponding driving current according to the second control signal. Under the action of the driving current, the motor connected with the second driving wheel 132 controls the driving direction of the second driving wheel 132 to be the forward direction, and the rotating speed is 50 revolutions per minute.

[0053] In some embodiments, the guiding assembly of the self-moving device 10 includes a guiding wheel 141 arranged at the front of the body 110 and a steering engine connected with the guiding wheel 141. The guiding wheel 141 is used to change the direction of the self-moving device 10 during movement, and the steering engine connected with the guiding wheel 141 is used to lift and lower the guiding wheel 141 relative to the body 110, so that the head part of the body 110 can be lifted and lowered relative to the ground in the use posture of the self-moving device.

[0054] In some embodiments, the self-moving device 10 is a cleaning robot, and the cleaning robot further comprises a cleaning system. The cleaning system comprises a dry cleaning assembly and / or a wet cleaning assembly, wherein a main brush device 150 of the dry cleaning assembly is mounted at the bottom of the body 110. In some embodiments, the main brush device 150 is a drum-shaped rotating brush that rotates relative to a contact surface in a roller type. The wet cleaning assembly comprises a rotating disc 160, a motor connected to the rotating disc 160 for driving the rotating disc 160 to rotate, and a wiping member mounted on the rotating disc 160.

[0055] It should be noted that the self-moving device 10 can further comprise other modules or assemblies, or only comprise part of the above-mentioned modules or assemblies, and the present embodiment is not limited thereto, and the above-mentioned self-moving device 10 is only taken as an example for description.

[0056] As shown in FIG. 2, FIG. 2 shows a flowchart of a control method for obstacle crossing of a self-moving device in some embodiments of the present disclosure, and the control method for obstacle crossing of the self-moving device comprises the following steps S101-S102.

[0057] In step S101, the self-moving device 10 is controlled to cross the target obstacle in a first obstacle crossing strategy, and the first obstacle crossing strategy is to combine a first obstacle crossing action and a second obstacle crossing action to cross the obstacle. The first obstacle crossing action is to move straight at a first forward speed towards the target obstacle, and the second obstacle crossing action is a rotating motion towards the target obstacle.

[0058] In some embodiments, the step S101 of controlling the self-moving device 10 to cross the target obstacle in the first obstacle crossing strategy comprises: controlling the self-moving device 10 to alternately perform the first obstacle crossing action and the second obstacle crossing action to attempt to cross the target obstacle; and if the number of times of attempting to cross the target obstacle by alternately performing the first obstacle crossing action and the second obstacle crossing action reaches a first number threshold, it is determined that the obstacle crossing in the first obstacle crossing strategy fails.

[0059] In some embodiments, the step of controlling the self-moving device 10 to alternately perform the first obstacle crossing action and the second obstacle crossing action to attempt to cross the target obstacle comprises: controlling the self-moving device 10 to attempt to cross the target obstacle in the first obstacle crossing action; in the case of failure of the first obstacle crossing action, controlling the self-moving device 10 to attempt to cross the target obstacle in the second obstacle crossing action; and in the case of failure of the second obstacle crossing action, controlling the self-moving device 10 to attempt to cross the target obstacle in the first obstacle crossing action.

[0060] In some embodiments, during the working process of the self-moving device 10, if the target obstacle is encountered, the first obstacle-crossing action is used to attempt to cross the target obstacle. If the first obstacle-crossing action succeeds, the obstacle-crossing ends, and the self-moving device continues to work on the area after crossing the target obstacle. If the first obstacle-crossing action fails, the second obstacle-crossing action is used to attempt to cross the target obstacle. If the second obstacle-crossing action succeeds, the obstacle-crossing ends, and the self-moving device continues to work on the area after crossing the target obstacle. If the second obstacle-crossing action fails, the first obstacle-crossing action is used again to attempt to cross the target obstacle, and the above process is repeated until any one of the following conditions is met: the number of alternations reaches a first threshold, or the target obstacle is successfully crossed. In the above technical solution, the first obstacle-crossing action, which is relatively simple and safe, is used to attempt to cross the target obstacle first. If the first obstacle-crossing action fails, the second obstacle-crossing action, which is relatively complex, is used to attempt to cross the target obstacle. This helps to cross the obstacle more quickly.

[0061] It should be noted that, in the above embodiments, when the self-moving device 10 is controlled to alternate between the first obstacle-crossing action and the second obstacle-crossing action, the second obstacle-crossing action can be switched to after the first obstacle-crossing action fails once or after multiple consecutive attempts of the first obstacle-crossing action all fail. In addition, the first obstacle-crossing action can be switched back to after the second obstacle-crossing action fails once or after multiple consecutive attempts of the second obstacle-crossing action all fail.

[0062] In other embodiments, the first obstacle-crossing action and the second obstacle-crossing action can also be exchanged in terms of the starting order. That is, during the working process of the self-moving device 10, the second obstacle-crossing action is used to attempt to cross the target obstacle first. If the second obstacle-crossing action fails, the first obstacle-crossing action is switched to for attempting to cross the obstacle.

[0063] In some embodiments, when the self-moving device 10 includes a walking assembly, the step of controlling the self-moving device 10 to cross the target obstacle using the first obstacle-crossing action includes only driving the walking assembly to move straight toward the target obstacle at a first forward speed, where the first forward speed is greater than the walking speed of the self-moving device 10 before attempting to cross the target obstacle.

