Obstacle processing method, cleaning control method, self-moving device, medium and program product

Abstract

An obstacle processing method, a cleaning control method, a self-moving device (10), a medium and a program product. The obstacle processing method comprises: during the working process of a self-moving device (10), acquiring target point cloud data, the target point cloud data being a point cloud within a preset height range and within a preset distance range of the self-moving device (10) (step S101); according to the target point cloud data, determining an obstacle contour of a current obstacle (step S102); and if, according to the obstacle contour, the current obstacle is recognized as a step-type obstacle, marking higher and lower edge attributes of the current recognized step-type obstacle (step S103). The solution solves the technical problem of the recognition capability of the self-moving device (10) being low and cannot provide an accurate recognition basis for movement and obstacle traversal of the self-moving device (10).

Description

Obstacle handling methods, cleaning control methods, self-moving equipment, media and program products

[0001] Cross-references to related applications

[0002] This application is based on and claims priority to Chinese Patent Application No. 202410851413.4, filed on June 27, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of robotics, and more particularly to an obstacle handling method, a cleaning control method, a self-moving device, a medium, and a program product. Background Technology

[0004] Self-moving devices are robots that can move autonomously and perform tasks, bringing many conveniences to people's lives. Examples include robotic vacuum cleaners, robotic mops, and robotic vacuum and mop combos in smart homes, which can move autonomously and perform some household chores in place of humans.

[0005] Summary of the Invention

[0006] This disclosure provides an obstacle handling method, a cleaning control method, a self-moving device, a medium, and a program product, which at least partially solve the technical problem that the self-moving device has low recognition capability and cannot provide accurate judgment basis for the self-moving device's movement and obstacle crossing.

[0007] In a first aspect of this disclosure, an obstacle handling method for a self-moving device is provided, comprising: acquiring target point cloud data during the operation of the self-moving device, the target point cloud data being a point cloud within a preset height range and a preset distance range of the self-moving device; determining the obstacle outline of a current obstacle based on the target point cloud data; and if the current obstacle is identified as a step-type obstacle based on the obstacle outline, marking the height and low edge attributes of the currently identified step-type obstacle.

[0008] In conjunction with the first aspect, in some embodiments, acquiring target point cloud data during the operation of the self-moving device includes: performing 3D scanning at a preset scanning frequency and drawing a height map based on the scanning results; if a new point is added to the height map within the preset height range, acquiring the target point cloud data from the height map, wherein the preset height range is the actual height range of the steps.

[0009] With reference to the first aspect, in some embodiments, the generating the height map according to the scanning result comprises: for a current frame point cloud obtained in each scan, classifying and marking points of the current frame point cloud on the height map according to the height of the points.

[0010] With reference to the first aspect, in some embodiments, the classifying and marking points of the current frame point cloud on the height map according to the height of the points comprises: marking points in the current frame point cloud with a height within the preset height range as target class points on the height map; and marking points in the current frame point cloud with a height lower than a lower threshold of the preset height range and points with a height higher than an upper threshold of the preset height range as other class points different from the target class points on the height map.

[0011] With reference to the first aspect, in some embodiments, the determining the obstacle profile of the current obstacle according to the target point cloud data comprises: clustering the target point cloud data to obtain a rectangular profile formed by adjacent target class points; and taking the rectangular profile as the obstacle profile of the current obstacle.

[0012] With reference to the first aspect, in some embodiments, the marking the high-low edge attribute of the current step-type obstacle comprises: marking an edge of the step-type obstacle close to the self-moving device as a step high edge.

[0013] With reference to the first aspect, in some embodiments, after the marking the high-low edge attribute of the current step-type obstacle, the method further comprises: if the current step-type obstacle overlaps with a previously identified step-type obstacle, replacing a step high edge marked in the previously identified step-type obstacle with a step high edge marked in the current step-type obstacle.

[0014] With reference to the first aspect, in some embodiments, before the marking the high-low edge attribute of the current step-type obstacle, the method further comprises: if a size of the obstacle profile of the current obstacle is greater than or equal to a first size threshold, identifying the current obstacle as a step-type obstacle.

[0015] With reference to the first aspect, in some embodiments, after the marking the high-low edge attribute of the current step-type obstacle, the method further comprises: in response to a signal indicating that an action of crossing the step-type obstacle is completed, persistently recording a step identification area of the step-type obstacle on an environment map according to at least a position and a step profile of the step-type obstacle; and displaying the environment map with the step identification area recorded thereon to a user.

[0016] In some embodiments of the first aspect, if the step identification area recorded on the environment map presents a step profile of a real step to the user, after the environment map recording the step identification area is presented to the user, if an editing operation of the step identification area recorded on the environment map by the user is obtained, a processing corresponding to the editing operation is performed on the step identification area, and after the processing is completed, the high edge of the step identification area is restored to the low edge, wherein the editing operation is used to change the step profile and / or position of the step identification area; when the self-moving device identifies the step-type obstacle next time, the high edge of the step identification area is updated on the environment map according to the high-low edge attribute of the step-type obstacle, and the position and step profile of the step identification area remain in the state edited by the user.

[0017] In some embodiments of the first aspect, if the step identification area recorded on the environment map presents a step profile and high-low edge attribute of a real step to the user, after the environment map recording the step identification area is presented to the user, if an editing operation of the step identification area recorded on the environment map by the user is obtained, a processing corresponding to the editing operation is performed on the step identification area, wherein the editing operation is used to change at least one of the step profile, position and high-low edge attribute of the step identification area; when the self-moving device identifies the step-type obstacle next time, the position, step profile and high-low edge attribute of the step identification area corresponding to the step-type obstacle on the environment map are all kept in the state edited by the user.

[0018] In some embodiments of the first aspect, after the high-low edge attribute of the step-type obstacle identified in the current time is marked, when the self-moving device finishes processing the current area and finds the next area to be processed, if a step area containing the step-type obstacle is obtained, and the step area is a valid step area and there is a passable area between the two sides of the step area, the self-moving device is controlled to perform an obstacle-crossing action on the step area according to the high-low edge attribute of the step-type obstacle to try to enter the area to be processed; after the self-moving device enters the area to be processed, the area to be processed is processed additionally.

[0019] In some embodiments of the first aspect, if no unmarked target obstacle is marked in the connection area between the two position points on the two sides of the step area, it is determined that there is a passable area between the two sides of the step area; if the size of the area to be processed is greater than or equal to a second size threshold, and the self-moving device has no historical processing action on the area to be processed, it is determined that the step area is a valid step area.

[0020] In some embodiments of the first aspect, the controlling the self-moving device to perform the direct rush over the step region to attempt to cross the step region comprises: if the self-moving device is located on one side of the high edge of the step region, controlling the self-moving device to perform a direct rush over the step region to attempt to cross the step region; and if the self-moving device is located on one side of the low edge of the step region, controlling the self-moving device to move straight towards the step region at a first forward speed.

