Obstacle crossing method and apparatus, and device, computer storage medium and computer program product

Abstract

Disclosed in the embodiments of the present disclosure is an obstacle crossing method. The method comprises: if a self-moving device fails to cross an obstacle at a current position during obstacle crossing, determining one or more first target positions on the basis of spatial environment information of an obstacle crossing area, and performing obstacle crossing at any of the first target positions. Further disclosed in the embodiments of the present disclosure are an obstacle crossing apparatus, a self-moving device, a computer storage medium and a computer program product.

Description

Obstacle crossing methods, devices, equipment, computer storage media and computer program products Cross-references to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202510148032.4, filed on February 10, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to obstacle-crossing technology in the field of intelligent control, and more particularly to an obstacle-crossing method, apparatus, device, computer storage medium, and computer program product. Background Technology

[0003] Robotic vacuum cleaners often face challenges such as thresholds when performing cleaning tasks, which requires them to have excellent obstacle-crossing capabilities, be able to efficiently climb over thresholds and cover other areas for thorough cleaning. Summary of the Invention

[0004] This disclosure provides an obstacle crossing method, apparatus, device, computer storage medium, and computer program product.

[0005] To achieve the above objectives, the technical solution of this disclosure embodiment is implemented as follows:

[0006] An obstacle crossing method, the method comprising:

[0007] If it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location, then one or more first target locations are determined based on the spatial environment information of the obstacle crossing area;

[0008] Control the self-moving device to move from the current position to any first target position;

[0009] Control the self-moving device to traverse the obstacle crossing area from any of the first target locations.

[0010] In the above scheme, if it is determined that the self-moving device cannot pass through the obstacle-crossing area at its current location, then determining one or more first target locations based on the spatial environment information of the obstacle-crossing area includes:

[0011] When the self-moving device is in obstacle-crossing mode, it is determined whether the self-moving device can pass through the obstacle-crossing area at its current location. If it cannot pass through the obstacle-crossing area at its current location, one or more first target locations are determined based on the spatial environment information of the obstacle-crossing area.

[0012] In the above scheme, determining whether the self-moving device can pass through the obstacle-crossing area at its current location includes:

[0013] Based on the spatial environment information of the obstacle crossing area, it is determined whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position. The first obstacle crossing sub-region is a part of the obstacle crossing area that corresponds to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

[0014] If so, it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location.

[0015] In the above scheme, determining whether the self-moving device can pass through the obstacle-crossing area at its current location includes:

[0016] Based on the spatial environment information of the obstacle crossing area, it is determined whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position. The first obstacle crossing sub-region is a part of the obstacle crossing area that corresponds to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

[0017] If not, then obtain the first number of times the self-moving device failed to pass through the obstacle crossing area from the current location;

[0018] If the first number of attempts reaches the target threshold, it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location.

[0019] In the above scheme, the step of determining that the self-moving device cannot pass through the obstacle-crossing area at its current location if the first number of attempts reaches the target threshold includes:

[0020] If the first number of attempts reaches the target threshold, it is determined whether there is an obstacle in the first obstacle-crossing sub-region;

[0021] If so, it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location.

[0022] In the above scheme, determining one or more first target locations based on the spatial environment information of the obstacle crossing area includes:

[0023] Obtain the maximum width of the self-moving device;

[0024] Based on the spatial environment information of the obstacle crossing area and the maximum width of the self-moving device, one or more first target locations are determined, wherein the width of the second obstacle crossing sub-region corresponding to the first target location is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle crossing sub-region.

[0025] In the above scheme, determining one or more first target locations based on the spatial environment information of the obstacle-crossing area and the maximum width of the self-moving device includes:

[0026] Based on the spatial environment information of the obstacle crossing area, one or more candidate locations are determined;

[0027] The one or more first target locations are determined from the one or more candidate locations based on the width of the third obstacle-crossing sub-region corresponding to the candidate location and the maximum width of the self-moving device.

[0028] In the above scheme, determining one or more candidate locations based on the spatial environment information of the obstacle crossing area includes:

[0029] Starting from the target edge of the obstacle crossing area, one or more candidate locations are determined based on the spatial environment information of the obstacle crossing area.

[0030] The method in the above scheme further includes:

[0031] If the self-moving device fails to pass through the obstacle crossing area from any of the first target locations, the second number of times the self-moving device fails to pass through the obstacle crossing area from any of the first target locations is obtained;

[0032] If the second number of attempts meets the target threshold, obtain the updated spatial environment information of the obstacle crossing area;

[0033] Based on the updated spatial environment information of the obstacle crossing area, one or more second target locations are determined until the self-moving device successfully passes through the obstacle crossing area from the determined Nth target location.

[0034] In the above scheme, before determining one or more second target locations based on the updated spatial environment information of the obstacle-crossing area, the method further includes:

[0035] Based on the updated spatial environment information of the obstacle crossing area, determine whether there is an obstacle in the second obstacle crossing sub-region corresponding to any first target location;

[0036] Accordingly, determining one or more second target locations based on the updated spatial environment information of the obstacle-crossing area includes:

[0037] If so, one or more second target locations are determined based on the updated spatial environment information of the obstacle crossing area.

[0038] In the above scheme, before determining one or more second target locations based on the updated spatial environment information of the obstacle-crossing area, the method further includes:

[0039] Based on the updated spatial environment information of the obstacle crossing area, determine whether there is an obstacle in the second obstacle crossing sub-region corresponding to any first target location;

[0040] If not, control the self-moving device to traverse the obstacle crossing area from any of the first target locations;

[0041] Accordingly, determining one or more second target locations based on the updated spatial environment information of the obstacle-crossing area includes:

[0042] If the self-moving device fails to pass through the obstacle crossing area from any of the first target locations, and the third number of failures of the self-moving device from any of the first target locations to pass through the obstacle crossing area meets the target threshold, one or more second target locations are determined based on the updated spatial environment information of the obstacle crossing area.

[0043] The method in the above scheme further includes:

[0044] During the process of traversing the obstacle-crossing area, the presence of cliff areas is detected;

[0045] If a cliff area exists, control the self-moving device to stop moving.

[0046] An obstacle-crossing device, the device comprising:

[0047] The determining unit is configured to determine one or more first target locations based on the spatial environment information of the obstacle crossing area if it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location.

[0048] A control unit is used to control the self-moving device to move from the current position to any first target position;

[0049] The control unit is also configured to control the self-moving device to traverse the obstacle crossing area from any of the first target locations.

