CN113093725A - Sweeping robot, crossing method of target obstacle of sweeping robot and computer-readable storage medium - Google Patents
Sweeping robot, crossing method of target obstacle of sweeping robot and computer-readable storage medium Download PDFInfo
- Publication number
- CN113093725A CN113093725A CN202110242581.XA CN202110242581A CN113093725A CN 113093725 A CN113093725 A CN 113093725A CN 202110242581 A CN202110242581 A CN 202110242581A CN 113093725 A CN113093725 A CN 113093725A
- Authority
- CN
- China
- Prior art keywords
- sweeping robot
- target
- target obstacle
- obstacle
- crossing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010408 sweeping Methods 0.000 title claims abstract description 198
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000003860 storage Methods 0.000 title claims abstract description 13
- 230000007613 environmental effect Effects 0.000 claims description 21
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 230000008569 process Effects 0.000 claims description 5
- 238000004140 cleaning Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 11
- 238000004590 computer program Methods 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241001417527 Pempheridae Species 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a sweeping robot and a crossing method of a target obstacle of the sweeping robot and a computer-readable storage medium, wherein the method comprises the following steps: when the sweeping robot is detected to be in a target state, acquiring a current first pitch angle of the sweeping robot, wherein the target state is a state that the sweeping robot is on a target obstacle; when the value of the first pitch angle is larger than a first preset value, determining whether the sweeping robot is in a slipping state; when the sweeping robot is determined to be in a slipping state, acquiring surrounding environment information; and determining a strategy for crossing the target obstacle according to the environment information so that the sweeping robot crosses the target obstacle according to the strategy. The technical problem that the target obstacle cannot be struggled when the rotation speed of the driving wheel is increased in an intrusive manner under the condition that the sweeping robot slips is solved, and the intelligence of the sweeping robot is improved.
Description
Technical Field
The present application relates to the field of sweeping robots, and in particular, to a sweeping robot and a method for crossing a target obstacle thereof, and a computer-readable storage medium.
Background
With the development of information technology, robots are also widely used, such as sweeping robots and carrying robots. When the robot needs to master the road condition in front, an avoidance path is reasonably planned so as to smoothly complete the task.
In the prior art, for example, when a floor sweeping robot encounters an obstacle, a commonly used strategy is to increase the rotating speed of a driving wheel to pass through the obstacle, and the way of crossing the obstacle by using the violence has the problem of large energy consumption due to the fact that the floor sweeping robot blindly increases the rotating speed of the driving wheel, and if the floor sweeping robot increases the rotating speed of the wheel under the condition of slipping, the floor sweeping robot is undoubtedly in a dead cycle state and cannot cross the obstacle.
Disclosure of Invention
The embodiment of the application provides a sweeping robot, a crossing method of a target obstacle of the sweeping robot and a computer readable storage medium, and aims to solve the problem that the sweeping robot cannot struggle with the target obstacle when the rotating speed of a driving wheel is increased in a messy manner under the condition of slipping.
To achieve the above object, an aspect of the present application provides a method for crossing a target obstacle, including:
detecting that a sweeping robot is in a target state, and acquiring a first pitch angle of the sweeping robot, wherein the target state is a state that the sweeping robot is on a target obstacle;
if the value of the first pitch angle is larger than a first preset value, determining whether the sweeping robot is in a slipping state;
if the sweeping robot is determined to be in the slipping state, acquiring surrounding environment information;
and determining a strategy for crossing the target obstacle according to the environment information so that the sweeping robot crosses the target obstacle according to the strategy.
Optionally, the step of determining a strategy for crossing the target obstacle according to the environment information includes:
dividing the space where the target obstacle is located into half parts by taking the center of the advancing direction of the sweeping robot as a base line, and respectively acquiring environmental information of two sides of the target obstacle;
acquiring the spaciousness degree of the environmental information of each side of the target obstacle;
and determining a strategy for crossing the target obstacle according to the spaciousness degree.
Optionally, the step of determining a strategy for crossing the target obstacle according to the spaciousness degree includes:
and controlling the sweeping robot to increase the rotating speed of the driving wheel on the side with high spaciousness.
