Robot obstacle crossing method and obstacle crossing system, and robot vacuum

Abstract

A robot obstacle crossing method and obstacle crossing system, and a robot vacuum, relating to the technical field of smart homes. The obstacle crossing method comprises: when an obstacle exists on a working path of a robot, detecting whether a height difference between the obstacle and the ground where the robot is located satisfies a preset condition (S110); when the height difference satisfies a first preset condition, or when the height difference satisfies a second preset condition and it is confirmed by a user that the obstacle can be crossed, determining that the obstacle is a traversable obstacle (S120); and controlling the robot to perform an obstacle crossing action on the traversable obstacle (S130). The obstacle crossing method can improve the success rate of obstacle crossing by accurately identifying obstacles, thus achieving intelligent obstacle crossing; user participation is required only in some extreme working conditions. Thus, on the premise of ensuring safe obstacle crossing, the present application can reduce dependence of robots on user intervention, greatly improving the cleaning efficiency, and also improving user experience in terms of smart performance.

Description

Obstacle crossing methods and systems for robots, and robotic vacuum cleaners

[0001] Cross-reference to related applications

[0002] This application claims the benefit of Chinese Patent Application No. 202510052742.7, filed on January 13, 2025, the contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of smart home technology, specifically to a method for robot obstacle crossing, an obstacle crossing system, and a robotic vacuum cleaner. Background Technology

[0004] Existing cleaning robots, such as robotic vacuum cleaners, are smart home appliances that can automatically clean floors using pre-set algorithms. However, as robotic vacuum cleaners integrate more and more functions and operate in increasingly complex environments, they often encounter various obstacles along their paths. Therefore, for improved efficiency, these robots need to possess autonomous obstacle-crossing capabilities.

[0005] Currently, most mainstream robotic vacuum cleaners on the market do not support automatic threshold generation; users must manually add thresholds, which limits their intelligence. Furthermore, manually added threshold positions often fail to perfectly match real-world threshold locations, and this error negatively impacts the robot's obstacle-crossing performance in threshold areas.

[0006] On the other hand, even though some existing robotic vacuum cleaners can automatically identify obstacles, they still suffer from inaccurate obstacle recognition, leading to a high failure rate in obstacle-crossing. This results in a poor user experience and fails to meet users' increasingly higher demands for robots in terms of automatic and intelligent obstacle-crossing. Summary of the Invention

[0007] The purpose of this application is to provide a method, system, and robotic vacuum cleaner for overcoming obstacles, which can clearly and accurately identify the location of thresholds and their passability, automatically generate different types of thresholds and recommendations, and improve the user experience in terms of intelligence.

[0008] To achieve the above objectives, a first aspect of this application provides a method for a robot to overcome obstacles, the method comprising: when an obstacle exists on the robot's working path, detecting the height difference between the obstacle and the ground where the robot is located; when the height difference meets a first preset condition, or when the height difference meets a second preset condition and a confirmation instruction is received, determining that the obstacle is a passable obstacle, wherein the height difference of the obstacle indicated by the second preset condition is greater than the height difference of the obstacle indicated by the first preset condition; and controlling the robot to perform an obstacle-crossing action for the passable obstacle.

[0009] In this embodiment of the application, detecting the height difference between the obstacle and the ground where the robot is located includes: confirming the type of the obstacle, wherein the obstacle includes an upper step, a lower step, or a threshold; when the obstacle is an upper step, detecting a first height difference of the top surface of the upper step on the side facing the robot; when the obstacle is a lower step, detecting a first height difference of the bottom surface of the lower step on the side facing the robot; and when the obstacle is a threshold, detecting a first height difference of the top surface of the threshold on the side facing the robot and a second height difference on the opposite side.

[0010] In this application embodiment, the first height difference is obtained by line laser; and / or the second height difference is obtained by D-Tof downward-looking sensor.

[0011] In this embodiment of the application, the obstacle-crossing method further includes: determining the obstacle as an impassable obstacle when the height difference does not meet the second preset condition; and the robot performing an avoidance action on the impassable obstacle.

[0012] In this embodiment of the application, the robot includes an obstacle-crossing structure, and controlling the robot to perform an obstacle-crossing action against the passable obstacle includes: activating the obstacle-crossing structure to perform the obstacle-crossing action when the robot moves to a target distance from the obstacle; and deactivating the obstacle-crossing structure after completing the obstacle crossing.

[0013] In this embodiment of the application, the obstacle-crossing structure includes obstacle-crossing wheels connected to the drive wheels of the robot.

[0014] In this embodiment of the application, after controlling the robot to perform an obstacle-crossing action against the passable obstacle, the obstacle-crossing method further includes: when the robot successfully crosses the passable obstacle, generating and storing a passable obstacle marker on an interactive interface; when the robot fails to cross the passable obstacle, changing the type of the passable obstacle or issuing a reminder message based on whether the environmental information of the passable obstacle is a closed door scenario.