[0050] A self-moving device, the device comprising:

[0051] Organism;

[0052] A cleaning component, which is disposed on the machine body, is used to clean the working surface;

[0053] At least one first sensor, which is disposed on the body, is used to acquire spatial environmental information of the obstacle crossing area;

[0054] The controller, electrically connected to the at least one first sensor, is configured to determine one or more first target locations based on the spatial environment information obtained by the at least one first sensor, and send a first movement command to the walking component if it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location.

[0055] The walking component, which is disposed on the body, is used to respond to the first movement command to move the self-moving device from the current position to any first target position, and to move the self-moving device from the any first target position through the obstacle crossing area.

[0056] In the above scheme, the controller is further configured to determine whether the self-moving device can pass through the obstacle crossing area at its current position when the self-moving device is in obstacle crossing mode, and if it cannot pass through the obstacle crossing area at its current position, determine one or more first target positions based on the spatial environment information obtained by the at least one first sensor.

[0057] In the above scheme, the controller is further configured to determine whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position based on the spatial environment information obtained by the at least one first sensor; if so, it is determined that the self-moving device cannot successfully pass through the obstacle crossing region at the current position; the first obstacle crossing sub-region is a portion of the obstacle crossing region corresponding to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

[0058] In the above solution, the device further includes:

[0059] A counter, electrically connected to the at least one sensor and the controller, is used to count the first number of times the self-moving device fails to pass through the obstacle crossing area from the current position, based on information acquired by the at least one first sensor.

[0060] The controller is further configured to determine whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position based on the spatial environment information obtained by the at least one first sensor. If not, and the first number of times counted by the counter meets the target threshold, then it is determined that the self-moving device cannot pass through the obstacle crossing region at the current position. The first obstacle crossing sub-region is a portion of the obstacle crossing region corresponding to the current position, and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

[0061] In the above scheme, the controller is further configured to determine whether there is an obstacle in the first obstacle crossing sub-region if the first count count by the counter reaches the target threshold, and if so, determine that the self-moving device cannot pass through the obstacle crossing region at the current position.

[0062] In the above scheme, the controller is further configured to obtain the maximum width of the self-moving device, and determine one or more first target positions based on the spatial environment information of the obstacle crossing area and the maximum width, wherein the width of the second obstacle crossing sub-region corresponding to the first target position is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle crossing sub-region.

[0063] In the above scheme, the controller is further configured to determine one or more candidate locations based on the spatial environment information of the obstacle crossing area, and determine one or more first target locations from the one or more candidate locations based on the width of the third obstacle crossing sub-region corresponding to the candidate location and the maximum width.

[0064] In the above scheme, the controller is further configured to determine one or more candidate locations based on the spatial environment information of the obstacle crossing area, starting from the target edge of the obstacle crossing area.

[0065] In the above scheme, the counter is also used to count the second number of times the self-moving device fails to pass through the obstacle crossing area from any first target position, based on the information obtained by the at least one first sensor.

[0066] The at least one first sensor is also used to acquire updated spatial environment information of the obstacle crossing area;

[0067] The controller is further configured to determine one or more second target locations based on the updated spatial environment information of the obstacle crossing area obtained by the at least one first sensor if the self-moving device fails to pass through the obstacle crossing area from any of the first target locations and the second number of times counted by the counter meets the target threshold, until the self-moving device successfully passes through the obstacle crossing area from the determined Nth target location.

[0068] In the above scheme, the controller is further configured to determine whether there is an obstacle in the second obstacle crossing sub-region corresponding to any first target position based on the updated spatial environment information of the obstacle crossing area obtained by the at least one first sensor.

[0069] In the above scheme, the controller is further configured to determine one or more second target locations based on the updated spatial environment information of the obstacle crossing area obtained by the at least one first sensor if there is an obstacle in the second obstacle crossing sub-region.

[0070] In the above scheme, the controller is further configured to determine whether there is an obstacle in the second obstacle crossing sub-region corresponding to any first target position based on the updated spatial environment information of the obstacle crossing area obtained by the at least one first sensor; otherwise, send a second movement command to the walking component.

[0071] The walking component is also used to respond to the second movement command and drive the self-moving device to cross the obstacle crossing area from any of the first target positions.

[0072] In the above scheme, the counter is also used to count the third time the self-moving device fails to pass through the obstacle crossing area from any of the first target locations;

[0073] The controller is further configured to determine one or more second target locations based on the updated spatial environment information of the obstacle crossing area if the obstacle crossing area fails to pass through any of the first target locations and the third count of the counter meets the target threshold.

[0074] In the above solution, the device further includes:

[0075] At least one second sensor, which is disposed on the body and electrically connected to the controller, is used to detect the presence of a cliff area;

[0076] The controller is further configured to send a stop movement command to the walking component if it is determined that the second sensor has detected the presence of a cliff area during the process of traversing the obstacle crossing area.

[0077] The walking component is also used to stop moving in response to the stop movement command.

[0078] A computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps of the obstacle-crossing method described above.

[0079] A computer program product includes a computer program that, when executed by a processor, implements the obstacle-crossing method described above. Attached Figure Description

[0080] Figure 1 is a flowchart illustrating an obstacle-crossing method provided in an embodiment of this disclosure;

[0081] Figure 2 is a schematic diagram of an obstacle crossing scenario in an obstacle crossing method provided by an embodiment of the present disclosure;

[0082] Figure 3 is a schematic diagram of another obstacle-crossing scenario in an obstacle-crossing method provided by an embodiment of the present disclosure;

[0083] Figure 4 is a schematic diagram of another obstacle-crossing scenario in an obstacle-crossing method provided by an embodiment of the present disclosure;

[0084] Figure 5 is a schematic diagram of the structure of an obstacle-crossing device provided in an embodiment of this disclosure;

[0085] Figure 6 is a schematic diagram of the structure of a self-moving device provided in an embodiment of this disclosure;

[0086] Figure 7 is a schematic diagram of the structure of another self-moving device provided in an embodiment of this disclosure. Detailed Implementation

[0087] The technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0088] It should be understood that the phrases "embodiments of this disclosure" or "foreign embodiments" throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this disclosure. Therefore, "embodiments of this disclosure" or "in the foreign embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the various embodiments of this disclosure, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure. The sequence numbers of the above-described embodiments are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0089] Unless otherwise specified, any step in the embodiments of this disclosure may be performed by the processor of the electronic device. It is also worth noting that the embodiments of this disclosure do not limit the order in which the electronic device performs the following steps. Furthermore, the methods used to process data in different embodiments may be the same or different methods. It should also be noted that any step in the embodiments of this disclosure can be performed independently by the electronic device; that is, when the electronic device performs any step in the following embodiments, it may not depend on the execution of other steps.