[0021] In some embodiments of the first aspect, the self-moving device comprises a body and a walking mechanism arranged on the body. The controlling the self-moving device to perform the direct rush over the step region to attempt to cross the step region comprises: after lifting the walking mechanism relative to the body to raise a head portion of the body, controlling the self-moving device to perform a direct rush towards the step region at a second forward speed, the second forward speed being greater than the first forward speed; and after the direct rush, lowering the walking mechanism relative to the body to lower the head portion of the body.

[0022] In some embodiments of the first aspect, the controlling the self-moving device to perform the direct rush over the step region further comprises: after lowering the walking mechanism relative to the body to lower the head portion of the body, detecting whether the self-moving device has entered the to-be-handled region. If not, controlling the self-moving device to perform the direct rush over the step region again. If the number of times of performing the direct rush reaches a preset number threshold, giving up the over of the step region and adding a record of failure to handle the to-be-handled region.

[0023] In some embodiments of the first aspect, the method further comprises: identifying and marking a common obstacle during the operation of the self-moving device, wherein the common obstacle is an obstacle other than the obstacle determined by the point cloud below the upper threshold of the preset height range and / or the specific image category information.

[0024] In a second aspect of the present disclosure, a cleaning control method of a cleaning robot is provided. The method comprises: when the cleaning robot finishes cleaning a current region and searches for a next to-be-cleaned region, if a step region is obtained, and the step region is an effective step region and there is a passable region between the two sides of the step region, controlling the cleaning robot to perform a direct rush over the step region to attempt to enter the to-be-cleaned region; and after the cleaning robot enters the to-be-cleaned region, performing a supplementary cleaning on the to-be-cleaned region.

[0025] In combination with the second aspect, in some embodiments, the method further includes: if no target obstacle is marked in a connection region between two position points located on two sides of the step region, determining that there is a passable region between the two sides of the step region; and if the size of the to-be-cleaned region is greater than or equal to a second size threshold and the cleaning robot has no historical cleaning action record for the to-be-cleaned region, determining that the step region is a valid step region.

[0026] In combination with the second aspect, in some embodiments, the cleaning robot includes a body and a walking mechanism arranged on the body; and the controlling the cleaning robot to perform the straight rush-over-obstacle action on the step region to attempt to enter the to-be-cleaned region includes: after lifting the walking mechanism relative to the body to raise a head part of the body, controlling the cleaning robot to perform a straight rush action toward the step region; and after the straight rush action ends, lowering the walking mechanism relative to the body to lower the head part of the body.

[0027] In combination with the second aspect, in some embodiments, the controlling the cleaning robot to perform the straight rush-over-obstacle action on the step region to attempt to enter the to-be-cleaned region further includes: after lowering the walking mechanism relative to the body to lower the head part of the body, detecting whether the cleaning robot has entered the to-be-cleaned region; if the cleaning robot has not entered the to-be-cleaned region, controlling the cleaning robot to perform the straight rush-over-obstacle action on the step region again; and if the number of times of performing the straight rush-over-obstacle action reaches a preset number threshold, giving up to rush over the step region and adding a cleaning failure record for the to-be-cleaned region.

[0028] In a third aspect of the present disclosure, a self-moving device is provided, including: a processor; and a memory for storing instructions executable by the processor, wherein the processor is configured to execute the instructions to implement the obstacle processing method of the self-moving device according to any of the embodiments of the first aspect, or to implement the cleaning control method of the cleaning robot according to any of the embodiments of the second aspect.

[0029] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, which stores a computer program executable by a processor to implement the obstacle processing method of the self-moving device according to any of the embodiments of the first aspect, or to implement the cleaning control method of the cleaning robot according to any of the embodiments of the second aspect.

[0030] In a fifth aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the obstacle processing method of the self-moving device according to any of the embodiments of the first aspect, or implements the cleaning control method of the cleaning robot according to any of the embodiments of the second aspect.

[0031] According to the one or more technical solutions provided in the embodiments of the present disclosure, at least the following technical effects or advantages are achieved:

[0032] In the working process of the self-moving device, the obstacle contour of the current obstacle is determined according to the point cloud in the preset height range and in the preset distance range of the self-moving device; if the current obstacle is identified as a step-type obstacle according to the obstacle contour, the step-type obstacle identified in the current time is marked with high and low side attributes, thereby providing the position, contour and direction information of the real step, enhancing the ability of the self-moving device to identify the real step, and further providing accurate judgment basis for the self-moving device to overcome the real step, which is beneficial to the self-moving device to overcome the real step in a targeted manner. BRIEF DESCRIPTION OF DRAWINGS

[0033] 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 description. 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 based on these drawings.

[0034] FIG. 1A shows a structural schematic diagram of a self-moving device in some embodiments of the present disclosure;

[0035] FIG. 1B shows a bottom view of the self-moving device in some embodiments of the present disclosure;

[0036] FIG. 2 shows a flowchart of an obstacle processing method of the self-moving device in some embodiments of the present disclosure;

[0037] FIG. 3 shows a schematic diagram of a step identification area, a step area and a passable area on an environment map in some embodiments of the present disclosure;

[0038] FIG. 4A shows a schematic diagram of the head part of the self-moving device being raised;

[0039] FIG. 4B shows a schematic diagram of the head part of the self-moving device being lowered;

[0040] FIG. 5 shows a control logic of the obstacle processing method of the self-moving device in some embodiments of the present disclosure;

[0041] FIG. 6 shows a flowchart of a cleaning control method of a cleaning robot in some embodiments of the present disclosure;

[0042] FIG. 7 shows a structural schematic diagram of a self-moving device in 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 specification will be described in detail below through the drawings and specific examples. It should be understood that the specific features in the embodiments of the present specification and the examples are detailed descriptions of the technical solutions of the embodiments of the present specification, and not limitations of the technical solutions of the present specification. In the case of no conflict, the technical features in the embodiments of the present specification and the examples can be combined with each other.

[0044] The self-moving device will encounter many obstacles in the working process, especially some working scenes have high steps, that is, the steps are more than a certain threshold from the ground, and the self-moving device cannot normally walk over in the working process. For example, the threshold of more than 2 cm from the ground, the cleaning robot cannot walk over when normally cleaning. The related art lacks the recognition of the directionality of the steps of the self-moving device, which leads to low recognition ability of the self-moving device, and cannot provide accurate judgment basis for the walking and obstacle crossing of the self-moving device, thereby affecting the self-moving device to pass through the steps.