[0064] In some embodiments, the self-moving device 10 comprises a body 110, a guiding assembly arranged at the front of the body 110, and a walking assembly arranged on the body 110. In order to further improve the success rate of the self-moving device 10 crossing the target obstacle, in the step of controlling the self-moving device 10 to attempt to cross the target obstacle in the first obstacle-crossing action, the step comprises: driving the guiding assembly to lift relative to the body 110, so that the nose portion of the body 110 is raised relative to the support surface (such as the ground), thereby enabling the nose portion to be raised relative to the support surface of the guiding wheel 141 to a state in which the nose portion is inclined upward (as shown in FIG. 1C); and then driving the walking assembly to move straight toward the target obstacle at a first forward speed, wherein the first forward speed is greater than the walking speed of the self-moving device 10 before attempting to cross the target obstacle. The above technical solution enables the nose portion to be raised to an upwardly inclined state and directly attack the target obstacle, so that the self-moving device 10 is more likely to cross the target obstacle.

[0065] In some embodiments, the self-moving device 10 is a cleaning robot, and the cleaning robot further comprises a main brush device 150 for sweeping the ground and a rotating disc 160 for mounting a mopping member, in addition to the body 110, the guiding assembly arranged at the front of the body 110, and the walking assembly arranged on the body 110. In the step of controlling the self-moving device 10 to cross the target obstacle in the first obstacle-crossing action, the step further comprises: controlling the self-moving device 10 to perform at least one of the following cooperative actions: driving the walking assembly to lift relative to the body 110 and / or lifting the main brush device 150 relative to the support surface before the walking assembly moves straight toward the target obstacle at the first forward speed; and driving the rotating disc 160 to rotate during the process in which the walking assembly moves straight toward the target obstacle at the first forward speed. The above technical solution controls the self-moving device 10 to perform at least one cooperative action to assist the self-moving device in moving straight through the target obstacle, so that the self-moving device 10 is more likely to rush through the target obstacle when moving straight at the first forward speed.

[0066] In some embodiments, in the case where the walking assembly comprises a first driving wheel 131 and a second driving wheel 132, driving the walking assembly to move straight toward the target obstacle at the first forward speed comprises: driving the first driving wheel 131 and the second driving wheel 132 to rotate in the same direction and at the same speed as the forward direction of the self-moving device 10, so that the self-moving device 10 moves straight toward the target obstacle at the first forward speed to attempt to cross the target obstacle. At this time, the straight moving direction of the self-moving device 10 can be substantially perpendicular to the extension direction of the target obstacle region.

[0067] As shown in FIG. 3A, FIG. 3A shows a schematic diagram of the first obstacle-crossing action in some embodiments of the present disclosure, the dashed arrow in FIG. 3A represents the advancing direction of the self-moving device 10, and the target obstacle is the threshold 20, for example, the self-moving device 10 directly advances to the threshold 20 at a first advancing speed (such as 30 cm / s), at this time, the advancing direction of the self-moving device 10 is substantially perpendicular to the extension direction of the threshold 20, that is, the line between the rotation shaft of the first driving wheel 131 and the rotation shaft of the second driving wheel 132 is substantially parallel to the extension direction of the threshold 20.

[0068] In some embodiments, the first advancing speed is greater than the walking speed before the self-moving device 10 attempts to cross the target obstacle and less than the maximum advancing speed of the self-moving device 10, which can enable the self-moving device 10 to directly advance to the target obstacle at a greater speed than the walking speed during the operation (such as during the cleaning process) to attempt to cross the target obstacle, without increasing the risk of falling off a cliff due to the too large direct advancing speed.

[0069] In some embodiments, the first advancing speed can be any value in the range of [30 cm / s, 40 cm / s], and if 40 cm / s is the maximum advancing speed of the robot. As an example, the first advancing speed can be set to 30 cm / s, 32 cm / s, 36 cm / s, or 38 cm / s, etc.

[0070] In step S102, in the case that the first obstacle-crossing strategy fails, the self-moving device 10 is controlled to cross the target obstacle by a second obstacle-crossing strategy, and the second obstacle-crossing strategy is to combine a third obstacle-crossing action and a second obstacle-crossing action to cross the obstacle, the third obstacle-crossing action is to directly advance to the target obstacle at a second advancing speed, and the second advancing speed is greater than the first advancing speed.

[0071] In some embodiments, the self-moving device 10 is controlled to cross the target obstacle by the second obstacle-crossing strategy, including: controlling the self-moving device 10 to alternately perform the third obstacle-crossing action and the second obstacle-crossing action to attempt to cross the target obstacle; and if the number of times of attempting to cross the target obstacle by alternately performing the second obstacle-crossing action and the third obstacle-crossing action reaches a second number threshold, it is represented that the second obstacle-crossing strategy fails to cross the obstacle.

[0072] The first number threshold and the second number threshold can be set according to actual needs, for example, it can be set to 1 time, 2 times, 3 times, or 4 times.

[0073] In some embodiments, the control of the self-moving device 10 to attempt to cross the target obstacle in the third obstacle-crossing action and the second obstacle-crossing action alternately comprises: controlling the self-moving device 10 to attempt to cross the target obstacle in the third obstacle-crossing action; in the case of failure in crossing the target obstacle in the third obstacle-crossing action, controlling the self-moving device 10 to cross the target obstacle in the second obstacle-crossing action; in the case of failure in crossing the target obstacle in the second obstacle-crossing action, controlling the self-moving device 10 to cross the target obstacle in the third obstacle-crossing action.