Optionally, before the step of acquiring the surrounding environment information, the method further includes:
acquiring height information of the target obstacle;
determining the distance for the floor sweeping robot to perform the backing operation according to the height information;
and controlling the sweeping robot to execute the backing operation until the horizontal plane of the sweeping robot is positioned at a target position with the same distance, so as to execute the acquisition of the environmental information of the target obstacle at the target position.
Optionally, after the step of controlling the sweeping robot to increase the rotation speed of the driving wheel on the side with high spaciousness, the method further includes:
acquiring a second pitch angle;
and when the second pitch angle is larger than a second preset value, increasing the rotating speed of the driving wheel on the other side.
Optionally, before the step of acquiring the current first pitch angle when the sweeping robot is detected to be in the target state, the method further includes:
acquiring obstacle information of the sweeping robot in the advancing process;
determining the target obstacle according to the obstacle information;
and clearing the target obstacle from the obstacle map so as to enable the sweeping robot to be in the target state.
Optionally, the step of determining the target obstacle according to the obstacle information includes:
acquiring target information in the obstacle information;
and when the target information is equal to preset information, determining that the obstacle corresponding to the target information is the target obstacle.
Optionally, the step of determining whether the sweeping robot is in a slipping state includes:
the rotating speed of driving wheels at two sides of the sweeping robot is increased;
and acquiring current displacement information, and determining that the sweeping robot is in the slipping state when the displacement information is smaller than a preset displacement.
In addition, in order to achieve the above object, in another aspect of the present application, a sweeping robot is further provided, where the sweeping robot includes a processor, a memory, and a target obstacle crossing method program stored on the memory and executable on the processor, and when the target obstacle crossing method program is executed by the processor, the steps of the method for crossing the target obstacle of any item described above are implemented.
In addition, to achieve the above object, another aspect of the present application further provides a computer-readable storage medium, on which a program of a crossing method of a target obstacle is stored, and the program of the crossing method of the target obstacle, when executed by a processor, implements the steps of the crossing method of the item target obstacle as described above.
In the application, when the sweeping robot is located on a target obstacle, a value of a first pitch angle of the sweeping robot is obtained, when the value of the first pitch angle is larger than a preset value, it is determined that the sweeping robot has a slip risk when passing through the target obstacle, whether the sweeping robot slips is further judged, if the sweeping robot slips is determined, surrounding environment information of the current position is obtained, a strategy required to be taken when the sweeping robot passes through the target obstacle is determined according to the surrounding environment information, and then the target obstacle is passed. When the sweeping robot slips through the target obstacle, the corresponding strategy can be adopted to cross the target obstacle according to the surrounding environment information, the cleaning task is smoothly completed, and the intelligence of the sweeping robot is improved.
Drawings
Fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating an embodiment of a method for crossing a target obstacle according to the present application;
fig. 3 is a schematic view of a pitch angle of the sweeping robot when the sweeping robot is on a target obstacle according to the present application;
FIG. 4 is a schematic flow chart diagram illustrating a method for crossing a target obstacle according to another embodiment of the present application;
fig. 5 is a flowchart illustrating a method for crossing a target obstacle according to another embodiment of the present invention.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The main solution of the embodiment of the application is as follows: when the sweeping robot is detected to be in a target state, acquiring a current first pitch angle of the sweeping robot, wherein the target state is a state that the sweeping robot is on a target obstacle; when the value of the first pitch angle is larger than a first preset value, determining whether the sweeping robot is in a slipping state; when the sweeping robot is determined to be in a slipping state, acquiring surrounding environment information; and determining a strategy for crossing the target obstacle according to the environment information so that the sweeping robot crosses the target obstacle according to the strategy.
Because the conventional sweeping robot usually adopts a strategy of increasing the rotating speed of a driving wheel to pass through an obstacle when encountering the obstacle, the mode of crossing the obstacle by using the violence has the problem of large energy consumption due to the fact that the sweeping robot blindly increases the rotating speed of the driving wheel, and if the sweeping robot increases the rotating speed of the driving wheel under the condition of slipping, the sweeping robot is undoubtedly trapped in a dead cycle state and cannot cross the obstacle.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, a remote controller, an audio circuit, a WiFi module, a detector, and the like. Of course, the terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer and a temperature sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 does not constitute a limitation of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer-readable storage medium, may include therein a crossing method program of an operating system, a network communication module, a user interface module, and a target obstacle.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke a ride-through procedure for the target obstacle stored in the memory 1005 and perform the following operations:
when the sweeping robot is detected to be in a target state, acquiring a current first pitch angle of the sweeping robot, wherein the target state is a state that the sweeping robot is on a target obstacle;
when the value of the first pitch angle is larger than a first preset value, determining whether the sweeping robot is in a slipping state;
when the sweeping robot is determined to be in a slipping state, acquiring surrounding environment information;
and determining a strategy for crossing the target obstacle according to the environment information so that the sweeping robot crosses the target obstacle according to the strategy.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a target obstacle crossing method according to the present application.