[0015] In this embodiment of the application, the step of changing the type of the passable obstacle or issuing a reminder message based on whether the environmental information of the passable obstacle is a closed door scenario includes: if it is confirmed that the passable obstacle is not in the closed door state, changing the passable obstacle to an impassable obstacle and storing the change; if it is confirmed that the passable obstacle is in the closed door state, controlling the robot to perform an avoidance action on the passable obstacle and issuing the reminder message.

[0016] In this embodiment of the application, after determining that the obstacle is a passable obstacle, the obstacle-crossing method further includes storing one or more of the following information about the passable obstacle: obstacle height, obstacle-crossing position, obstacle-crossing direction, and obstacle-crossing method.

[0017] This application also provides an obstacle-crossing system for a robot, the system comprising: a detection device for detecting the height difference between the obstacle and the ground where the robot is located when an obstacle exists on the robot's working path; a passable obstacle determination device for determining that the obstacle is a passable obstacle when the height difference meets a first preset condition, or when the height difference meets a second preset condition and a confirmation command is received, wherein the height difference of the obstacle indicated by the second preset condition is greater than the height difference of the obstacle indicated by the first preset condition; and a control device for controlling the robot to perform an obstacle-crossing action for the passable obstacle.

[0018] This application also provides a robotic vacuum cleaner that includes an obstacle-crossing system according to the robot described above.

[0019] Through the above technical solution, this invention automatically determines whether an obstacle is passable based on perceived obstacle information, and automatically performs obstacle-crossing actions for passable obstacles, thereby improving the success rate of obstacle crossing by accurately identifying obstacles. The obstacle-crossing method of this invention enables intelligent obstacle crossing, requiring user intervention only in certain extreme conditions. Therefore, while ensuring safe obstacle crossing, it reduces the robot's dependence on user intervention, greatly improving cleaning efficiency and enhancing the user experience in terms of intelligence.

[0020] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0022] Figure 1 schematically illustrates a flowchart of a robot obstacle crossing method according to an embodiment of this application;

[0023] Figures 2a-2b schematically illustrate a sweeping robot according to an embodiment of this application in a scenario of going up stairs;

[0024] Figure 3 schematically illustrates a detection sensor of a robotic vacuum cleaner according to an embodiment of this application;

[0025] Figure 4 schematically illustrates a robot vacuum cleaner according to an embodiment of this application in a scenario of going down stairs;

[0026] Figure 5 schematically illustrates the obstacle-crossing flowchart of a sweeping robot according to an embodiment of this application;

[0027] Figure 6 schematically illustrates the structure of a robot obstacle-crossing system according to an embodiment of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0029] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0030] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0031] First, this application provides an obstacle-crossing method for a robot, such as a robotic vacuum cleaner. As shown in the flowchart of Figure 1, the obstacle-crossing method 100 may include steps S110-S130.

[0032] Step S110: When there is an obstacle on the robot's working path, detect whether the height difference between the obstacle and the ground where the robot is located meets the preset conditions.

[0033] In this embodiment of the application, the present invention can detect the height difference on one or both sides of an obstacle based on its type. Specifically, step S110 may include the following steps S111-S114:

[0034] Step S111: Confirm the type of obstacle.

[0035] Common obstacles in various scenarios can include steps, stairs, or thresholds. Steps can be multiple consecutive steps, such as those on stairs, resulting in varying height differences in different areas. Additionally, steps can sometimes lead to a flat surface after ascending or descending. As shown in Figures 2a-2b, a threshold refers to an obstacle that must be climbed first and then descended. Generally, the top surface length of a threshold should be less than the robot's length, for example, it can be defined as less than 1 / 2 to 1 / 3 of the robot's length. Overall, obstacles can be categorized into three types: single-ascent, single-descend, and bilateral movement. Therefore, this invention can detect the height difference on one or both sides of an obstacle based on its type.

[0036] Step S112: When the obstacle is an upper step, detect whether the first height difference between the top surface of the upper step and the side facing the robot meets the preset conditions.

[0037] Specifically, when the obstacle is a step, the height difference on one side needs to be detected first. As shown in Figure 2a, the first height difference of the step on the first side where the robot is located can be detected first, that is, the threshold height value H on the side where the robot is located can be obtained. The first height difference can be obtained by a first sensor (e.g., a line laser).

[0038] Step S113: When the obstacle is a step, check whether the first height difference between the bottom surface of the step and the side facing the robot meets the preset conditions.

[0039] When the obstacle is a step, the height difference on one side also needs to be detected first. As shown in Figure 3-4, the first height difference of the step on the side where the robot is located can be detected by a first sensor (e.g., a line laser) and / or a second sensor (e.g., a D-Tof downward-facing sensor). Since the height difference between the contact plane of the robot's small wheels and the opposite side is the first height difference, the threshold height H on the side where the robot is located can be directly obtained.

