CN114610013A

CN114610013A - Obstacle-encountering processing method and device for self-walking robot, robot and storage medium

Info

Publication number: CN114610013A
Application number: CN202110845230.8A
Authority: CN
Inventors: 牛延升; 彭松; 何扬
Original assignee: Beijing Stone Innovation Technology Co ltd
Current assignee: Beijing Stone Innovation Technology Co ltd
Priority date: 2021-07-26
Filing date: 2021-07-26
Publication date: 2022-06-10

Abstract

The embodiment of the disclosure provides a method and a device for processing obstacle of a self-walking robot, the robot and a storage medium. Wherein the method comprises the following steps: controlling the self-walking robot to execute a first preset action based on the fact that the self-walking robot is detected to be in a preset abnormal state; detecting the current position of the self-walking robot and obstacle crossing position information of obstacles on the peripheral side; and controlling the self-walking robot to execute a second preset action according to the obstacle crossing position information so as to cross the obstacle. According to the method, when the self-walking robot is in the preset abnormal state, the self-walking robot is controlled to execute the first preset action so as to ensure that the second preset action executed subsequently can be smoothly executed, and the execution of the second preset action is matched with the position of the peripheral side obstacle by detecting the obstacle crossing position information of the current position of the self-walking robot and the peripheral side obstacle, so that the obstacle crossing success rate can be further improved.

Description

Obstacle-encountering processing method and device for self-walking robot, robot and storage medium

Technical Field

The present disclosure relates to the field of robot control technologies, and in particular, to a method and an apparatus for handling an obstacle of a self-propelled robot, a robot, and a storage medium.

Background

With the rapid development of science and technology, more and more intelligent living electrical appliances enter thousands of households, and the living comfort and convenience of people are greatly improved. The sweeping robot is used as an electric appliance capable of automatically sweeping, can replace people to sweep the ground in a cleaning way, reduces the housework burden of people, and is more and more accepted by people.

During normal cleaning or walking, the sweeping robot may encounter obstacles such as a threshold, and a phenomenon of skidding occurs due to the fact that the machine cannot normally cross.

Disclosure of Invention

In view of the above, the embodiments of the present disclosure provide a method and an apparatus for handling an obstacle of a self-propelled robot, a robot, and a storage medium, so that the robot can smoothly pass over an obstacle.

An embodiment of a first aspect of the present disclosure provides a method for handling an obstacle of a self-propelled robot, including:

controlling the self-walking robot to execute a first preset action based on the fact that the self-walking robot is detected to be in a preset abnormal state; detecting the current position of the self-walking robot and obstacle crossing position information of obstacles on the peripheral side; and controlling the self-walking robot to execute a second preset action according to the obstacle crossing position information so as to cross the obstacle.

Optionally, the step of controlling the self-propelled robot to perform the first preset action specifically includes:

and controlling the self-walking robot to retreat for a first preset distance.

Optionally, the self-walking robot includes two drive wheels, and two drive wheels include first drive wheel and second drive wheel, according to obstacle crossing position information, control the step of the self-walking robot execution second action of predetermineeing, specifically include:

controlling the second driving wheel to be stationary, enabling the first driving wheel to rotate and advance towards the direction close to the second driving wheel, and recording first rotation attitude information of the self-walking robot; controlling the first driving wheel to be stationary based on the fact that the first rotation attitude information reaches a first preset rotation range, enabling the second driving wheel to advance towards the first driving wheel in a rotating mode, and recording second rotation attitude information of the self-walking robot; and controlling the second driving wheel to stop working based on the second rotation posture information reaching a second preset rotation range.

Optionally, the peripheral side obstacle includes a first obstacle and a second obstacle which are distributed oppositely along both sides of the preset advancing direction of the self-propelled robot, and the step of detecting the current position of the self-propelled robot and obstacle crossing position information of the peripheral side obstacle specifically includes:

detecting first distance information between the self-walking robot and a first obstacle; detecting second distance information between the self-walking robot and a second obstacle; recording a first obstacle or a second obstacle corresponding to a smaller numerical value as a calibration obstacle based on the fact that the numerical value of the first distance information is not equal to the numerical value of the second distance information; recording the first obstacle or the second obstacle as a calibration obstacle based on the fact that the numerical value of the first distance information is equal to the numerical value of the second distance information; one of the two drive wheels near the nominal obstacle is determined as a first drive wheel and the other as a second drive wheel.

Optionally, the step of detecting that the self-walking robot is in the preset abnormal state specifically includes:

detecting attitude information of the self-walking robot, motion track information of the self-walking robot in a constructed environment space map, respective driving mileage information of two driving wheels and/or respective speed information of the two driving wheels within a first preset time length; based on the attitude information, is within a preset horizontal range; if the motion track information is in the preset track range and the duration that the displacement difference between the driving mileage information and the motion track information exceeds the preset displacement difference range is longer than a second preset duration, the self-walking robot is in a preset abnormal state; or if the duration of the difference value of the angular velocities of the two driving wheels is greater than the third preset duration, the self-propelled robot is in the preset abnormal state.

Optionally, after the step of controlling the self-propelled robot to perform the second preset action, the method further comprises:

re-detecting whether the self-walking robot is in a preset abnormal state or not; if so, returning and re-executing the step of controlling the self-walking robot to execute the first preset action; otherwise, controlling the self-walking robot to execute a preset operation before the preset abnormal state; wherein the preset operation comprises at least one of: continuous cleaning, cross-region cleaning, pile returning and traveling, continuous traveling and wall cleaning.

Optionally, the step of re-detecting whether the self-propelled robot is in the preset abnormal state specifically includes:

acquiring motion trail information of the self-walking robot in a constructed environment space map, wherein the current position of the self-walking robot in the motion trail information is a first position, and the position of the self-walking robot in a preset abnormal state in the motion trail information is a second position; if the horizontal distance between the second position and the first position is smaller than or equal to a second preset distance, the self-walking robot is in a preset abnormal state, otherwise, the self-walking robot is in a normal state.

Optionally, the self-walking robot further comprises a wet cleaning system and a lifting structure, and further comprises, after the step of detecting that the self-walking robot is in the preset abnormal state, before the step of controlling the self-walking robot to perform the first preset action:

controlling a lifting mechanism to perform lifting operation to lift the wet cleaning system; controlling the self-walking robot to execute a forward operation, and detecting whether the self-walking robot is in a preset abnormal state; if yes, executing a step of controlling the self-walking robot to execute a first preset action; otherwise, recording the preset abnormal state and the lifting operation.

An embodiment of a second aspect of the present disclosure provides a obstacle handling apparatus of a self-propelled robot, including: the first processing module is used for controlling the self-walking robot to execute a first preset action based on the fact that the self-walking robot is detected to be in a preset abnormal state; the first detection module is used for detecting the current position of the self-walking robot and obstacle crossing position information of obstacles on the peripheral side; and the second processing module is used for controlling the self-walking robot to execute a second preset action according to the obstacle crossing position information so as to cross the obstacle.

Optionally, the first processing module comprises: and the first processing unit is used for controlling the self-walking robot to retreat by a first preset distance.

Optionally, the self-walking robot comprises two drive wheels, the two drive wheels comprising a first drive wheel and a second drive wheel, the second processing module comprising: a second processing unit, configured to control the second driving wheel to be stationary, the first driving wheel rotationally advances in a direction close to the second driving wheel, and records first rotational attitude information of the self-propelled robot; a third processing unit, configured to control the first driving wheel to be stationary based on that the first rotation attitude information reaches a first preset rotation range, and the second driving wheel rotationally advances in a direction close to the first driving wheel, and records second rotation attitude information of the self-propelled robot; and the fourth processing unit is used for controlling the second driving wheel to stop working based on the second rotation posture information reaching a second preset rotation range.

Optionally, the peripheral side obstacle includes a first obstacle and a second obstacle oppositely distributed along both sides of a preset traveling direction of the self-propelled robot, and the first detection module includes: a first detection unit configured to detect first distance information between the self-propelled robot and the first obstacle; a second detection unit configured to detect second distance information between the self-propelled robot and the second obstacle; a recording unit, configured to record, as a calibration obstacle, the first obstacle or the second obstacle corresponding to a smaller value based on that the value of the first distance information is not equal to the value of the second distance information, and record, as a calibration obstacle, the first obstacle or the second obstacle based on that the value of the first distance information is equal to the value of the second distance information; the first determining unit is used for determining that one of the two driving wheels close to the calibrated obstacle is the first driving wheel, and the other one of the two driving wheels is the second driving wheel.

