Mobile robot, skid processing method and storage medium

Abstract

A mobile robot, which comprises: a processor (11), a controller (12), a communication connection processor (11), a moving apparatus, and a communication connection controller (12), wherein when the mobile robot is traversing an operating surface with first movement data, the processor (11) controls the moving apparatus by means of the controller (12), so as to control the mobile robot to traverse the operating surface with second movement data. Further disclosed are a skid processing method and a storage medium.

Description

Mobile robots, slippage handling methods and storage media Cross-references to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202510148852.3, filed on February 10, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to, but is not limited to, the field of slippage treatment technology, and in particular to a mobile robot, a slippage treatment method, and a storage medium. Background Technology

[0003] Currently, mobile robots can move up and down stairs. Summary of the Invention

[0004] In view of this, embodiments of this application provide at least one mobile robot, a slippage handling method, and a storage medium. These improvements can enhance the mobility efficiency of the mobile robot.

[0005] The technical solutions of this application are as follows.

[0006] On one hand, this application provides a mobile robot, including: a processor; a controller, communicatively connected to the processor; and a mobile device, communicatively connected to the controller, wherein when the mobile robot crosses the operating surface with first movement data, the processor controls the mobile device through the controller to control the mobile robot to cross the operating surface with second movement data.

[0007] On the other hand, this application provides a slippage handling method applied to a mobile robot, the mobile robot including: a processor, a controller, a communication connection to the processor, and a mobile device, a communication connection to the controller; including: when the mobile robot crosses the operating surface with first movement data, controlling the mobile device through the controller to control the mobile robot to cross the operating surface with second movement data.

[0008] In another aspect, embodiments of this application provide a mobile robot, including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement some or all of the steps in the above-described method.

[0009] In another aspect, embodiments of this application provide a computer storage medium storing a computer program thereon, which, when executed by a processor, implements some or all of the steps in the above-described method. Attached Figure Description

[0010] Figure 1 is a schematic diagram of the structure of a mobile robot provided in an embodiment of this application.

[0011] Figure 2 is a schematic flowchart of a slippage treatment method provided in an embodiment of this application.

[0012] Figure 3 is a flowchart illustrating an example of a slippage treatment method provided in an embodiment of this application.

[0013] Figure 4 is a schematic diagram of the structure of a mobile robot provided in an embodiment of this application.

[0014] Figure 5 is a schematic diagram of the structure of a computer storage medium provided in an embodiment of this application. Detailed Implementation

[0015] To make the technical solutions and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0016] In the following description, references to "some embodiments" refer to a subset of all embodiments. It is understood that "some embodiments" may be the same or different subsets of all embodiments and may be combined with each other without conflict. The terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit the scope of this application.

[0018] Currently, when mobile robots are moving up or down stairs, there is a common problem where the target moving speed differs significantly from the actual moving speed. This can cause the stair-climbing transport robot to fail to move up or down as expected, or even slip and fall, thus affecting the robot's moving efficiency.

[0019] To address the technical problem of low movement efficiency when a mobile robot moves from one operating surface to another, this application provides a slippage handling method. This method is applied to a mobile robot. Figure 1 is a schematic diagram of the structure of a mobile robot provided in this application embodiment. As shown in Figure 1, the mobile robot 100 may include: a processor 11, a controller 12, and a moving device 13. The controller 12 is communicatively connected to the processor 11, and the moving device 13 is communicatively connected to the controller 12.

[0020] Based on Figure 1 above, Figure 2 is a flowchart of a slippage handling method provided in an embodiment of this application. As shown in Figure 2, the slippage handling method may include: S201: When the mobile robot crosses the domain operation surface with the first movement data, the processor controls the mobile device through the controller to control the mobile robot to cross the domain operation surface with the second movement data.

[0021] In this embodiment of the application, when a mobile robot crosses an operating surface using the first movement data, the operating surface can be the tread of a staircase or the tabletop of a shelf. Here, this embodiment of the application does not specifically limit it.

[0022] It should be noted that the aforementioned crossing of the operating plane can be from a lower operating plane to a higher operating plane, or from a higher operating plane to a lower operating plane. Here, the embodiments of this application do not specifically limit this.

[0023] Furthermore, for mobile robots, movement data can include three types: target movement data, first movement data, and second movement data. The target movement data represents the desired speed and direction of movement for the mobile robot, achieved by controlling the movement device to reach a certain speed. The first and second movement data represent the actual speed and direction of movement during the robot's movement. In practical applications, the speeds of the first and second movement data can be less than the speed of the target movement data. In some embodiments, when slippage occurs while traversing from a lower operating surface to a higher operating surface, the speeds of the first and second movement data can, of course, be greater than the speed of the target movement data. In other embodiments, when slippage occurs while traversing from a higher operating surface to a lower operating surface...

[0024] As can be seen, when the mobile robot crosses the operating surface with the first movement data, the processor controls the moving device through the controller, so that the mobile robot crosses the operating surface with the second movement data. Here, depending on different situations, the speed of the second movement data may be greater than the speed of the first movement data, or the speed of the second movement data may be less than the speed of the first movement data. The direction of the second movement data may be the same as the direction of the first movement data, or the direction of the second movement data may be different from the direction of the first movement data.

[0025] In order to control the mobile robot more effectively and improve its movement efficiency, in one embodiment, S201 may include: when the mobile robot crosses the operating surface with first movement data and the processor determines that the mobile robot is in a slipping state, the processor controls the moving device through the controller to control the mobile robot to cross the operating surface with second movement data.

[0026] Understandably, when the mobile robot crosses the operating surface with the first movement data, the processor needs to further determine whether the mobile robot is in a slipping state. Only when the mobile robot is in a slipping state will the mobile robot's controller control the movement device so that the mobile robot can cross the operating surface with the second movement data to change the slipping state and prevent the robot from slipping or moving too slowly, which would affect the working efficiency of the mobile robot.

[0027] In one embodiment, the above method may further include: the processor determining first movement data when the mobile robot moves across the operating surface by using speed-related information of the mobile robot and / or environmental change data of the mobile robot;

[0028] Based on the first movement data and the target movement data of the mobile robot, determine whether the mobile robot is slipping.

[0029] To improve the movement efficiency of mobile robots when moving across an operating surface, this embodiment of the application takes going up and down stairs as an example. During the process of going up and down stairs, the first movement data of the mobile robot is determined by the speed-related information of the mobile robot and / or the environmental change data of the mobile robot. The mobile robot mentioned above can be a robot used for cleaning the floor, a robot used for transportation, or a robot providing other services; this embodiment of the application does not limit this to any particular type.