[0074] In some embodiments, after the failure in crossing the target obstacle in the first obstacle-crossing strategy, the self-moving device 10 attempts to cross the target obstacle in the third obstacle-crossing action first, and in the case of success in crossing the target obstacle in the third obstacle-crossing action, the obstacle-crossing ends and the self-moving device continues to work on the area after crossing the target obstacle; in the case of failure in crossing the target obstacle in the third obstacle-crossing action, the self-moving device 10 attempts to cross the target obstacle in the second obstacle-crossing action again; in the case of success in crossing the target obstacle in the second obstacle-crossing action, the obstacle-crossing ends and the self-moving device continues to work on the area after crossing the target obstacle; in the case of failure in crossing the target obstacle in the second obstacle-crossing action, the self-moving device 10 attempts to cross the target obstacle in the third obstacle-crossing action again, and the above alternation is repeated until any one of the following conditions is met: the number of alternations reaches the second threshold number or the target obstacle is successfully crossed. In the above technical solution, after the failure in crossing the target obstacle in the first obstacle-crossing strategy, the self-moving device 10 directly charges at the target obstacle at a larger forward speed, which can increase the probability of crossing the target obstacle.

[0075] It should be noted that in the above embodiments, when the self-moving device 10 is controlled to alternate between the third obstacle-crossing action and the second obstacle-crossing action, the self-moving device 10 can switch to the second obstacle-crossing action in the case of failure in crossing the target obstacle in the third obstacle-crossing action once or in the case of failure in crossing the target obstacle in the third obstacle-crossing action continuously for multiple times; and the self-moving device 10 can switch back to the third obstacle-crossing action in the case of failure in crossing the target obstacle in the second obstacle-crossing action once or in the case of failure in crossing the target obstacle in the second obstacle-crossing action continuously for multiple times.

[0076] In other embodiments, the starting order of the third obstacle-crossing action and the second obstacle-crossing action can also be exchanged, that is, after the failure in crossing the target obstacle in the first obstacle-crossing strategy, the self-moving device 10 attempts to cross the target obstacle in the second obstacle-crossing action first, and attempts to cross the target obstacle in the third obstacle-crossing action only in the case of failure in crossing the target obstacle in the second obstacle-crossing action.

[0077] In some embodiments, in the case where the self-moving device 10 comprises a walking assembly, the control of the self-moving device 10 to cross the target obstacle in the third obstacle-crossing action comprises: driving the walking assembly to directly charge at the target obstacle at the second forward speed.

[0078] In some embodiments, the self-moving device 10 comprises a body 110, a guiding assembly arranged at the front of the body 110, and a walking assembly arranged at the middle of the body 110. In order to further improve the success rate of the self-moving device 10 in crossing the target obstacle, the step of controlling the self-moving device 10 to attempt to cross the target obstacle in the third obstacle-crossing action comprises: driving the guiding assembly to lift relative to the body 110 so as to elevate the nose portion of the body 110 relative to the support surface, so as to enable the nose portion to be raised relative to the support surface (e.g., the ground) of the guiding wheel 141 to a state in which the nose portion is inclined upwardly; and then driving the walking assembly to move straight toward the target obstacle at the second forward speed.

[0079] In some embodiments, the self-moving device 10 is a cleaning robot. In addition to comprising the body 110, the guiding assembly arranged at the front of the body 110, and the walking assembly arranged at the middle of the body 110, the cleaning robot further comprises a main brush device 150 for sweeping the ground and a turntable 160 for mounting a mopping member. In this case, the step of controlling the self-moving device 10 to attempt to cross the target obstacle in the third obstacle-crossing action further comprises: controlling the self-moving device 10 to perform at least one of the following cooperative actions: driving the walking assembly to lift relative to the body 110 and / or to lift the main brush device 150 relative to the support surface before the walking assembly moves straight toward the target obstacle at the second forward speed; and driving the turntable 160 to rotate during the process in which the walking assembly moves straight toward the target obstacle at the second forward speed. The above technical solution assists the self-moving device to move straight through the target obstacle by controlling the self-moving device 10 to perform the above at least one cooperative action, so as to make it easier for the self-moving device 10 to rush through the target obstacle when moving straight at the second forward speed.

[0080] In some embodiments, in the case where the walking assembly comprises a first driving wheel 131 and a second driving wheel 132, the step of driving the walking assembly to move straight toward the target obstacle at the second forward speed comprises: driving the first driving wheel 131 and the second driving wheel 132 to rotate in the same direction and at the same speed relative to the forward direction of the self-moving device 10, so as to enable the self-moving device to rush straight toward the target obstacle at the second forward speed to attempt to cross the target obstacle. At this time, the straight moving direction of the self-moving device 10 is substantially perpendicular to the extension direction of the target obstacle region.

[0081] In some embodiments, the second forward speed can be set as the maximum forward speed of the self-moving device 10, so as to enable the self-moving device to rush straight toward the target obstacle at the maximum forward speed after the first obstacle-crossing strategy fails to cross the target obstacle, thereby increasing the probability of crossing the target obstacle.

[0082] As shown in FIG. 3B, FIG. 3B shows a schematic diagram of the third obstacle-crossing action in some embodiments of the present disclosure, the dashed arrow in FIG. 3B represents the advancing direction of the self-moving device 10, and the target obstacle is the threshold 20, for example, the self-moving device 10 directly advances to the threshold 20 at the second advancing speed (such as 40 cm / s), and the direct advancing direction of the self-moving device 10 is substantially perpendicular to the extending direction of the threshold 20, that is, the line between the rotation shafts of the first driving wheel 131 and the second driving wheel 132 is substantially parallel to the extending direction of the threshold 20.

[0083] In the case where the self-moving device 10 comprises the guiding assembly, the walking assembly, and the rotating disc 160 for mounting the wiping member, the rotating of the rotating disc 160 can have two rotating modes, i.e., the ascending rotation and the descending rotation. The descending rotation of the rotating disc 160 has the risk of the wiping member falling off, but is more helpful for the self-moving device to cross the obstacle than the ascending rotation of the rotating disc 160. Therefore, in some embodiments, the ascending rotation of the rotating disc 160 is driven when the walking assembly directly advances to the target obstacle at the first advancing speed, and the descending rotation of the rotating disc 160 is driven when the walking assembly directly advances to the target obstacle at the second advancing speed, so as to balance the risk of the wiping member falling off and improve the success rate of crossing the obstacle.