[0090] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure.

[0091] Robotic vacuum cleaners often face challenges from obstacles such as thresholds when performing cleaning tasks. This requires the vacuum cleaner to have excellent obstacle-crossing capabilities, enabling it to efficiently climb over thresholds and cover other areas for thorough cleaning. However, various obstacles, such as furniture and electrical wires, may exist around thresholds. These obstacles can interfere with the obstacle-crossing process, causing collisions and ultimately leading to the vacuum cleaner's failure to overcome the obstacle.

[0092] To address the aforementioned technical problems, this disclosure provides an obstacle-crossing method, apparatus, device, computer storage medium, and computer program product, which solves the problem that sweeping robots may fail to cross obstacles due to interference from other obstacles at the obstacle crossing point.

[0093] This disclosure provides an obstacle-crossing method, which can be applied to self-moving devices. Referring to FIG1, the method may include the following steps:

[0094] Step 101: If it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location, then determine one or more first target locations based on the spatial environment information of the obstacle crossing area.

[0095] The self-moving device can include autonomously moving devices with cleaning functions, such as robotic vacuum cleaners or robotic mops. Specifically, the obstacle-crossing method provided in this disclosure will be illustrated using a robotic vacuum cleaner as an example.

[0096] In other embodiments of this disclosure, the obstacle-crossing area may include the area where the obstacle the robot vacuum needs to cross is located (i.e., the obstacle area), a specific range in front of the obstacle area, and a specific range around the robot vacuum. It should be noted that the specific range in front of the obstacle area can be determined based on the robot vacuum's current position and the obstacle's position; the specific range around the robot vacuum can also be determined based on the robot vacuum's current position. Furthermore, the spatial environment information can be information that characterizes the spatial environment of the corresponding area; in one feasible implementation, the spatial environment information of the obstacle-crossing area may refer to the spatial environment information of a second area.

[0097] In other embodiments of this disclosure, it can be first determined whether the robot vacuum can pass through the obstacle at its current position. If the robot vacuum cannot pass through the obstacle at its current position, then the first target position is redefined. Specifically, it is determined whether the robot vacuum can pass through the obstacle at its current position based on the spatial environment information of the first obstacle-crossing sub-region corresponding to its current position; of course, it can also be determined based on the spatial environment information of the first obstacle-crossing sub-region and the number of times the robot vacuum has failed to cross the obstacle at its current position.

[0098] Step 102: Control the self-moving device to move from the current location to any first target location.

[0099] Specifically, if multiple first target locations are determined, any one of the multiple first target locations can be selected; then, the robot vacuum can be controlled to move from its current position to any one of the first target locations; if only one first target location is determined, the robot vacuum can be controlled to move from its current position to that unique first target location.

[0100] Step 103: Control the self-moving device to cross the obstacle crossing area from any of the first target locations.

[0101] Specifically, if multiple first target locations are determined and the robot vacuum moves to any of the first target locations, it can be controlled to start from any of the first target locations and cross the area where the corresponding obstacles are located; if only one first target location is determined and the robot vacuum moves from its current position to that unique first target location, it can be controlled to start from that unique first target location and cross the area where the corresponding obstacles are located.

[0102] In other embodiments of this disclosure, step 101 can be implemented in the following ways:

[0103] When the self-moving device is in obstacle-crossing mode, determine whether the self-moving device can pass through the obstacle-crossing area at the current location. If it cannot pass through the obstacle-crossing area at the current location, determine one or more first target locations based on the spatial environment information of the obstacle-crossing area.

[0104] The obstacle-crossing mode refers to a specific operating mode for the robot vacuum cleaner to navigate obstacles. It's important to note that when the robot vacuum cleaner is in obstacle-crossing mode, it determines whether it can successfully cross the obstacle at its current position. If it cannot, a new obstacle-crossing position (i.e., the first target position) is determined. This method of determining obstacle-crossing success only when the robot vacuum cleaner is in obstacle-crossing mode further improves its working efficiency and data processing efficiency, and extends its battery life.

[0105] In other embodiments of this disclosure, determining whether the self-moving device can pass through the obstacle-crossing area at its current location includes:

[0106] Based on the spatial environment information of the obstacle crossing area, determine whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position; the first obstacle crossing sub-region is a part of the obstacle crossing area corresponding to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

[0107] If there is an obstacle in the first obstacle-crossing sub-region, it is determined that the self-moving device cannot pass through the obstacle-crossing region at its current position.

[0108] Specifically, the presence of obstacles in the first obstacle-crossing sub-region can be determined based on the spatial environment information of the first obstacle-crossing sub-region corresponding to the current location. The first obstacle-crossing sub-region can be a part of the obstacle region corresponding to the current location in the obstacle-crossing region, as well as a specific area in front of that part of the region.

[0109] In one feasible implementation, the obstacle-crossing area that the robotic vacuum cleaner needs to traverse at its current position can be C, as shown in Figures 2, 3, and 4. Positions A1, A2, and A3 can be the current positions of the robotic vacuum cleaner, and positions B1, B2, and B3 can be the newly determined first target positions. If an obstacle exists in the first obstacle-crossing sub-region corresponding to the current position of the robotic vacuum cleaner (as shown in Figure 2), then it can be assumed that the robotic vacuum cleaner cannot pass through obstacle-crossing area C at its current position A1. If no obstacle exists in the first obstacle-crossing sub-region corresponding to the current position of the robotic vacuum cleaner (as shown in Figure 3), but the width of the obstacle-free area in the first obstacle-crossing sub-region is less than the maximum width of the robotic vacuum cleaner, then it can be assumed that the robotic vacuum cleaner cannot pass through obstacle-crossing area C at its current position A2. Furthermore, by determining whether there is an obstacle in the first obstacle-crossing sub-region, the robotic vacuum cleaner's ability to pass through the obstacle-crossing area at its current position is determined, ensuring that the robotic vacuum cleaner can successfully overcome obstacles, thereby guaranteeing the cleaning efficiency of the robotic vacuum cleaner.

[0110] In other embodiments of this disclosure, determining whether the self-moving device can pass through the obstacle-crossing area at its current location includes:

[0111] Based on the spatial environment information of the obstacle crossing area, determine whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position. The obstacle crossing sub-region is a part of the obstacle crossing area that corresponds to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

[0112] If there are no obstacles in the first obstacle crossing sub-region, then obtain the first number of times the mobile device failed to pass through the obstacle crossing region from the current position;

[0113] If the first count reaches the target threshold, it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location.