[0030] This includes at least three approaches. The first is: the mobile robot determines its initial movement data during the process of going up and down stairs using its speed-related information. The second is: the mobile robot determines its initial movement data during the process of going up and down stairs using environmental change data. The third is: the mobile robot determines its initial movement data during the process of going up and down stairs using both its speed-related information and environmental change data.

[0031] The speed-related information may include multiple sets of data. In some embodiments, the speed-related information may be the collected speed and direction of the mobile robot, or the collected acceleration of the mobile robot. Each set of data can be used independently to determine the first movement data of the mobile robot during the process of going up and down stairs.

[0032] Similarly, the aforementioned environmental change data may include multiple sets of data. In some embodiments, the aforementioned environmental change data may be two adjacent sets of point cloud data collected in the direction of the mobile robot's movement, two adjacent sets of image data collected in the direction of the mobile robot's movement, or two adjacent sets of barometric pressure counts collected in the direction of the mobile robot's movement. Each set of data in the multiple sets of data can be used individually to determine the first movement data of the mobile robot during the process of going up and down stairs.

[0033] Additionally, the aforementioned first movement data may include a first movement direction and a first movement speed, wherein the first movement direction may include: a direction toward a second operating surface lower than the first operating surface and a direction toward a second operating surface higher than the first operating surface. The aforementioned first movement speed is a numerical value.

[0034] After the mobile robot's processor determines the first movement data, it determines whether the mobile robot is slipping based on the first movement data and the target movement data. The target movement data is pre-set in the mobile robot, enabling it to move according to the target movement data or within a preset error range based on the target movement data.

[0035] The aforementioned target movement data can include: target movement direction and target movement speed. The first movement direction can be compared with the target movement direction, and the comparison result is either the first movement direction is the same as the target movement direction, or the first movement direction is opposite to the target movement direction. Furthermore, the first movement speed is compared with the target movement speed. If it is known that the first movement direction is the same as the target movement direction, the larger of the first movement speed and the smaller of the target movement speed is subtracted, and the difference is used to determine whether the mobile robot is slipping.

[0036] In this way, it can be determined whether the mobile robot is slipping.

[0037] Once it is determined whether the mobile robot is slipping, since slipping during the process of the mobile robot crossing the operating surface may cause low movement efficiency or fall off the operating surface, the mobile robot's processor controls the moving device through the mobile robot's controller to enable the mobile robot to cross the operating surface at a second moving speed.

[0038] In this embodiment, the controller can change the sliding state of the mobile device. Changing the sliding state can prevent the mobile robot from slipping. Slipping can be categorized into different degrees; therefore, changing the sliding state could result in a slight slippage, etc. This embodiment does not limit the specific degree of slippage described herein.

[0039] In addition, if the mobile robot is not slipping, it can continue to work according to the set target movement data.

[0040] Regarding the above method of determining whether a mobile robot is slipping by using its speed-related information, a speed sensor and a height sensor can be used to measure the robot's first moving speed and first moving direction, thus obtaining the robot's first moving data.

[0041] In addition, regarding the above-mentioned method of determining whether a mobile robot is slipping by using the speed-related information of the mobile robot, in one embodiment, the processor determines the first movement data when the mobile robot crosses the operating surface by using the speed-related information of the mobile robot, which may include: collecting the first acceleration of the mobile robot when crossing the operating surface by using the accelerometer of the mobile robot; performing an integral operation on the first acceleration to obtain the first movement direction and the first movement speed in the first movement data.

[0042] Understandably, in addition to the speed sensor and the height sensor mentioned above, the first acceleration of the mobile robot when it is maneuvering on the platform can also be collected using the mobile robot's accelerometer. Here, the sign of the first acceleration indicates the direction of the actual acceleration, and the numerical value of the first acceleration indicates its magnitude.

[0043] After obtaining the first acceleration, an integral operation is performed on the first acceleration. With the initial velocity value of 0, the first direction of movement and the first velocity of movement can be obtained through the integral operation, which is the first movement data.

[0044] In this way, by collecting actual acceleration through the accelerometer of the mobile robot to obtain the first movement data, the obtained first movement data is closer to the real movement data, thereby improving the accuracy of determining whether the mobile robot is slipping.

[0045] Regarding the above-mentioned method of determining whether a mobile robot is slipping by using environmental change data of the mobile robot, in one embodiment, the mobile robot includes: components, which are communicatively connected to a processor; determining first movement data when the mobile robot crosses an operating surface by using speed-related information of the mobile robot may include: determining a first movement direction and a first movement speed in the first movement data based on environmental change data of the mobile robot when crossing the operating surface collected by the components of the mobile robot.

[0046] Understandably, the environmental change data of the mobile robot as it crosses the operating surface is collected through the components of the mobile robot. This environmental change data refers to the changes in the environment surrounding the mobile robot as its position changes. In other words, taking going up or down stairs as an example, the environmental data of the mobile robot changes as its position changes. Here, the data on the changes in the mobile robot's environment as its position changes is acquired, and then the first direction of movement and the first speed of movement are determined based on this collected environmental change data.

[0047] The aforementioned environmental change data is generally collected from two consecutive environmental data sets, and the first moving direction and the first moving speed are determined based on the two consecutive environmental data sets.

[0048] In this way, by collecting environmental change data of the mobile robot, the first direction of movement and the first speed of movement are determined, making the determined first direction of movement and the first speed of movement closer to the actual movement data, thereby improving the accuracy of determining whether the mobile robot is slipping.

[0049] Furthermore, regarding the determination of whether a mobile robot is slipping based on environmental change data of the mobile robot, in one embodiment, determining the first movement direction and the first movement speed in the first movement data based on environmental change data collected by the mobile robot's components when the mobile robot crosses the operating surface may include: collecting two adjacent sets of point cloud data in the forward direction of the mobile robot using the mobile robot's time-of-flight (TOF); and determining the first movement direction and the first movement speed based on the two adjacent sets of point cloud data.

[0050] Understandably, when the environmental data is point cloud data, the mobile robot can collect two adjacent sets of point cloud data in the direction of the mobile robot's movement through the Time-of-Flight (TOF) of the mobile robot. In other words, the TOF of the mobile robot can collect point cloud data in the direction of the mobile robot's movement. Here, during the process of the mobile robot going up or down the stairs, the point cloud data in the direction of the mobile robot's movement is collected twice, and the time interval between the two times can be set in advance. In this way, two adjacent sets of point cloud data can be obtained.