[0045] The present disclosure provides an obstacle processing method of a self-moving device. The self-moving device can automatically move in a working scene and complete corresponding work, such as cleaning, cruising, etc., by means of certain artificial intelligence, and can also realize map building, positioning or object searching, etc. When the self-moving device is a self-moving device, the working environment can be a room that needs to be cleaned by the self-moving device; when the self-moving device is a cruising robot of a factory, the working environment can be a factory that needs to be cruised; when the self-moving device is a navigation robot, the working environment can be a public place such as a park or a shopping mall that needs to be navigated.

[0046] 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 cannot cross the threshold, aisle, step and other step-type obstacles of more than 2 cm from the ground when cleaning.

[0047] As shown in FIG. 1A and FIG. 1B, FIG. 1A shows a structural schematic diagram of a self-moving device in some embodiments of the present disclosure, and FIG. 1B shows a bottom view of the self-moving device in some embodiments of the present disclosure. The self-moving device 10 includes a body 110, a perception component 120 arranged on the body 110, and a walking mechanism, wherein the walking mechanism includes a walking component and a guiding component.

[0048] 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 first driving wheel 131 and the second driving wheel 132 constitute a driving wheel set, 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.

[0049] In some embodiments, the body 110 forms the shell of the self-moving device 10 and accommodates other components.

[0050] 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, and the perception data includes data related to the self-moving device 10 itself and data related to the surrounding environment objects during the travel of the self-moving device 10, wherein the data related to the self-moving device 10 itself includes but is not limited to the travel position, the travel speed and the 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 surface, the step, the door bar and the electric wire, etc.

[0051] In some embodiments, the perception component 120 includes at least one of a camera, a three-axis accelerometer, a gyroscope, an odometer, an LDS (Laser Distance Sensor), an ultrasonic sensor, a cliff sensor, and the like. The LDS can be a single-line laser module, a double-line laser module, or a Tof (TOF Time of Flight) sensor module. For example, the camera is configured to measure a travel position of the mobile device 10, the three-axis accelerometer is configured to obtain an acceleration and / or an inclination angle of the mobile robot 10, the gyroscope is configured to obtain an angular velocity and / or an inclination angle of the mobile device 10, and the odometer is configured to obtain a travel mileage of the mobile device 10. The LDS is usually arranged on a top of the mobile device 10 and configured to measure a distance between the mobile device 10 and an environmental object by using a laser. The ultrasonic sensor is usually arranged on a side of the mobile device 10 and configured to measure a distance between the mobile device 10 and an environmental object by using an ultrasonic wave. The cliff sensor is usually arranged on a bottom of the mobile device 10 and configured to measure a distance between the mobile device 10 and an environmental object by using an infrared ray.

[0052] The number and the position of the perception component 120 are not limited in the embodiments of the present disclosure.

[0053] As shown in FIG. IB, 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 possible 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 arranged on the right side of the body 110 of the self-moving device 10. The driving circuit of the motor generates corresponding driving current to drive the motor to rotate 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 energized time of the pulse signal to the energized period. 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 the duty cycle of 1 / 2, and generates 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 arranged on the left side of the body 110 of the self-moving device 10. The driving circuit of the motor generates corresponding driving current to drive the motor to rotate 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 the duty cycle of 1 / 2 sent by the control unit, and generates 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.

[0054] 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 drive the guiding wheel 141 to lift or lower the guiding wheel 141 relative to the body 110, so that the head part of the body 110 can be lifted or lowered relative to the ground in the use posture of the self-moving device.

[0055] In some embodiments, when the self-moving device 10 is a cleaning robot, a cleaning system is further included, which comprises a dry cleaning assembly and / or a wet cleaning assembly, wherein the main brush device 150 of the dry cleaning assembly is installed 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 the contact surface in the form of a roller. 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 mopping piece installed on the rotating disc 160.

[0056] It should be noted that the self-moving device 10 can further include other modules or assemblies, or only include part of the above-mentioned modules or assemblies, and the embodiments of the present disclosure are not limited thereto, and the above-mentioned self-moving device 10 is only taken as an example for description.

[0057] As shown in FIG. 2, the obstacle processing method of the self-moving device provided by the present disclosure comprises the following steps S101-S103.

[0058] Step S101: obtaining target point cloud data in the working process of the self-moving device, the target point cloud data being point clouds within a preset height range and within a preset distance range of the self-moving device.

[0059] In some embodiments, obtaining the target point cloud data in the working process of the self-moving device comprises: performing 3D scanning according to a preset scanning frequency in the working process of the self-moving device, and drawing a height map according to the scanning result; and obtaining the target point cloud data from the height map if there are new points within the preset height range on the height map.

[0060] In some embodiments, the preset scanning frequency can be set according to actual needs. The preset height range is the height range of a real step, which can be set from the height at which the self-moving device cannot pass without lifting the walking mechanism relative to the body 110 to the maximum height at which the self-moving device can pass after lifting the walking mechanism relative to the body 110, while considering the height error, the preset height range can be set to 1.5-3.5 cm.

[0061] In some embodiments, in the working process of the self-moving device (such as in the cleaning process), the LDS of the self-moving device continuously performs 3D scanning according to the preset scanning frequency, and a frame of point cloud is obtained for each scanning. Drawing a height map according to the scanning result comprises: for the current frame of point cloud obtained by each scanning, classifying and marking the points of the current frame of point cloud on the height map according to the point height of the current frame of point cloud, so as to continuously update the height map in the working process of the self-moving device.

[0062] In some embodiments, the classification and marking of the point height of the current frame point cloud on the height map comprises: classifying and marking each point in the current frame point cloud on the height map according to whether the point is within a preset height range.

[0063] In some embodiments, the classification and marking of each point in the current frame point cloud on the height map according to whether the point is within a preset height range comprises: marking points in the current frame point cloud that are within the preset height range as target class points on the height map; and marking points in the current frame point cloud that are below a lower threshold of the preset height range or above an upper threshold of the preset height range as other class points different from the target class points on the height map.

[0064] In some embodiments, three different classes of points are marked on the height map: points in the current frame point cloud that are below a lower threshold of the preset height range are marked as one class on the height map, points in the current frame point cloud that are within the preset height range are marked as another class on the height map, and points in the current frame point cloud that are above an upper threshold of the preset height range are marked as yet another class on the height map. For example, points below the lower threshold of the preset height range are marked as Low on the height map, points within the preset height range are marked as High, i.e., target class points, and points above the upper threshold of the preset height range are marked as TooHigh on the height map.

[0065] In other embodiments, two different classes of points are marked on the height map: points in the current frame point cloud that are within the preset height range are marked as one class, and points in the current frame point cloud that are outside the preset height range are marked as another class.

[0066] It should be noted that the height map is a two-dimensional map, and the accuracy of the height map needs to be set. For example, the accuracy of the height map can be but is not limited to 5 cm, representing a two-dimensional grid of 5 cm, and each grid is used to classify and mark different classes of points.