[0084] In other embodiments, the ascending rotation of the rotating disc 160 is driven when the walking assembly directly advances to the target obstacle at the first advancing speed and when the walking assembly directly advances to the target obstacle at the second advancing speed, so as to minimize the risk of the wiping member falling off.

[0085] In yet other embodiments, the descending rotation of the rotating disc 160 is driven when the walking assembly directly advances to the target obstacle at the first advancing speed and when the walking assembly directly advances to the target obstacle at the second advancing speed, so as to further improve the success rate of crossing the obstacle.

[0086] In some embodiments, in the case where the walking assembly of the self-moving device 10 comprises the first driving wheel 131 and the second driving wheel 132, the self-moving device 10 is controlled to cross the target obstacle in the second obstacle-crossing action, comprising the following multiple sub-actions (1)-(3) performed in sequence:

[0087] (1) controlling the self-moving device 10 to retreat to a first preset distance from the target obstacle;

[0088] (2) controlling the self-moving device 10 to rotate in a first direction, so that the second driving wheel 132 attempts to cross the target obstacle;

[0089] (3) controlling the self-moving device 10 to rotate in a second direction, so that the first driving wheel 131 attempts to cross the target obstacle, wherein the first direction is opposite to the second direction.

[0090] It can be understood that, in the case that the first driving wheel 131 is a left wheel and the second driving wheel 132 is a right wheel, the first direction is the counterclockwise direction and the second direction is the counterclockwise direction.

[0091] In some embodiments, since the self-moving device has been lifted by driving the guide assembly relative to the body 110 or by driving the guide assembly and the walking assembly relative to the body 110 when performing the first obstacle-crossing action and the third obstacle-crossing action, as shown in FIG. 1D, in some embodiments, before the self-moving device 10 performs the second obstacle-crossing action each time, the guide assembly is lowered relative to the body 110 or the guide assembly and the walking assembly are both lowered relative to the body 110, so that the nose part of the body 110 is lowered relative to the support surface, and then the self-moving device performs the second obstacle-crossing action in a state that the body 110 thereof is substantially parallel to the support surface.

[0092] In some embodiments, the guide assembly is lifted relative to the body 110 or the guide assembly and the walking assembly are both lifted relative to the body 110 after the nose part of the body 110 is raised, and then the nose part of the body 110 is kept in a state of being tilted upward throughout the process of the self-moving device 10 attempting to cross the target obstacle, so that the guide assembly and the walking assembly are not frequently lifted and lowered during the process of the self-moving device 10 attempting to cross the target obstacle.

[0093] In some embodiments, the first driving wheel 131 and the second driving wheel 132 are driven to rotate in the same direction and at the same speed in the direction in which the self-moving device 10 retreats, so that the self-moving device 10 retreats to a first preset distance from the target obstacle region, and sufficient moving space is reserved for subsequent rotation of the self-moving device 10 in different directions.

[0094] In some embodiments, the second driving wheel 132 is driven to rotate in the advancing direction of the self-moving device 10, so that the self-moving device 10 rotates in the first direction. The first driving wheel 131 is driven to rotate in the advancing direction of the self-moving device 10, so that the self-moving device 10 rotates in the second direction.

[0095] In some embodiments, the self-moving device 10 is controlled to rotate in the first direction, including: the first driving wheel 131 and the second driving wheel 132 are controlled to rotate in the advancing direction of the self-moving device 10 at different speeds, and the speed of the second driving wheel 132 is greater than the speed of the first driving wheel 131, so that the self-moving device 10 rotates in the first direction.

[0096] In some embodiments, the control of the self-moving device 10 to rotate in the second direction includes: controlling the first driving wheel 131 and the second driving wheel 132 to rotate in the advancing direction of the self-moving device 10 at different rotating speeds, the rotating speed of the first driving wheel 131 being greater than the rotating speed of the second driving wheel 132, so as to make the self-moving device 10 rotate in the second direction.

[0097] In some other embodiments, the control of the self-moving device 10 to rotate in the first direction includes: driving the second driving wheel 132 to rotate in the advancing direction of the self-moving device 10 at a pulse signal of the first preset duty cycle while the first driving wheel 131 is fixed. It should be noted that the first driving wheel 131 is fixed, which means that the first driving wheel 131 is not driven, but the rotation of the second driving wheel 132 in the advancing direction will drive the first driving wheel 131 to rotate in place by a certain angle, and the first driving wheel 131 does not move relatively in the advancing direction and the retreating direction.

[0098] In some other embodiments, the control of the self-moving device 10 to rotate in the second direction includes: driving the first driving wheel 131 to rotate in the advancing direction of the self-moving device 10 at a pulse signal of the second preset duty cycle while the second driving wheel 132 is fixed. It should be noted that the second driving wheel 132 is fixed, which means that the second driving wheel 132 is not driven, but the rotation of the first driving wheel 131 in the advancing direction will drive the second driving wheel 132 to rotate in place by a certain angle, and the second driving wheel 132 does not move relatively in the advancing direction and the retreating direction.

[0099] In some embodiments, the first preset duty cycle and the second preset duty cycle are greater than the duty cycle of the pulse signal used to drive the first driving wheel 131 and the second driving wheel 132 to walk before the self-moving device 10 attempts to cross the target obstacle. As an example, the duty cycle of the pulse signal used to drive the first driving wheel 131 and the second driving wheel 132 to walk is 50%, and the first preset duty cycle and the second preset duty cycle are greater than 50%, which can be set to a duty cycle value within 50% to 100%. The greater the duty cycle of the pulse signal of the motor used to drive the first driving wheel 131 and the second driving wheel 132, the greater the power of the motor, and the greater the rotating speed of the first driving wheel 131 and the second driving wheel 132, which makes it easier to cross the target obstacle. For example, the first preset duty cycle and the second preset duty cycle can be set to 70%, 75%, 80%, 85%, 90%, or 95%, and so on.