While embodiments of the present application provide embodiments of a method for target obstacle crossing, it should be noted that although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than that shown.
The target obstacle crossing method comprises the following steps:
step S10, when the sweeping robot is detected to be in a target state, acquiring a current first pitch angle of the sweeping robot, wherein the target state is a state that the sweeping robot is on a target obstacle;
the target obstacle is an obstacle which controls the sweeping robot not to execute the avoidance operation, namely the obstacle which the sweeping robot needs to pass through, and for other obstacles, the sweeping robot executes the avoidance operation according to a preset cleaning map. In this embodiment, the target obstacle may be an object that the sweeping machine needs to pass through to continue to complete cleaning when performing a cleaning task, such as a threshold. After the floor sweeping robot performs the cleaning of the living room, the cleaning of each living room is needed. At this time, the sweeping robot needs to pass through doorsills at the entrance of each living room to complete the cleaning task of the whole cleaning area (including the kitchen, the living room and the living room). The target state is the state that the sweeping robot is on the target obstacle. In the present application, the target obstacle is described by taking a threshold as an example.
In this embodiment, the target obstacle has a certain height compared to the flat ground, and when the sweeping robot passes through the target obstacle, if the sweeping robot cannot pass through the target obstacle smoothly (the sweeping robot is stuck on the target obstacle), an inclined angle is generated on the body of the sweeping robot relative to the case where the sweeping robot travels on the flat ground.
Referring to fig. 3, fig. 3 is a schematic view of the pitch angle of the sweeping robot when the sweeping robot is on the target obstacle. The sweeping robot is divided into a front part and a rear part in the advancing direction of the sweeping robot, if the front half part of the sweeping robot is on a target obstacle, and the rear half part of the sweeping robot is on the ground, the sweeping robot is in a face-up state, and the pitch angle of the sweeping robot is an included angle formed by the contact surface of the sweeping robot and the target obstacle and a horizontal plane; when the front half part of the sweeping robot crosses the obstacle and the rear half part is positioned on the obstacle, the sweeping robot is in a overlooking state, and an included angle formed by a contact surface of the sweeping robot and the obstacle and a horizontal plane is subtracted by 180 degrees to form a pitch angle.
The first pitch angle is the pitch angle obtained when the sweeping robot is clamped on a target obstacle for the first time.
Step S20, when the value of the first pitch angle is larger than a first preset value, determining whether the sweeping robot is in a slipping state;
the slipping state is a state that the driving wheels of the sweeping robot rotate and the displacement of the sweeping robot is not changed.
It can be understood that, if the sweeping robot is on the target obstacle, but the first pitch angle of the sweeping robot is 0, it represents that the sweeping robot is horizontally on the target obstacle, and there is no situation that the sweeping robot is in a slipping state, and the sweeping robot can continuously perform a cleaning task across the target obstacle according to normal driving of the driving wheels.
The first preset value is a value for judging whether the sweeping robot slips when being positioned on a target obstacle. When the current value is equal to zero, the sweeping robot is horizontally positioned on the target obstacle, and no slipping occurs; when the current value is larger than zero, the fact that the sweeping robot is located on the target obstacle and has a slipping risk is determined, whether the sweeping robot slips or not is further judged, whether the sweeping robot slips or not can be accurately judged, and then the sweeping robot is enabled to break away from the target obstacle according to strategies, and cleaning tasks are continuously executed.
The step of determining whether the sweeping robot is in a slipping state comprises:
step S21, increasing the rotating speed of the driving wheels at the two sides of the sweeping robot;
and step S22, acquiring current displacement information, and determining that the sweeping robot is in the slipping state when the displacement information is smaller than a preset displacement.