[0067] In some embodiments, since at least one of the guide wheel 141, the first driving wheel 131, and the second driving wheel 132 is in a lifted state relative to the body 110 when the self-moving device is in a tilted state, the point cloud scanned at this time is unreliable. In order to improve the accuracy of the self-moving device in identifying real steps, the point cloud scanned under any of the following conditions is not marked on the height map: the self-moving device is in a tilted state, the guide wheel 141 is in a lifted state relative to the body 110, and the first driving wheel 131 and the second driving wheel 132 are in a lifted state relative to the body 110.

[0068] In some embodiments, if there is an increase in the points within the preset height range on the height map, the target point cloud data is obtained from the height map, including: after each time the current frame point cloud is classified and marked on the height map, it is determined whether there is an increase in the points within the preset height range on the height map, that is, whether there is an increase in the points marked as high on the height map; if there is an increase, the target point cloud data is obtained from the height map; otherwise, the next 3D scanning is waited for, and the current scanning does not trigger the execution of obtaining the target point cloud data from the height map.

[0069] In some embodiments, the preset distance range can be an X-meter range centered on the mobile device, which can be set according to actual needs, and X can be valued within 0.5-1.5 m. For example, the preset distance range can be a 0.5 m range, a 0.8 m range, a 1 m range, or a 1.5 m range centered on the mobile device.

[0070] Step S102: determining the obstacle contour of the current obstacle according to the target point cloud data.

[0071] In some embodiments, determining the obstacle contour of the current obstacle according to the target point cloud data includes: clustering the target point cloud data to obtain a rectangular contour formed by each adjacent target class point; and taking the rectangular contour as the obstacle contour of the current obstacle. The High points within the preset distance range (such as 1 m range) of the mobile device marked on the height map are clustered to obtain a rectangular contour surrounded by adjacent High points.

[0072] In some embodiments, after the rectangular contour is obtained by clustering, it cannot be determined that the rectangular contour is a real step, and it can also be other rectangular obstacles, so it is further necessary to determine whether the size of the obstacle contour is greater than or equal to a first size threshold; if the size of the obstacle contour of the current obstacle is greater than or equal to the first size threshold, the current obstacle is identified as a step-type obstacle, thereby more accurately identifying a real step. It should be noted that the first size threshold is preset according to the conventional size of the real step in the horizontal direction, for example: if the size of the obstacle contour of the current obstacle is greater than or equal to 10 cm*45 cm, the current obstacle is recorded as a step-type obstacle.

[0073] Step S103: if the current obstacle is identified as a step-type obstacle according to the obstacle contour, marking the high-low edge attribute of the step-type obstacle identified in the current time.

[0074] In some embodiments, the marking of the high and low edge attributes of the current step-type obstacle includes: marking the edge of the step-type obstacle close to the self-moving device as the step high edge. Since the self-moving device can recognize the step-type obstacle when it is near the real step and can observe the height of the real step on one side, it is considered that the edge of the step-type obstacle close to the self-moving device is the step high edge at this time, and vice versa, the self-moving device will not recognize the step-type obstacle and will not observe the height of the real step.

[0075] Through the above technical solution, not only the position and the step profile of the real step are provided, but also the direction information of the real step is provided, which can provide more accurate basis for the walking and obstacle crossing of the self-moving device.

[0076] In some embodiments, after the marking of the high and low edge attributes of the current step-type obstacle, it further includes: if the current step-type obstacle and the last step-type obstacle have an overlapping area, replacing the marked step high edge of the last step-type obstacle with the marked step high edge of the current step-type obstacle. In the working process of the self-moving device, as the self-moving device continuously approaches a certain real step, the step high edge of the step-type obstacle is continuously clustered and updated, so that the step profile of the step-type obstacle obtained by clustering is closer and closer to the size of the real step.

[0077] After the marking of the high and low edge attributes of the current step-type obstacle, it can further include: in response to the signal that the action of crossing the step-type obstacle is completed, at least according to the position and the step profile of the step-type obstacle, persistently recording the step identification area of the step-type obstacle on the environment map, and showing the environment map with the recorded step identification area to the user, so that the user can see the recognition result of the real step by the self-moving device on the APP side.

[0078] In some embodiments, only according to the position and the step profile of the step-type obstacle, the step identification area of the step-type obstacle is persistently recorded on the environment map, so that the step identification area only has the step profile of the real step without distinguishing the step high edge and the step low edge.

[0079] In other embodiments, according to the position, the step profile and the high and low edge attributes of the step-type obstacle, the step identification area of the step-type obstacle is persistently recorded on the environment map, so that the step identification area has the step profile and the high and low edge attributes of the real step.

[0080] In some embodiments, the action of crossing the step-type obstacle is completed when the walking mechanism is lowered relative to the body 110 after the straight rush action is completed.

[0081] In some embodiments, the step identification area recorded on the environment map is in an editable state, so that the user can edit the step identification area on the environment map through the APP, and the level of the user editing is higher than the result of automatic identification by the mobile device. The step identification area edited by the user can be closer to the real step.

[0082] It can be understood that the step identification area recorded on the environment map at least presents the step contour of the real step to the user, and the high and low edge properties of the step identification area can not be presented to the user.

[0083] In some embodiments, the step identification area recorded on the environment map presents the step contour of the real step to the user, and does not present the step high edge and the step low edge. If an editing operation of the user on the step identification area on the environment map is obtained, a processing corresponding to the editing operation is performed on the step identification area, and after the processing is completed, the step high edge of the step identification area is restored to the step low edge. When the step type obstacle is identified by the mobile device next time, the step high edge of the step identification area corresponding to the step type obstacle is updated on the environment map according to the high and low edge properties marked by the step type obstacle, and the position and the step contour of the step identification area remain in the state edited by the user.

[0084] It should be noted that in the case that the step identification area on the environment map does not present the high and low edge properties to the user, the editing operation performed by the user is used to change the step contour and / or position of the step identification area recorded on the environment map, and the high and low edge properties of the step identification area cannot be edited. In some embodiments, the editing operation performed by the user can include at least one of an operation of changing the position of the step identification area such as translation, rotation, and an operation of changing the step contour of the step identification area such as stretching and scaling. Since the step high edge and the step low edge are not presented to the user on the step identification area on the environment map shown to the user, the user cannot see which side the step high edge is. After the processing is completed, the step high edge of the step identification area is restored to the step low edge, so that both sides of the step identification area are the step low edge, which can avoid that the rotation angle of the rotation operation performed by the user is too large to cause the position error of the step high edge. In the subsequent working process of the mobile device, when the step type obstacle is identified next time, the step low edge of the step identification area corresponding to the step type obstacle recorded on the environment map before this time is updated to the step high edge according to the high and low edge properties marked by the step type obstacle identified next time, so that the high and low edge properties of the step identification area change with the automatic identification, and the step contour and the position of the step identification area do not change with the automatic identification.