[0114] Specifically, the presence of obstacles in the first obstacle-crossing sub-region can be determined based on the spatial environment information of the first obstacle-crossing sub-region corresponding to the current position. If there are no obstacles in the first obstacle-crossing sub-region, in order to improve the success rate of obstacle crossing, the number of times the robot vacuum cleaner cannot cross the obstacle area at the current position can be further determined. If the number of times exceeds the target threshold, it can be determined that the robot vacuum cleaner cannot pass through the obstacle-crossing area at the current position, thereby improving the obstacle-crossing success rate of the robot vacuum cleaner.

[0115] In one feasible implementation, as shown in Figure 4, although there are no obstacles in the first obstacle-crossing sub-region corresponding to the current position A3 of the sweeping robot, there are slippery stains in the first obstacle-crossing sub-region, causing the sweeping robot to fail to cross the obstacle multiple times at position A3. As a result, the first number of obstacle-crossing failures exceeds the target threshold. At this time, the sweeping robot cannot pass through the obstacle-crossing area C at the current position A3.

[0116] In other embodiments of this disclosure, the determination that the self-moving device cannot pass through the obstacle-crossing area at its current location if the first count reaches the target threshold includes:

[0117] If the first count reaches the target threshold, determine whether there is an obstacle in the first obstacle crossing sub-region;

[0118] If so, then it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location.

[0119] Specifically, if the number of times the robot vacuum fails to overcome an obstacle at its current location exceeds a target threshold, it can then re-evaluate whether an obstacle exists in the first obstacle-crossing sub-region. If an obstacle is again identified in the first obstacle-crossing sub-region, the robot vacuum is deemed unable to pass through the obstacle-crossing area at its current location. It should be noted that when the robot vacuum is overcoming obstacles, there is a possibility that a living being with a heartbeat might pass through the first obstacle-crossing sub-region and be identified as an obstacle. If the living being has already left the first obstacle-crossing sub-region, a re-evaluation can prevent false identification and ensure obstacle-crossing efficiency.

[0120] In other embodiments of this disclosure, the step 101 described above, "determining one or more first target locations based on the spatial environment information of the obstacle crossing area," can be implemented in the following ways:

[0121] Get the maximum width from the mobile device;

[0122] Based on the spatial environment information of the obstacle crossing area and the maximum width of the self-moving device, determine one or more first target locations.

[0123] Wherein, the width of the second obstacle-crossing sub-region corresponding to the first target position is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle-crossing sub-region.

[0124] It should be noted that the first target position can be determined by combining the spatial environment information of the obstacle crossing area and the maximum width of the robot vacuum. In this way, the second obstacle crossing sub-area corresponding to the selected first target position is free of obstacles, and the robot vacuum will not get stuck in the second obstacle crossing area.

[0125] In other embodiments of this disclosure, determining one or more first target locations based on the spatial environment information of the obstacle-crossing area and the maximum width of the self-moving device includes:

[0126] Based on the spatial environment information of the obstacle crossing area, one or more candidate locations are determined;

[0127] Based on the width of the third obstacle-crossing sub-region corresponding to the candidate location and the maximum width of the self-moving device, one or more first target locations are determined from one or more candidate locations.

[0128] Specifically, based on the spatial environment information of the obstacle crossing area, areas without obstacles and capable of being crossed can be selected as candidate locations. Then, from the candidate locations, the location with a width of the third obstacle crossing sub-area that is not less than the maximum width of the robot vacuum cleaner can be selected as the first target location, thereby ensuring the accuracy of the determined first target location.

[0129] In other embodiments of this disclosure, determining one or more candidate locations based on the spatial environment information of the obstacle crossing area includes:

[0130] Starting from the target edge of the obstacle crossing area, one or more candidate locations are determined based on the spatial environment information of the obstacle crossing area.

[0131] In determining candidate positions, the selection process can begin from the target edge of the obstacle-crossing area C shown in Figures 2, 3, and 4. Alternatively, the selection can also begin from the target edge of the obstacle-crossing area C when determining the first target position. In one feasible implementation, the target edge can be the edge of the obstacle-crossing area furthest from the robot's current position; that is, candidate positions can be determined starting from the edge of the obstacle-crossing area furthest from the robot's current position to improve efficiency. Furthermore, positions B1, B2, and B3 in Figures 2, 3, and 4 can be the first target positions.

[0132] In other embodiments of this disclosure, the method may further include:

[0133] If the device fails to pass through the obstacle crossing area from any first target location, obtain the second number of times the device has failed to pass through the obstacle crossing area from any first target location.

[0134] If the second count meets the target threshold, obtain the updated spatial environment information of the obstacle crossing area;

[0135] Based on the updated spatial environment information of the obstacle crossing area, determine one or more second target locations until the self-moving device successfully passes through the obstacle crossing area from the determined Nth target location.

[0136] In this embodiment, if the robotic vacuum cleaner fails to overcome an obstacle from the first target location, it needs to determine the second number of failed attempts. If the second number exceeds a target threshold, one or more second target locations can be re-determined based on the updated spatial environment information of the obstacle-crossing area, and the robot can attempt to overcome the obstacle from any of these second target locations. If the attempt still fails, one or more third target locations are determined based on the updated spatial environment information of the obstacle-crossing area, and this process is repeated until the robotic vacuum cleaner successfully overcomes the obstacle from the determined Nth target location. It should be noted that the process for determining the third and Nth target locations is the same as the process for determining the second target location in this disclosure, and will not be repeated here.

[0137] In other embodiments of this disclosure, before the above-mentioned "determining one or more second target locations based on the updated spatial environment information of the obstacle crossing area", the method further includes:

[0138] Based on the updated spatial environment information of the obstacle crossing area, determine whether there are obstacles in the second obstacle crossing sub-region corresponding to any first target location.

[0139] Accordingly, the above-mentioned determination of one or more second target locations based on the updated spatial environment information of the obstacle crossing area includes:

[0140] If there are obstacles in the second obstacle crossing sub-region, one or more second target locations are determined based on the updated spatial environment information of the obstacle crossing region.

[0141] It should be noted that after obtaining the updated spatial environment information of the obstacle crossing area, in order to avoid misjudging the success rate of obstacle crossing, the spatial environment information of the updated obstacle crossing area can be used to determine whether there are obstacles in the second obstacle crossing sub-area. If there are obstacles in the second obstacle crossing sub-area, the location of the second target can be determined based on the spatial environment information of the updated obstacle crossing area.