The preset displacement is related to the increased rotating speed, and the larger the rotating speed is, the larger the value of the preset displacement is.
In this embodiment, the robot of sweeping the floor accessible increases the rotational speed of drive wheel, and then looks over current displacement information through positioner, if displacement information is less than when predetermineeing the displacement, then confirms that the robot of sweeping the floor is in the state of skidding. Whether the sweeping robot is in a slipping state can be accurately determined.
Step S30, when the sweeping robot is determined to be in a slipping state, acquiring surrounding environment information;
in the application, through calculating the displacement, if the current driving wheel moves but the displacement position of the sweeping robot is not changed, it is determined that the sweeping robot is currently in a slipping state.
Further acquiring current environmental information, wherein the environmental information includes environmental information on the target obstacle, such as a water accumulation condition of the target obstacle, a water accumulation condition of an environment around the target obstacle, a dirt condition on the target obstacle, and also includes environmental information around the target obstacle, such as an extent of spaciousness of the environment around the target obstacle.
Step S40, determining a strategy for crossing the target obstacle according to the environmental information, so that the sweeping robot crosses the target obstacle according to the strategy.
The strategy is determined by the sweeping robot according to the environment information acquired in real time, and can be specifically exemplified as follows.
If the sweeping robot passes through the condition of the surrounding environment of the target obstacle, the sweeping robot cannot normally cross the obstacle when accelerating due to the fact that other objects exist around the crossing strategy currently adopted by the sweeping robot, and the sweeping robot performs a retreating operation to replace other routes to pass through the target obstacle.
In the application, when the sweeping robot is located on a target obstacle, a value of a first pitch angle of the sweeping robot is obtained, when the value of the first pitch angle is larger than a preset value, it is determined that the sweeping robot has a slip risk when passing through the target obstacle, whether the sweeping robot slips is further judged, if the sweeping robot slips is determined, surrounding environment information of the current position is obtained, a strategy required to be taken when the sweeping robot passes through the target obstacle is determined according to the surrounding environment information, and then the target obstacle is passed. When the sweeping robot slips through the target obstacle, the corresponding strategy can be adopted to cross the target obstacle according to the surrounding environment information, the cleaning task is smoothly completed, and the intelligence of the sweeping robot is improved.
Further, referring to fig. 4, a method for crossing a target obstacle according to another embodiment of the present application is provided.
A second embodiment of a method for crossing a target obstacle differs from the first embodiment of the method for crossing a target obstacle in that the step of determining a strategy for crossing the target obstacle from the environmental information comprises:
step S41, dividing the space where the target obstacle is located into halves by taking the center of the advancing direction of the sweeping robot as a base line, and respectively acquiring environmental information of two sides of the target obstacle;
step S42, acquiring the spaciousness degree of the environmental information of each side of the target obstacle;
and step S43, determining a strategy for crossing the target obstacle according to the spaciousness degree.
The spaciousness degree is the ratio of the area which does not obstruct the sweeping robot to pass through to the preset total area in the surrounding environment of the target obstacle, and the preset total area is determined according to the size of the target obstacle of the sweeping robot. In this embodiment, the space where the target obstacle is located is divided into two halves by taking the center of the forward direction of the sweeping robot as a limit, and the environmental information of the two sides of the target obstacle is obtained respectively. And then obtaining the spaciousness degree of each side of the target barrier according to the environmental information, and further adopting a corresponding strategy to cross the target barrier.
Specifically, the target obstacle is described by taking a threshold as an example. When the sweeping robot passes through the doorsill, after the situation that the sweeping robot slips is determined, the space where the target obstacle is located is divided into two sides (for example, the left side and the right side) by taking the center of the advancing direction of the sweeping robot as a base line, the spaciousness degree of the environment information of each side is further acquired, a strategy for crossing the target obstacle is determined according to the spaciousness degree, for example, when the spaciousness degrees of the two sides of a road are higher than the preset spaciousness degree, the rotating speeds of the left driving wheel and the right driving wheel of the sweeping robot are rapidly increased, and the sweeping robot can pass through the target obstacle.
The step of determining a strategy for crossing the target obstacle according to the degree of spaciousness comprises:
and step S431, controlling the sweeping robot to increase the rotating speed of the driving wheel on the side with high spaciousness degree.