Optionally, the first processing module further includes: a third detection unit, configured to detect, within a first preset duration, posture information of the self-propelled robot, motion trajectory information of the self-propelled robot in a constructed environment space map, respective mileage information of the two driving wheels, and/or respective speed information of the two driving wheels; a second determining unit, configured to determine that the self-propelled robot is in the preset abnormal state based on that the posture information is within a preset horizontal range, and if the movement trajectory information is within a preset trajectory range and a duration of a displacement difference between the driving mileage information and the movement trajectory information exceeding a preset displacement difference range is longer than a second preset duration; or if the duration of the difference value of the angular velocities of the two driving wheels is greater than a third preset duration, the self-walking robot is in the preset abnormal state.

Optionally, the obstacle handling apparatus for a self-propelled robot further includes: the second detection module is used for detecting whether the self-walking robot is in the preset abnormal state again; a third processing module, configured to return to and re-execute the step of controlling the self-propelled robot to execute the first preset action if the detection result of the second module is yes, and otherwise, control the self-propelled robot to execute a preset operation before the preset abnormal state; wherein the preset operation comprises at least one of: continuous cleaning, cross-region cleaning, pile returning and traveling, continuous traveling and cleaning along a wall.

Optionally, the second detection module comprises: a first obtaining unit, configured to obtain motion trajectory information of the self-walking robot in a constructed environment space map, where a current position of the self-walking robot in the motion trajectory information is a first position, and a position of the self-walking robot in the motion trajectory information when the self-walking robot is in the preset abnormal state is a second position; a third determining unit, configured to determine that the self-propelled robot is in the preset abnormal state if a horizontal distance between the second position and the first position is smaller than or equal to a second preset distance, and otherwise, determine that the self-propelled robot is in a normal state.

Optionally, the obstacle handling apparatus for a self-propelled robot further includes: and the fourth processing module is used for controlling the lifting mechanism to execute lifting operation to lift the wet type cleaning system, controlling the self-walking robot to execute forward operation and detecting whether the self-walking robot is in the preset abnormal state, if so, executing the control of the self-walking robot to execute the first step of preset action, and otherwise, recording the preset abnormal state and the lifting operation.

An embodiment of a third aspect of the present disclosure provides a robot comprising a processor and a memory; a memory for storing operating instructions; a processor for executing the obstacle handling method of the self-propelled robot according to any one of the first aspect by calling an operation instruction.

An embodiment of a fourth aspect of the present disclosure provides a computer-readable storage medium having stored thereon a computer program that, when executed by a processor, implements the obstacle handling method of the self-propelled robot of any one of the first aspects.

The obstacle crossing processing method of the self-walking robot provided by the embodiment of the disclosure comprises the steps of controlling the self-walking robot to execute a first preset action when the self-walking robot is in a preset abnormal state so as to ensure that a second preset action executed subsequently can be smoothly executed, and matching the execution of the second preset action with the position of a peripheral obstacle by detecting obstacle crossing position information of the current position of the self-walking robot and the peripheral obstacle, so that the obstacle crossing success rate can be further improved.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained according to the drawings without creative efforts for those skilled in the art.

Fig. 1 is a schematic structural view of a self-propelled robot provided in accordance with an alternative embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a perspective view of the embodiment of FIG. 1;

fig. 3 is a schematic structural view of a self-propelled robot provided in accordance with another alternative embodiment of the present disclosure;

fig. 4 is a schematic flow chart of a method of obstacle handling for a self-propelled robot according to an alternative embodiment of the present disclosure;

fig. 5 is a schematic block diagram of a distress handling arrangement of a self-propelled robot provided in accordance with an alternative embodiment of the present disclosure;

FIG. 6 is a schematic diagram of an electrical configuration of a robot provided in accordance with an alternative embodiment of the present disclosure;

fig. 7 is a schematic view of an application scenario of a self-propelled robot provided in accordance with an alternative embodiment of the present disclosure;

fig. 8 is a schematic view of an application scenario of a self-propelled robot provided in accordance with another alternative embodiment of the present disclosure.

Description of the reference numerals

100 self-propelled robot, 110 body, 111 forward section, 112 backward section, 120 sensing system, 121 position determining device, 122 bumper, 130 drive system, 131 drive wheel, 132 driven wheel, 133 first drive wheel, 134 second drive wheel, 140 cleaning system, 141 dry cleaning system, 142 wet cleaning system, 143 side brush, 150 lifting mechanism, 160 energy system, 170 threshold, 180 peripheral side obstacle, 181 first obstacle, 182 second obstacle, 183 calibration obstacle, 500 obstacle encountered handling device of self-propelled robot, 502 first processing module, 504 first detecting module, 506 second processing module, 601 processing device, 602ROM, 603RAM, 604 bus, 605I/O interface, 606 input device, 607 output device, 608 storage device, 609 communication device.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present disclosure.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "connected" as used herein may include wirelessly connected or wirelessly attached. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The disclosed embodiments provide a possible application scenario that includes a self-propelled robot 100, such as a sweeping robot, a mopping robot, a vacuum cleaner, a weeding machine, and so on. In some embodiments, as shown in fig. l and fig. 3, a household sweeping robot is taken as an example for illustration, during the operation of the sweeping robot, the robot can sweep according to a preset route or an automatically planned route, but inevitably gets stuck in some places and cannot perform the sweeping. If the robot encounters an obstacle such as a threshold 170 during normal cleaning or walking, the height of the obstacle is not high enough to be sensed by the collision sensor of the robot, that is, the height of the obstacle is lower than the lower edge of the forward collision of the robot, but the presence of the obstacle may cause the machine to fail to normally pass and slip. Therefore, if the sweeping robot can smoothly cross the obstacles, the function and the sweeping range of the sweeping robot can be enlarged, and the cleaning experience of using the sweeping robot is improved.

In the embodiments provided by the present disclosure, the robot may be provided with a touch-sensitive display or controlled by a mobile terminal to receive an operation instruction input by a user. The automatic cleaning device may be provided with various sensors, such as a buffer 122, a cliff sensor, an ultrasonic sensor, an infrared sensor, a magnetometer, an accelerometer, a gyroscope, a odometer, and other sensing devices (the specific structure of each sensor is not described in detail, and any one of the above sensors may be applied to the automatic cleaning device), and the robot may be further provided with a wireless communication module, such as a WIFE module, a Bluetooth module, and the like, so as to be connected with an intelligent terminal or a server, and receive an operation instruction transmitted by the intelligent terminal or the server through the wireless communication module.

As shown in fig. 1, the robotic cleaning device may travel over the floor surface through various combinations of movement relative to three mutually perpendicular axes defined by the body 110: a front-back axis X, a lateral axis Y, and a central vertical axis Z. The forward driving direction along the forward-backward axis X is denoted as "forward", and the backward driving direction along the forward-backward axis X is denoted as "backward". The direction of the transverse axis Y is essentially the direction extending between the right and left wheels of the robot along the axis defined by the center points of the drive wheel 131 modules.

Wherein the robotic cleaning device is rotatable about a Y-axis. The "pitch up" is when the forward portion 111 of the automatic cleaning apparatus is tilted up and the rearward portion 112 is tilted down, and the "pitch down" is when the forward portion 111 of the automatic cleaning apparatus is tilted down and the rearward portion 112 is tilted up. In addition, the robot can rotate around the Z axis. In the forward direction of the automatic cleaning apparatus, when the automatic cleaning apparatus is tilted to the right side of the X axis, it turns to the right, and when the automatic cleaning apparatus is tilted to the left side of the X axis, it turns to the left.

As shown in fig. 2 and 3, the automatic cleaning apparatus includes a machine body 110, a sensing system 120, a control system, a driving system 130, a cleaning system 140, an energy system 160, and a human-machine interaction system.

The machine body 110 includes a forward portion 111 and a rearward portion 112 having an approximately circular shape (circular front to rear), and may have other shapes including, but not limited to, an approximately D-shape with a front and rear circular shape and a rectangular or square shape with a front and a rear.