[0142] In other embodiments of this disclosure, before the above-mentioned "determining one or more second target locations based on the updated spatial environment information of the obstacle crossing area", the method further includes:

[0143] Based on the updated spatial environment information of the obstacle crossing area, determine whether there are obstacles in the second obstacle crossing sub-region corresponding to any first target location;

[0144] If there are no obstacles in the second obstacle crossing sub-region, control the self-moving device to cross the obstacle crossing region from any of the first target positions.

[0145] It should be noted that if there are no obstacles in the second obstacle crossing sub-region, then the obstacle crossing will be attempted again from any of the first target positions; if the obstacle crossing is successful again from any of the first target positions, the process ends.

[0146] In other embodiments of this disclosure, when executing "if there is no obstacle in the first obstacle-crossing sub-region, control the self-moving device to traverse the obstacle-crossing region from any first target location", one or more second target locations are determined based on the updated spatial environment information of the obstacle-crossing region, including:

[0147] If the obstacle crossing area fails to be crossed from any first target location, and the third count of the self-moving device failing to cross the obstacle crossing area from any first target location meets the target threshold, one or more second target locations are determined based on the updated spatial environment information of the obstacle crossing area.

[0148] If the robot fails to overcome the obstacle again from any of the first target locations, it can be further determined whether the third failure to overcome the obstacle from the first target location exceeds the target threshold. If the third failure exceeds the target threshold, it means that the obstacle cannot be overcome successfully at the first target location. At this time, the second target location can be determined based on the updated spatial environment information of the obstacle-crossing area. This can prevent the robot from missing the best location to overcome the obstacle and ensure that the robot can overcome the obstacle successfully. At the same time, it can prevent the robot from moving back and forth.

[0149] In other embodiments of this disclosure, the method further includes:

[0150] During the obstacle course crossing, check for cliff areas;

[0151] If there is a cliff area, control the self-moving device to stop moving.

[0152] It should be noted that during the process of the robotic vacuum cleaner overcoming obstacles from the first target location and / or the second target location, the cliff sensor can continuously detect cliffs in the area in front of the robot and stop moving when a cliff is detected, thereby preventing the robot from falling into the cliff area and damaging the robot. In one feasible implementation, the cliff area can refer to the high-altitude area outside the edge of a balcony or steps, etc.

[0153] The obstacle-crossing method provided in this embodiment allows the sweeping robot to determine a new location and attempt to cross an obstacle if it fails to do so at the current location. This ensures that the sweeping robot can still successfully cross obstacles even if it encounters other obstacles, thus solving the problem of obstacle-crossing failure caused by interference from other obstacles at the obstacle crossing point and improving the obstacle-crossing success rate.

[0154] Based on the foregoing embodiments, the present disclosure provides an obstacle-crossing device that can be applied to the obstacle-crossing method provided in the embodiment corresponding to FIG1. ​​Referring to FIG5, the obstacle-crossing device may include: a determining unit 21 and a controlling unit 22, wherein:

[0155] The determining unit 21 is used to determine one or more first target locations based on the spatial environment information of the obstacle crossing area if it is determined that the self-moving device cannot pass through the obstacle crossing area at the current location.

[0156] Control unit 22 is used to control the self-moving device to move from its current position to any first target position;

[0157] The control unit 22 is also used to control the self-moving device to cross the obstacle crossing area from any first target location.

[0158] In other embodiments of this disclosure, the determining unit 21 is further configured to determine whether the self-moving device can pass through the obstacle crossing area at its current location when the self-moving device is in obstacle crossing mode; if it cannot pass through the obstacle crossing area at its current location, it determines one or more first target locations based on the spatial environment information of the obstacle crossing area.

[0159] In other embodiments of this disclosure, the determining unit 21 is further configured to perform the following steps:

[0160] Based on the spatial environment information of the obstacle crossing area, determine whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position. The first obstacle crossing sub-region is a part of the obstacle crossing area that corresponds to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

[0161] If so, then it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location.

[0162] In other embodiments of this disclosure, the determining unit 21 is further configured to perform the following steps:

[0163] Based on the spatial environment information of the obstacle crossing area, determine whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position. The first obstacle crossing sub-region is a part of the obstacle crossing area that corresponds to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

[0164] If not, then obtain the first number of times the mobile device failed to pass through the obstacle crossing area from its current location;

[0165] If the first count reaches the target threshold, it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location.

[0166] In other embodiments of this disclosure, the determining unit 21 is further configured to perform the following steps:

[0167] If the first count reaches the target threshold, determine whether there is an obstacle in the first obstacle crossing sub-region;

[0168] If so, then it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location.

[0169] In other embodiments of this disclosure, the determining unit 21 is further configured to perform the following steps:

[0170] Get the maximum width from the mobile device;

[0171] Based on the spatial environment information of the obstacle crossing area and the maximum width of the self-moving device, one or more first target locations are determined. The width of the second obstacle crossing sub-region corresponding to the first target location is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle crossing sub-region.

[0172] In other embodiments of this disclosure, the determining unit 21 is further configured to perform the following steps:

[0173] Based on the spatial environment information of the obstacle crossing area, one or more candidate locations are determined;

[0174] Based on the width of the third obstacle-crossing sub-region corresponding to the candidate location and the maximum width of the self-moving device, one or more first target locations are determined from one or more candidate locations.

[0175] In other embodiments of this disclosure, the determining unit 21 is further configured to determine one or more candidate locations based on the spatial environment information of the obstacle crossing area, starting from the target edge of the obstacle crossing area.

[0176] In other embodiments of this disclosure, the determining unit 21 is further configured to perform the following steps:

[0177] If the device fails to pass through the obstacle crossing area from any first target location, obtain the second number of times the device has failed to pass through the obstacle crossing area from any first target location.

[0178] If the second count meets the target threshold, obtain the updated spatial environment information of the obstacle crossing area;

[0179] Based on the updated spatial environment information of the obstacle crossing area, determine one or more second target locations until the self-moving device successfully passes through the obstacle crossing area from the determined Nth target location.

[0180] In other embodiments of this disclosure, the determining unit 21 is further configured to determine whether there is an obstacle in the second obstacle-crossing sub-region corresponding to any first target location based on the updated spatial environment information of the obstacle-crossing region.

[0181] In other embodiments of this disclosure, the determining unit 21 is further configured to determine one or more second target locations based on the updated spatial environment information of the obstacle crossing area if there is an obstacle in the second obstacle crossing sub-region.