[0100] The following describes the process of the self-moving device 10 performing the second obstacle-crossing action by taking the first driving wheel 131 as the left wheel, the second driving wheel 132 as the right wheel, and the target obstacle as the threshold 20, as shown in FIG. 4, so as to facilitate understanding of how the self-moving device performs the second obstacle-crossing action:

[0101] Firstly, as shown in (1) to (2) of FIG. 4, the left and right wheels are driven to rotate in the direction of moving the self-moving device 10 backward at the same speed, so as to move the self-moving device 10 backward to a first preset distance from the threshold 20;

[0102] Then, as shown in (2) to (3) of FIG. 4, the left wheel is fixed, and the right wheel is driven to rotate in the direction of moving the self-moving device 10 forward by a pulse signal with a duty ratio of 90%, so as to make the right wheel cross the threshold 20;

[0103] Then, as shown in (2) to (3) of FIG. 4, the left wheel is fixed, and the right wheel is driven to rotate in the direction of moving the self-moving device 10 forward by a pulse signal with a duty ratio of 90%, so as to make the right wheel cross the threshold 20;

[0104] In some embodiments, in the case that the self-moving device 10 fails to cross the target obstacle in the second obstacle-crossing strategy, the self-moving device 10 walks to another position to continue to attempt to cross the target obstacle or to give up crossing the target obstacle.

[0105] In some other embodiments, a third obstacle-crossing strategy can also be configured, which is to combine the fourth obstacle-crossing action with the second obstacle-crossing action to cross the obstacle, the fourth obstacle-crossing action is to move straight toward the target obstacle at a third forward speed, the third forward speed is greater than the second forward speed, and at this time, the second forward speed is less than the maximum forward speed.

[0106] In order to facilitate understanding of the present disclosure, the control logic of the self-moving device 10 in some embodiments of the present disclosure is given below in combination with FIG. 5:

[0107] S1: moving straight at a forward speed of 30 cm / s to rush toward the target obstacle, and then entering step S2;

[0108] S2: judging whether the obstacle-crossing is successful, if yes, the obstacle-crossing is ended, if not, entering step S3;

[0109] S3: driving by a pulse signal with a duty ratio of 90% to execute the second obstacle-crossing action, and then entering step S4;

[0110] S4: judging whether the obstacle-crossing is successful by the second obstacle-crossing action, if yes, the obstacle-crossing is ended, if not, entering step S5;

[0111] S5: judging whether the alternating times are greater than 3 times, if yes, entering step S6, if not, returning to S1;

[0112] S6: moving straight at a forward speed of 40 cm / s to rush toward the target obstacle, and then returning to step S2.

[0113] In the process of the self-moving device 10 crossing the target obstacle in the first obstacle-crossing strategy and the second obstacle-crossing strategy, the self-moving device 10 can be in a state of being erected by the target obstacle, at this time, the first driving wheel 131 and the second driving wheel 132 can be in a state of being close to the ground, that is, the state shown in FIGS. 6A and 6B, and the normal rotation of the first driving wheel 131 and the second driving wheel 132 cannot make the self-moving device 10 escape from this state, which is a stuck state. For example, in the process of the self-moving device 10 performing the second obstacle-crossing action, one driving wheel crosses the target obstacle, and the other driving wheel cannot cross the target obstacle, and the self-moving device 10 enters the stuck state.

[0114] In some embodiments, the self-moving device 10 includes a guiding assembly and a walking assembly, and in the case that the walking assembly includes the first driving wheel 131 and the second driving wheel 132, the obstacle-crossing control method of the self-moving device further includes: if the self-moving device 10 enters the stuck state in the process of crossing the target obstacle, after lifting the walking assembly and lowering the guiding assembly relative to the body 110, controlling the self-moving device 10 to enter a stuck-escape preparation state, wherein the preparation state is a state in which the first driving wheel 131 has a moving space, and the first driving wheel 131 is a driving wheel that needs to cross the target obstacle; after lowering the first driving wheel 131 relative to the body 110, driving the first driving wheel 131 to move towards the target obstacle at a target rotation speed, wherein the target rotation speed is greater than the rotation speed of the first driving wheel 131 before the self-moving device 10 attempts to cross the target obstacle.

[0115] In some embodiments, in the process of the self-moving device 10 crossing the target obstacle, whether the self-moving device 10 enters the stuck state can be detected by a related detection algorithm.

[0116] In some embodiments, whether the self-moving device 10 enters the stuck state can be determined by detecting whether the first driving wheel 131 and the second driving wheel 132 are in a suspended state, and if at least one of the first driving wheel 131 and the second driving wheel 132 is in the suspended state, it is determined that the self-moving device 10 enters the stuck state. In other embodiments, according to the target obstacle marked on the map, it is determined whether the angle between the extension direction of the target obstacle and the advancing direction of the self-moving device 10 is less than a preset angle threshold, and if yes, it is determined that the self-moving device 10 enters the stuck state. In other embodiments, according to the target obstacle marked on the map, it is determined whether the first driving wheel 131 and the second driving wheel 132 of the self-moving device 10 are located on different sides of the target obstacle, and if yes, it is determined that the self-moving device 10 enters the stuck state.