As shown in fig. 2, the sensing system 120 includes a position determining device 121 located on the machine body 110, a collision sensor and a proximity sensor provided on a bumper 122 of the forward portion 111 of the machine body 110, a cliff sensor provided on a lower portion of the machine body 110, and a sensing device such as a magnetometer, an accelerometer, a gyroscope (Gyro), an odometer (odometer), etc., provided inside the machine body 110, for providing various position information and motion state information of the machine to the control system. The position determining device 121 includes, but is not limited to, a camera, a Laser Direct Structuring (LDS).

As shown in fig. 2 and 3, the forward portion 111 of the machine body 110 may carry a bumper 122, the bumper 122 detecting one or more events in the travel path of the automatic cleaning device via a sensor system, e.g., an infrared sensor, provided thereon, as the drive wheel 131 propels the robot across the floor during cleaning, and the automatic cleaning device may control the drive wheel 131 module to cause the automatic cleaning device to respond to the events, e.g., to move away from an obstacle, by detecting the events, e.g., an obstacle, a wall, by the bumper 122.

The control system is disposed on a circuit board in the machine body 110, And includes a non-transitory memory, such as a hard disk, a flash memory, And a random access memory, a communication computing processor, such as a central processing unit, And an application processor, And the application processor draws an instant map of an environment where the robot is located by using a positioning algorithm, such as instant positioning And Mapping (SLAM), according to obstacle information fed back by the laser distance measuring device. And the distance information and speed information fed back by the sensors such as the sensor, the cliff sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and the like arranged on the buffer 122 are combined to comprehensively judge the current working state and position of the sweeper, the current pose of the sweeper, and the like, such as the threshold 170, a carpet, the position at the cliff, the upper part or the lower part of the sweeper clamped, the dust box filled, the sweeper taken up and the like, specific next action strategies can be provided according to different conditions, so that the robot can better meet the requirements of an owner in working, and better user experience is achieved.

As shown in fig. 2 and 3, drive system 130 may steer the robot across the ground based on drive commands having distance and angle information (e.g., x, y, and o components). The drive system 130 includes a drive wheel 131 and drive modules that can control both the left and right drive wheels, preferably including a left and right drive wheel module, respectively, for more precise control of the motion of the machine. The left and right drive wheel modules are opposed along a transverse axis defined by the body 110. In order for the robot to be able to move more stably or with greater mobility over the ground, the robot may include one or more driven wheels 132, the driven wheels 132 including, but not limited to, universal wheels. The driving module comprises a driving motor and a control circuit for controlling the driving motor, and the driving module can also be connected with a circuit for measuring driving current and a speedometer. The driving module may be detachably coupled to the main body 110 to facilitate disassembly and maintenance. The drive wheel 131 may have a biased drop-type suspension system movably secured, e.g., rotatably attached, to the robot body 110 and receiving a spring bias biased downward and away from the robot body 110. The spring bias allows the drive wheel 131 to maintain contact and traction with the floor surface with a certain landing force while the cleaning elements of the robotic cleaning device also contact the floor surface with a certain pressure.

As shown in fig. 2 and 3, the cleaning system 140 may be a dry cleaning system 141 and/or a wet cleaning system 142. As the dry cleaning system 141, a main cleaning function is derived from a cleaning system constituted by a roll brush, a dust box, a fan, an air outlet, and connecting members between the four. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The dry cleaning system 141 can also include an edge brush 143 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 140.

The wet cleaning system 142 may include: cleaning head, drive unit, water feeding mechanism, liquid storage tank, etc. Wherein, the cleaning head can set up in the liquid reserve tank below, and the inside cleaning solution of liquid reserve tank transmits to the cleaning head through sending water mechanism to make the cleaning head carry out wet-type cleaning to treating clean plane. In other embodiments, the inside cleaning solution of liquid reserve tank also can directly spray to treating clean the plane, and the cleaning head is through scribbling the cleaning solution evenly realize the cleanness to the plane. Wherein the cleaning head is adapted to clean a surface to be cleaned, and the drive unit is adapted to drive the cleaning head in a substantially reciprocating motion along a target surface, which is a part of the surface to be cleaned. The cleaning head reciprocates along the surface to be cleaned, cleaning cloth or a cleaning plate is arranged on the surface of the contact surface of the cleaning head and the surface to be cleaned, and high-frequency friction is generated between the cleaning head and the surface to be cleaned through reciprocating motion, so that stains on the surface to be cleaned are removed.

In the embodiment of the present disclosure, the self-propelled robot 100 further includes a lifting mechanism 150, and the wet cleaning system 142 may be connected to the machine body 110 by the lifting mechanism 150. When the wet cleaning system 142 is not engaged in work for a while, for example, the self-propelled robot 100 stops at a base station to clean the cleaning head of the wet cleaning system 142 and fill the liquid storage tank with water; or encounter a surface to be cleaned that cannot be cleaned using the wet cleaning system 142, the wet cleaning system 142 is raised by the lifting mechanism 150.

The energy system 160 includes rechargeable batteries such as hydrogen-retention batteries and carp batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging. If dust is attached to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the accumulation effect of electric charge in the charging process, even the electrode itself is deformed, and normal charging cannot be continued.

The man-machine interaction system comprises keys on a host panel, and the keys are used for a user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; a sub-machine client program may also be included. For the path navigation type automatic cleaning equipment, the map of the environment where the equipment is located and the position of the machine can be displayed to a user by a machine client, and richer and more humanized function items can be provided for the user.

The obstacle-encountering processing method of the self-walking robot 100 provided by the embodiment of the disclosure enables the robot to smoothly cross obstacles such as the threshold 170 if the robot slips when being clamped on the obstacles such as the threshold, thereby enlarging the function of the self-walking robot and improving the use experience of a user. The method comprises the following specific steps:

as an embodiment, as shown in fig. 4, an embodiment of the present disclosure provides a method for handling an obstacle of a self-propelled robot, including the following method steps:

step S402: the self-walking robot is controlled to execute a first preset action based on the fact that the self-walking robot is detected to be in the preset abnormal state.

The preset abnormal state refers to the situation that the self-walking robot is clamped on an obstacle to be surmounted such as a threshold and slips, specifically, the slipping usually comprises the following two states, one state is that two driving wheels of the self-walking robot are clamped by the obstacle to be surmounted, namely the self-walking robot is probably positioned above the obstacle to be surmounted, and the two driving wheels idle; the other is that one driving wheel is blocked by an obstacle to be surmounted and idles, and the other rotates normally in the rotation process of the self-walking robot. That is, when it is detected that the self-propelled robot is in the preset abnormal state, it indicates that the movement trajectory information of the self-propelled robot in the constructed environment space map is within the preset range with respect to the obstacle to be surmounted, for example, in the environment space map, along the advancing direction of the self-propelled robot, in a certain time, the distance between the self-propelled robot and the obstacle to be surmounted continues to be a fixed value, that is, the self-propelled robot cannot advance normally, and thus, it indicates that the self-propelled robot is in the preset abnormal state.

Because the self-walking robot cannot normally advance when in the preset abnormal state, the subsequent second preset action can be ensured to be smoothly executed by controlling the self-walking robot to execute the first preset action, namely, an implementation basis is provided for obstacle crossing by subsequently executing the second preset action, so that the second preset action can be reliably and accurately completed, and the obstacle crossing operation is smoothly completed.

Step S404: detecting the current position of the self-walking robot and obstacle crossing position information of obstacles on the peripheral side;

step S406: and controlling the self-walking robot to execute a second preset action according to the obstacle crossing position information so as to cross the obstacle.

The current position of the self-walking robot is the position of the self-walking robot after the self-walking robot completes the first preset action. The peripheral side barrier is a barrier located on the peripheral side of the self-walking robot, and it can be understood that the peripheral side barrier does not include a barrier to be crossed when the self-walking robot is in a preset abnormal state, that is, the barrier to be crossed when the self-walking robot is in the preset abnormal state is different from the peripheral side barrier, for example, the barrier to be crossed can include a threshold barrier of the self-walking robot when the self-walking robot is in a preset abnormal device, and the peripheral side barrier can include a wall located on the peripheral side of the threshold or other barriers meeting requirements.