[0182] In other embodiments of this disclosure, the determining unit 21 is further configured to perform the following steps:

[0183] Based on the updated spatial environment information of the obstacle crossing area, determine whether there are obstacles in the second obstacle crossing sub-region corresponding to any first target location;

[0184] If there are no obstacles in the second obstacle crossing sub-region, control the self-moving device to cross the obstacle crossing region from any of the first target positions.

[0185] In other embodiments of this disclosure, the determining unit 21 is further configured to determine one or more second target locations based on the updated spatial environment information of the obstacle crossing area if the self-moving device fails to pass through the obstacle crossing area from any first target location and the third number of failures to pass through the obstacle crossing area from any first target location meets the target threshold.

[0186] In other embodiments of this disclosure, the determining unit 21 is further configured to detect the presence of a cliff area during the process of traversing the obstacle crossing area;

[0187] The control unit 22 is also used to control the self-moving device to stop moving if there is a cliff area.

[0188] It should be noted that the specific description of the steps performed by each unit can be found in the obstacle crossing method provided in the corresponding embodiment of Figure 1, and will not be repeated here.

[0189] The obstacle-crossing device provided in the embodiments of this disclosure allows the sweeping robot to determine a new location and attempt to cross an obstacle if it fails to do so at the current location. This ensures that the sweeping robot can still successfully cross obstacles if it encounters other obstacles, thus solving the problem that the sweeping robot may fail to cross obstacles due to interference from other obstacles at the obstacle crossing point and improving the obstacle crossing success rate.

[0190] Based on the foregoing embodiments, the present disclosure provides a self-moving device that can be applied to the obstacle-crossing method provided in the embodiment corresponding to FIG1. ​​Referring to FIG6 and FIG7, the self-moving device 3 may include:

[0191] Body 31;

[0192] Cleaning component 32 is installed on the machine body and is used to clean the working surface;

[0193] At least one first sensor 33 is mounted on the body 31 to acquire spatial environmental information of the obstacle crossing area;

[0194] The controller 34 is electrically connected to at least one first sensor 33 and is used to determine one or more first target locations based on the spatial environment information obtained by the at least one first sensor if it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location, and to send a first movement command to the walking component.

[0195] The walking component (not shown in Figures 6 and 7) is mounted on the body and is used to move the self-moving device from its current position to any first target position in response to a first movement command, and to move the self-moving device from any first target position through the obstacle crossing area.

[0196] It should be noted that "body" can refer to the robot vacuum's main body, "cleaning parts" can refer to the robot vacuum's cleaning brushes, and "moving parts" can refer to the robot vacuum's wheels.

[0197] In other embodiments of this disclosure, the controller 34 is further configured to determine whether the self-moving device can pass through the obstacle crossing area at its current location when the self-moving device is in obstacle crossing mode, and if it cannot pass through the obstacle crossing area at its current location, determine one or more first target locations based on spatial environment information obtained by at least one first sensor.

[0198] In other embodiments of this disclosure, the controller 34 is further configured to determine whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position based on the spatial environment information obtained by at least one first sensor; if so, it is determined that the self-moving device cannot successfully pass through the obstacle crossing region at the current position; the first obstacle crossing sub-region is a portion of the obstacle crossing region corresponding to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

[0199] In other embodiments of this disclosure, referring to FIG7, the self-moving device further includes:

[0200] Counter 36, electrically connected to at least one sensor and controller, is used to count the first number of times the self-moving device fails to pass through the obstacle crossing area from its previous position, based on information acquired by at least one first sensor.

[0201] The controller 34 is further configured to determine whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position based on the spatial environment information obtained by at least one first sensor. If not, and the first count counted by the counter 36 meets the target threshold, then it is determined that the self-moving device cannot pass through the obstacle crossing region at the current position. The first obstacle crossing sub-region is a part of the obstacle crossing region corresponding to the current position, and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

[0202] In other embodiments of this disclosure, the controller 34 is further configured to determine whether there is an obstacle in the first obstacle crossing sub-region if the first count counted by the counter 36 reaches a target threshold, and if so, determine that the self-moving device cannot pass through the obstacle crossing region at the current position.

[0203] In other embodiments of this disclosure, the controller 34 is further configured to obtain the maximum width of the self-moving device and determine one or more first target locations based on the spatial environment information of the obstacle crossing area and the maximum width, wherein the width of the second obstacle crossing sub-region corresponding to the first target location is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle crossing sub-region.

[0204] In other embodiments of this disclosure, the controller 34 is further configured to determine one or more candidate locations based on the spatial environment information of the obstacle crossing area, and to determine one or more first target locations from the one or more candidate locations based on the width and maximum width of the third obstacle crossing sub-region corresponding to the candidate location.

[0205] In other embodiments of this disclosure, the controller 34 is also configured to determine one or more candidate locations based on spatial environmental information of the obstacle crossing area, starting from the target edge of the obstacle crossing area.

[0206] In other embodiments of this disclosure, counter 36 is further configured to count the second number of times the mobile device fails to pass through the obstacle crossing area from any first target location, based on information acquired by at least one first sensor.

[0207] At least one first sensor 33 is also used to acquire updated spatial environmental information of the obstacle crossing area;

[0208] The controller 34 is further configured to determine one or more second target locations based on the updated spatial environment information of the obstacle crossing area acquired by at least one first sensor if the self-moving device fails to pass through the obstacle crossing area from any first target location and the second number of times counted by the counter meets the target threshold, until the self-moving device successfully passes through the obstacle crossing area from the determined Nth target location.

[0209] In other embodiments of this disclosure, the controller 34 is further configured to determine whether there is an obstacle in the second obstacle crossing sub-region corresponding to any first target position based on the updated spatial environment information of the obstacle crossing region obtained by at least one first sensor 33.

[0210] In other embodiments of this disclosure, the controller 34 is further configured to determine one or more second target locations based on the updated spatial environment information of the obstacle crossing area obtained by at least one first sensor if there is an obstacle in the second obstacle crossing sub-region.

[0211] In other embodiments of this disclosure, the controller 34 is further configured to determine whether there is an obstacle in the second obstacle-crossing sub-region corresponding to any first target position based on the updated spatial environment information of the obstacle-crossing area obtained by at least one first sensor; otherwise, send a second movement command to the walking component.

[0212] The walking component is also used to respond to a second movement command to propel the self-moving device from any first target location across the obstacle crossing area.

[0213] In other embodiments of this disclosure, counter 36 is also used to count the third time the self-moving device fails to pass through the obstacle crossing area from any first target location;

[0214] The controller 34 is also configured to determine one or more second target locations based on the updated spatial environment information of the obstacle crossing area if the obstacle crossing area fails to be crossed from any first target location and the third count of the counter 36 meets the target threshold.