[0040] Step S114: When the obstacle is a threshold, check whether the first height difference of the top surface of the threshold on the side facing the robot and the second height difference on the opposite side both meet the preset conditions.

[0041] When the obstacle is a threshold, it is necessary to detect the height difference between its two sides. As shown in Figures 2a-2b, we can first detect the first height difference of the top surface of the threshold on the first side facing the robot vacuum cleaner, that is, obtain the threshold height value H on the side where the robot is located. Then, we can detect the second height difference of the threshold on the second side opposite to the first side. For example, we can first obtain the height difference H_opp between the two sides, and then calculate the threshold height value on the opposite side where the robot is located, that is, the second height difference H_total = H + H_opp.

[0042] As shown in Figure 3, the first height difference can be obtained using a first sensor, and the second height difference can be obtained using a second sensor. The first sensor can be a line laser; the second sensor can be a D-Tof downward-looking sensor, which works by calculating the threshold height difference H_opp between the robot's side and the opposite side based on the viewing angle and distance, combined with the height of the robot's wheel contact plane. Then, the second height difference of the step on the second side is obtained by using H_total = H + H_opp.

[0043] Step S120: When the height difference meets the first preset condition, or when the height difference meets the second preset condition and the user confirms that the obstacle can be passed, the obstacle is determined to be a passable obstacle.

[0044] That is, the passable obstacles in the obstacles can be confirmed according to the type of the obstacles and their height differences. Among them, the height difference of the obstacles indicated by the second preset condition is greater than the height difference of the obstacles indicated by the first preset condition.

[0045] In addition, in an embodiment, the obstacle crossing method 100 of the present invention may further include: when the height difference does not meet the first preset condition and the second preset condition, confirming that the obstacle is an impassable obstacle; and / or when the height difference meets the second preset condition but the user has not confirmed that it can pass through the obstacle, confirming that the obstacle is an impassable obstacle.

[0046] In the embodiment of the present application, step S120 may include the following steps S121-S123:

[0047] Step S121, when the obstacle is a step up, when the first height difference meets the first preset condition, or when the first height difference meets the second preset condition and the user has confirmed that it can pass through the obstacle, determining that the obstacle is a passable obstacle.

[0048] Among them, when the obstacle is a step up, a first threshold may be defined in the first preset condition, and a second threshold may be defined in the second preset condition. For example, the first threshold is the upper limit value H_high of the normal obstacle crossing height, and the second threshold is the limit obstacle crossing height value H_limit. Both are used for height judgment on the obstacle crossing side (the first side), where H_high < H_limit. In an embodiment, the value of the first threshold may be 50-60 mm, preferably 53 mm; the value of the second threshold may be 55-65 mm, preferably 58 mm.

[0049] Specifically, for the newly recognized obstacles in this task, in the case of the step up scenario, the threshold judgment can be performed according to the detected height difference and the above-defined parameter thresholds in the following steps:

[0050] 1) Obtain the first height difference of the step up on the first side where the sweeping robot is located.

[0051] That is, obtain the threshold height value H on the side where the robot is located. For example, it can be measured by means of line laser to obtain the first height difference on the first side.

[0052] 2) When the first height difference meets the first preset condition, that is, is less than or equal to the first threshold, determine that the step up is a passable obstacle.

[0053] If the threshold height value H on the side where the robot is located <= H_high, that is, the first height difference is less than or equal to the first threshold, it is determined that the obstacle is a passable obstacle. For a passable obstacle, during the task, there is no need to conduct height detection again. Based on the existing threshold information, the obstacle-crossing method and direction can be selected, and the obstacle can be crossed directly. The specific obstacle-crossing process can be seen in Figure 5, which shows the obstacle-crossing logic when the threshold is 4 cm and will be described in detail later.

[0054] 3) When the first height difference does not meet the first preset condition but meets the second preset condition, and after user confirmation that the obstacle can be passed, the upward step is determined as a passable obstacle.

[0055] If the threshold height value H_high < H <= H_limit on the side where the robot is located, that is, the first height difference is greater than the first threshold and less than or equal to the second threshold, then the user needs to make a secondary confirmation, that is, a recommended threshold for passing is generated for the user. If it is confirmed by the user that the obstacle can be passed, then the upward step is determined as a passable obstacle. In the case where there is no user confirmation, it is defaulted that the upward step is an impassable obstacle and is considered not climbable, and the robot is not allowed to cross during the task.

[0056] 4) When the first height difference does not meet the first preset condition and the second preset condition, the upward step is determined as an impassable obstacle and is considered not climbable.

[0057] If the threshold height value H on the side where the robot is located > the limit obstacle-crossing height threshold H_limit, that is, the first height difference is greater than the second threshold, then the upward step is directly regarded as an obstacle and is considered not climbable, that is, no recommendation is given to the user, and an impassable obstacle is directly generated.