Through the current position that detects the self-propelled robot and the obstacle crossing position information of all sides obstacle, can know the self-propelled robot and accomplish first preset action back, and the position relation between the all sides obstacle, therefore, control the self-propelled robot according to obstacle crossing position information and carry out the second and predetermine the action, be favorable to improving the reliability and the success rate of obstacle crossing, carry out the second according to obstacle crossing position information promptly and predetermine the action, can ensure that the self-propelled robot is smooth, accomplish reliably and cross the obstacle, and then enlarge the function of self-propelled robot, be favorable to increasing the scope of cleaning of self-propelled robot, improve the satisfaction that the user used.

That is to say, the obstacle encountering processing method for a self-propelled robot according to the embodiment of the present disclosure, when it is detected that the self-propelled robot is in the preset abnormal state, it indicates that the self-propelled robot cannot move forward normally, and needs to cross an obstacle to be crossed, and the self-propelled robot is controlled to execute the first preset action, so as to ensure that the second preset action to be executed subsequently can be smoothly executed, and further smoothly and reliably complete the obstacle crossing operation. After the self-walking robot completes the first preset action, the obstacle crossing position information of the current position of the self-walking robot and the obstacles on the periphery is detected, and the self-walking robot is controlled to execute the second preset action to cross the obstacles according to the obstacle crossing position information, so that the execution of the second preset action is matched with the positions of the obstacles on the periphery, and the obstacle crossing accuracy and success rate can be further improved. This self-walking cleaning device that this disclosed embodiment provided promptly, when meetting similar threshold and waiting for the condition of skidding to appear crossing the barrier, the action of walking the robot by oneself is revised through first action of predetermineeing and second action of predetermineeing for the robot by oneself can cross smoothly and wait for crossing the barrier, has increased the function of walking the robot by oneself.

In some possible implementation embodiments provided by the present disclosure, the step of controlling the self-propelled robot to perform the first preset action specifically includes: controlling the self-walking robot to retreat by a first preset distance.

Wherein, the size of the first preset distance can be associated with the parameter of the self-walking robot, such as the first preset distance can be positively correlated with the overall dimension of the self-walking robot, or the first preset distance can be in direct proportional relation with the overall dimension of the self-walking robot. It is understood that the first preset distance may also be a fixed value, such as the first preset distance is 8cm, 10cm, 15cm, 20cm or other values meeting the requirement, and the disclosure is not particularly limited.

Because the self-walking robot is in when predetermineeing abnormal state, the self-walking robot can't normally advance, consequently, retreat first preset distance through control self-walking robot for the self-walking robot can break away from threshold class barrier smoothly, provides the space of advancing for the follow-up execution second of self-walking robot predetermines the action, and then is favorable to ensureing that the second predetermines the action can be smooth, reliably implement in order to accomplish and cross the barrier.

That is to say, according to the obstacle crossing processing method of the self-propelled robot provided by the disclosure, the obstacle crossing operation of the second preset action is not directly performed at the obstacle to be crossed, but the self-propelled robot is made to retreat by the first preset distance by executing the first preset action, and then the second preset action is executed to cross the obstacle after the self-propelled robot is separated from the obstacle to be crossed, so that the problem that the obstacle crossing operation difficulty coefficient of the second preset action directly performed on the obstacle to be crossed is large can be avoided, and the obstacle crossing operation difficulty coefficient is greatly reduced by executing the second preset action after the self-propelled robot is separated from the obstacle to be crossed, so that the reliability and the smoothness of the obstacle crossing are improved, and the obstacle crossing success rate is improved.

As an example, the self-propelled robot comprises two drive wheels, a first drive wheel and a second drive wheel, respectively, it being understood that the first drive wheel may be a left drive wheel or a right drive wheel and the second drive wheel may also be a right drive wheel or a left drive wheel. Step S406 specifically includes:

step S406-2: and controlling the second driving wheel to be immobile, and enabling the first driving wheel to move towards the direction close to the obstacle to be crossed, and recording the first rotation attitude information of the self-walking robot.

Because the self-propelled robot in-process of going straight to go into and meets similar threshold and waits for the condition that the obstacle appears skidding easily more, consequently, through controlling the second drive wheel motionless, first drive wheel orientation is close to and waits to cross obstacle direction and marchs, and the self-propelled robot is to being close to the rotatory forward of the direction of waiting to cross the obstacle promptly, has reduced the self-propelled robot and has run straight when going forward and meet the threshold and wait for the condition that the obstacle appears skidding more, and then is favorable to having improved the success rate of crossing the obstacle.

It can be understood that, when the second driving wheel is stationary, the first driving wheel rotates to travel, so that the self-propelled robot can include two movement trends of approaching to and moving away from the obstacle to be surmounted.

The second drive wheel of the self-walking robot is defined to be immobile, the rotating posture of the first drive wheel in the process of advancing towards the direction close to the obstacle crossing object is defined as a first rotating posture, and the self-walking robot can know the rotating angle in the process of advancing towards the direction close to the obstacle crossing object through recording the information of the first rotating posture, so that the follow-up action can be controlled conveniently, and the obstacle crossing speed and the obstacle crossing smoothness are improved.

Step S406-4: controlling the first driving wheel to be immobile and the second driving wheel to move towards the direction of the obstacle to be crossed based on the fact that the first rotation attitude information reaches a first preset rotation range, and recording second rotation attitude information of the self-walking robot;

step S406-6: and controlling the second driving wheel to stop working based on the second rotation posture information reaching a second preset rotation range.

The first preset rotation range may be associated with a parameter of the self-walking robot, or associated with a first preset distance, and the like, and specifically, if the first preset rotation range is positively associated with the external dimension of the self-walking robot, it can be understood that the first preset rotation range may also be a fixed value, such as 55 °, 60 °, 65 °, or other values meeting the requirement.

When the first rotation attitude information reaches a first preset rotation range, the current rotation attitude of the self-walking robot is in a proper range, if the first driving wheel continuously rotates and advances in the current attitude, a backward situation may occur, that is, the self-walking robot may have a movement trend away from the obstacle to be surmounted, therefore, the first driving wheel is controlled not to move, the second driving wheel moves towards the direction close to the obstacle to be surmounted, the self-walking robot can be ensured to continuously rotate and advance towards the direction close to the obstacle to be surmounted, and forms a snake-shaped swinging advance by matching with the previous rotation advance, so that the first driving wheel and the second driving wheel of the self-walking robot can sequentially cross over the obstacle to be surmounted, and further, in the rotation process, the driving wheel far away from the axis side crawls along the obstacle to be surmounted and can still contact with the obstacle to be surmounted, the device reduces the slippage and provides stronger driving force, thereby having better obstacle crossing capability compared with the situation that two driving wheels jointly move forwards in a straight line towards the obstacle to be crossed.

It can be understood that, when the first driving wheel is stationary, the second driving wheel is rotating to travel, so that the self-propelled robot can include two movement trends of approaching to and moving away from the obstacle to be surmounted.

The first driving wheel of the self-walking robot is defined to be immobile, the rotating posture of the second driving wheel in the process of advancing towards the direction close to the obstacle to be crossed is the second rotating posture, the information of the second rotating posture is recorded, the rotating angle of the self-walking robot in the process of rotating towards the direction close to the obstacle to be crossed can be known, when the information of the second rotating posture reaches the second preset rotating range, the current rotating posture of the self-walking robot is indicated to be in the proper range, if the second driving wheel continues to rotate to advance with the current posture, the backward situation is possible to occur, therefore, the second driving wheel is controlled to be immobile, and the obstacle crossing operation is completed.

The second preset rotation range may be associated with a parameter of the self-walking robot, or associated with the first preset distance, and the like, and specifically, if the second preset rotation range is positively associated with the external dimension of the self-walking robot, it can be understood that the second preset rotation range may also be a fixed value, such as the first preset rotation range is 55 °, 60 °, 65 °, or other values that meet the requirement.