[0215] In other embodiments of this disclosure, referring to FIG7, the self-moving device further includes:

[0216] At least one second sensor 37 is disposed on the body 31 and electrically connected to the controller for detecting the presence of a cliff area;

[0217] The controller 34 is also used to send a stop movement command to the walking component if it is determined by the second sensor that a cliff area exists during the process of crossing the obstacle crossing area;

[0218] The traveling component is also used to stop moving in response to a stop movement command.

[0219] It should be noted that the specific details of the steps performed by each device can be found in the obstacle crossing method provided in the corresponding embodiment of Figure 1, and will not be repeated here.

[0220] The self-moving device provided in the embodiments of this disclosure allows the robot vacuum to determine a new location to attempt obstacle crossing if it fails to do so at the current location. This ensures that the robot vacuum can still successfully overcome obstacles if it encounters other obstacles, thus solving the problem of obstacle crossing failure caused by interference from other obstacles at the obstacle crossing point and improving the obstacle crossing success rate.

[0221] Based on the foregoing embodiments, embodiments of this disclosure provide a computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps of the obstacle-crossing method provided in the embodiment corresponding to FIG1.

[0222] Based on the foregoing embodiments, embodiments of this disclosure provide a computer program product, including a computer program that can be executed by a processor to implement the steps of the obstacle crossing method provided in the embodiment corresponding to FIG1.

[0223] The obstacle-crossing method, apparatus, device, computer storage medium, and computer program product provided in this disclosure, if it is determined that the self-moving device cannot pass through the obstacle-crossing area at its current position, determines one or more first target positions based on the spatial environment information of the obstacle-crossing area, controls the self-moving device to move from its current position to any of the first target positions, and controls the self-moving device to cross the obstacle-crossing area from any of the first target positions. In this way, if the sweeping robot fails to cross an obstacle at its current position, it can redetermine a new position to cross the obstacle, thereby ensuring that the sweeping robot can still successfully cross obstacles even if it encounters other obstacles. This solves the problem that the sweeping robot may fail to cross obstacles due to interference from other obstacles at the obstacle-crossing point, and improves the obstacle-crossing success rate.

[0224] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0225] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. 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.

[0226] 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.

[0227] 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.

[0228] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A method of traversing an obstacle, the method comprising: The method includes: If it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location, then one or more first target locations are determined based on the spatial environment information of the obstacle crossing area; Control the self-moving device to move from the current position to any of the first target positions; Control the self-moving device to traverse the obstacle crossing area from any of the first target locations.

2. The method of traversing an obstacle of claim 1, wherein, If it is determined that the self-moving device cannot pass through the obstacle-crossing area at its current location, then one or more first target locations are determined based on the spatial environment information of the obstacle-crossing area, including: When the self-moving device is in obstacle-crossing mode, it is determined whether the self-moving device can pass through the obstacle-crossing area at the current location. If it cannot pass through the obstacle-crossing area at the current location, the one or more first target locations are determined based on the spatial environment information of the obstacle-crossing area.

3. The method of claim 2, wherein, Determining whether the self-moving device can pass through the obstacle-crossing area at its current location includes: Based on the spatial environment information of the obstacle crossing area, it is determined whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position. The first obstacle crossing sub-region is a part of the obstacle crossing area that corresponds to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device. If so, it is determined that the self-moving device cannot pass through the obstacle crossing area at the current location.

4. The method according to claim 2 or 3, characterized in that, Determining whether the self-moving device can pass through the obstacle-crossing area at its current location includes: Based on the spatial environment information of the obstacle crossing area, it is determined whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position. The first obstacle crossing sub-region is a part of the obstacle crossing area that corresponds to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device. If not, then obtain the first number of times the self-moving device failed to pass through the obstacle crossing area from the current location; If the first number of attempts reaches the target threshold, it is determined that the self-moving device cannot pass through the obstacle crossing area at the current location.

5. The method of claim 4, wherein, If the first number of attempts reaches the target threshold, then determining that the self-moving device cannot pass through the obstacle crossing area at the current location includes: If the first number of attempts reaches the target threshold, it is determined whether there is an obstacle in the first obstacle-crossing sub-region; If so, it is determined that the self-moving device cannot pass through the obstacle crossing area at the current location.

6. The method according to any one of claims 1 to 5, characterized in that, Determining one or more first target locations based on the spatial environment information of the obstacle crossing area includes: Obtain the maximum width of the self-moving device; Based on the spatial environment information of the obstacle crossing area and the maximum width of the self-moving device, one or more first target locations are determined, wherein the width of the second obstacle crossing sub-region corresponding to the first target location is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle crossing sub-region.

7. The method of claim 6, wherein, Determining the location of one or more first targets based on the spatial environment information of the obstacle-crossing area and the maximum width of the self-moving device includes: Based on the spatial environment information of the obstacle crossing area, one or more candidate locations are determined; The one or more first target locations are determined from the one or more candidate locations based on the width of the third obstacle-crossing sub-region corresponding to the candidate location and the maximum width of the self-moving device.

8. The method of claim 7, wherein, The step of determining one or more candidate locations based on the spatial environment information of the obstacle crossing area includes: Starting from the target edge of the obstacle crossing area, one or more candidate locations are determined based on the spatial environment information of the obstacle crossing area.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: If the self-moving device fails to pass through the obstacle crossing area from any of the first target locations, the second number of times the self-moving device fails to pass through the obstacle crossing area from any of the first target locations is obtained; If the second number of attempts meets the target threshold, obtain the updated spatial environment information of the obstacle crossing area; Based on the updated spatial environment information of the obstacle crossing area, one or more second target locations are determined until the self-moving device successfully passes through the obstacle crossing area from the determined Nth target location.

10. The method of claim 9, wherein, Before determining one or more second target locations based on the updated spatial environment information of the obstacle-crossing area, the method further includes: Based on the updated spatial environment information of the obstacle crossing area, determine whether there is an obstacle in the second obstacle crossing sub-region corresponding to any first target location; Accordingly, determining one or more second target locations based on the updated spatial environment information of the obstacle-crossing area includes: If so, the location of the one or more second targets is determined based on the updated spatial environment information of the obstacle crossing area.