[0085] In some embodiments, the step identification region on the environment map is presented to the user with the step contour and the high-low edge attribute, and if an editing operation of the step identification region on the environment map is obtained, at least one of the step contour, the position and the high-low edge attribute of the step identification region is changed according to the editing operation, and the step identification region after the processing keeps the state after the editing operation of the user, so that when the step-type obstacle is identified again in the subsequent working process of the mobile device, the position, the step contour and the high-low edge attribute of the step identification region corresponding to the step-type obstacle keep the state after the editing operation of the user and do not change with automatic identification. If no editing operation of the step identification region is obtained, when the step-type obstacle is identified again in the subsequent working process of the mobile device, the low edge of the step identification region corresponding to the step-type obstacle recorded on the environment map is updated to the high edge.

[0086] It should be noted that, in the case that the step identification region on the environment map is presented to the user with the step contour and the high-low edge attribute, the editing operation can include at least one of the operation of changing the position of the step identification region such as translation and rotation, the operation of changing the step contour of the step identification region such as stretching and scaling, and the operation of modifying the high edge of the step to the low edge and the operation of modifying the low edge of the step to the high edge.

[0087] In some embodiments, the high edge and the low edge of the step identification region can be presented to the user in different colors, textures or shapes, so that the user can see which side of the high edge of the step identification region on the environment map.

[0088] Since the walking mechanism of the mobile device cannot cross the step region in the non-lifting state, the side region of the step region is not processed, so the missing processing region caused by the real step needs to be supplemented. Therefore, in some embodiments, after the high-low edge attribute of the step-type obstacle identified this time is marked, the method can further include: when the mobile device finishes processing the current region and finds the next to-be-processed region, if a step region containing a step-type obstacle is obtained, and the step region is a valid step region and there is a passable region between the two sides of the step region, the mobile device is controlled to perform an obstacle-crossing action on the step region according to the high-low edge attribute marked by the step-type obstacle, so as to try to enter the next to-be-processed region; and after the mobile device enters the next to-be-processed region, the next to-be-processed region is supplemented.

[0089] In some embodiments, if a step-type obstacle is detected when the mobile device is searching for the next to-be-processed region, a step region containing the step-type obstacle is determined, and if no step-type obstacle is detected when the mobile device is searching for the next to-be-processed region, a straight-through action designed for the step region is not needed to be performed to enter the next to-be-processed region from the current region.

[0090] It should be noted that the to-be-processed region refers to a region that cannot be processed by the mobile device in a non-lifted state of the walking mechanism, and thus is missed. As shown in FIG. 3, the step region is a larger region containing the identified step-type obstacle.

[0091] In some embodiments, if no target obstacle is marked in a connection region between two position points on two sides of the step region, it is determined that there is a passable region between the two sides of the step region, and if a target obstacle is marked in the connection region between the two position points on the two sides of the step region, it is determined that there is no passable region between the two sides of the step region. The target obstacle is an obstacle other than the obstacle recorded by the collision sensor (physical bumper) of the mobile device.

[0092] In some embodiments, taking a cleaning robot as an example, the two position points on the two sides of the step region are an already-cleaned position point on one side of the step region and an un-cleaned position point on the other side of the step region. The already-cleaned position point and the un-cleaned position point can be determined by calculating whether the two position points on the two sides of the step region and at a preset distance have cleaning information. The cleaning information indicates that the position point has been cleaned, and the lack of cleaning information indicates that the position point has not been cleaned. As shown in FIG. 3, of the two position points on the two sides of the step region, the already-cleaned position point is position point A in the already-processed region where the mobile device is currently located, and the un-cleaned position point is position point B in the next to-be-processed region. The distance between position points A and B is a preset distance, which can be set according to actual needs, for example, 50 cm or a similar distance.

[0093] In some embodiments, if the to-be-processed region is greater than or equal to a second size threshold, and the mobile device has not marked a historical processing action on the to-be-processed region, it is determined that the step region is a valid step region. Taking a cleaning robot as an example, the to-be-processed region is a to-be-cleaned region, and the historical processing action refers to a historical re-cleaning action on the to-be-cleaned region. The lack of a historical re-cleaning action on the to-be-cleaned region on the other side of the step region indicates that the to-be-cleaned region on the other side has not been re-cleaned in a historical time period, which indicates that the to-be-processed region currently needs to be re-cleaned.

[0094] In some embodiments, the second size threshold is set according to actual requirements, representing that the next to-be-processed region is large enough, for example, the second size threshold can be set to 1 m2 or a similar value.

[0095] In some embodiments, according to the high-low edge attribute of the step-type obstacle, the self-moving device is controlled to perform the obstacle-crossing action on the step region, including: if the self-moving device is located on the high edge side of the step-type obstacle, the self-moving device is controlled to perform the straight-obstacle-crossing action on the step region to attempt to cross the step region; and if the self-moving device is located on the low edge side of the step-type obstacle, the self-moving device is controlled to straightly move toward the step region at a first forward speed.

[0096] As shown in FIG. 4A, it can be understood that lifting the walking mechanism relative to the body 110 can raise the nose part of the body 110 to a raised state, which is beneficial for the self-moving device 10 to cross higher steps.

[0097] In some embodiments, the self-moving device is controlled to perform the straight-obstacle-crossing action on the step region to attempt to cross the step region, including: after lifting the walking mechanism relative to the body 110 to raise the nose part of the body 110, the self-moving device is controlled to perform the straight-obstacle-crossing action toward the step region at a second forward speed, the second forward speed being greater than the first forward speed; and after the straight-obstacle-crossing action ends, the walking mechanism is lowered relative to the body 110 to lower the nose part of the body 110 to a state in which the body 110 is restored to be substantially parallel to the ground, so that the self-moving device 10 performs subsequent work.

[0098] By identifying the step-type obstacle and marking the high-low edge attribute, the self-moving device raises the body 110 to cross obstacles only when encountering the high edge of a real step in the working process, so that the autonomous movement of the self-moving device is more intelligent.

[0099] In some embodiments, lifting the walking mechanism relative to the body 110 includes lifting the guide wheel 141 relative to the body 110 to raise the nose part. Correspondingly, lowering the walking mechanism relative to the body 110 includes lowering the guide wheel 141 relative to the body 110 to lower the nose part.

[0100] In some embodiments, before performing the straight rush action, the guide wheel 141 is first driven by the rudder to lift the guide wheel 141 relative to the body 110, so as to lift the nose part to an upturned state; after the straight rush action is performed, the guide wheel 141 is driven by the rudder again to lower the guide wheel 141 relative to the body 110, so as to lower the nose part to a state in which the body 110 is substantially horizontal to the ground. After lifting the nose part by lifting the guide wheel 141 in the straight rush step region, the triggering of the physical bumper can be reduced, so as to improve the obstacle crossing ability of the self-moving device and improve the success rate of crossing the step region.