[0051] After obtaining two adjacent sets of point cloud data, the mobile robot can determine a first moving direction and a first moving speed based on the two adjacent sets of point cloud data. In some embodiments, the obtained two adjacent sets of point cloud data can be the tread surface of the next step and the edge of the vertical surface in the forward direction. For the case of going upstairs, the next step is the step above the previous step; for the case of going downstairs, the next step is the step below the previous step.

[0052] Therefore, if two adjacent sets of point cloud data are obtained as the edge of the next step, the distance between the edge of the next step and the mobile robot can be known based on the two adjacent sets of point cloud data. If the distance decreases, it means that the first moving direction is the same as the forward direction. If the distance increases, it means that the first moving direction is opposite to the forward direction. In this way, the first moving direction is known, and the first moving speed is calculated based on the distance change value and the time interval between the two point cloud data collections.

[0053] Of course, the two adjacent sets of point cloud data obtained here can also be the step surface of the last step in the forward direction and the edge of the vertical surface. Here, the embodiments of this application do not limit this.

[0054] In this way, the first moving direction and the first moving speed of the mobile robot can be determined by two adjacent sets of point cloud data. The first moving direction and the first moving speed of the mobile robot can be determined by the changes in the point cloud data of the target object in the surrounding environment. This makes the determined first moving direction and the first moving speed closer to the real moving data, thereby improving the accuracy of determining whether the mobile robot is slipping.

[0055] Furthermore, regarding the determination of whether a mobile robot is slipping based on environmental change data of the mobile robot, in one embodiment, determining the first movement direction and the first movement speed in the first movement data based on environmental change data collected by the mobile robot's components when the mobile robot crosses the operating surface may include: acquiring two adjacent sets of image data in the forward direction of the mobile robot using the mobile robot's camera; and determining the first movement direction and the first movement speed based on the two adjacent sets of image data.

[0056] Understandably, when the environmental data is image data, the mobile robot can acquire two adjacent sets of image data in the direction the robot is moving forward through its camera. In other words, the mobile robot's camera can acquire image data in the direction the robot is moving forward. Here, during the process of the mobile robot going up or down stairs, two sets of image data in the direction the robot is moving forward are acquired, and the time interval between the two acquisitions can be preset, thus obtaining two adjacent sets of image data.

[0057] After obtaining two adjacent sets of image data, the mobile robot can determine a first direction of movement and a first speed of movement based on the two sets of image data. In some embodiments, the two adjacent sets of image data can be the tread surface of the next step and the edge of the vertical surface in the forward direction. For the case of going upstairs, the next step is the step above the previous step; for the case of going downstairs, the next step is the step below the previous step.

[0058] Given that the edge of the next step is obtained from two adjacent sets of image data, the distance change between the edge of the next step and the mobile robot can be calculated using monocular ranging technology based on the two adjacent sets of image data. If the distance decreases, it means that the first moving direction is the same as the forward direction. If the distance increases, it means that the first moving direction is opposite to the forward direction. In this way, the first moving direction is known, and the first moving speed can be calculated based on the distance change value and the time interval between the two point cloud data acquisitions.

[0059] Of course, the two adjacent sets of image data obtained here can also be the step surface of the last step in the forward direction and the edge of the vertical surface. Here, the embodiments of this application do not limit this.

[0060] In this way, the first moving direction and the first moving speed of the mobile robot can be determined by two adjacent sets of image data. The first moving direction and the first moving speed of the mobile robot can be determined by the changes in the image data of the target object in the surrounding environment. This makes the determined first moving direction and the first moving speed closer to the real moving data, thereby improving the accuracy of determining whether the mobile robot is slipping.

[0061] In addition, regarding the above-mentioned method of determining whether a mobile robot is slipping by using environmental change data of the mobile robot, in one embodiment, the first movement direction and the first movement speed in the first movement data are determined based on the environmental change data of the mobile robot when it crosses the operating surface, collected by the mobile robot's components. This includes: collecting two adjacent sets of air pressure count values ​​of the mobile robot using its air pressure sensor; and determining the first movement direction and the first movement speed based on the two adjacent sets of air pressure count values.

[0062] Understandably, when the environmental data is barometric pressure count, the mobile robot can collect two adjacent sets of barometric pressure counts in the direction of its movement through its barometric pressure sensor. In other words, the barometric pressure sensor can collect barometric pressure counts in the direction of the mobile robot's movement. Here, during the process of the mobile robot going up or down the stairs, two barometric pressure counts are collected in the direction of the mobile robot's movement, and the time interval between the two collections can be preset. In this way, two adjacent sets of barometric pressure counts can be obtained.

[0063] After obtaining two adjacent sets of barometric pressure counts, the mobile robot can determine the first direction of movement and the first speed based on these values. Since air pressure decreases with increasing altitude, if the air pressure increases with position, the first direction of movement is determined to be towards the second operating surface, which is lower than the first operating surface, and the corresponding first speed can be determined based on the difference between the two values. Conversely, if the air pressure decreases with position, the first direction of movement is determined to be towards the second operating surface, which is higher than the first operating surface, and the corresponding first speed can be determined based on the difference between the two values.

[0064] In this way, the first direction of movement and the first speed of movement of the mobile robot can be determined by two adjacent sets of barometric pressure counts. The first direction of movement and the first speed of movement of the mobile robot can be determined by the changes in the barometric pressure counts at the current location, making the determined first direction of movement and the first speed of movement closer to the actual movement data, thereby improving the accuracy of determining whether the mobile robot is slipping.

[0065] It should be noted that, in the embodiments of this application, any one or more of the above methods can be used to determine the first movement data. Among the multiple methods used to determine the first movement data, in some embodiments, a set of first movement data is determined using the first acceleration, a set of first movement data is determined using two adjacent sets of point cloud data, a set of first movement data is determined using two adjacent sets of image data, and a set of first movement data is determined using two adjacent sets of barometric pressure counts. In this way, four sets of movement data can be determined.

[0066] As can be seen, one set of first movement data or multiple sets of first movement data can be determined through the above S101. Here, the embodiments of this application do not limit this.

[0067] After knowing the first movement data, in order to determine whether the mobile robot is in a slipping state, in one embodiment, determining whether the mobile robot is in a slipping state based on the first movement data and the target movement data of the mobile robot may include: when determining M sets of first movement data from M sets of data in the mobile robot's speed-related information and the mobile robot's environmental change data, determining whether the mobile robot corresponding to each set of first movement data is in a slipping state based on each set of first movement data and the target movement data; and determining that the mobile robot is in a slipping state when the mobile robot corresponding to at least one or at least N sets of first movement data is in a slipping state.