11. The method according to claim 9 or 10, characterized in that, Before determining one or more second target locations based on the updated spatial environment information of the obstacle-crossing area, the method further includes: Based on the updated spatial environment information of the obstacle crossing area, determine whether there is an obstacle in the second obstacle crossing sub-region corresponding to any first target location; If not, control the self-moving device to traverse the obstacle crossing area from any of the first target locations; Accordingly, determining one or more second target locations based on the updated spatial environment information of the obstacle-crossing area includes: If the self-moving device fails to pass through the obstacle crossing area from any of the first target locations, and the third number of failures of the self-moving device from any of the first target locations to pass through the obstacle crossing area meets the target threshold, the one or more second target locations are determined based on the updated spatial environment information of the obstacle crossing area.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: During the process of traversing the obstacle-crossing area, the presence of cliff areas is detected; If the cliff area exists, control the self-moving device to stop moving.

13. An obstacle crossing device, characterized in that The device includes: The determining unit is configured to determine one or more first target locations based on the spatial environment information of the obstacle crossing area if it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location. A control unit is configured to control the self-moving device to move from the current position to any of the first target positions; The control unit is also configured to control the self-moving device to traverse the obstacle crossing area from any of the first target locations.

14. A self-moving device, characterized by The device includes: Organism; A cleaning component, which is disposed on the machine body, is used to clean the working surface; At least one first sensor, which is disposed on the body, is used to acquire spatial environmental information of the obstacle crossing area; The controller, electrically connected to the at least one first sensor, is configured to determine one or more first target locations based on the spatial environment information acquired by the at least one first sensor, and send a first movement command to the walking component if it is determined that the self-moving device cannot pass through the obstacle crossing area at its current location. The walking component, which is disposed on the body, is used to respond to the first movement command to move the self-moving device from the current position to any first target position, and to move the self-moving device from the any first target position through the obstacle crossing area.

15. The device according to claim 14, characterized in that, The controller is further configured to determine whether the self-moving device can pass through the obstacle crossing area at the current position when the self-moving device is in obstacle crossing mode, and if it cannot pass through the obstacle crossing area at the current position, determine the one or more first target positions based on the spatial environment information obtained by the at least one first sensor.

16. The device according to claim 15, characterized in that, The controller is further configured to determine whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position based on the spatial environment information obtained by the at least one first sensor; if so, it is determined that the self-moving device cannot successfully pass through the obstacle crossing region at the current position; the first obstacle crossing sub-region is a portion of the obstacle crossing region corresponding to the current position and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

17. The apparatus of claim 15 or 16, wherein, The device also includes: A counter, electrically connected to the at least one sensor and the controller, is used to count the first number of times the self-moving device fails to pass through the obstacle crossing area from the current position, based on information acquired by the at least one first sensor. The controller is further configured to determine whether there is an obstacle in the first obstacle crossing sub-region corresponding to the current position based on the spatial environment information obtained by the at least one first sensor. If not, and the first number of times counted by the counter meets the target threshold, then it is determined that the self-moving device cannot pass through the obstacle crossing region at the current position. The first obstacle crossing sub-region is a portion of the obstacle crossing region corresponding to the current position, and the width of the first obstacle crossing sub-region is not less than the maximum width of the self-moving device.

18. The device according to claim 17, characterized in that, The controller is further configured to determine whether there is an obstacle in the first obstacle crossing sub-region if the first number counted by the counter reaches the target threshold, and if so, determine that the self-moving device cannot pass through the obstacle crossing region at the current position.

19. The device according to any one of claims 14 to 18, characterized in that, The controller is further configured to obtain the maximum width of the self-moving device, and determine one or more first target positions based on the spatial environment information of the obstacle crossing area and the maximum width, wherein the width of the second obstacle crossing sub-region corresponding to the first target position is not less than the maximum width of the self-moving device and there are no obstacles in the second obstacle crossing sub-region.

20. The device according to claim 19, characterized in that, The controller is further configured to determine one or more candidate locations based on the spatial environment information of the obstacle crossing area, and to determine the one or more first target locations from the one or more candidate locations based on the width of the third obstacle crossing sub-region corresponding to the candidate location and the maximum width.

21. The device according to claim 20, characterized in that, The controller is further configured to determine one or more candidate locations based on the spatial environment information of the obstacle crossing area, starting from the target edge of the obstacle crossing area.

22. The device according to any one of claims 14 to 21, characterized in that, The counter is also used to count the second number of times the self-moving device failed to pass through the obstacle crossing area from any of the first target locations, based on information acquired by the at least one first sensor. The at least one first sensor is also used to acquire updated spatial environment information of the obstacle crossing area; The controller is further configured to determine one or more second target locations based on the updated spatial environment information of the obstacle crossing area obtained by the at least one first sensor if the self-moving device fails to pass through the obstacle crossing area from any of the first target locations and the second number of times counted by the counter meets the target threshold, until the self-moving device successfully passes through the obstacle crossing area from the determined Nth target location.

23. The device according to claim 22, characterized in that, The controller is further configured to determine whether there is an obstacle in the second obstacle crossing sub-region corresponding to any first target position based on the updated spatial environment information of the obstacle crossing region obtained by the at least one first sensor.

24. The device according to claim 23, characterized in that, The controller is further configured to determine the location of one or more second targets based on the updated spatial environment information of the obstacle crossing area obtained by the at least one first sensor if there is an obstacle in the second obstacle crossing sub-region.

25. The device according to any one of claims 22 to 24, characterized in that, The controller is further configured to determine whether there is an obstacle in the second obstacle crossing sub-region corresponding to any first target position based on the updated spatial environment information of the obstacle crossing area obtained by the at least one first sensor; otherwise, send a second movement command to the walking component. The walking component is also used to respond to the second movement command and drive the self-moving device to cross the obstacle crossing area from any of the first target positions.

26. The device according to any one of claims 23 to 25, characterized in that, The counter is also used to count the third time the self-moving device fails to pass through the obstacle crossing area from any of the first target locations; The controller is further configured to determine one or more second target locations based on the updated spatial environment information of the obstacle crossing area if the obstacle crossing area fails to pass through any of the first target locations and the third count counted by the counter meets the target threshold.

27. The apparatus of any one of claims 22-26, wherein, The device also includes: At least one second sensor, which is disposed on the body and electrically connected to the controller, is used to detect the presence of a cliff area; The controller is further configured to send a stop movement command to the walking component if, during the process of traversing the obstacle crossing area, it is determined that the at least one second sensor has detected the existence of the cliff area. The walking component is also used to stop moving in response to the stop movement command.

28. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs that can be executed by one or more processors to implement the steps of the obstacle-crossing method as described in any one of claims 1 to 12.

29. A computer program product comprising a computer program, characterised in that, When the computer program is executed by a processor, it implements the obstacle-crossing method according to any one of claims 1 to 12.

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