[0101] In other embodiments, lifting the walking mechanism relative to the body 110 includes lifting the drive guide wheel 141 and the driving wheel set relative to the body 110 to lift the nose part. Correspondingly, lowering the walking mechanism relative to the body 110 includes lowering the drive guide wheel 141 and the driving wheel set relative to the body 110 to lower the nose part.

[0102] In some embodiments, the first forward speed is the forward speed when the self-moving device does not need to cross obstacles during operation, and the second forward speed can be a larger or even maximum forward speed of the self-moving device. In some embodiments, the second forward speed can be in the range of 30-40 m / s.

[0103] In some embodiments, if the self-moving device is located on one side of the high side of the step region of the step-type obstacle, the self-moving device can be controlled to perform the straight rush obstacle crossing action on the step region multiple times. After lowering the guide wheel 141 relative to the body 110, it is detected whether the self-moving device has entered the next to-be-processed region. If not, the self-moving device is controlled to perform the straight rush obstacle crossing action on the step region again. If yes, the next to-be-processed region is supplemented. If the number of times of performing the straight rush obstacle crossing action reaches a preset number threshold, the obstacle crossing of the step region is abandoned, and a processing failure record of the next to-be-processed region is added, which is used for the self-moving device to ignore the same position in subsequent operation.

[0104] In other embodiments, if the self-moving device is located on one side of the high side of the step region of the step-type obstacle, the self-moving device can be controlled to perform the straight rush obstacle crossing action on the step region only once. After lowering the guide wheel 141 relative to the body 110, it is detected whether the self-moving device has entered the next to-be-processed region. If yes, the next to-be-processed region is supplemented. If no, the obstacle crossing of the step region is abandoned, and a processing failure record of the next to-be-processed region is added, which is used for the self-moving device to ignore the same position in subsequent operation.

[0105] In some embodiments, common obstacles are identified and marked during the operation of the self-moving device, wherein the common obstacles are obstacles other than the obstacles determined by the point cloud lower than the upper threshold of the preset height range and / or the specific image category information, so as to prevent real steps and objects similar to real steps from being identified as obstacles, wherein the specific image category information is to exclude object categories that are not easily distinguished from real steps, such as a weighing scale.

[0106] Next, taking the self-moving device as a cleaning robot as an example, the control logic of the obstacle processing method thereof is described with reference to FIG. 5, so as to facilitate the understanding of the technical solutions provided by the embodiments of the present disclosure:

[0107] Step S1: During the cleaning process of the cleaning robot, a separate thread is continuously used to identify step-type obstacles, and after each step-type obstacle is identified, the high-low edge attribute is marked: among the step-type obstacles identified in the current time, the side close to the cleaning robot is marked as the step high edge.

[0108] Step S2: During the cleaning process of the cleaning robot, after a current area is cleaned and a next to-be-cleaned area is searched, the step area containing the step-type obstacle is obtained when searching for the next to-be-cleaned area, if the step area containing the step-type obstacle is obtained, step S3 is entered, if the step area containing the step-type obstacle is not obtained, step S9 is entered;

[0109] S3: Detect whether the step area is a valid step area, if yes, step S4 is entered, if no, return to step S2 to continue searching for the next to-be-cleaned area;

[0110] S4: Calculate whether there is a passable area between the position point A in the current area and the position point B in the to-be-cleaned area, if yes, steps S5-S6 are entered;

[0111] S5: Control the cleaning robot to walk to the position point A in the current area;

[0112] S6: Lift the walking mechanism relative to the body 110, and after the walking mechanism is lifted, perform a straight rush action toward the step area at a second forward speed, and after the straight rush action is completed, lower the walking mechanism relative to the body 110, and then enter step S7;

[0113] S7: Detect whether there is cleaning information in the area where the cleaning robot is currently located; if there is no cleaning information, it indicates that the cleaning robot has entered the to-be-cleaned area, and step S9 is entered; if there is cleaning information, it indicates that the cleaning robot fails to overcome the obstacle, and step S8 is entered;

[0114] S8: whether the number of times of performing the direct-obstacle-crossing action is greater than a preset number threshold, if yes, go to step S10, if no, return to step S4 to re-determine the passable region between the current region and the region to be cleaned;

[0115] S9: after entering the next region to be cleaned, performing normal cleaning on the region to be cleaned;

[0116] S10: giving up entering the region to be cleaned and adding a failed record of supplementary cleaning on the region to be cleaned, and then returning to step S2 to continue searching for the next region to be cleaned.

[0117] The technical solution provides a judgment basis for the elevation body 110 of the self-moving device to cross the obstacle according to the identified step-type obstacle and the high-low edge attribute of the marked obstacle, so that when a real step is encountered, the walking mechanism can be lifted relative to the body 110 by the rudder to lift the body 110 to cross the step region and enter the missed processing region, the supplementary processing of the missed processing region caused by the real step is completed, and the full-area coverage processing is realized.

[0118] Based on the same inventive concept, the disclosure also provides a cleaning control method of a cleaning robot. As shown in FIG. 6, FIG. 6 is a flowchart of a cleaning control method of a cleaning robot in some embodiments of the disclosure; the cleaning control method of the cleaning robot includes steps S601-S602.

[0119] S601: when the cleaning robot finishes cleaning the current region and searches for the next region to be cleaned, if a step region is obtained, and the step region is a valid step region and there is a passable region between the two sides of the step region, the cleaning robot is controlled to perform a direct-obstacle-crossing action on the step region to attempt to enter the region to be cleaned.

[0120] In some embodiments, if no target obstacle is marked in the connection region between the two position points on the two sides of the step region, it is determined that there is a passable region between the two sides of the step region; if the size of the region to be cleaned is greater than or equal to a second size threshold, and the cleaning robot has not marked a historical supplementary cleaning action on the region to be cleaned, it is determined that the step region is a valid step region.

[0121] In some embodiments, the two position points on the two sides of the step region are: one is a cleaned position point on one side of the step region, and the other is an uncleaned position point on the other side of the step region; whether the two position points on the two sides of the step region and at a preset distance have cleaning information is calculated to determine the cleaned position point and the uncleaned position point, wherein the cleaning information indicates that the position point has been cleaned, and no cleaning information indicates that the position point has not been cleaned.

[0122] In some embodiments, the cleaning robot comprises a body 110 and a walking mechanism arranged on the body 110; the method for controlling the cleaning robot to perform a straight rush action on the step region to attempt to enter the region to be cleaned comprises: after lifting the walking mechanism relative to the body 110 to raise the head part of the body 110, controlling the cleaning robot to perform a straight rush action towards the step region; after the straight rush action ends, lowering the walking mechanism relative to the body 110 to lower the head part of the body 110.