[0058] Step S122, in the case where the obstacle is a downward step, when the second height difference meets the first preset condition, or when the second height difference meets the second preset condition and after user confirmation that the obstacle can be passed, it is determined that the obstacle is a passable obstacle.

[0059] Among them, in the case where the obstacle is a downward step, a third threshold can be defined in the first preset condition, and a fourth threshold can be defined in the second preset condition. For example, the third threshold can be defined as the safe height value H_safe for height judgment on the obstacle-crossing side (the side where the robot is located); the fourth threshold can be defined as the dangerous height value H_unsafe, also for height judgment on the obstacle-crossing side, where H_safe < H_unsafe. In one embodiment, the value of the third threshold can be 40 - 50 mm, preferably 43 mm; the value of the fifth threshold can be 50 - 60 mm, preferably 53 mm.

[0060] Specifically, for the newly recognized threshold in this task, in the case of the descending step scenario, the threshold determination can be carried out according to the detected height difference and the parameter threshold defined above, with the following steps:

[0061] 1) Obtain the first height difference on the side of the descending step where the sweeping robot is located.

[0062] During the task, perform threshold fitting on the area that triggers the downward vision (cliff) sensor, and perform a set of designed detection actions near the fitted threshold. For example, it can be measured by the D-Tof downward vision sensor to obtain the first height difference H on the side of the descending step area where the sweeping robot is located.

[0063] 2) When the first height difference meets the first preset condition, that is, is less than or equal to the third threshold, determine the descending step as an obstacle that can be passed.

[0064] If the step height H <= H_safe, that is, the first height difference is less than or equal to the third threshold, then determine the descending step as an obstacle-crossable threshold, that is, an obstacle that can be passed, and judge that it is possible to directly go down the step and perform subsequent obstacle-crossing actions.

[0065] 3) When the first height difference does not meet the first preset condition but meets the second preset condition, and after user confirmation that the obstacle can be passed, determine the descending step as an obstacle that can be passed.

[0066] If the step height H_safe < H <= H_unsafe, that is, the first height difference is greater than the third threshold and less than or equal to the fourth threshold, then judge that there may be a risk of falling and user secondary confirmation is required. For safety reasons, if there is no user confirmation, the descending step is defaulted to be an obstacle that cannot be passed and is considered not climbable. In this task, it is possible not to go down the step first. At the same time, a recommended passable threshold can also be generated, that is, determine the descending step as a recommended threshold to facilitate the user to confirm the threshold height and replace the threshold type. If it is confirmed by the user that the obstacle can be passed, then determine the descending step as an obstacle that can be passed.

[0067] If the step height H_safe < H <= H_unsafe, that is, the first height difference is greater than the third threshold and less than or equal to the fourth threshold, then judge that there may be a risk of falling and user secondary confirmation is required. For safety reasons, if there is no user confirmation, the descending step is defaulted to be an obstacle that cannot be passed and is considered not climbable. In this task, it is possible not to go down the step first. At the same time, a recommended passable threshold can also be generated, that is, determine the descending step as a recommended threshold to facilitate the user to confirm the threshold height and replace the threshold type. If it is confirmed by the user that the obstacle can be passed, then determine the descending step as an obstacle that can be passed. 4) When the first height difference is greater than the fourth threshold, determine the descending step as a non-passable threshold.

[0068] If the step height H > H_unsafe, that is, then judge it as a "cliff scenario", and consider the descending step as not climbable and prohibit going down. That is, no longer recommend to the user and directly generate an obstacle that cannot be passed.

[0069] Step S123: When the obstacle is a threshold, if the first height difference and the second height difference meet the first preset condition, or if the first height difference and the second height difference meet the second preset condition and it is confirmed by the user that the obstacle can be passed, determine that the obstacle is a passable obstacle.

[0070] Among them, when the obstacle is a threshold, a first threshold and a fifth threshold can be defined in the first preset condition, and a second threshold and a sixth threshold can be defined in the second preset condition. For example, the first threshold is the upper limit value H_high of the normal obstacle-crossing height, and the second threshold is the first limit obstacle-crossing height value H_limit, which is used for height judgment on the obstacle-crossing side (the first side), where H_high < H_limit. The fifth threshold is the average value H_normal of the normal obstacle-crossing height, and the sixth threshold is the second limit obstacle-crossing height value H_limit’, which is used for height judgment on the side opposite to the obstacle-crossing side (the second side), where H_normal < H_limit’. In one embodiment, the value of the first threshold can be 50 - 60 mm, preferably 53 mm; the value of the second threshold can be 55 - 65 mm, preferably 58 mm; the value of the fifth threshold can be 40 - 50 mm, preferably 43 mm; the value of the sixth threshold can be 50 - 60 mm, preferably 53 mm.

[0071] Specifically, for the newly recognized threshold scenario in this task, the threshold judgment can be performed according to the detected height difference and the above-defined parameter thresholds in the following steps:

[0072] 1) Obtain the first height difference of the threshold on the first side where the sweeping robot is located.