Further, during the process that the first driving wheel travels towards the direction of the object to be cleared, the angular velocity of the first driving wheel may be a first angular velocity, and the linear velocity of the first driving wheel is a first linear velocity, during the process that the second driving wheel travels towards the direction of the object to be cleared, the angular velocity of the second driving wheel may be a second angular velocity, and the linear velocity of the second driving wheel is a second linear velocity. Wherein the magnitude of the first preset angular velocity, and/or the magnitude of the first linear velocity, and/or the magnitude of the second angular velocity, and/or the magnitude of the second linear velocity may be associated with a parameter of the self-propelled robot, such as the first preset angular velocity, and/or the first linear velocity, and/or the second angular velocity, and/or the second linear velocity, associated with a physical dimension of the self-propelled robot, or associated with a dimension of the first driving wheel, or associated with a dimension of the second driving wheel, or associated with a parameter of a driving module of the first driving wheel, or associated with a parameter of a driving module of the second driving wheel, and so on. It is understood that the first predetermined angular velocity and the second predetermined angular velocity may also be fixed values, for example, the first predetermined angular velocity and/or the second predetermined angular velocity may be ± 1.5 °/s, ± 2 °/s, ± 2.5 °/s, ± 3 °/s or other values satisfying the requirement, and the values of the first predetermined angular velocity and the second predetermined angular velocity may be equal or different. The first preset linear velocity and the second preset linear velocity may also be fixed values, for example, the first preset linear velocity and/or the second preset linear velocity is/are 0.15m/s, 0.2m/s, 0.25m/s, 0.3m/s or other values meeting the requirements, the values of the first preset linear velocity and the second preset linear velocity may be equal or unequal, and the disclosure is not particularly limited.

That is to say, the second preset action provided by the embodiment of the present disclosure is to sequentially control the single driving wheel to rotate and advance, so that the whole movement track of the self-propelled robot crosses the obstacle to be surmounted in a serpentine movement track, and thus the two driving wheels sequentially cross above the obstacle to be surmounted, so that in the rotation process, the driving wheel far away from the axis side climbs along the obstacle to be surmounted, and can still contact with the obstacle to be surmounted after being lifted by the obstacle to be surmounted, thereby reducing the slip and providing a stronger driving force.

In some possible embodiments, the peripheral side obstacle includes a first obstacle and a second obstacle oppositely distributed along two sides of a preset advancing direction of the self-propelled robot, wherein the preset advancing direction may be an advancing direction in which the self-propelled robot passes through an obstacle to be crossed such as a threshold, and the first obstacle and the second obstacle are distributed along the advancing direction on two sides of the self-propelled robot, wherein the first obstacle and the second obstacle may be a chair, a table, a wall, or other type of obstacle meeting requirements. Wherein, step S404 specifically includes:

step S404-2: detecting first distance information between the self-propelled robot and a first obstacle;

step S404-4: second distance information between the self-propelled robot and the second obstacle is detected.

Wherein, use first barrier along the preset direction of advance of walking the robot by oneself to distribute in the left side of walking the robot by oneself, the second barrier is along the preset direction of advance of walking the robot by oneself to distribute on the right side of walking the robot by oneself as the example, detect the first distance information between walking the robot and the first barrier by oneself, detect the second distance information between walking the robot and the second barrier by oneself. It can be understood that, through the magnitude of the numerical values of the first distance information and the second distance information, after the self-walking robot completes the first preset action, under the current position, the self-walking robot is close to the first obstacle, or close to the second obstacle, or located between the first obstacle and the second obstacle, that is, it can be known that the current position of the self-walking robot is a left-side obstacle, or a right-side obstacle, or located at the center of the two-side obstacles, so that the subsequently executed second preset action can refer to the current position of the self-walking robot, and therefore the self-walking robot is prevented from contacting the first obstacle or the second obstacle in the process of executing the second preset action and being unable to cross the obstacle to be crossed such as a threshold, the smoothness of executing the second preset action is improved, and the obstacle crossing accuracy is improved.

Specifically, the first distance information and the second distance information may be obtained by detecting the vertical distance between the center of the self-propelled robot and the first obstacle and the second obstacle, and it can be understood that the first distance information may also be obtained by detecting the distance between the left driving wheel of the self-propelled robot and the first obstacle, the second distance information may be obtained by detecting the distance between the right driving wheel and the second obstacle, or the first distance information and the second distance information may be determined by other methods that satisfy the requirements, which is not specifically described in the present disclosure.

Step S404-6: recording a first obstacle or a second obstacle corresponding to a smaller numerical value as a calibration obstacle based on the fact that the numerical value of the first distance information is not equal to the numerical value of the second distance information;

step S404-8: recording the first obstacle or the second obstacle as a calibration obstacle based on the fact that the numerical value of the first distance information is equal to the numerical value of the second distance information;

step S404-10: one of the two drive wheels near the nominal obstacle is determined as a first drive wheel and the other as a second drive wheel.

When the numerical value of the first distance information is not equal to the numerical value of the second distance information, it is indicated that one of the numerical value of the first distance information and the numerical value of the second distance information is larger than the other, and the first obstacle or the second obstacle corresponding to the smaller numerical value is recorded as a calibration obstacle, that is, the first obstacle or the second obstacle closer to the self-propelled robot is recorded as a calibration obstacle. For example, if the numerical value of the first distance information is smaller than the numerical value of the second distance information, which indicates that the self-propelled robot is closer to the first obstacle, the first obstacle corresponding to the first distance information is recorded as the calibration obstacle, and if the numerical value of the second distance information is smaller than the numerical value of the first distance information, which indicates that the self-propelled robot is closer to the second obstacle, the second obstacle corresponding to the second distance information is recorded as the calibration obstacle.

When the value of the first distance information is equal to the value of the second distance information, it is indicated that the self-propelled robot is located at the middle position between the first obstacle and the second obstacle, and any one of the first obstacle and the second obstacle can be recorded as a calibration obstacle.

Then, one of the two driving wheels, which is close to the calibrated obstacle, is determined to be a first driving wheel, and the other driving wheel is determined to be a second driving wheel, so that the first driving wheel is closer to the peripheral obstacle than the second driving wheel, namely, the first driving wheel is closer to the peripheral obstacle, therefore, when the self-walking robot is subsequently controlled to execute a second preset action to cross the obstacle, the second driving wheel is firstly controlled to be immobile, the first driving wheel rotationally advances towards the second driving wheel, the problem that the self-walking robot is firstly contacted with the calibrated obstacle which is closer to the first driving wheel in the process of executing the second preset action can be avoided, the execution smoothness of the second preset action is further improved, and the obstacle crossing accuracy is improved.

Specifically, as shown in fig. 7 and 8, an obstacle to be crossed, such as a threshold 170, is located forward of the advancing direction of the self-propelled robot 100, which is indicated by an arrow in fig. 7 and 8. The peripheral side obstacle 180 includes a first obstacle 181 and a second obstacle 182, it being understood that the first obstacle 181 and the second obstacle 182 can be walls, the first obstacle 181 being located on the left side of the self-propelled robot 100 and the second obstacle 182 being located on the right side of the self-propelled robot 100. As shown in fig. 7, when the self-propelled robot 100 completes the first predetermined operation and retreats from the threshold 170 by the first predetermined distance, and then is closer to the first obstacle 181 on the left side, the first obstacle 181 on the left side is recorded as the calibrated obstacle 183, and the left driving wheel close to the calibrated obstacle 183 is determined as the first driving wheel 133, and the right driving wheel far from the calibrated obstacle 183 is determined as the second driving wheel 134. Further, when the second preset operation is performed, the second driving wheel 134 on the right side is controlled to be stationary, and the first driving wheel 133 on the left side is controlled to rotationally advance, so that the problem that the self-propelled robot 100 is in contact with the calibration obstacle 183 during the rotation process can be avoided, and the possibility that the second preset operation can be smoothly completed is improved.

As shown in fig. 8, when the self-propelled robot 100 completes the first preset operation and retreats from the threshold 170 by the first preset distance, and then is closer to the second obstacle 182 on the right side, the second obstacle 182 on the right side is recorded as the calibrated obstacle 183, and the right driving wheel close to the calibrated obstacle 183 is determined as the first driving wheel 133, and the left driving wheel far from the calibrated obstacle 183 is determined as the second driving wheel 134. Further, when the second preset operation is performed, the second driving wheel 134 positioned on the left side is controlled to be stationary, and the first driving wheel 133 positioned on the right side is controlled to rotate and advance, so that the problem that the self-propelled robot 100 contacts with the calibration obstacle 183 during the rotation process can be avoided, and the possibility that the second preset operation can be successfully completed is improved.