[0068] Understandably, considering M sets of data from the mobile robot's speed-related information and environmental change data, and determining M sets of first movement data, where M is greater than or equal to 2. In other words, given the M sets of first movement data, based on each set of first movement data and the target movement data, it can be determined whether the mobile robot corresponding to each set of first movement data is in a slippery state. This results in determining whether the mobile robot corresponding to the M sets of first movement data is in a slippery state.

[0069] In checking whether the mobile robot corresponding to the first set of M group movement data is in a slipping state, it is determined that at least one or at least N sets of the first set of movement data are in a slipping state, where N is greater than or equal to M / 2 rounded up. That is, if at least one set of the first set of movement data is in a slipping state, then the mobile robot is determined to be in a slipping state; if a preset half threshold number of the first set of movement data is in a slipping state, then the mobile robot is determined to be in a slipping state.

[0070] Thus, using the above method to determine whether the mobile robot is slipping when faced with multiple sets of first movement data makes the mobile robot's judgment of slipping more accurate, thereby improving the working efficiency of the mobile robot.

[0071] In addition, for cases where multiple sets of first movement data are obtained, in one embodiment, the above method may further include: when at least two sets of first movement data are determined from at least two sets of data in the mobile robot's speed-related information and the mobile robot's environmental change data, the at least two sets of first movement data are weighted and summed to obtain the first movement data again.

[0072] Understandably, after determining at least two sets of first movement data from at least two sets of data in the mobile robot's speed-related information and environmental change data, the first movement data can be re-determined based on the at least two sets of first movement data.

[0073] Here, a corresponding weight value can be set for each of the at least two sets of first movement data. Then, the at least two sets of first movement data are weighted and summed, and the resulting value is redefined as the first movement data, which is used together with the target movement data to determine whether the mobile robot is in a slipping state.

[0074] In this way, by using a weighted summation method to redetermine the first movement data, we can determine movement data that is closer to the actual situation, thereby improving the accuracy of judging whether the mobile robot is slipping and thus improving the working efficiency of the mobile robot.

[0075] To determine whether a mobile robot is slipping based on first movement data and target movement data, in one embodiment, the first movement data includes a first movement direction and a first movement speed, and the target movement data includes a target movement direction and a target movement speed; determining whether the mobile robot is slipping based on the first movement data and the target movement data of the mobile robot may include:

[0076] When the target movement direction is towards the second operating surface, which is higher than the first operating surface, and the first movement direction is towards the second operating surface, which is higher than the first operating surface, and the difference between the target movement speed and the first movement speed falls within the first preset speed range, the mobile robot is determined to be in a slipping state. When the target movement direction is towards the second operating surface, which is higher than the first operating surface, and the first movement direction is towards the second operating surface, which is lower than the first operating surface, the mobile robot is determined to be in a slipping state. When the target movement direction is towards the second operating surface, which is lower than the first operating surface, and the first movement direction is towards the second operating surface, which is lower than the first operating surface, and the difference between the first movement speed and the target movement speed is greater than a preset threshold, the mobile robot is determined to be in a slipping state.

[0077] Understandably, the mobile robot first checks the first movement direction and the target movement direction. If the target movement direction is towards a second operating surface higher than the first operating surface, and the first movement direction is also towards a second operating surface higher than the first operating surface, then it needs to further determine whether the difference between the target movement speed and the first movement speed falls within a first preset speed range. The lower limit of the first preset speed range is 0, and the upper limit is less than the target movement speed. In other words, it needs to further determine how much slower the first movement speed is compared to the target movement speed. If it falls within the first preset speed range, it indicates that the first movement speed is significantly slower than the target movement speed, confirming that the mobile robot is slipping.

[0078] If the target's movement direction is toward the second operating surface, which is higher than the first operating surface, and the first movement direction is toward the second operating surface, which is lower than the first operating surface, it means that the mobile robot is moving toward the second operating surface, which is higher than the first operating surface. However, in reality, the mobile robot is sliding toward the second operating surface, which is lower than the first operating surface. In this case, it is determined that the mobile robot is in a slipping state.

[0079] If the target movement direction is toward a second operating surface lower than the first operating surface, and the first movement direction is also toward a second operating surface lower than the first operating surface, then it is necessary to further determine whether the difference between the first movement speed and the target movement speed is greater than a preset threshold, where the preset threshold is greater than 0. In other words, it is necessary to further determine how much faster the first movement speed is compared to the target movement speed. If it is greater than the preset threshold, it indicates that the first movement speed is significantly faster than the target movement speed, confirming that the mobile robot is in a slippery state.

[0080] In this way, by first determining the first direction of movement and the target direction of movement, and then determining whether to check the relationship between the first speed and the target speed, it is possible to comprehensively determine whether the mobile robot is slipping, thus improving the accuracy of the judgment.

[0081] To enable a mobile robot in a slipping state to change its slipping state, in one embodiment, the first movement data includes a first movement direction and a first movement speed, and the target movement data includes a target movement direction and a target movement speed. Controlling the movement device via a controller to control the mobile robot to cross the operating surface at a second movement speed may include: when the first movement direction is towards a second operating surface higher than the first operating surface, controlling the movement device via the controller to control the mobile robot to cross the operating surface at a second movement speed, returning to the step of executing speed-related information of the mobile robot and / or environmental change data of the mobile robot to determine the first movement data when the mobile robot crosses the operating surface, until the mobile robot is in a non-slipping state.

[0082] The second moving speed is greater than the first moving speed.

[0083] In one embodiment, controlling the mobile device via a controller to control the mobile robot to cross the operating surface at a second moving speed may include: when the first moving direction is toward a second operating surface that is lower than the first operating surface, controlling the mobile device via a controller based on target moving data to control the mobile robot to cross the operating surface at a second moving speed.

[0084] Understandably, the mobile robot can control its information based on the first direction of movement to change its slipping state. Specifically, if the first direction of movement is towards a second operating surface higher than the first operating surface, this means the target direction of movement is also towards the second operating surface, which is also higher than the first operating surface. In this case, the slipping is not severe. Therefore, the controller first increases the target speed of the moving device, causing the mobile robot to move from the first operating surface to the second operating surface at a second speed greater than the first speed. Here, the target speed can be increased by a preset step size, and the above steps are repeated until the mobile robot is no longer slipping.