In this embodiment, after the spaciousness degree of the surrounding environment is obtained, the spaciousness degree of each side is obtained respectively, the calculation method of the spaciousness degree of each side can be obtained according to the ratio of the area of the obstacle to the preset total area in the measured space divided by the floor sweeper robot, and of course, the spaciousness degree of each side space can also be obtained through calculation in other manners, which is not limited in this embodiment.
After dividing the space around the threshold into both sides at the robot of sweeping the floor, compare the area that does not have the placing object article in every side with total area respectively, obtain the spaciousness degree of every side, compare the spaciousness degree that obtains, confirm the higher one side (left side or right side) of spaciousness degree, and then increase the slew velocity of the drive wheel of the higher one side of spaciousness degree. Specifically, the sweeping robot obtains that the degree of openness on the left side is 2/3 through calculation, the degree of openness on the right side is 1/3, it is determined that the speed of the driving wheel on the left side needs to be increased, correspondingly, if the current rotating speed of the driving wheels on the left side and the right side is 5000 rpm, after the sweeping robot determines the degree of openness of the target obstacle, it is determined that the rotating speed of the driving wheel on the left side is increased, the driving wheel is retreated by 0.3 m, and the operation of accelerating the rotating speed of the driving wheel on the left side is executed, so that when the threshold is crossed, the rotating speed of the driving wheel on the left side is increased, and the increased rotating speed is 5500 rpm, so that the increased rotating speed of the driving wheel provides high.
The rotating speed of the driving wheel increased in the embodiment can be determined by the height of the target obstacle, so that the rotation speed of the driving wheel can be flexibly adjusted according to the height of the target obstacle, the intelligence of the sweeping robot is improved, and the energy loss is saved.
Before the step of acquiring the surrounding environment information, the method further includes:
step S01, height information of the target obstacle is obtained;
step S02, determining the distance for the floor sweeping robot to back up according to the height information;
and step S03, controlling the sweeping robot to execute the backing operation until the horizontal plane of the sweeping robot is at a target position with the same distance, so as to execute the acquisition of the environmental information of the target obstacle at the target position.
The target position is the position where the sweeping robot stops obtaining the environmental information of the target obstacle after executing the backing operation. When the sweeping robot reaches the target position, the sweeping robot is in a horizontal state so as to accurately acquire the environmental information around the target obstacle.
The height information is the projection height of the target obstacle relative to the plane where the sweeping robot is located. The accessible camera device of robot of sweeping the floor acquires the target barrier to the target barrier, further analyzes the altitude information (2cm) of target barrier, and then control the distance of retreating of robot of sweeping the floor, in this embodiment, the target barrier is higher, the speed that the robot of sweeping the floor need improve the drive wheel that corresponds is big more, for guaranteed that the robot of sweeping the floor has sufficient time to accomplish the rotational speed to the target drive wheel promptly, then need increase and decrease the distance that the robot of sweeping the floor retreated to make the robot of sweeping the floor accomplish the improvement of drive wheel speed.
Control the robot of sweeping the floor still includes after the step of the rotational speed of the drive wheel that increases the high side of spaciousness degree:
step S432, acquiring a second pitch angle;
and step S433, when the second pitch angle is larger than a second preset value, increasing the rotating speed of the driving wheel on the other side.
In this embodiment, after the robot that sweeps the floor finishes accelerating the target driving wheel, the second pitch angle of the robot that sweeps the floor needs to be detected again, and when the second pitch angle is greater than the second preset value, it represents that the robot that sweeps the floor is still in the filling that can't break away from the target obstacle, and then the acceleration of the driving wheel on the other side is increased on the basis that the target driving wheel finishes accelerating, so that the robot that sweeps the floor can cross the obstacle.
It can be understood that, in the embodiment, the second pitch angle is further obtained after the sweeping robot has performed acceleration once, that is, after the sweeping robot has performed crossing over the target obstacle once, the second pitch angle of the sweeping robot is further obtained to determine whether the sweeping robot has finished crossing over the target obstacle. When the second elevation angle information is equal to a second preset value, the second preset value is 0, that is, the sweeping robot has finished crossing the target obstacle or is horizontally positioned on the target obstacle (the crossing of the target obstacle can be finished by performing forward movement).