That is, the obstacle encountering processing method of the self-propelled robot according to the present disclosure, on the basis of controlling the self-propelled robot to perform the first preset action and retreat by the first preset distance to ensure that the subsequent second preset action can be smoothly performed, and considering the distance between the current position of the self-propelled robot after performing the first preset action and the obstacle on the peripheral side, determines one of the two driving wheels closer to the obstacle on the peripheral side as the first driving wheel and the other as the second driving wheel, during performing the second preset action, the second driving wheel is first controlled to be stationary, the first driving wheel is controlled to travel toward the obstacle to be crossed, and after the self-propelled robot rotates the first preset rotation range, the first driving wheel is controlled to be stationary, the second driving wheel is controlled to travel toward the obstacle to be crossed, and after the self-propelled robot rotates the second preset rotation range, and controlling the second driving wheel to be stationary. The self-walking robot can move forward in a snake-shaped swinging mode, so that the first driving wheel and the second driving wheel of the self-walking robot can sequentially move over to the position above the obstacle to be surmounted, the driving wheel far away from the axis side can crawl along the obstacle to be surmounted in the rotating process, and the driving wheel can still contact with the obstacle to be surmounted after being heightened by the obstacle to be surmounted, so that the slipping is reduced, stronger driving force is provided, and the self-walking robot has better obstacle surmounting capacity.

As an alternative example, the step of detecting that the self-walking robot is in the preset abnormal state specifically includes:

detecting attitude information of the self-walking robot, motion track information of the self-walking robot in a constructed environment space map, respective driving mileage information of two driving wheels and/or respective speed information of the two driving wheels within a first preset time length;

based on the attitude information, is within a preset horizontal range;

if the motion track information is in the preset track range and the duration that the displacement difference between the driving mileage information and the motion track information exceeds the preset displacement difference range is longer than a second preset duration, the self-walking robot is in a preset abnormal state; or

If the duration of the difference value of the angular velocities of the two driving wheels is greater than the third preset duration, the self-walking robot is in the preset abnormal state.

In this embodiment, the first preset duration may be determined according to a parameter of the self-walking robot, such as the first preset duration may be associated with a physical dimension of the self-walking robot, a dimension of the driving wheel, a parameter of the driving module, or other parameter that meets a requirement. It is understood that the first preset time period may also be a fixed value, for example, the first preset time period is 3s, 5s, 8s, 10s or other values meeting the requirement, and the disclosure is not limited specifically. Specifically, attitude information of the self-propelled robot, specifically, attitude information in the X direction of the self-propelled robot, can be detected by a gyroscope; the motion track information of the self-walking robot in the constructed environment space map is detected through the SLAM, and the respective driving mileage information and/or the respective speed information of the two driving wheels are detected through the odometer.

The attitude information is in a preset horizontal range, which indicates that the orientation of the self-propelled robot is unchanged within a first preset time period, and specifically, if the horizontal angle (i.e., x direction) of the gyroscope is kept unchanged or the horizontal angle is changed slightly within the first preset time period, which indicates that the orientation of the self-propelled robot is unchanged.

On the one hand, under the condition that the orientation of the self-walking robot is not changed, if the motion trail information is in the preset trail range, the situation that the position of the self-walking robot in the constructed environment space map is not changed or the change is small in the first preset duration is shown, if in the first preset duration, the SLAM coordinate of the self-walking robot is kept unchanged or the change is small, and the situation that the position of the self-walking robot in the constructed environment space map is not changed is shown. When the displacement difference between the mileage information and the movement track information exceeds a preset displacement difference range, it is indicated that the mileage information recorded by the odometer indicates that the robot has traveled a certain distance, wherein the preset displacement difference range may be 10cm, 15cm, 20cm or other values meeting the requirement, and it can be understood that the values are determined according to the measurement accuracy of the odometer and the positioning accuracy of the SLAM. When the duration that the displacement difference between the travel distance information and the motion track information exceeds the preset displacement difference range is longer than a second preset duration, the situation that the self-walking robot actually slips is shown, namely the driving wheel always rotates, the odometer records that the travel distance information is increased, but the coordinate position of the self-walking robot in the constructed map is unchanged, and the self-walking robot is in a preset abnormal state at the moment. It is understood that the second preset time period may be 1s, 2s, 3s or other values meeting the requirement, and specifically, the second preset time period is shorter than the first preset time period.

In this case, it can be considered that the self-propelled robot slips during the straight-line walking process, if both driving wheels of the self-propelled robot are caught by the obstacle to be surmounted, that is, the robot is likely to be located above the obstacle to be surmounted.

On the other hand, in the case where the orientation of the self-propelled robot is not changed, if the difference between the angular velocities of the two driving wheels is larger than the preset angular velocity difference range, the preset angular velocity difference range may be 15 °/s, 20 °/s, 25 °/s, or another value that satisfies the requirement. Namely, the two driving wheels rotate in a differential speed manner, for example, one driving wheel rotates forwards, and the other driving wheel rotates backwards; or one driving wheel rotates forwards or reversely, and the other driving wheel does not rotate; or one high-speed forward rotation or reverse rotation and the other low-speed forward rotation or reverse rotation, wherein the angular velocities recorded by the odometer corresponding to the two driving wheels have a difference value, and when the difference value is greater than a preset angular velocity range, the self-walking robot actually has a rotation action, but the gyroscope displays that the orientation of the self-walking robot is not changed, and the robot is further explained to have a slip condition in the rotation process.

Therefore, it can be considered that the self-walking robot has a slip during the rotation, such as when the self-walking robot is rotating, one driving wheel is stuck by the obstacle to be overcome (excluding the case of co-rotating), and the other driving wheel can also rotate normally.

It can be understood that this disclosure can reliably, accurately, timely confirm that the self-propelled robot is in presetting abnormal state through the scheme that the aforesaid provided, and then carry out first preset action and second in proper order and preset the action in order to cross the barrier, enlarge the function of self-propelled robot.

In some possible implementation embodiments provided by the present disclosure, after step S406, the obstacle handling method of the self-propelled robot further includes:

re-detecting whether the self-walking robot is in a preset abnormal state or not;

if so, returning and re-executing the step of controlling the self-walking robot to execute the first preset action;

otherwise, controlling the self-walking robot to execute a preset operation before the preset abnormal state;

wherein the preset operation comprises at least one of the following: continuous cleaning, cross-region cleaning, pile returning and traveling, continuous traveling and wall cleaning.

In this embodiment, it can be determined whether the present action of the self-propelled robot succeeds in obstacle crossing by re-detecting whether the self-propelled robot is in the preset abnormal state. If the self-walking robot is still in the preset abnormal state, the action is indicated to be unsuccessful in obstacle crossing, namely the self-walking robot is unsuccessful in obstacle crossing after an action sequence, therefore, the step of executing the first preset action by the self-walking robot can be returned and re-executed, and then the second preset action is executed successively to re-cross the obstacle, so that the success rate of crossing the obstacle by the self-walking robot is improved.

It can be understood that, in general, if the obstacle to be surmounted is a surmountable obstacle to be surmounted, the obstacle can be surmounted successfully after the first preset action and the second preset action are completed, but there is also a possibility that the obstacle still cannot be surmounted successfully, so that the obstacle can be surmounted again by performing one or more obstacle surmounting operations, for example, if the obstacle is not successfully surmounted after the first preset action and the second preset action are completed once, one of the first preset action and the second preset action can be performed again.

And if the self-walking robot successfully crosses the obstacle, controlling the self-walking robot to execute preset operation before the abnormal state, wherein the preset operation comprises at least one of the following operations: continuous cleaning, cross-region cleaning, pile returning and traveling, continuous traveling and wall cleaning. Specifically, the continuous sweeping means that the self-walking robot is required to return to a butt joint position and a butt joint direction before obstacle crossing after successfully obstacle crossing; the cross-zone cleaning refers to that the self-walking robot crosses the obstacle and enters the next zone to perform new cleaning after finishing cleaning of the previous zone, and the position after the obstacle crossing is successful at the moment is the starting point of the new cleaning of the next zone. Pile returning walking and continuous walking refer to that the robot continues to walk according to the originally planned destination after crossing obstacles; the cleaning along the wall means that after the self-walking robot successfully crosses the obstacle, the self-walking robot searches the butt joint position of the wall before the obstacle crossing by taking the position as a starting point so as to continue cleaning along the wall.