[0073] That is, obtain the threshold height value H on the side where the robot is located. For example, it can be measured by means of line laser to obtain the first height difference on the first side.

[0074] 2) When the first height difference meets the first preset condition, that is, is less than or equal to the first threshold, or when the first height difference does not meet the first preset condition but meets the second preset condition, and it is confirmed by the user that the obstacle can be passed, obtain the second height difference of the threshold on the second side opposite to the first side.

[0075] If the threshold height value H on the side where the robot is located <= H_high, that is, the first height difference is less than or equal to the first threshold, then through a set of pre-designed detection actions, the height H_opp on the opposite side of the threshold is measured. If the threshold height value H_high < H <= H_limit on the side where the robot is located, that is, the first height difference is greater than the first threshold and less than or equal to the second threshold, then the user needs to confirm again, that is, generate a recommended threshold that can be passed to the user. Specifically, refer to 3)-4) in step S121, which will not be elaborated here. If confirmed by the user, then the height H_opp on the opposite side of the threshold is measured.

[0076] 3) When the second height difference is less than or equal to the fifth threshold, the threshold is determined as an obstacle that can be passed.

[0077] If the second height difference H_total <= H_normal, that is, the second height difference is less than or equal to the fifth threshold, then the threshold is determined as a threshold that can be passed (an obstacle that can be passed), and subsequent obstacle-crossing actions can be performed.

[0078] 4) When the second height difference does not meet the first preset condition but meets the second preset condition, that is, when it is greater than the fifth threshold and less than or equal to the sixth threshold, and when the user confirms that the obstacle can be passed, the up-step is determined as an obstacle that can be passed. That is to say, the recommended threshold needs to be stored and pushed to the user to facilitate the user to confirm the threshold height and replace the threshold type. If it is manually confirmed by the user that it can be passed, that is, the user issues a confirmation instruction, then the threshold can be determined as an obstacle that can be passed.

[0079] Specifically, if the total height H_normal < H_total <= H_limit', that is, the second height difference is greater than the fifth threshold and less than or equal to the sixth threshold, then the user needs to confirm again, that is, generate a recommended threshold that can be passed to the user to facilitate the user to confirm the threshold height and replace the threshold type. If it is confirmed by the user that the obstacle can be passed, then the threshold is determined as an obstacle that can be passed. In the case of no user confirmation, the threshold is defaulted to be an obstacle that cannot be passed and is considered not climbable, and the robot is not allowed to cross during the task.

[0080] 5) When the first height difference is greater than the second threshold or the second height difference is greater than the sixth threshold, the threshold is determined as an obstacle that cannot be passed and is considered not climbable.

[0081] If the threshold height H on the side where the robot is located is greater than H_limit, that is, the first height difference is greater than the first threshold, then the threshold is directly regarded as an obstacle and considered to be insurmountable, i.e., an impassable threshold (insurable obstacle) is generated. In addition, if the total height H_total is greater than H_limit', that is, the second height difference is greater than the sixth threshold, then it is also determined to be insurmountable and an impassable threshold is generated.

[0082] For impassable thresholds, robots are not allowed to cross them during the task. For passable thresholds, however, there is no need to detect the threshold height during the task; the robot can directly cross the obstacle based on the existing threshold information, selecting the crossing method and direction.

[0083] Step S130: Control the robot to perform obstacle-crossing actions for obstacles that can be crossed.

[0084] The robot includes an obstacle-crossing structure, which may include obstacle-crossing wheels connected to the robot's drive wheels. Step S130 may then include:

[0085] Step S131: When the robot moves to a distance from the obstacle target, the obstacle-crossing structure is activated to perform the obstacle-crossing action; and

[0086] Step S132: After completing the obstacle crossing, close the obstacle crossing structure.

[0087] The specific obstacle-crossing process can be seen in Figure 5, which shows the obstacle-crossing logic when the threshold is 4cm.

[0088] First, during navigation, the robot vacuum detects an obstacle approximately 30cm in front of the threshold. It then determines whether a 4cm obstacle crossing is necessary. If the threshold is deemed too low to require obstacle crossing, it disables downward view and continues moving forward. The process ends upon successfully crossing the threshold. If the obstacle crossing fails, it returns to the previous step of disabling downward view and continues moving forward.

[0089] If a 4cm obstacle crossing is required, the obstacle-crossing wheels should be deployed, and the aircraft should proceed until it reaches the front edge of the threshold. At this point, D-ToF (drowsy-to-flight) ranging can be used to determine if the obstacle can be crossed. If it can be crossed, the crossing maneuver is executed, and the aircraft continues forward. Next, the aircraft's stability and whether the forward movement has exceeded the time limit are used to determine whether to terminate the movement. Then, positioning recovery is used to determine whether the threshold crossing was successful. The process ends upon successful threshold crossing. If the obstacle crossing is unsuccessful, the process returns to the previous step of D-ToF ranging.