[0123] In some embodiments, the method for controlling the cleaning robot to perform a straight rush action on the step region to attempt to enter the region to be cleaned further comprises: after lowering the walking mechanism relative to the body 110 to lower the head part of the body 110, detecting whether the cleaning robot has entered the region to be cleaned; if the cleaning robot has not entered the region to be cleaned, controlling the cleaning robot to perform a straight rush action on the step region again, and if the number of times of performing the straight rush action reaches a preset number threshold, giving up the obstacle crossing on the step region and adding a failed record of the supplementary cleaning on the region to be cleaned.

[0124] In some embodiments, the method for detecting whether the cleaning robot has entered the region to be cleaned comprises: detecting whether there is cleaning information in the region where the cleaning robot is currently located; if there is no cleaning information in the region where the cleaning robot is currently located, it is represented that the cleaning robot has entered the region to be cleaned; and if there is cleaning information in the region where the cleaning robot is currently located, it is represented that the cleaning robot has failed to cross the obstacle and has not entered the region to be cleaned.

[0125] S602: After the cleaning robot enters the region to be cleaned, performing supplementary cleaning on the region to be cleaned.

[0126] The method for controlling the cleaning robot provided by one or more embodiments of the present disclosure can be used to lift the rudder to raise the guide wheel after obtaining the step region, and then cross the step region, so as to realize the supplementary cleaning on the missed cleaning region caused by the failure of the rudder to cross the step region in the non-lifting state, and further realize the full-area coverage cleaning.

[0127] Based on the same inventive concept, the embodiments of the present disclosure further provide a self-moving device. As shown in FIG. 7, FIG. 7 shows a structural schematic diagram of a self-moving device provided by some embodiments of the present disclosure. The self-moving device comprises: a processor 702; and a memory 704 for storing instructions executable by the processor 702, wherein the processor 702 is configured to execute the instructions to implement the obstacle processing method of the self-moving device described in any of the above embodiments, or the self-moving device is a cleaning robot, and implement the cleaning control method of the cleaning robot described in any of the above embodiments.

[0128] In Figure 7, a bus architecture (represented by bus 700) can include any number of interconnected buses and bridges, the bus 700 linking together various circuits including one or more processors represented by processor 702 and memory represented by memory 704. The bus 700 can also link together various other circuits, such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art and thus, not further described herein. Bus interface 705 provides an interface between the bus 700 and the receiver 701 and transmitter 703. The receiver 701 and transmitter 703 can be the same component, i.e., a transceiver, providing a means for communicating with various other apparatuses over a transmission medium. The processor 702 is responsible for managing the bus 700 and general processing, while the memory 704 can be used for storing data used by the processor 702 in executing operational programs.

[0129] Based on the same inventive concept, the disclosure provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the obstacle processing method of the self-moving device according to any one of the embodiments, or the cleaning control method of the cleaning robot according to any one of the embodiments.

[0130] Based on the same inventive concept, the disclosure provides a computer program product, comprising a computer program, which, when executed by a processor, implements the obstacle processing method of the self-moving device according to any one of the embodiments, or the cleaning control method of the cleaning robot according to any one of the embodiments.

[0131] Those skilled in the art will understand that the embodiments of the disclosure can be provided as a method, a system, or a computer program product. Therefore, the disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the disclosure can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0132] 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.

[0133] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks.

[0134] These 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.

[0135] Although preferred embodiments of the present disclosure have been described herein, those skilled in the art will readily devise many additional variations of these preferred embodiments that will fall within the scope of the present disclosure. Accordingly, the appended claims are intended to encompass all such variations as falling within the scope of the present disclosure.

[0136] 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 appended claims and their equivalents, the present disclosure can be practiced otherwise than as specifically described.

Claims

1. An obstacle handling method for a self-moving device, characterized in that, include: During the operation of the self-moving device, target point cloud data is acquired, wherein the target point cloud data is a point cloud within a preset height range and a preset distance range of the self-moving device; The obstacle outline of the current obstacle is determined based on the target point cloud data; If the current obstacle is identified as a step-type obstacle based on the obstacle outline, the high and low edge attributes of the currently identified step-type obstacle are marked.

2. The obstacle handling method for a self-moving device as described in claim 1, characterized in that, The acquisition of target point cloud data during the operation of the self-moving device includes: Perform 3D scanning at a preset scanning frequency and draw a height map based on the scanning results; If a new point is added to the height map within the preset height range, the target point cloud data is obtained from the height map, wherein the preset height range is the actual height range of the steps.

3. The obstacle handling method for a self-moving device as described in claim 2, characterized in that, The step of drawing an elevation map based on the scan results includes: For each scan, the current frame point cloud is classified and marked on the height map according to the point height of the current frame point cloud.

4. The obstacle handling method for a self-moving device as described in claim 3, characterized in that, The step of classifying and marking points on the height map based on the point height of the current frame point cloud includes: Points in the current frame point cloud whose heights are within the preset height range are marked as target points on the height map; and Points in the current frame point cloud whose height is lower than the lower limit threshold of the preset height range, and points whose height is higher than the upper limit threshold of the preset height range, are marked on the height map as other types of points different from the target type.

5. The obstacle handling method for a self-moving device as described in claim 4, characterized in that, Determining the obstacle outline of the current obstacle based on the target point cloud data includes: By clustering the target point cloud data, a rectangular outline formed by each adjacent target class point is obtained; The rectangular outline is used as the obstacle outline of the current obstacle.

6. The obstacle handling method according to any one of claims 1-5, characterized in that, The step-shaped obstacle identified in the current step is marked with its height and low side attributes, including: The side of the stepped obstacle closest to the self-moving device is marked as the step height side.

7. The obstacle handling method as described in claim 6, characterized in that, After marking the height and low side attributes of the currently identified step-shaped obstacle, the method further includes: If the currently identified step-shaped obstacle overlaps with the previously identified step-shaped obstacle, replace the marked step height edge of the previously identified step-shaped obstacle with the marked step height edge of the currently identified step-shaped obstacle.

8. The obstacle handling method according to any one of claims 1-7, characterized in that, Before marking the height and low side attributes of the currently identified step-shaped obstacle, the method further includes: If the size of the current obstacle's outline is greater than or equal to a first size threshold, the current obstacle is identified as a step-type obstacle.

9. The obstacle handling method according to any one of claims 1-8, characterized in that, After marking the height and low side attributes of the currently identified step-shaped obstacle, the method further includes: In response to a signal indicating completion of the action of crossing the step-shaped obstacle, the step identification area of ​​the step-shaped obstacle is persistently recorded on the environment map at least based on the position of the step-shaped obstacle and the step outline; Display an environmental map to the user that records the step recognition area.