In the above embodiment, as an optional example, the step of re-detecting whether the self-propelled robot is in the preset abnormal state specifically includes:

acquiring motion trail information of the self-walking robot in a constructed environment space map, wherein the current position of the self-walking robot in the motion trail information is a first position, and the position of the self-walking robot in a preset abnormal state in the motion trail information is a second position;

if the distance between the second position and the first position is smaller than or equal to the preset distance, the self-walking robot is in a preset abnormal state, and if not, the self-walking robot is in a normal state.

In this embodiment, after the step of the self-walking robot performing the second preset action, by acquiring the movement trace information of the self-walking robot in the constructed environmental space map, that is, the motion trajectory information at this time shows the motion trajectory information after the self-propelled robot completes the second preset action, wherein the current position of the self-propelled robot in the motion trajectory information is the first position, that is, the position of the self-propelled robot after the self-propelled robot completes the second preset action in the motion trajectory information is the first position, the position of the self-propelled robot in the motion trajectory information when the self-propelled robot is in the preset abnormal state is the second position, the second preset distance can be set according to the parameters of the self-propelled robot or can be a fixed value, for example, the second preset distance can be positively correlated with the overall dimension of the self-propelled robot, alternatively, the second predetermined distance is 15cm, 20cm, 25cm or other value that meets the requirements.

If the horizontal distance between the second position and the first position is smaller than or equal to a second preset distance, the horizontal distance between the second position and the first position is small enough, the self-walking robot does not successfully cross the obstacle, the self-walking robot is still in a preset abnormal state, and if the horizontal distance between the second position and the first position is larger than the second preset distance, the horizontal distance between the second position and the first position is large enough, the self-walking robot successfully crosses the obstacle, and the self-walking robot is still in a normal state.

It is to be understood that whether the self-propelled robot is in the preset abnormal state may be determined by judging whether the self-propelled robot slips, and the specific judgment process is as described above and will not be described herein.

In some possible implementations provided by the present disclosure, the self-propelled robot further comprises a wet cleaning system and a lifting mechanism, wherein the lifting mechanism is used to lift the wet cleaning system away from the surface to be cleaned. After the step of detecting that the self-walking robot is in the preset abnormal state, before the step of controlling the self-walking robot to execute the first preset action, the method further comprises:

controlling a lifting mechanism to perform lifting operation to lift the wet cleaning system;

controlling the self-walking robot to execute a forward operation, and detecting whether the self-walking robot is in a preset abnormal state;

if yes, executing a first preset action of the self-walking robot;

otherwise, recording the preset abnormal state and the lifting operation.

In this embodiment, when it is detected that the self-propelled robot is in the predetermined abnormal state, there may be a problem that the wet cleaning system and the threshold are stuck to the obstacle, for example, the cleaning head of the wet cleaning system is stuck to the threshold, and after the wet cleaning system is lifted by the lifting mechanism, the self-propelled cleaning device is likely to directly pass over the obstacle, and it is not necessary to perform the subsequent obstacle crossing operation of the first predetermined action and the second predetermined action. Therefore, the lifting mechanism is controlled to perform the lifting operation to lift the wet type cleaning system away from the surface to be cleaned, such as the cleaning head, and then the walking robot is controlled to perform the forward movement operation while detecting whether the walking robot is in the preset abnormal state.

If the self-walking robot is still in the preset abnormal state, it is not indicated that the self-walking robot slips because the wet cleaning system and the threshold class to-be-hindered object are stuck, so that the obstacle crossing operation needs to be executed, namely, the step of controlling the self-walking robot to execute the first preset action is executed, preparation is provided for subsequently executing the second preset action to cross the obstacle, and the subsequent second preset action is continuously executed to realize the obstacle crossing.

If the self-walking robot is not in the preset abnormal state, namely the self-walking robot is in the normal state and can normally work, the preset abnormal state and the lifting operation are recorded, and if the self-walking robot works to the threshold class to wait for the obstacle crossing object next time, the lifting mechanism is controlled to execute the lifting operation to lift the wet cleaning system, so that the walking robot can complete the obstacle crossing, the obstacle crossing operations such as follow-up first preset action and second preset action are simplified, and the obstacle crossing speed is favorably improved.

As shown in fig. 5, an embodiment of a second aspect of the present disclosure provides an obstacle handling apparatus 500 for a self-propelled robot, including: the method comprises the following steps: a first processing module 502 for controlling the self-walking robot to execute a first preset action based on detecting that the self-walking robot is in a preset abnormal state; a first detection module 504, configured to detect a current position of the self-propelled robot and obstacle crossing position information of an obstacle on the peripheral side; and a second processing module 506, configured to control the self-propelled robot to execute a second preset action according to the obstacle crossing position information, so as to perform obstacle crossing.

The obstacle-crossing processing device 500 of the self-walking robot provided by the present disclosure, when the first processing module 502 detects that the self-walking robot is in the preset abnormal state, it indicates that the self-walking robot can not normally go forward, and executes the first preset action by controlling the self-walking robot, so as to ensure that the second preset action of the subsequent execution can be smoothly executed, and further smoothly and reliably complete the obstacle-crossing operation. After the self-walking robot completes the first preset action, the first detection module 504 detects the current position of the self-walking robot and the obstacle crossing position information of the peripheral obstacles, and the second processing module 506 controls the self-walking robot to execute the second preset action according to the obstacle crossing position information so as to cross the obstacles, so that the execution of the second preset action is matched with the position of the peripheral obstacles, and the obstacle crossing accuracy and reliability can be further improved. The self-walking cleaning equipment provided by the embodiment of the disclosure corrects the action of the self-walking robot through the first preset action and the second preset action when slipping occurs in the case of encountering obstacles such as the similar threshold 170, so that the self-walking robot can smoothly cross the obstacle to be crossed, and the function of the self-walking robot is increased.

As an example, the first processing module 502 includes: and the first processing unit is used for controlling the self-walking robot to retreat by a first preset distance.

As an example, the self-walking robot includes two driving wheels including a first driving wheel and a second driving wheel, and the second processing module 506 includes: a second processing unit for controlling the second driving wheel to be stationary, the first driving wheel rotationally advancing in a direction of the second driving wheel, and recording first rotational attitude information of the self-propelled robot; a third processing unit, configured to control the first driving wheel to be stationary based on that the first rotation attitude information reaches a first preset rotation range, and the second driving wheel rotationally advances toward the first driving wheel, and records second rotation attitude information of the self-propelled robot; and the fourth processing unit is used for controlling the second driving wheel to stop working based on the second rotation posture information reaching a second preset rotation range.

As an example, the peripheral side obstacle includes a first obstacle and a second obstacle oppositely distributed along both sides of the preset traveling direction of the self-propelled robot, and the first detection module 504 includes: a first detection unit configured to detect first distance information between the self-propelled robot and the first obstacle; a second detection unit configured to detect second distance information between the self-propelled robot and the second obstacle; a recording unit, configured to record, as a calibration obstacle, the first obstacle or the second obstacle corresponding to a smaller value based on that the value of the first distance information is not equal to the value of the second distance information, and record, as a calibration obstacle, the first obstacle or the second obstacle based on that the value of the first distance information is equal to the value of the second distance information; the first determining unit is used for determining that one of the two driving wheels close to the calibrated obstacle is the first driving wheel, and the other one of the two driving wheels is the second driving wheel.

As an example, the first processing module 502 further includes: a third detection unit, configured to detect, within a first preset duration, posture information of the self-propelled robot, motion trajectory information of the self-propelled robot in a constructed environment space map, respective mileage information of the two driving wheels, and/or respective speed information of the two driving wheels; a second determining unit, configured to determine that the self-propelled robot is in the preset abnormal state based on that the posture information is within a preset horizontal range, and if the movement trajectory information is within a preset trajectory range and a duration of a displacement difference between the driving mileage information and the movement trajectory information exceeding a preset displacement difference range is longer than a second preset duration; or if the duration of the difference value of the angular velocities of the two driving wheels is greater than a third preset duration, the self-walking robot is in the preset abnormal state.

As an example, the obstacle handling apparatus of a self-propelled robot further includes: the second detection module is used for detecting whether the self-walking robot is in the preset abnormal state again; a third processing module, configured to return to and re-execute the step of controlling the self-propelled robot to execute the first preset action if the detection result of the second module is yes, and otherwise, control the self-propelled robot to execute a preset operation before the preset abnormal state; wherein the preset operation comprises at least one of: continuous cleaning, cross-region cleaning, pile returning and traveling, continuous traveling and wall cleaning.