[0090] This invention aims to propose a method for robot obstacle crossing. Through a perception module's identification of thresholds and the robot's accompanying detection actions, the method clearly and accurately identifies the threshold's location and its passability, automatically generating different types of thresholds and recommendations, which are then displayed on an app. This reduces reliance on user intervention, helps the robot better locate thresholds, and uses the most appropriate method to overcome them, significantly improving cleaning efficiency and enhancing the user experience in terms of intelligence.

[0091] In another embodiment, the obstacle-crossing method 100 of the present invention may further include: step S141, confirming the obstacle as an impassable obstacle when the height difference does not meet the first preset condition and the second preset condition; and / or, confirming the obstacle as an impassable obstacle when the height difference meets the second preset condition but the user has not confirmed that the obstacle can be crossed; and step S142, the robot performs an avoidance action against the impassable obstacle. The specific execution steps can be referred to above and will not be repeated here.

[0092] In addition, after controlling the robot to perform an obstacle-crossing action for a passable obstacle in step S130, the obstacle-crossing method 100 of the present invention further includes: step S151, when the robot successfully crosses the passable obstacle, displaying a mark indicating that the passable obstacle is passable on the interactive interface; and / or step S152, when the passable obstacle is changed to an impassable obstacle, displaying a mark indicating that the impassable obstacle is impassable on the interactive interface.

[0093] In this step, obstacles that have been successfully crossed are marked as first obstacles, and obstacles that have been altered are marked as second obstacles.

[0094] In other words, for steps that are determined to be passable by an obstacle, subsequent obstacle-crossing actions can be performed. Furthermore, if obstacle crossing is successful, a marker indicating that the obstacle is passable is displayed on the interactive interface, and information such as threshold height, obstacle crossing position, obstacle crossing direction, and obstacle crossing method is saved. If obstacle crossing fails, to prevent the robot from repeatedly getting stuck after barely managing to cross an obstacle, the obstacle-crossing method 100 of this invention further includes steps S161 and / or S162 when the robot fails to cross a passable obstacle:

[0095] Step S161: When it is confirmed that the environmental information of the passable obstacle is a closed door scenario, issue a reminder message and / or mark the missed area.

[0096] Step S162: If it is confirmed that the environmental information of the passable obstacle is not a closed door scenario, the type of the passable obstacle is changed to an impassable obstacle.

[0097] In other words, if a threshold is successfully crossed during a task but fails to cross again on the return trip, and it is determined not to be a closed door scenario, then at the end of the task, that threshold is saved as a recommended impassable threshold. Specifically, passable thresholds that fail to cross once or multiple times can be marked as recommended impassable thresholds; this information is stored in a confirmation database; and in response to a user's confirmation command, the recommended impassable thresholds are confirmed as impassable thresholds. The confirmation command can be a manually issued command by the user. In this case, the recommended impassable thresholds need to be stored and pushed to the user for confirmation of threshold height and threshold type replacement. If the user manually confirms that the threshold is impassable (i.e., the user issues a confirmation command), then an impassable threshold can be generated based on the recommended impassable thresholds, and subsequent attempts to cross it will not be made to prevent repeated getting stuck.

[0098] In addition, the confirmation command can also be an automatically issued command based on set conditions. For example, a threshold of 2-5 obstacle crossing failures can be set. For example, if it is 3 times, a confirmation command will be automatically issued after failing to cross the same threshold 3 times. This can help to determine that the inaccessible threshold as an inaccessible threshold, and prevent repeated attempts to cross it in subsequent tasks, thus preventing repeated getting stuck.

[0099] Specifically, in another scenario, the generation logic can be determined based on the principle of "user priority." For example, for automatically generated thresholds that are not added by the user, if the user fails to overcome them in multiple consecutive tasks, an unpassable threshold recommendation is generated so that the user can modify the threshold type. However, thresholds manually added by the user are not processed, even if multiple obstacle-crossing failures occur. Furthermore, if a newly identified threshold is located in an area where the user has already interacted with it (whether by adding or deleting), it means that the user has already processed and confirmed this area, and no passable or recommended thresholds will be automatically generated.

[0100] In addition, after determining that the obstacle is a passable obstacle, the obstacle-crossing method 100 of the present invention further includes:

[0101] Step S170: Store one or more of the following information about the obstacle that can be crossed: obstacle height, obstacle crossing position, obstacle crossing direction, and obstacle crossing method.

[0102] In other words, whenever it is determined that an obstacle needs to be crossed and the obstacle is successfully crossed, a threshold that can be crossed is directly generated, and information such as the threshold height, obstacle crossing position, obstacle crossing direction, and obstacle crossing method is saved.

[0103] Specifically, if the threshold is manually added by the user but no height information is provided, the threshold height, obstacle crossing direction, and other information detected during the task will be automatically updated into the threshold data for direct use later.