[0117] In some embodiments, lifting the walking assembly and lowering the guiding assembly relative to the body 110 can include: driving the first driving wheel 131 to be lifted to the highest state relative to the body 110 by the steering wheel connected with the first driving wheel 131, driving the second driving wheel 132 to be lifted to the highest state relative to the body 110 by the steering wheel connected with the second driving wheel 132, and driving the guiding wheel 141 to be lowered relative to the body 110 by the steering wheel connected with the guiding wheel 141.

[0118] In some embodiments, controlling the self-moving device 10 to enter the preparation state of escaping from the trouble includes: controlling the self-moving device 10 to move to a second preset distance away from the front obstacle, and controlling the self-moving device 10 to rotate relative to the target obstacle to have a moving space between the first driving wheel 131 and the target obstacle. It should be noted that the front obstacle is the obstacle connected with the target obstacle. Taking the target obstacle as the threshold 20, the front obstacle 30 is the door frame or wall above the threshold 20.

[0119] In some embodiments, controlling the self-moving device 10 to rotate relative to the target obstacle to have a moving space between the first driving wheel 131 and the target obstacle includes: driving the second driving wheel 132 to rotate towards the advancing direction close to the target obstacle and / or driving the first driving wheel 131 to rotate towards the retreating direction away from the target obstacle, so as to have a moving space between the first driving wheel 131 and the target obstacle.

[0120] In some embodiments, controlling the self-moving device 10 to retreat to the second preset distance d away from the front obstacle 30 includes: driving the first driving wheel 131 and the second driving wheel 132 in the lifted state relative to the body 110 to rotate towards the retreating direction of the self-moving device 10 at the same speed and in the same direction, so as to make the self-moving device 10 retreat to the second preset distance d away from the front obstacle 30 or make the self-moving device 10 retreat a certain distance, so as to have enough moving space in front of the self-moving device 10 for the self-moving device 10 to escape from the trouble.

[0121] In some embodiments, controlling the self-moving device 10 to rotate relative to the target obstacle to have a moving space between the first driving wheel 131 and the target obstacle includes: driving the second driving wheel 132 to rotate towards the advancing direction of the self-moving device 10 to contact or be closer to the edge of the target obstacle with the first driving wheel 131 as the center, that is, the first driving wheel 131 is fixed and not driven, wherein the second driving wheel 132 is the driving wheel that does not need to cross the target obstacle.

[0122] In some embodiments, the target rotating speed is the maximum rotating speed of the first driving wheel 131, which is not more than the speed limit of the first driving wheel 131. Since the second driving wheel 132 is in the lifted state relative to the body 110 and the first driving wheel 131 is in the lowered state relative to the body 110 at this time, the first driving wheel 131 rotates at the maximum rotating speed, which can improve the success rate of the self-moving device 10 escaping from the trouble.

[0123] Next, taking the first driving wheel 131 as the left wheel and the second driving wheel 132 as the right wheel, and the left wheel needing to cross the threshold 20 as an example, the process of controlling the self-moving device to escape from the trouble is described with reference to FIG. 7 (in FIG. 7, the solid arrow direction is the backward direction of the self-moving device 10, and the dotted arrow is the direction in which the self-moving device 10 needs to pass. In the first driving wheel 131, the second driving wheel 132, and the guide wheel 141 shown in FIG. 7, the dotted line represents the lifted state, and the solid line represents the lowered state).

[0124] First, as shown in (1) to (2) of FIG. 7, after the guide wheel 141 is lowered relative to the body 110 and the left and right wheels are lifted relative to the body 110, the left and right wheels in the lifted state relative to the body 110 are driven to rotate in the same direction and at the same speed in the backward direction of the self-moving device 10, so that the self-moving device 10 is moved backward to a second preset distance d from the front obstacle 30.

[0125] Next, as shown in (2) to (3) of FIG. 7, the right wheel is driven to rotate forward by a pulse signal with the left wheel as the center (that is, the left wheel is not driven) while the left and right wheels are in the lifted state relative to the body 110 and the guide wheel 141 is in the lowered state relative to the body 110, so that the right wheel moves a small distance in the forward direction, and the self-moving device 10 rotates counterclockwise until the right wheel is close to or in contact with the edge of the threshold 20.

[0126] Next, as shown in (3) to (4) of FIG. 7, the left wheel is lowered relative to the body 110, and the right wheel continues to be in the lifted state relative to the body 110. Next, as shown in (4) to (6) of FIG. 7, the left wheel rotates in the forward direction at the maximum rotating speed with the right wheel as the center (that is, the right wheel is not driven) while the left wheel and the guide wheel 141 are in the lowered state relative to the body 110 and the right wheel is in the lifted state relative to the body 110, so that the self-moving device 10 rotates clockwise until it passes through the threshold 20. After the self-moving device passes through the threshold 20, the right wheel is driven to be lowered relative to the body 110, so that the left and right wheels and the guide wheel 141 all return to the lowered state relative to the body 110, and the body 110 returns to the state of being substantially parallel to the ground, so that the self-moving device can perform subsequent work.

[0127] Based on the same inventive concept, the embodiments of the present disclosure further provide a self-moving device, as shown in FIG. 8, which shows a structural schematic diagram of a self-moving device provided by some embodiments of the present disclosure, and the self-moving device comprises: a processor 802; a memory 804 for storing instructions executable by the processor 802, wherein the processor 802 is configured to execute the instructions to implement the control method for barrier crossing of the self-moving device according to any of the above-mentioned embodiments.