[0085] In addition, regarding the case where the first moving direction is toward the second operating surface which is lower than the first operating surface, it means that the target moving direction can be toward the second operating surface which is higher than the first operating surface or toward the second operating surface which is lower than the first operating surface. In this case, slippage may cause the mobile robot to fall off the stairs. Therefore, based on the target moving data, the controller controls the moving device so that the mobile robot moves across the operating surface with the second moving data.

[0086] Specifically, if the direction of the target movement data is toward the second operating surface which is lower than the first operating surface, then the speed of the second movement data is less than the speed of the first movement data. If the direction of the target movement data is toward the second operating surface which is higher than the first operating surface, then the speed of the second movement data is greater than the speed of the first movement data, thereby causing the mobile robot to slow down or stop moving.

[0087] In some embodiments, the rollers or tracks of the mobile robot can be controlled to increase the friction between the rollers and the treads of the stairs, or to increase the friction between the tracks and the treads of the stairs and the edges of the vertical surface, thereby causing the mobile robot to stop moving.

[0088] In this way, the mobile robot is controlled by its direction of movement in a slippery state. Different initial directions of movement control different control information for the mobile robot, thereby changing the slippery state and enabling the mobile robot to go up and down stairs more effectively, thus improving the safety and work efficiency of the mobile robot.

[0089] The following examples illustrate the slippage handling method described in one or more of the above embodiments.

[0090] Taking a stair-climbing transport robot as an example, in this example, the detection method for the stair-climbing transport robot slipping on the stairs integrates the results of various sensors to make a voting decision, thereby obtaining the probability of the stair-climbing transport robot slipping and the trends of speed and acceleration.

[0091] There are two scenarios when a stair-climbing transport robot slips.

[0092] The first scenario is: the upward movement speed of the stair-climbing transport robot (equivalent to the first movement speed mentioned above) is much lower than the set target speed (equivalent to the target movement speed mentioned above). For example, if it moves upward at a target speed of 0.3 m / s, but the detected actual upward movement speed is 0.05 m / s, or even stops, then it is confirmed that the stair-climbing transport robot is slipping, and slippage processing can be triggered.

[0093] The second scenario is: the stair-climbing transport robot is moving at a speed that exceeds the expected downward speed. For example, the stair-climbing transport robot is moving upward or downward at a low speed, but it is detected that the preset speed of the stair-climbing transport robot is exceeding the set target speed for downward movement. In this case, it is confirmed that the stair-climbing transport robot is slipping, and slippage handling can be triggered.

[0094] Based on the two slippage situations mentioned above, a slippage treatment method is proposed in this example. Figure 3 is a flowchart of an example of a slippage treatment method provided in this application embodiment. As shown in Figure 3, the slippage treatment method may include the following steps.

[0095] S301: Determine the first movement data of the stair-climbing transport robot by collecting the acceleration data.

[0096] S302: Determine whether the stair-climbing transport robot is slipping based on the first movement data.

[0097] The accelerometer (ACC) of the stair-climbing transport robot is used for integration, and the integration result is used as the moving speed and moving direction.

[0098] Compare the moving direction with the target direction and the moving speed with the target speed to see if it meets one of the two slipping conditions mentioned above. If it does, determine that the stair-climbing transport robot is in a slipping state; otherwise, determine that the stair-climbing transport robot is not in a slipping state.

[0099] S303: Determine the first movement data of the stair-climbing transport robot by collecting two adjacent sets of point cloud data.

[0100] S304: Determine whether the stair-climbing transport robot is slipping based on the first movement data.

[0101] By using Time-of-Flight (TOF) to collect point cloud data from two adjacent sets of adjacent points in the staircase and surrounding environment, the distance of each point cloud to the stair-climbing transport robot can be determined. For a selected target point cloud, the two adjacent sets of point cloud data are matched. When the match is successful, the distance change of the target point cloud can be calculated. Based on the distance change, the movement direction and speed of the stair-climbing transport robot can be calculated.

[0102] Compare the moving direction with the target direction and the moving speed with the target speed to see if it meets one of the two slipping conditions mentioned above. If it does, determine that the stair-climbing transport robot is in a slipping state; otherwise, determine that the stair-climbing transport robot is not in a slipping state.

[0103] In this way, the point cloud of the staircase and the surrounding environment is matched by Time-of-Flight (TOF), and the speed of the stair-climbing transport robot moving in the reverse direction is calculated based on the moving speed of the matched point cloud, so as to obtain information on whether a slide has occurred.

[0104] S305: Determine the first movement data of the stair-climbing transport robot by collecting two adjacent sets of image data.

[0105] S306: Determine whether the stair-climbing transport robot is slipping based on the first movement data.

[0106] By using a camera to collect two adjacent sets of image data, and using monocular ranging technology, the distance of each image feature from the stair-climbing transport robot can be determined. For the selected target image feature, the two adjacent sets of point cloud data are matched. When the match is successful, the distance change of the target point cloud can be calculated. Based on the distance change, the moving direction and moving speed of the stair-climbing transport robot can be calculated.

[0107] Compare the moving direction with the target direction and the moving speed with the target speed to see if it meets one of the two slipping conditions mentioned above. If it does, determine that the stair-climbing transport robot is in a slipping state; otherwise, determine that the stair-climbing transport robot is not in a slipping state.

[0108] In this way, by continuously observing the stairs through the camera and observing the movement of the stair step pattern features in the image, the direction and speed of the stair-climbing transport robot can be determined.

[0109] S307: Determine the first movement data of the stair-climbing transport robot by collecting two adjacent sets of air pressure count values.

[0110] S308: Determine whether the stair-climbing transport robot is slipping based on the first movement data.

[0111] By using a barometric pressure sensor to collect two adjacent sets of barometric pressure counts, we can know the trend and magnitude of the barometric pressure count changes. Based on the trend, we can know whether the stair-climbing transport robot is moving upwards or downwards, that is, we can know the direction of movement of the stair-climbing transport robot. Based on the magnitude of the change, we can find the corresponding moving speed. In this way, we can calculate the movement data.

[0112] Compare the direction of movement with the target direction and the speed of movement with the target speed to see if it meets one of the two slipping conditions mentioned above. If it does, the stair-climbing transport robot is determined to be in a slipping state; otherwise, the stair-climbing transport robot is determined not to be in a slipping state.

[0113] In this way, the direction and approximate speed of the stair-climbing transport robot can be determined by the changes in the barometer readings.

[0114] S309: Determine if there are two or more instances that indicate the stair-climbing transport robot is slipping, then execute S310; otherwise, return to execute S301, S302, S303 and S304.

[0115] Among these methods, a comprehensive voting detection method can be used to determine whether the stair-climbing transport robot is slipping.