[0104] As can be seen, this invention generates complete threshold data based on information such as threshold height and obstacle-crossing direction obtained through perception and recognition, as well as historical obstacle-crossing attempt information. By saving this data, it can be reused in subsequent tasks, achieving the goal of becoming increasingly intelligent with use, which helps improve the success rate of obstacle crossing and demonstrates greater intelligence.

[0105] In summary, through the above technical solutions, this invention aims to propose a method for robot obstacle crossing. By using a perception module to identify thresholds and the robot's detection actions, the method clearly and accurately identifies the threshold location and its passability, automatically generating different types of thresholds and recommendations, which are then displayed on the app. Based on the obstacle information identified by perception, this invention automatically determines whether an obstacle is passable and automatically performs obstacle-crossing actions for passable obstacles, thereby improving the success rate of obstacle crossing by accurately identifying obstacles. This robot obstacle crossing method enables intelligent obstacle crossing, requiring user intervention only in certain extreme situations. Therefore, while ensuring safe obstacle crossing, it reduces reliance on user intervention, helps the robot better locate threshold positions, and uses the most suitable method to overcome them, greatly improving cleaning efficiency and enhancing the user experience in terms of intelligence.

[0106] On the other hand, this application also provides an obstacle-crossing system 200 for a robot, as shown in the structural schematic diagram of FIG6. The obstacle-crossing system 200 may include:

[0107] The detection device 210 is used to detect whether the height difference between the obstacle and the ground where the robot is located meets a preset condition when there is an obstacle on the working path of the robot.

[0108] The obstacle determination device 220 is configured to determine that an obstacle is passable when the height difference meets a first preset condition, or when the height difference meets a second preset condition and is confirmed by the user to be passable, wherein the height difference of the obstacle indicated by the second preset condition is greater than the height difference of the obstacle indicated by the first preset condition; and

[0109] Control device 230 is used to control the robot to perform obstacle-crossing actions in response to the passable obstacles.

[0110] In this embodiment of the application, the detection device 210 is further configured to perform the following functions: confirm the type of the obstacle, wherein the obstacle includes an upper step, a lower step, or a threshold; when the obstacle is an upper step, detect a first height difference of the top surface of the upper step on the side facing the robot; when the obstacle is a lower step, detect a first height difference of the bottom surface of the lower step on the side facing the robot; and when the obstacle is a threshold, detect a first height difference of the top surface of the threshold on the side facing the robot and a second height difference on the opposite side.

[0111] In this application embodiment, the first height difference is obtained by line laser; and / or the second height difference is obtained by D-Tof downward-looking sensor.

[0112] In this embodiment of the application, the control device 230 is further configured to perform the following functions: when the height difference does not meet the second preset condition, determine that the obstacle is an impassable obstacle; and the robot performs an avoidance action for the impassable obstacle.

[0113] In this embodiment, the robot includes an obstacle-crossing structure. Controlling the robot to perform an obstacle-crossing action against the passable obstacle includes: activating the obstacle-crossing structure to perform the obstacle-crossing action when the robot moves to a target distance from the obstacle; and deactivating the obstacle-crossing structure after completing the obstacle crossing.

[0114] In this embodiment of the application, the obstacle-crossing structure includes obstacle-crossing wheels connected to the drive wheels of the robot.

[0115] In this embodiment of the application, the obstacle-crossing system is also used to perform the following functions: after controlling the robot to perform an obstacle-crossing action against the passable obstacle, when the robot successfully crosses the passable obstacle, it generates and stores the passable obstacle marker on the interactive interface; when the robot fails to cross the passable obstacle, it changes the type of the passable obstacle or issues a reminder message based on whether the environmental information of the passable obstacle is a closed door scenario.

[0116] In this embodiment of the application, the obstacle-crossing system is further configured to perform the following functions: if it is confirmed that the passable obstacle is not in the closed state, change the passable obstacle to an impassable obstacle and store the change; if it is confirmed that the passable obstacle is in the closed state, control the robot to perform an avoidance action on the passable obstacle and issue the warning message.

[0117] In this embodiment of the application, the obstacle-crossing system is also used to perform the following functions: after determining that the obstacle is a passable obstacle, storing one or more of the following information about the passable obstacle: obstacle height, obstacle-crossing position, obstacle-crossing direction, and obstacle-crossing method.

[0118] In summary, this invention aims to propose a robot obstacle-crossing system. Through the perception module's identification of thresholds and the robot's accompanying detection actions, it clearly and accurately identifies the location of thresholds and their passability, automatically generating different types of thresholds and recommendations, which are then displayed on an app. Based on the obstacle information identified by perception, this invention automatically determines whether an obstacle is passable and automatically executes obstacle-crossing actions for passable obstacles, thereby improving the success rate of obstacle crossing by accurately identifying obstacles. The robot obstacle-crossing method of this invention achieves intelligent obstacle crossing, requiring user intervention only in certain extreme situations. Therefore, while ensuring safe obstacle crossing, it reduces reliance on user intervention, helping the robot better locate threshold positions and use the most appropriate method to overcome them, greatly improving cleaning efficiency and enhancing the user experience in terms of intelligence.