[0128] In FIG. 8, a bus architecture (represented by a bus 800) can include any number of interconnected buses and bridges, which link various circuits including one or more processors represented by the processor 802 and the memory represented by the memory 804. The bus 800 can also link various other circuits such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art, and thus, further description thereof will not be given herein. A bus interface 805 provides an interface between the bus 800 and the receiver 801 and the transmitter 803. The receiver 801 and the transmitter 803 can be the same element, i.e., a transceiver, which provides a unit for communicating with various other devices on a transmission medium. The processor 802 is responsible for managing the bus 800 and general processing, while the memory 804 can be used to store data used by the processor 802 in performing operations.

[0129] Based on the same inventive concept, the embodiments of the present disclosure provide a computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for barrier crossing of the self-moving device according to any of the above-mentioned embodiments.

[0130] Based on the same inventive concept, the embodiments of the present disclosure provide a computer program product comprising a computer program, which, when executed by a processor, implements the control method for barrier crossing of the self-moving device according to any of the above-mentioned embodiments.

[0131] Based on the same inventive concept, the embodiments of the present disclosure provide a computer program comprising computer program code which, when executed on a computer, causes the computer to perform the control method for barrier crossing of the self-moving device according to any of the above-mentioned embodiments.

[0132] It should be noted that the foregoing embodiments are also applicable to the self-moving device, the computer readable storage medium, the computer program product and the computer program of the embodiments of the present disclosure for the control method for barrier crossing of the self-moving device, and thus, further description thereof will not be given herein.

[0133] All the embodiments of the present disclosure can be executed independently or in combination with other embodiments, and all are considered to be within the protection scope required by the present disclosure.

[0134] Those skilled in the art will appreciate that embodiments of the disclosure can be devised for a method, a system, or a computer program product. Accordingly, the disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the disclosure can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code thereon for use by or in connection with an instruction execution system. For the purposes of this description, a computer usable or computer readable storage medium can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

[0135] The disclosure is described in reference to the drawings, which are as follows:

[0136] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0137] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0138] While preferred embodiments of the disclosure have been described, those skilled in the art will appreciate that other modifications than those specifically described can be made within the scope of the disclosure. Accordingly, no limitation is intended based on the description as recited in the patent claims. It is therefore intended that the disclosure be construed as including all such modifications and variations as fall within the scope of the present disclosure.

[0139] Obviously, numerous modifications and variations of the present disclosure are possible in light of the above teachings. It is therefore to be understood that within the scope of the disclosure, the disclosure can be practiced otherwise than as specifically described. Since modifications and variations of the present disclosure can be made without departing from its spirit and scope, it is the intent that the present disclosure be limited only by the scope of the claims and the equivalents thereof.

Claims

1. A control method for obstacle crossing by an autonomous mobile device, characterized in that, include: Control the self-moving device to cross the target obstacle using a first obstacle crossing strategy. The first obstacle crossing strategy is to combine a first obstacle crossing action and a second obstacle crossing action to cross the obstacle. The first obstacle crossing action is to move straight toward the target obstacle at a first forward speed, and the second obstacle crossing action is to rotate toward the target obstacle. If the first obstacle-crossing strategy fails to overcome the obstacle, the self-moving device is controlled to cross the target obstacle using a second obstacle-crossing strategy. The second obstacle-crossing strategy combines a third obstacle-crossing action with the second obstacle-crossing action to overcome the obstacle. The third obstacle-crossing action is to move straight toward the target obstacle at a second forward speed, which is greater than the first forward speed.

2. The obstacle crossing control method for self-moving devices as described in claim 1, characterized in that, The control of the self-moving device to traverse the target obstacle using a first obstacle-crossing strategy includes: The self-moving device is controlled to alternate between the first obstacle-crossing action and the second obstacle-crossing action to attempt to cross the target obstacle; If the first obstacle-crossing action and the second obstacle-crossing action are performed alternately, and the number of attempts to cross the target obstacle reaches the first threshold, it indicates that the obstacle-crossing strategy has failed.

3. The obstacle crossing control method for self-moving devices as described in claim 2, characterized in that, The control of the self-moving device to alternate between the first obstacle-crossing action and the second obstacle-crossing action to attempt to cross the target obstacle includes: Control the self-moving device to attempt to cross the target obstacle using the first obstacle-crossing action; If the first obstacle-crossing action fails to cross the obstacle, the self-moving device is controlled to attempt to cross the target obstacle with the second obstacle-crossing action. If the second obstacle-crossing action fails to cross the obstacle, the self-moving device is controlled to attempt to cross the target obstacle using the first obstacle-crossing action.

4. The obstacle crossing control method for self-moving devices as described in claim 3, characterized in that, The self-moving device includes a body, a guide component disposed at the front of the body, and a walking component disposed on the body. Controlling the self-moving device to attempt to cross a target obstacle with the first obstacle-crossing action includes: The guide assembly is driven to lift relative to the body, so that the head portion of the body is raised relative to the support surface; The walking component is driven to move straight toward the target obstacle at a first forward speed, wherein the first forward speed is greater than the walking speed of the self-moving device before attempting to cross the target obstacle.

5. The obstacle crossing control method for self-moving devices as described in claim 4, characterized in that, The self-moving device further includes a main brush device and a turntable for mounting a wiping component. Controlling the self-moving device to attempt to cross the target obstacle with the first obstacle-crossing action also includes: Control the self-moving device to perform at least one of the following cooperative actions: Before the walking assembly moves straight toward the target obstacle at the first forward speed, the walking assembly is driven to lift relative to the body and / or relative to the support surface, raising the main brush device; and As the walking component moves straight toward the target obstacle at the first forward speed, it drives the turntable to rotate.

6. The control method for obstacle crossing of an independent mobile device as described in any one of claims 1-5, characterized in that, The control of the self-moving device to traverse the target obstacle using a second obstacle-crossing strategy includes: The self-moving device is controlled to alternate between the third obstacle-crossing action and the second obstacle-crossing action to attempt to cross the target obstacle; If the second obstacle-crossing action and the third obstacle-crossing action are performed alternately, and the number of attempts to cross the target obstacle reaches a second threshold, it indicates that the obstacle-crossing strategy has failed.