[0116] It can also be: when one or more sources determine that the stair-climbing transport robot is slipping, that is, when one or more information sources show that the stair-climbing transport robot is slipping downwards at a speed exceeding the preset speed, it is considered that the stair-climbing transport robot is slipping downwards.

[0117] S310: Determine whether the direction of movement of the stair-climbing transport robot is upward. If yes, execute S311; if no, execute S312.

[0118] S311: Increase the target speed by the preset step size, then return to execute S301, S302, S303 and S304.

[0119] S312: Control the rollers or tracks to stop the stair-climbing transport robot from moving.

[0120] Here, when the stair-climbing transport robot is detected to be in a non-autonomous slipping state, certain measures need to be taken to prevent it from continuing to slide down, including the following two methods.

[0121] In S311, when the slippage information is detected and matches the first situation, the target speed can be adjusted, for example, by appropriately increasing the target speed. Then, continue to detect whether the movement direction and speed of the stair-climbing transport robot have been improved. If there is no improvement and the robot is currently in the climbing state, then abandon the climbing and return to the original floor.

[0122] In step S312, if the slippage information matches the second scenario, there is a risk of the stair-climbing transport robot slipping. In this case, an operation is performed to prevent the stair-climbing transport robot from sliding down. In some embodiments, the secondary tracks of the stair-climbing transport robot are bent downwards to increase the contact area with the stairs, allowing the stair-climbing transport robot to hang on the stairs.

[0123] This application provides a mobile robot, which includes: a controller, a communication connection processor, a mobile device, and a communication connection controller. When the mobile robot crosses an operating surface with first movement data, the processor controls the mobile device via the controller to control the mobile robot to cross the operating surface with second movement data. In other words, in this application embodiment, when the mobile robot crosses from one operating surface to another, the processor controls the movement data of the mobile device via the controller. This allows the mobile robot to control the mobile device to change its own movement data during upward or downward crossings, enabling the mobile robot to reach its destination as quickly as possible and improving its movement efficiency.

[0124] Based on the same concept as the foregoing embodiments, this application provides a mobile robot. As shown in FIG1, when the mobile robot crosses the operating surface with first movement data, the processor controls the mobile device through the controller to control the mobile robot to cross the operating surface with second movement data.

[0125] In one embodiment, when the processor determines that the mobile robot is slipping after crossing the operating surface with first movement data, it controls the mobile device through the controller to control the mobile robot to cross the operating surface with second movement data.

[0126] In one embodiment, the processor determines first movement data of the mobile robot when it crosses the operating surface by using speed-related information of the mobile robot and / or environmental change data of the mobile robot; and determines whether the mobile robot is slipping based on the first movement data and the target movement data of the mobile robot.

[0127] In one embodiment, the system includes: an accelerometer, a communication connection to a processor, and a processor that acquires a first acceleration as the mobile robot moves across an operating surface via the accelerometer; and performs an integral operation on the first acceleration to obtain a first movement direction and a first movement speed in the first movement data.

[0128] In one embodiment, the system includes: components and a communication connection processor; the processor determines a first movement direction and a first movement speed in the first movement data based on environmental change data collected by the components when the mobile robot crosses the operating surface; wherein the environmental change data is the change data of the environment in which the mobile robot is located as the position of the mobile robot changes.

[0129] In one embodiment, the system includes: a Time-of-Flight (TOF) communication connection to a processor; wherein the processor acquires two adjacent sets of point cloud data along the forward direction of the mobile robot via the TOF; and the processor determines a first moving direction and a first moving speed based on the two adjacent sets of point cloud data.

[0130] In one embodiment, the component is a camera; the processor acquires two adjacent sets of image data in the forward direction of the mobile robot through the camera; and determines a first moving direction and a first moving speed based on the two adjacent sets of image data.

[0131] In one embodiment, the component is a barometric pressure sensor; the processor collects two adjacent sets of barometric pressure counts of the mobile robot through the barometric pressure sensor; and determines a first moving direction and a first moving speed based on the two adjacent sets of barometric pressure counts.

[0132] In one embodiment, when the processor determines M sets of first movement data from M sets of data in the mobile robot's speed-related information and environmental change data, it determines whether the mobile robot corresponding to each set of first movement data is in a slipping state based on each set of first movement data and the target movement data in the M sets of first movement data; wherein M is greater than or equal to 2; when the mobile robot corresponding to at least one set or at least N sets of first movement data is in a slipping state, it is determined that the mobile robot is in a slipping state; wherein N is greater than or equal to M / 2 rounded up.

[0133] In one embodiment, when the processor determines at least two sets of first movement data from at least two sets of data in the mobile robot's speed-related information and the mobile robot's environmental change data, it performs a weighted summation of the at least two sets of first movement data to obtain the first movement data again.

[0134] In one embodiment, the first movement data includes a first movement direction and a first movement speed, and the target movement data includes a target movement direction and a target movement speed. The processor determines that the mobile robot is in a slipping state when the target movement direction is towards a second operating surface higher than the first operating surface, and the first movement direction is towards a second operating surface higher than the first operating surface, and the difference between the target movement speed and the first movement speed falls within a first preset speed range; wherein, the lower limit of the first preset speed range is 0, and the upper limit of the first preset speed range is less than the target movement speed; the processor determines that the mobile robot is in a slipping state when the target movement direction is towards a second operating surface higher than the first operating surface, and the first movement direction is towards a second operating surface lower than the first operating surface; the processor determines that the mobile robot is in a slipping state when the target movement direction is towards a second operating surface lower than the first operating surface, and the first movement direction is towards a second operating surface lower than the first operating surface, and the difference between the first movement speed and the target movement speed is greater than a preset threshold; wherein, the preset threshold is greater than 0.

[0135] In one embodiment, the first movement data includes: a first movement direction; when the first movement direction is towards a second operating surface higher than the first operating surface, the processor controls the moving device through the controller to control the mobile robot to cross the operating surface at a second movement speed, and returns to the step of the processor determining the first movement data of the mobile robot when crossing the operating surface through the speed-related information of the mobile robot and / or the environmental change data of the mobile robot, until the mobile robot is in a non-slip state; wherein, the speed of the second movement data is greater than the speed of the first movement data.

[0136] In one embodiment, the first movement data includes: a first movement direction; when the first movement direction is toward a second operating surface that is lower than the first operating surface, the processor controls the moving device through the controller according to the target movement data, so as to control the mobile robot to cross the operating surface at a second movement speed.