In this embodiment, when the sweeping robot completes one acceleration crossing over the target obstacle, the current pitch angle is obtained again to determine whether the sweeping robot stops slipping and successfully crosses over the target obstacle.
Further, referring to fig. 5, another embodiment of the present application is provided for a method for crossing a target obstacle.
The third embodiment of the method for crossing a target obstacle differs from the first and second embodiments of the method for crossing a target obstacle in that, before the step of acquiring the current first pitch angle when the sweeping robot is detected to be in the target state, the method further comprises:
step S04, obtaining obstacle information of the sweeping robot in the advancing process;
step S05, determining the target obstacle according to the obstacle information;
step S06, the target obstacle is cleared from the obstacle map, so that the sweeping robot is in the target state.
In this embodiment, before the sweeping robot performs a task, it is usually required to obtain a map of a cleaning area and arrange a cleaning path, so as to prevent the sweeping robot from touching an obstacle during a cleaning process.
It can be understood that, in the embodiment, when the sweeping robot acquires the cleaning map, there is a need to divide the area to be passed through into obstacles (e.g., threshold), and the threshold needs to be removed from the obstacle, and is regarded as a target obstacle that the sweeping robot needs to cross.
In the application, when the target obstacle is in the obstacle map, the target obstacle is removed from the obstacle map, and the situation that the sweeping robot performs avoidance operation on the target obstacle, so that the sweeping robot cannot complete cleaning of all cleaning areas is avoided.
The step of determining the target obstacle according to the obstacle information includes:
step S06, acquiring target information in the obstacle information;
and step S07, when the target information is equal to preset information, determining that the obstacle corresponding to the target information is the target obstacle.
In this embodiment, the method for eliminating the target obstacle in the obstacle map may be to acquire target information of all obstacles, where the target information includes height information, width information, or contour information. When all the target information has an obstacle equal to the preset information (for example, the height is equal, or the height, the width and the contour information are equal at the same time), the obstacle corresponding to the target information equal to the preset information is determined as the target obstacle, and the target obstacle can be accurately determined.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may 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 the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
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 the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While alternative embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following appended claims be interpreted as including alternative embodiments and all such alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A method for crossing a target obstacle, the method comprising:
detecting that a sweeping robot is in a target state, and acquiring a first pitch angle of the sweeping robot, wherein the target state is a state that the sweeping robot is on a target obstacle;
if the value of the first pitch angle is larger than a first preset value, determining whether the sweeping robot is in a slipping state;
if the sweeping robot is determined to be in the slipping state, acquiring surrounding environment information;
and determining a strategy for crossing the target obstacle according to the environment information so that the sweeping robot crosses the target obstacle according to the strategy.
2. A method of spanning a target obstacle as defined in claim 1, wherein said step of determining a strategy for spanning said target obstacle based on said environmental information comprises:
dividing the space where the target obstacle is located into half parts by taking the center of the advancing direction of the sweeping robot as a base line, and respectively acquiring environmental information of two sides of the target obstacle;
acquiring the spaciousness degree of the environmental information of each side of the target obstacle;
and determining a strategy for crossing the target obstacle according to the spaciousness degree.
3. A method of crossing a target obstacle according to claim 2, wherein the step of determining a strategy for crossing the target obstacle based on the degree of spaciousness comprises:
and controlling the sweeping robot to increase the rotating speed of the driving wheel on the side with high spaciousness.
4. A method of target obstacle crossing as set forth in claim 3, wherein said step of obtaining ambient environmental information is preceded by the step of:
acquiring height information of the target obstacle;
determining the distance for the floor sweeping robot to perform the backing operation according to the height information;
and controlling the sweeping robot to execute the backing operation until the horizontal plane of the sweeping robot is positioned at a target position with the same distance, so as to execute the acquisition of the environmental information of the target obstacle at the target position.
5. A method for negotiating a target obstacle according to claim 3, wherein the step of controlling the sweeping robot to increase the rotation speed of the driving wheels on the side having high spaciousness is followed by further comprising:
acquiring a second pitch angle;
and when the second pitch angle is larger than a second preset value, increasing the rotating speed of the driving wheel on the other side.