[0119] On the other hand, this application also provides a robotic vacuum cleaner that may include the obstacle-crossing system of the robot described above.

[0120] The beneficial effects of the obstacle-crossing system for a robot and the sweeping robot provided by this invention can be referred to the above description of the obstacle-crossing method for a robot, and will not be repeated here.

[0121] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0122] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for a robot to overcome obstacles, characterized in that, The obstacle-crossing method includes: When there are obstacles in the robot's working path, detect whether the height difference between the obstacle and the ground where the robot is located meets a preset condition; When the height difference meets a first preset condition, or when the height difference meets a second preset condition and the user confirms that the obstacle can be passed, the obstacle is determined to be a passable obstacle, wherein the height difference of the obstacle indicated by the second preset condition is greater than the height difference of the obstacle indicated by the first preset condition; and Control the robot to perform obstacle-crossing actions in response to the passable obstacles.

2. The obstacle-crossing method according to claim 1, characterized in that, The detection of whether the height difference between the obstacle and the ground where the robot is located meets a preset condition includes: Identify the type of obstacle, wherein the obstacle includes an upper step, a lower step, or a threshold; When the obstacle is the upper step, detect whether the first height difference of the top surface of the upper step on the side facing the robot meets the preset condition; When the obstacle is the lower step, detect whether the first height difference between the bottom surface of the lower step and the side facing the robot meets the preset condition; and When the obstacle is the threshold, it is detected whether the first height difference of the top surface of the threshold on the side facing the robot and the second height difference on the opposite side both satisfy the preset conditions.

3. The obstacle-crossing method according to claim 2, characterized in that, The first height difference is obtained by: line laser; and / or The second height difference is obtained by using the D-Tof downward-looking sensor.

4. The obstacle-crossing method according to claim 1, characterized in that, The obstacle-crossing method also includes: When the height difference does not meet the first preset condition and the second preset condition, the obstacle is confirmed as an impassable obstacle; and / or, when the height difference meets the second preset condition, but the user has not confirmed that the obstacle can be passed, the obstacle is confirmed as an impassable obstacle; and The robot performs an avoidance maneuver against the impassable obstacle.

5. The obstacle-crossing method according to claim 4, characterized in that, After controlling the robot to perform an obstacle-crossing maneuver against the passable obstacle, the obstacle-crossing method further includes: When the robot successfully overcomes the passable obstacle, a marker indicating that the obstacle is passable is displayed on the interactive interface; and / or When a passable obstacle is changed to an impassable obstacle, a marker for the impassable obstacle is displayed on the interactive interface.

6. The obstacle-crossing method according to claim 4, characterized in that, When the robot fails to overcome the obstacle that is passable, the obstacle-crossing method further includes: If it is confirmed that the environmental information regarding the passable obstacle is not a closed door scenario, the type of the passable obstacle is changed to the impassable obstacle; and / or When it is confirmed that the environmental information of the passable obstacle is the door closing scenario, a reminder message is issued and / or the missed area is marked.

7. The obstacle-crossing method according to claim 1, characterized in that, The robot includes an obstacle-crossing structure, and controlling the robot to perform obstacle-crossing actions against the passable obstacles includes: When the robot moves to a distance from the target obstacle, the obstacle-crossing structure is activated to perform the obstacle-crossing action; and After successfully overcoming the obstacle, the obstacle-crossing structure is closed.

8. The obstacle-crossing method according to claim 7, characterized in that, The obstacle-crossing structure includes obstacle-crossing wheels connected to the robot's drive wheels.

9. The obstacle-crossing method according to any one of claims 1-8, characterized in that, After determining that the obstacle is a passable obstacle, the obstacle-crossing method further includes: Store one or more of the following information about the obstacle that can be traversed: Obstacle height, obstacle crossing location, obstacle crossing direction, and obstacle crossing method.

10. An obstacle-crossing system for a robot, characterized in that, The obstacle-crossing system includes: A detection device is used to detect whether the height difference between the obstacle and the ground where the robot is located meets a preset condition when there is an obstacle on the robot's working path. An obstacle determination device can be used to determine that an obstacle is a passable obstacle when the height difference meets a first preset condition, or when the height difference meets a second preset condition and is confirmed by the user to be passable, wherein the height difference of the obstacle indicated by the second preset condition is greater than the height difference of the obstacle indicated by the first preset condition; and A control device for controlling the robot to perform obstacle-crossing actions in response to the passable obstacles.

11. A sweeping robot, characterized in that, Including the obstacle-crossing system for the robot according to claim 10.

Images