[0137] Figure 4 is a second structural schematic diagram of a mobile robot provided in an embodiment of this application. As shown in Figure 4, this embodiment of the application provides a mobile robot 400, including: a processor 41 and a storage medium 42 storing processor-executable instructions; the storage medium 42 performs operations via a communication bus 43 in dependence on the processor 41. When the instructions are executed by the processor, the slippage processing method described in one or more of the above embodiments is executed.

[0138] It should be noted that in practical applications, the various components of the mobile robot are coupled together via communication bus 43. Communication bus 43 is understood to be used to achieve communication between these components. In addition to the data bus, communication bus 43 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as communication bus 43 in Figure 4.

[0139] Figure 5 is a schematic diagram of the structure of a computer storage medium provided in an embodiment of this application. As shown in Figure 5, the computer storage medium 500 stores executable instructions 51. When the executable instructions are executed by one or more processors, the processors execute the slippage processing method described in one or more of the above embodiments.

[0140] The computer-readable storage medium can be a magnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM), etc.

[0141] This application provides a mobile robot, a slippage handling method, and a storage medium. The mobile robot includes a processor, a controller, a communication connection processor, a mobile device, and a communication connection controller. When the mobile robot crosses an operating surface with first movement data, the processor controls the mobile device via the controller to control the mobile robot to cross the operating surface with second movement data. In other words, in this application embodiment, when the mobile robot crosses from one operating surface to another, the processor controls the movement data of the mobile device via the controller. This allows the mobile robot to control the mobile device to change its own movement data during upward or downward crossings, enabling the mobile robot to reach its destination as quickly as possible and improving its movement efficiency.

[0142] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application 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 and optical storage) containing computer-usable program code.

[0143] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0144] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0145] These computer program instructions may 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 one or more flowcharts and / or one or more block diagrams.

[0146] The above description is only a part of the embodiments of this application and is not intended to limit the scope of protection of this application.

Claims

1. A mobile robot, characterized in that, include: processor; Controller, which is communicatively connected to the processor; as well as A mobile device, which is communicatively connected to the controller, When the mobile robot crosses the operating surface with the first movement data, the processor controls the mobile device through the controller to control the mobile robot to cross the operating surface with the second movement data.

2. The mobile robot according to claim 1, characterized in that, When the mobile robot crosses the operating surface with first movement data and the processor determines that the mobile robot is slipping, the processor controls the mobile device through the controller to control the mobile robot to cross the operating surface with second movement data.

3. The mobile robot according to claim 2, characterized in that, The processor determines the first movement data of the mobile robot when it crosses the operating surface by using the speed-related information of the mobile robot and / or the environmental change data of the mobile robot; Based on the first movement data and the target movement data of the mobile robot, it is determined whether the mobile robot is in a slipping state.

4. The mobile robot according to claim 3, characterized in that, include: An accelerometer sensor, which is communicatively connected to the processor, wherein... The processor collects the first acceleration of the mobile robot as it crosses the operating surface via the accelerometer; Integrating the first acceleration yields the first direction of movement and the first speed of movement from the first movement data.

5. The mobile robot according to claim 3, characterized in that, include: Components, wherein the components are communicatively connected to the processor; wherein, The processor determines the first movement direction and the first movement speed in the first movement data based on the environmental change data collected by the components when the mobile robot crosses the operating surface; wherein, the environmental change data is the change data of the environment in which the mobile robot is located as the position of the mobile robot changes.

6. The mobile robot according to claim 5, characterized in that, The component in question is a time-of-flight (TOF) device, wherein, The processor collects two adjacent sets of point cloud data in the forward direction of the mobile robot during the flight time. Based on the two adjacent sets of point cloud data, the first moving direction and the first moving speed are determined.

7. The mobile robot according to claim 5, characterized in that, The component in question is a camera; whereby... The processor uses the camera to collect two adjacent sets of image data in the direction the mobile robot is moving forward; Based on the two adjacent sets of image data, the first moving direction and the first moving speed are determined.

8. The mobile robot according to claim 5, characterized in that, The component is a barometric pressure sensor; wherein... The processor collects two adjacent sets of air pressure count values ​​of the mobile robot through the air pressure sensor of the mobile robot; The first moving direction and the first moving speed are determined based on the two adjacent sets of air pressure counts.

9. The mobile robot according to any one of claims 3 to 8, characterized in that, When the processor determines M sets of first movement data from M sets of data in the mobile robot's speed-related information and environmental change data, it determines whether the mobile robot corresponding to each set of first movement data is in a slipping state based on each set of first movement data in the M sets of first movement data and the target movement data; wherein, M is greater than or equal to 2. When the mobile robot is in a slipping state when at least one or at least N sets of the first movement data are in a slipping state, the mobile robot is determined to be in a slipping state; wherein N is greater than or equal to M / 2 rounded up.

10. The mobile robot according to any one of claims 3 to 8, characterized in that, When the processor determines at least two sets of the first movement data from at least two sets of data in the mobile robot's speed-related information and the mobile robot's environmental change data, it performs a weighted summation of the at least two sets of the first movement data to obtain the first movement data again.

11. The mobile robot according to any one of claims 3 to 8, characterized in that, The first movement data includes: a first movement direction and a first movement speed; the target movement data includes: a target movement direction and a target movement speed; wherein, The processor determines that the mobile robot is slipping when the target moving direction is toward a second operating surface higher than the first operating surface, and the first moving direction is toward a second operating surface higher than the first operating surface, and the difference between the target moving speed and the first moving speed falls within a first preset speed range; wherein, the lower limit of the first preset speed range is 0, and the upper limit of the first preset speed range is less than the target moving speed; When the target movement direction is toward the second operating surface which is higher than the first operating surface, and the first movement direction is toward the second operating surface which is lower than the first operating surface, the mobile robot is determined to be in a slipping state. When the target moving direction is toward the second operating surface which is lower than the first operating surface, and the first moving direction is toward the second operating surface which is lower than the first operating surface, and the difference between the first moving speed and the target moving speed is greater than a preset threshold, the mobile robot is determined to be in a slipping state; wherein, the preset threshold is greater than 0.

12. The mobile robot according to any one of claims 3 to 8, characterized in that, The first movement data includes: a first movement direction; wherein, When the first moving direction is toward a second operating surface higher than the first operating surface, the processor controls the moving device through the controller to control the mobile robot to move from the first operating surface to the second operating surface at a second moving speed. Then, the processor returns to the step of determining the first moving data when the mobile robot moves across the operating surface by using the mobile robot's speed-related information and / or the mobile robot's environmental change data, until the mobile robot is in a non-slip state; wherein, the speed of the second moving data is greater than the speed of the first moving data.