10. The obstacle handling method as described in claim 9, characterized in that, If the step recognition area recorded on the environmental map presents the user with the outline of real steps; after showing the user the environmental map recording the step recognition area, the method further includes: If a user's editing operation on the step identification area recorded on the environment map is obtained, the step identification area is processed in accordance with the editing operation, and after the processing is completed, the step high side of the step identification area is restored to the step low side. The editing operation is used to change the step outline and / or position of the step identification area. When the self-mobile device identifies the step-shaped obstacle again, it updates the step height of the step recognition area on the environment map according to the height and low side attributes of the step-shaped obstacle, and the position and step outline of the step recognition area remain in the state edited by the user.

11. The obstacle handling method as described in claim 9 or 10, characterized in that, If the step recognition area recorded on the environmental map presents the user with the outline and elevation attributes of real steps, after showing the user the environmental map recording the step recognition area, the method further includes: If a user's edit operation on the step identification area recorded on the environment map is obtained, the step identification area is processed accordingly, wherein the edit operation is used to change the... At least one of the following attributes of the step recognition area: step outline, position, and height / lower edge; When the self-mobile device identifies the step-shaped obstacle again, the position, outline, and height / lower side attributes of the step identification area on the environment map are maintained in the state edited by the user.

12. The obstacle handling method according to any one of claims 1-11, characterized in that, After marking the height and low side attributes of the currently identified step-shaped obstacle, the method further includes: When the self-moving device finishes processing the current area and searches for the next area to be processed, if a step area containing the step-shaped obstacle is obtained, and the step area is a valid step area and there is a passable area between the two sides of the step area, then according to the height and low side attributes of the step-shaped obstacle, the self-moving device is controlled to perform an obstacle-crossing action on the step area in order to attempt to enter the area to be processed. After the self-moving device enters the area to be processed, supplementary processing is performed on the area to be processed.

13. The obstacle handling method as described in claim 12, characterized in that, Also includes: If no target obstacle is marked in the area connecting two location points on both sides of the step area, it is determined that there is a passable area between the two sides of the step area. If the size of the area to be processed is greater than or equal to the second size threshold, and the self-moving device has not marked any historical processing actions on the area to be processed, then the step area is determined to be a valid step area.

14. The obstacle handling method as described in claim 13, characterized in that, The step of controlling the self-moving device to perform obstacle-crossing actions in the stepped area based on the height and low side attributes of the stepped obstacle includes: If the self-moving device is located on the higher side of the step of the step-shaped obstacle, control the self-moving device to perform a straight-through obstacle-crossing action in the step area in order to attempt to cross the step area; If the self-moving device is located on the lower side of the step of the stepped obstacle, control the self-moving device to move straight toward the step area at a first forward speed.

15. The obstacle handling method as described in claim 14, characterized in that, The self-moving device includes a body and a walking mechanism disposed on the body; controlling the self-moving device to perform a straight-through obstacle-crossing action on the stepped area to attempt to cross the stepped area includes: After raising the walking mechanism relative to the body to raise the head of the body, the self-moving device is controlled to perform a straight-line rushing motion toward the step area at a second forward speed, the second forward speed being greater than the first forward speed; After the straight-line action ends, the traveling mechanism is lowered relative to the machine body so that the head section of the machine body descends.

16. The obstacle handling method as described in claim 15, characterized in that, The method of controlling the self-moving device to perform a straight-through obstacle-crossing action over the stepped area further includes: After the walking mechanism is lowered relative to the body to lower the head of the body, it is detected whether the self-moving device has entered the area to be processed. If not, the self-moving device is controlled to perform a straight-through obstacle-crossing action on the step area again. If the number of times the straight-through obstacle-crossing action is executed reaches a preset threshold, the obstacle-crossing of the step area is abandoned, and a processing failure record for the area to be processed is added.

17. The obstacle handling method according to any one of claims 12-16, characterized in that, Also includes: During the operation of the self-moving device, common obstacles are identified and marked, wherein the common obstacles are obstacles other than those determined by point cloud and / or specific image category information that are below the upper limit threshold of the preset height range.

18. A cleaning control method for a cleaning robot, characterized in that, include: When the cleaning robot finishes cleaning the current area and searches for the next area to be cleaned, if a step area is found, and the step area is a valid step area and there is a passable area between the two sides of the step area, then the cleaning robot is controlled to perform a straight-through obstacle-crossing action on the step area in order to attempt to enter the area to be cleaned. After the cleaning robot enters the area to be cleaned, it performs additional cleaning on the area.

19. The cleaning control method for the cleaning robot as described in claim 18, characterized in that, Also includes: If an unmarked target obstacle is marked within the line area connecting two location points on both sides of the step area, it is determined that there is a passable area between the two sides of the step area. If the size of the area to be cleaned is greater than or equal to the second size threshold, and the cleaning robot has not marked any historical cleaning actions for the area to be cleaned, then the step area is determined to be a valid step area.

20. The cleaning control method for a cleaning robot as described in claim 18 or 19, characterized in that, The cleaning robot includes a body and a walking mechanism mounted on the body; controlling the cleaning robot to perform a straight-through obstacle-crossing maneuver in the stepped area to attempt to enter the area to be cleaned includes: After raising the walking mechanism relative to the machine body to elevate the head section of the machine body. The cleaning robot is controlled to perform a straight-line rushing motion toward the stepped area; After the straight-line action ends, the traveling mechanism is lowered relative to the machine body so that the head section of the machine body descends.

21. The cleaning control method for a cleaning robot as described in claim 20, characterized in that, The method of controlling the cleaning robot to perform a straight-through obstacle-crossing maneuver in the stepped area to attempt to enter the area to be cleaned also includes: After the walking mechanism is lowered relative to the body to lower the head of the body, it is detected whether the cleaning robot has entered the area to be cleaned; If the cleaning robot does not enter the area to be cleaned, control the cleaning robot to perform the straight-through obstacle-crossing action on the stepped area again; If the number of times the straight-through obstacle-crossing action is performed reaches a preset threshold, the obstacle-crossing of the step area is abandoned, and a record of failed re-sweeping of the area to be cleaned is added.

22. 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 an obstacle handling method for a self-moving device as claimed in any one of claims 1 to 17, or to implement a cleaning control method for a cleaning robot as claimed in any one of claims 18 to 21.

23. 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 handling method of the self-moving device according to any one of claims 1 to 17, or implements the cleaning control method of the cleaning robot according to any one of claims 18 to 21.

24. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the obstacle handling method of the self-moving device according to any one of claims 1 to 17, or the cleaning control method of the cleaning robot according to any one of claims 18 to 21.

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