7. The obstacle crossing control method for an independent mobile device as described in claim 6, characterized in that, The control of the self-moving device to alternate between the third obstacle-crossing action and the second obstacle-crossing action to attempt to cross the target obstacle includes: Control the self-moving device to attempt to cross the target obstacle using the third obstacle-crossing action; If the third obstacle-crossing action fails to cross the obstacle, the self-moving device is controlled to attempt to cross the target obstacle using the second obstacle-crossing action. If the second obstacle-crossing action fails, the self-moving device is controlled to attempt to cross the target obstacle with the third obstacle-crossing action.

8. The obstacle crossing control method for a self-moving device as described in claim 7, characterized in that, The self-moving device includes a body, a guide assembly disposed at the front of the body, and a walking assembly disposed on the body. Controlling the self-moving device to attempt to cross the target obstacle using the third obstacle-crossing action includes: The guide assembly is driven to lift relative to the body, so that the head portion of the body is raised relative to the support surface; The walking component is driven to move straight toward the target obstacle at the second forward speed.

9. The control method for obstacle crossing of an independent mobile device as described in claim 8, characterized in that, The self-moving device further includes a main brush unit and a turntable for mounting a wiping component. Controlling the self-moving device to attempt to cross the target obstacle with the third obstacle-crossing action also includes: Control the self-moving device to perform at least one of the following cooperative actions: Before the walking assembly moves straight toward the target obstacle at the second forward speed, the walking assembly is driven to lift relative to the body and / or lift the main brush device relative to the support surface; As the walking assembly travels straight toward the target obstacle at the second forward speed, it drives the rotating... The disc rotates.

10. The control method for obstacle crossing of a self-moving device as described in any one of claims 3-5 and 7-9, characterized in that, The walking component of the self-moving device includes a first drive wheel and a second drive wheel. Controlling the self-moving device to attempt to cross the target obstacle using the second obstacle-crossing action includes: Control the self-moving device to retreat to a first preset distance from the target obstacle; The self-moving device is controlled to rotate in a first direction, so that the second drive wheel attempts to cross the target obstacle; The self-moving device is controlled to rotate in a second direction so that the first drive wheel attempts to cross the target obstacle, wherein the first direction is opposite to the second direction.

11. The control method for obstacle crossing of an independent mobile device as described in claim 10, characterized in that, The method of controlling the self-moving device to rotate in the first direction includes: driving the second driving wheel to rotate in the forward direction of the self-moving device with a pulse signal of a first preset duty cycle while the first driving wheel is fixed; The method of controlling the self-moving device to rotate in the second direction includes: driving the first driving wheel to rotate in the forward direction of the self-moving device with a pulse signal of the second preset duty cycle while the second driving wheel is fixed; Wherein, both the first preset duty cycle and the second preset duty cycle are greater than the duty cycle of the pulse signal that drives the first drive wheel and the second drive wheel before the self-moving device attempts to cross the target obstacle.

12. The control method for obstacle crossing of an autonomous mobile device as described in any one of claims 1-11, characterized in that, The self-moving device includes a body, a guide assembly disposed at the front of the body, a walking assembly disposed on the body, and a turntable disposed on the body for mounting a wiping component. The method further includes: As the walking assembly moves straight toward the target obstacle at the first forward speed, it drives the turntable to rise and rotate. As the walking assembly moves straight toward the target obstacle at the second forward speed, it drives the turntable to descend and rotate.

13. The control method for obstacle crossing of an autonomous mobile device as described in any one of claims 1-12, characterized in that, The self-moving device includes a body, a guide assembly disposed at the front of the body, and a walking assembly disposed on the body. The walking assembly includes a first drive wheel and a second drive wheel spaced apart. The method further includes: If the self-moving device gets stuck while crossing the target obstacle, after raising the walking component and lowering the guide component relative to the body, the self-moving device is controlled to enter a preparation state for getting out of trouble. The preparation state is when the first driving wheel has room to move. The first driving wheel is the driving wheel that needs to cross the target obstacle. After the first drive wheel is lowered relative to the body, the first drive wheel is driven to move toward the target obstacle at a target rotational speed, which is greater than the rotational speed of the first drive wheel before the self-moving device attempts to cross the target obstacle.

14. The obstacle crossing control method for an independent mobile device as described in claim 13, characterized in that, The process of controlling the self-moving device to enter the preparation state for extrication includes: Control the self-moving device to move to a second preset distance from the obstacle in front; The self-moving device is controlled to rotate relative to the target obstacle until there is a space for movement between the first drive wheel and the target obstacle.

15. The obstacle crossing control method for an independent mobile device as described in claim 14, characterized in that, The control of the self-moving device to rotate relative to the target obstacle until there is a movement space between the first drive wheel and the target obstacle includes: The second drive wheel is driven to rotate in a forward direction toward the target obstacle and / or the first drive wheel is driven to rotate in a backward direction away from the target obstacle, so that there is room for movement between the first drive wheel and the target obstacle.

16. A self-moving device, characterized in that, include: processor; A memory for storing processor-executable instructions, wherein the processor is configured to execute the instructions to implement the control method for obstacle crossing of an independent mobile device as described in any one of claims 1-15.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the obstacle crossing control method for the self-moving device as described in any one of claims 1-15.

18. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the obstacle crossing control method for the self-moving device as described in any one of claims 1-15.

19. A computer program comprising computer program code, which, when executed on a computer, causes the computer to perform the control method for obstacle crossing of an autonomous mobile device according to any one of claims 1-15.

Images