13. The mobile robot according to any one of claims 3 to 8, characterized in that, The first movement data includes: a first movement direction; wherein, When the first moving direction is toward a second operating surface lower than the first operating surface, the processor controls the moving device through the controller according to the target moving data, so as to control the mobile robot to cross the operating surface at a second moving speed.

14. A method for dealing with slippage, characterized in that, Applied in a mobile robot, the mobile robot includes: a processor; a controller, the controller being communicatively connected to the processor; and a mobile device, the mobile device being communicatively connected to the controller; the slippage handling method includes: When the mobile robot crosses the operating surface with the first movement data, the processor controls the mobile device through the controller to control the mobile robot to cross the operating surface with the second movement data.

15. The method according to claim 14, characterized in that, When the mobile robot crosses the operating surface with first movement data, the processor controls the mobile device via the controller to control the mobile robot to cross the operating surface with second data, including: When the mobile robot crosses the operating surface with first movement data and the processor determines that the mobile robot is slipping, the processor controls the mobile device through the controller to control the mobile robot to cross the operating surface with second movement data.

16. The method according to claim 15, characterized in that, The method further includes: The processor determines first movement data of the mobile robot when it crosses the operating surface using the mobile robot's speed-related information and / or the mobile robot's environmental change data; and Based on the first movement data and the target movement data of the mobile robot, it is determined whether the mobile robot is in a slipping state.

17. The method according to claim 16, characterized in that, The mobile robot further includes: an acceleration sensor communicatively connected to the processor; the processor determines first movement data of the mobile robot when it crosses the operating surface based on the speed-related information of the mobile robot, including: The processor acquires the first acceleration of the mobile robot as it crosses the operating surface via the mobile robot's accelerometer; and Integrating the first acceleration yields the first direction of movement and the first speed of movement from the first movement data.

18. The method according to claim 16, characterized in that, The mobile robot further includes: components communicatively connected to the processor; the processor determines first movement data of the mobile robot when crossing the operating surface based on environmental change data of the mobile robot, including: The processor determines the first movement direction and the first movement speed in the first movement data based on the environmental change data collected by the mobile robot's components when the mobile robot crosses the operating surface; wherein, the environmental change data is the change data of the environment in which the mobile robot is located as the position of the mobile robot changes.

19. The method according to claim 18, characterized in that, The component is a time-of-flight device. The processor determines the first movement direction and the first movement speed in the first movement data based on environmental change data collected by the mobile robot's components as the mobile robot crosses the operating surface. This includes: The processor collects two adjacent sets of point cloud data along the mobile robot's forward direction based on the robot's flight time; and Based on the two adjacent sets of point cloud data, the first moving direction and the first moving speed are determined.

20. The method according to claim 18, characterized in that, The component is a camera; the processor determines the first movement direction and the first movement speed in the first movement data based on the environmental change data collected by the mobile robot through the component as the mobile robot crosses the operating surface, including: The processor acquires two adjacent sets of image data along the mobile robot's forward direction using the robot's camera; and Based on the two adjacent sets of image data, the first moving direction and the first moving speed are determined.

21. The method according to claim 18, characterized in that, The processor determines the first movement direction and the first movement speed in the first movement data based on environmental change data collected by the mobile robot's components as the mobile robot crosses the operating surface, including: The processor collects two adjacent sets of air pressure counts from the mobile robot's air pressure sensor; and determines the first moving direction and the first moving speed based on the two adjacent sets of air pressure counts.

22. The method according to any one of claims 16 to 21, characterized in that, The processor determines whether the mobile robot is slipping based on the first movement data and the target movement data of the mobile robot, including: When the processor determines M sets of first movement data from M sets of data in the mobile robot's speed-related information and environmental change data, it determines whether the mobile robot corresponding to each set of first movement data is in a slipping state based on each set of first movement data in the M sets and the target movement data; wherein M is greater than or equal to 2; and When the mobile robot is in a slipping state when at least one or at least N sets of the first movement data are in a slipping state, the mobile robot is determined to be in a slipping state; wherein N is greater than or equal to M / 2 rounded up.

23. The method according to any one of claims 16 to 21, characterized in that, The method further includes: When the processor determines at least two sets of the first movement data from at least two sets of data in the mobile robot's speed-related information and the mobile robot's environmental change data, it performs a weighted summation of the at least two sets of the first movement data to obtain the first movement data again.

24. The method according to any one of claims 16 to 21, characterized in that, The first movement data includes a first movement direction and a first movement speed; the target movement data includes a target movement direction and a target movement speed; the processor determines whether the mobile robot is slipping based on the first movement data and the target movement data of the mobile robot, including: The processor determines that the mobile robot is slipping when the target moving direction is toward a second operating surface higher than the first operating surface, and the first moving direction is toward a second operating surface higher than the first operating surface, and the difference between the target moving speed and the first moving speed falls within a first preset speed range; wherein, the lower limit of the first preset speed range is 0, and the upper limit of the first preset speed range is less than the target moving speed; When the target movement direction is toward the second operating surface which is higher than the first operating surface, and the first movement direction is toward the second operating surface which is lower than the first operating surface, the mobile robot is determined to be in a slipping state; and When the target moving direction is toward the second operating surface which is lower than the first operating surface, and the first moving direction is toward the second operating surface which is lower than the first operating surface, and the difference between the first moving speed and the target moving speed is greater than a preset threshold, the mobile robot is determined to be in a slipping state; wherein, the preset threshold is greater than 0.

25. The method according to any one of claims 16 to 21, characterized in that, The first movement data includes: a first movement direction; the processor controls the movement device through the controller to control the mobile robot to cross the operating surface with the second movement data, including: When the first moving direction is toward a second operating surface higher than the first operating surface, the processor controls the moving device through the controller to control the mobile robot to cross the operating surface with second moving data, and returns to execute the step of determining the first moving data when the mobile robot moves across the operating surface by passing the speed-related information of the mobile robot and / or the environmental change data of the mobile robot, until the mobile robot is in a non-slip state; wherein, the speed of the second moving data is greater than the speed of the first moving data.

26. The method according to any one of claims 16 to 21, characterized in that, The first movement data includes: a first movement direction; the processor controls the movement device through the controller to control the mobile robot to cross the operating surface with the second movement data, including: When the first moving direction is toward a second operating surface lower than the first operating surface, the processor controls the moving device through the controller according to the target moving data, so as to control the mobile robot to cross the operating surface with the second moving data.

27. A mobile robot comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 14 to 26.

28. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 14 to 26.

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