As an example, the second detection module includes: a first obtaining unit, configured to obtain motion trajectory information of the self-walking robot in a constructed environment space map, where a current position of the self-walking robot in the motion trajectory information is a first position, and a position of the self-walking robot in the motion trajectory information when the self-walking robot is in the preset abnormal state is a second position; a third determining unit, configured to determine that the self-propelled robot is in the preset abnormal state if a horizontal distance between the second position and the first position is smaller than or equal to a second preset distance, and otherwise, determine that the self-propelled robot is in a normal state.

As an example, the obstacle handling apparatus of a self-propelled robot further includes: and the fourth processing module is used for controlling the lifting mechanism to execute lifting operation to lift the wet type cleaning system, controlling the self-walking robot to execute forward operation and detecting whether the self-walking robot is in the preset abnormal state, if so, executing the control of the self-walking robot to execute the first step of preset action, and otherwise, recording the preset abnormal state and the lifting operation.

The disclosed embodiments provide a computer-readable storage medium storing computer program instructions, which when invoked and executed by a processor, implement the obstacle handling method steps of the self-propelled robot as in any of the above embodiments.

The disclosed embodiment provides a robot, which comprises a processor and a memory, wherein the memory stores computer program instructions capable of being executed by the processor, and when the processor executes the computer program instructions, the obstacle encountering processing method steps of the self-walking robot of any embodiment are realized.

As shown in fig. 6, the robot may include a processing device 601 (e.g., a central processing unit, a graphic processor, etc.) that may perform various appropriate actions and processes according to a program stored in a read only memory (ROM602) or a program loaded from a storage device 608 into a random access memory (RAM 603). In the RAM603, various programs and data necessary for the operation of the electronic robot are also stored. The processing device 601, the ROM602, and the RAM603 are connected to each other via a bus 604. An input/output (I/O) interface is also connected to bus 604.

Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; a storage device 608 including, for example, a hard disk; and a communication device 609. The communication means 609 may allow the electronic robot to communicate with other robots wirelessly or by wire to exchange data. While fig. 6 illustrates an electronic robot having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided.

In particular, according to an embodiment of the present disclosure, the process described above with reference to the flow diagram may be implemented as a robot software program. For example, embodiments of the present disclosure include a robot software program product comprising a computer program embodied on a readable medium, the computer program containing program code for performing the method illustrated in flowchart 4. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 609, or installed from the storage means 608, or installed from the ROM 602. The computer program, when executed by the processing device 601, performs the above-described functions defined in the methods of the embodiments of the present disclosure.

It should be noted that the computer readable medium in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer-readable storage medium may be, for example but not limited to: an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of a computer-readable storage medium may include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM603), a read-only memory (ROM602), an erasable programmable read-only memory (EPROM602 or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM602), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to electrical wiring, fiber optic cable, RF (radio frequency) and the like, or any suitable combination of the foregoing.

The computer readable medium may be embodied in the robot; or may be separate and not assembled into the robot.

Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Small talk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server.

In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some implementations as an assembly, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Finally, it should be noted that: although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that various changes and modifications can be made, and equivalents may be substituted for elements thereof without departing from the spirit and scope of the present disclosure.

Claims

1. A method for processing obstacle of a self-propelled robot, comprising:

controlling the self-walking robot to execute a first preset action based on the detection that the self-walking robot is in a preset abnormal state;

detecting the current position of the self-walking robot and obstacle crossing position information of obstacles on the peripheral side;

and controlling the self-walking robot to execute a second preset action to cross the obstacle according to the obstacle crossing position information.

2. The obstacle handling method of a self-propelled robot according to claim 1, wherein the step of controlling the self-propelled robot to perform the first preset action specifically comprises:

and controlling the self-walking robot to retreat for a first preset distance.

3. The obstacle handling method of the self-propelled robot as claimed in claim 1, wherein the self-propelled robot includes two driving wheels including a first driving wheel and a second driving wheel, and the step of controlling the self-propelled robot to perform a second preset action based on the obstacle location information includes:

controlling the second driving wheel to be immobile, enabling the first driving wheel to move towards the direction close to the obstacle to be crossed, and recording first rotation attitude information of the self-walking robot;

controlling the first driving wheel to be stationary based on the fact that the first rotation attitude information reaches a first preset rotation range, enabling the second driving wheel to move towards the direction close to the obstacle to be crossed, and recording second rotation attitude information of the self-walking robot;

and controlling the second driving wheel to stop working based on the second rotation posture information reaching a second preset rotation range.

4. The obstacle handling method of a self-propelled robot according to claim 3, wherein the peripheral side obstacle includes a first obstacle and a second obstacle that are oppositely disposed on both sides of a preset advancing direction of the self-propelled robot, and the step of detecting the current position of the self-propelled robot and the obstacle crossing position information of the peripheral side obstacle specifically includes:

detecting first distance information between the self-propelled robot and the first obstacle;

detecting second distance information between the self-propelled robot and the second obstacle;

recording the first obstacle or the second obstacle corresponding to the smaller numerical value as a calibration obstacle based on the fact that the numerical value of the first distance information is not equal to the numerical value of the second distance information;

recording the first obstacle or the second obstacle as a calibration obstacle based on the fact that the numerical value of the first distance information is equal to the numerical value of the second distance information;

determining one of the two drive wheels near the calibrated obstacle as the first drive wheel and the other as the second drive wheel.

5. The obstacle handling method for the self-propelled robot according to claim 3, wherein the step of detecting that the self-propelled robot is in the preset abnormal state specifically comprises:

detecting attitude information of the self-walking robot, motion trail information of the self-walking robot in a constructed environment space map, respective driving mileage information of the two driving wheels and/or respective speed information of the two driving wheels within a first preset time length;

based on the attitude information being within a preset horizontal range;

if the motion trail information is in a preset trail range and the duration of the displacement difference between the driving mileage information and the motion trail information exceeding a preset displacement difference range is longer than a second preset duration, the self-propelled robot is in the preset abnormal state; or

And if the duration of the difference value of the angular speeds of the two driving wheels is greater than a third preset duration, the self-walking robot is in the preset abnormal state.

6. The obstacle handling method of a self-propelled robot according to any one of claims 1 to 5, further comprising, after the step of controlling the self-propelled robot to perform a second preset action:

re-detecting whether the self-walking robot is in the preset abnormal state;

wherein the preset operation comprises at least one of: continuous cleaning, cross-region cleaning, pile returning and traveling, continuous traveling and cleaning along a wall.

7. The obstacle handling method for a self-propelled robot according to claim 6, wherein the step of re-detecting whether the self-propelled robot is in the preset abnormal state comprises:

acquiring motion trail information of the self-walking robot in a constructed environment space map, wherein the current position of the self-walking robot in the motion trail information is a first position, and the position of the self-walking robot in the preset abnormal state in the motion trail information is a second position;

if the horizontal distance between the second position and the first position is smaller than or equal to a second preset distance, the self-walking robot is in the preset abnormal state, otherwise, the self-walking robot is in the normal state.

8. The obstacle handling method of a self-walking robot according to any one of claims 1 to 5, further comprising a wet cleaning system and a lifting structure, further comprising, after the step of detecting that the self-walking robot is in a preset abnormal state, before the step of controlling the self-walking robot to perform a first preset action:

controlling the lifting mechanism to perform a lifting operation to lift the wet cleaning system;

controlling the self-walking robot to perform a forward movement operation and detecting whether the self-walking robot is in the preset abnormal state;

if yes, executing the step of controlling the self-walking robot to execute a first preset action;

otherwise, recording the preset abnormal state and the lifting operation.

9. An obstacle handling device for a self-propelled robot, comprising:

the first processing module is used for controlling the self-walking robot to execute a first preset action based on the fact that the self-walking robot is detected to be in a preset abnormal state;

the first detection module is used for detecting the current position of the self-walking robot and obstacle crossing position information of obstacles on the peripheral side;

and the second processing module is used for controlling the self-walking robot to execute a second preset action to cross the obstacle according to the obstacle crossing position information.

10. A robot comprising a processor and a memory;

the memory is used for storing operation instructions;

the processor is configured to execute the obstacle handling method for the self-propelled robot according to any one of claims 1 to 8 by calling the operation instruction.

11. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the obstacle handling method of the self-propelled robot of any of claims 1 to 8.