6. The method for crossing a target obstacle according to claim 1, wherein the step of obtaining a current first pitch angle when the sweeping robot is detected to be in the target state further comprises:
acquiring obstacle information of the sweeping robot in the advancing process;
determining the target obstacle according to the obstacle information;
and clearing the target obstacle from the obstacle map so as to enable the sweeping robot to be in the target state.
7. A method for target obstacle crossing as set forth in claim 6, wherein said step of determining said target obstacle based on said obstacle information comprises:
acquiring target information in the obstacle information;
and when the target information is equal to preset information, determining that the obstacle corresponding to the target information is the target obstacle.
8. A method of crossing a target obstacle according to claim 1, wherein said step of determining whether said sweeping robot is in a slippery state comprises:
the rotating speed of driving wheels at two sides of the sweeping robot is increased;
and acquiring current displacement information, and determining that the sweeping robot is in the slipping state when the displacement information is smaller than a preset displacement.
9. A sweeping robot comprising a processor, a memory, and a target obstacle crossing method program stored on the memory and executable on the processor, wherein the target obstacle crossing method program when executed by the processor implements the steps of the method for crossing the target obstacle according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a crossing method program of a target obstacle, which when executed by a processor implements the steps of the crossing method of the target obstacle according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110242581.XA CN113093725A (en) | 2021-03-04 | 2021-03-04 | Sweeping robot, crossing method of target obstacle of sweeping robot and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110242581.XA CN113093725A (en) | 2021-03-04 | 2021-03-04 | Sweeping robot, crossing method of target obstacle of sweeping robot and computer-readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113093725A true CN113093725A (en) | 2021-07-09 |
Family
ID=76666634
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110242581.XA Pending CN113093725A (en) | 2021-03-04 | 2021-03-04 | Sweeping robot, crossing method of target obstacle of sweeping robot and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113093725A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113551706A (en) * | 2021-07-20 | 2021-10-26 | 上海擎朗智能科技有限公司 | Method and device for robot inspection, electronic equipment and storage medium |
| CN114098540A (en) * | 2021-12-07 | 2022-03-01 | 湖南格兰博智能科技有限责任公司 | Obstacle crossing method for sweeping robot |
| CN114185356A (en) * | 2022-02-16 | 2022-03-15 | 莱陆科技(天津)有限公司 | Method and device for intelligently identifying obstacles and controlling robot to pass through obstacles |
| CN114610013A (en) * | 2021-07-26 | 2022-06-10 | 北京石头创新科技有限公司 | Obstacle-encountering processing method and device for self-walking robot, robot and storage medium |
| WO2023124994A1 (en) * | 2021-12-28 | 2023-07-06 | 速感科技（北京）有限公司 | Autonomous mobile device and obstacle crossing method thereof, and computer readable storage medium |
| CN117891260A (en) * | 2024-03-14 | 2024-04-16 | 追觅创新科技(苏州)有限公司 | Self-moving robot, obstacle surmounting method, obstacle surmounting system and computer readable storage medium |
| CN117891260B (en) * | 2024-03-14 | 2024-05-17 | 追觅创新科技(苏州)有限公司 | Self-moving robot, obstacle surmounting method, obstacle surmounting system and computer readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060081131A (en) * | 2005-01-07 | 2006-07-12 | 주식회사유진로보틱스 | Cleaning method of robot for cleaner |
| CN110147706A (en) * | 2018-10-24 | 2019-08-20 | 腾讯科技（深圳）有限公司 | The recognition methods of barrier and device, storage medium, electronic device |
| US20190286145A1 (en) * | 2018-03-14 | 2019-09-19 | Omron Adept Technologies, Inc. | Method and Apparatus for Dynamic Obstacle Avoidance by Mobile Robots |
| CN110477810A (en) * | 2018-05-14 | 2019-11-22 | 杭州萤石软件有限公司 | Control method, device and the sweeping robot of sweeping robot |
| CN111240311A (en) * | 2018-11-29 | 2020-06-05 | 北京奇虎科技有限公司 | Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium |
-
2021
- 2021-03-04 CN CN202110242581.XA patent/CN113093725A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20060081131A (en) * | 2005-01-07 | 2006-07-12 | 주식회사유진로보틱스 | Cleaning method of robot for cleaner |
| US20190286145A1 (en) * | 2018-03-14 | 2019-09-19 | Omron Adept Technologies, Inc. | Method and Apparatus for Dynamic Obstacle Avoidance by Mobile Robots |
| CN110477810A (en) * | 2018-05-14 | 2019-11-22 | 杭州萤石软件有限公司 | Control method, device and the sweeping robot of sweeping robot |
| CN110147706A (en) * | 2018-10-24 | 2019-08-20 | 腾讯科技（深圳）有限公司 | The recognition methods of barrier and device, storage medium, electronic device |
| CN111240311A (en) * | 2018-11-29 | 2020-06-05 | 北京奇虎科技有限公司 | Obstacle meeting processing method, device and equipment of sweeping robot and readable storage medium |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113551706A (en) * | 2021-07-20 | 2021-10-26 | 上海擎朗智能科技有限公司 | Method and device for robot inspection, electronic equipment and storage medium |
| CN114610013A (en) * | 2021-07-26 | 2022-06-10 | 北京石头创新科技有限公司 | Obstacle-encountering processing method and device for self-walking robot, robot and storage medium |
| CN114098540A (en) * | 2021-12-07 | 2022-03-01 | 湖南格兰博智能科技有限责任公司 | Obstacle crossing method for sweeping robot |
| CN114098540B (en) * | 2021-12-07 | 2023-02-21 | 湖南格兰博智能科技有限责任公司 | Obstacle crossing method for sweeping robot |
| WO2023124994A1 (en) * | 2021-12-28 | 2023-07-06 | 速感科技（北京）有限公司 | Autonomous mobile device and obstacle crossing method thereof, and computer readable storage medium |
| CN114185356A (en) * | 2022-02-16 | 2022-03-15 | 莱陆科技(天津)有限公司 | Method and device for intelligently identifying obstacles and controlling robot to pass through obstacles |
| CN117891260A (en) * | 2024-03-14 | 2024-04-16 | 追觅创新科技(苏州)有限公司 | Self-moving robot, obstacle surmounting method, obstacle surmounting system and computer readable storage medium |
| CN117891260B (en) * | 2024-03-14 | 2024-05-17 | 追觅创新科技(苏州)有限公司 | Self-moving robot, obstacle surmounting method, obstacle surmounting system and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113093725A (en) | Sweeping robot, crossing method of target obstacle of sweeping robot and computer-readable storage medium | |
| US10994419B2 (en) | Controlling a robot in the presence of a moving object | |
| JP6997868B2 (en) | Road sign detection methods, non-temporary computer readable media and road sign detection systems | |
| EP4193897A1 (en) | Method and apparatus for detecting obstacle, self-propelled robot, and storage medium | |
| CN112515563B (en) | Obstacle avoiding method, sweeping robot and readable storage medium | |
| US10850739B2 (en) | Automatic lane change with lane-biased strategy | |
| JP7383828B2 (en) | Obstacle recognition method, device, autonomous mobile device and storage medium | |
| CN110286389A (en) | A kind of grid management method for obstacle recognition | |
| US11313696B2 (en) | Method and apparatus for a context-aware crowd-sourced sparse high definition map | |
| US9412277B2 (en) | Vehicle cut-in strategy | |
| CN113878577B (en) | Robot control method, robot, control terminal and control system | |
| CN110695955B (en) | Robot obstacle crossing method and robot | |
| AU2022330049A1 (en) | Navigation method and self-propelled apparatus | |
| CN112373462B (en) | Automatic parking method, device, controller and system | |
| CN110555365A (en) | Distinguishing virtual objects from one another | |
| CN114019951A (en) | Robot control method and device, robot and readable storage medium | |
| CN114661036A (en) | Self-moving device and control method of self-moving device | |
| WO2023189721A1 (en) | Information processing device, information processing method, and information processing program | |
| CN115778263A (en) | Obstacle avoidance method, obstacle avoidance device, robot and storage medium | |
| CN116719318A (en) | Collision detection method and device, autonomous mobile apparatus, and storage medium | |
| CN115969271A (en) | Robot, obstacle crossing method thereof and storage medium | |
| KR20230106064A (en) | Robot and method for controlling thereof | |
| CN115795853A (en) | Parking scene simulation method and device | |
| KR20240020880A (en) | Robot performing a driving using a mask map and a driving method thereof | |
| CN116551663A (en) | Robot control method, device, robot and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |