WO2023124788A1

WO2023124788A1 - Autonomous mobile device, control method therefor, apparatus, and storage medium

Info

Publication number: WO2023124788A1
Application number: PCT/CN2022/136455
Authority: WO
Inventors: 许思晨
Original assignee: 速感科技（北京）有限公司
Priority date: 2021-12-28
Filing date: 2022-12-05
Publication date: 2023-07-06
Also published as: CN116360410A

Abstract

An autonomous mobile device, a control method therefor, an apparatus, and a storage medium. The method comprises: an acquisition step for acquiring a map marked with an obstacle crossing area (S110); a determination step for determining whether an autonomous mobile device is stuck in the obstacle crossing area (S120); and a handling step for commanding the autonomous mobile device to initiate an obstacle crossing mode when it is determined that the autonomous mobile device is stuck in the obstacle crossing area, so as to attempt to pass through the obstacle crossing area (S130). Therefore, obstacle crossing is assisted by means of the map marked with the obstacle crossing area, and as a consequence the problem caused by an inability to distinguish a crossable obstacle from a dangerous hazard area can be avoided.

Description

Autonomous mobile equipment, its control method and device, and storage medium

technical field

The present disclosure relates to the technical field of smart home, and in particular to an autonomous mobile device, a control method and device thereof, and a storage medium.

Background technique

With the advancement of science and technology and the improvement of living standards, more and more autonomous mobile devices with different functions have entered people's homes, such as autonomous mobile devices, accompanying mobile robots, etc., making people's lives more comfortable and convenient.

Autonomous mobile devices refer to smart devices that autonomously perform preset tasks within a set working area. At present, autonomous mobile devices usually include but are not limited to cleaning robots (such as smart sweepers, smart floor mopping machines, window cleaning robots), accompanying mobile Robots (such as smart electronic pets, nanny robots), service mobile robots (such as hotels, hotels, reception robots in meeting places), industrial inspection smart devices (such as power inspection robots, smart forklifts, etc.), security robots (such as household Or commercial intelligent guard robot), etc.

The motion unit (also known as the driving mechanism) of the autonomous mobile device is usually a part such as a wheel or a track that drives the autonomous mobile device to move on a plane through rotation, which causes the autonomous mobile device to be blocked by some specific obstacles (such as thresholds, glass, etc.) The slide rail of the door, or the edge part of the floor mat with a certain height laid indoors) blocks and cannot cross this type of obstacle, or even be stuck by this type of obstacle, causing it to be unable to escape from the predicament caused by this obstacle. In order to distinguish it from ordinary obstacles (such as walls, refrigerators, vertical air conditioners, floor cabinets, etc.) that can block the progress of autonomous mobile devices, such obstacles such as thresholds are called surmountable obstacles.

At present, autonomous mobile devices usually use various sensors on autonomous mobile devices to detect surmountable obstacles. In the prior art, the front camera or ranging sensor (such as lidar) of the autonomous mobile device is usually used to identify a specific surmountable obstacle on the ground in front of it, and after judging that the obstacle in front of it is a surmountable obstacle , make corresponding actions to perform obstacle-surmounting processing (obstacle-surmounting processing in this disclosure refers to processing for surmounting surmountable obstacles).

If the front camera recognizes that the obstacle is a surmountable obstacle such as a threshold or a floor mat with a certain height and/or using a ranging sensor (such as a lidar placed on the front of the autonomous mobile device and emitting Geometric calculation detects the height of an obstacle at a certain distance in front of the autonomous mobile device) If the height of the detected obstacle is lower than a certain height threshold such as 2.7cm, the obstacle is a surmountable obstacle, and the autonomous mobile device can make corresponding Action to perform obstacle handling.

The above-mentioned methods of assisting autonomous mobile devices to overcome surmountable obstacles through cameras or ranging sensors all have certain limitations. Among them, although the front camera of the first method may recognize the threshold or the edge of the floor mat, it is limited by the computing power of the processor and the inherent problem of the sensor that it is difficult to identify the height of the object through the photo, which will lead to the detection of obstacles that can be crossed. The recognition success rate is limited, which often leads to false detections; for the second method, due to the limitation of the computing power of the processor and the influence of external ambient light and ground material color, etc., it will also lead to the detection accuracy of lidar for surmountable obstacles. lower.

Therefore, although automatic identification of obstacles and obstacle-surmounting processing can make autonomous mobile devices more intelligent, due to the high complexity of the home environment and the limitations of existing technologies, it is still difficult to accurately and automatically distinguish Spanable obstacles that can be crossed and dangerous dilemma areas (such as lamp holders that exceed the height of the chassis of the autonomous mobile device can easily lift the chassis of the autonomous mobile device and make its motion units such as the wheel set suspended in the air, resulting in the autonomous mobile device being stuck ), which may lead to the following problems: the autonomous mobile device may make incorrect handling in certain environments, such as the autonomous mobile device may recognize the sliding rail of the glass door leading to the balcony or the kitchen as an impassable common obstacle instead of the balcony or kitchen cleaning, resulting in a poor user experience, or an increased number of autonomous mobile devices getting stuck due to straying into troubled areas.

That is to say, the direct use of the corresponding sensors of the autonomous mobile device disclosed in the prior art to assist in surmounting obstacles has obvious limitations.

Contents of the invention

In view of this, the present disclosure proposes an autonomous mobile device, a control method and device thereof, and a storage medium.

According to the first aspect of the present disclosure, there is provided a control method of an autonomous mobile device, the control method comprising: an acquisition step, used to acquire a map marked with an obstacle surmountable area; a judging step, used to judge the autonomous movement Whether the device is stuck in the obstacle surmountable area; a processing step for ordering the autonomous mobile device to execute an obstacle surmounting mode when it is determined that the autonomous mobile device is stuck in the obstacle surmountable area , to try to pass through the obstacle-traversable area.

According to a second aspect of the present disclosure, there is provided a control device for an autonomous mobile device, the control device includes: an acquisition unit for acquiring a map marked with an obstacle-surpassable area; a judging unit for judging the autonomous movement Whether the device is stuck in the obstacle surmountable area; a processing unit, configured to order the autonomous mobile device to execute an obstacle surmounting mode if it is determined that the autonomous mobile device is stuck in the obstacle surmountable area , to try to pass through the obstacle-traversable area.

According to a third aspect of the present disclosure, there is provided a control device for an autonomous mobile device, the control device comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the above-mentioned Control Method.

According to a fourth aspect of the present disclosure, there is provided an autonomous mobile device, the autonomous mobile device comprising: the control device described above; and a motion unit, configured to respond to the control device instructing the autonomous mobile device to perform an obstacle surmounting mode, moving in the obstacle clearance mode in an attempt to pass through the obstacle clearance area.

According to a fifth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium. When the instructions in the storage medium are executed by a processor, the processor can execute the above control method.

According to the present disclosure, obtaining a map marked with an obstacle traversable area (where a surmountable obstacle is located), and instructing the autonomous mobile device to execute an obstacle traversal mode in case the autonomous mobile device becomes stuck in the obstacle traversable area, to try to pass through the obstacle-passable area. In this way, compared to the prior art that directly uses the corresponding sensors of the autonomous mobile device, such as the front camera or the ranging sensor, to assist in overcoming obstacles, the present disclosure assists in overcoming obstacles by means of a map marked with obstacle-surpassable areas, In this way, the problems described above caused by the inability to accurately distinguish between surmountable obstacles and dangerous distressed areas can be avoided.

In addition, whether it is the obstacle-surpassable area marked automatically by the autonomous mobile device or the obstacle-surpassable area manually marked by the user, the autonomous mobile device can first try to cross the obstacle-surpassable area in the obstacle-surpassing mode, so that Reach more locations and achieve more functions.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the specification, serve to explain the principles of the disclosure.

Figures 1a-1c show a flowchart of a method of controlling an autonomous mobile device according to an exemplary embodiment.

Fig. 1d shows a flow diagram of building a map by an autonomous mobile device according to an exemplary embodiment.

Fig. 2a shows a schematic diagram of a map marked with obstacle traversable areas according to an exemplary embodiment.

Figures 2b-2e show schematic diagrams of a threshold as a surmountable obstacle according to an exemplary embodiment.

Fig. 3a shows a schematic diagram of a cost distribution of a grid map of obstacle areas according to an exemplary embodiment.

Fig. 3b shows a schematic diagram of a cost distribution of a grid map of non-obstacle areas according to an exemplary embodiment.

Fig. 3c shows a schematic diagram of a planned path according to an exemplary embodiment without adjusting the search method for points located in the obstacle-surpassable area.

Fig. 3d shows a schematic diagram of a planned path according to an exemplary embodiment after adjusting the search method for points located in the obstacle-surpassable area.

Fig. 3e shows a schematic diagram of the angle between an autonomous mobile device and an obstacle according to an exemplary embodiment.

4-7a illustrate a flow diagram of an autonomous mobile device operating in an obstacle clearance mode, according to an exemplary embodiment.

Figures 7b-7e illustrate schematic diagrams of an autonomous mobile device operating in the obstacle clearance mode shown in Figure 7a to attempt to cross a threshold, according to an exemplary embodiment.

Figures 8a-8b show schematic diagrams of an autonomous mobile device operating in an obstacle clearance mode according to an exemplary embodiment.

Fig. 9 shows a block diagram of a control device of an autonomous mobile device according to an exemplary embodiment.

Figure 10 shows a block diagram of an autonomous mobile device, according to an exemplary embodiment.

Detailed ways

Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific implementation manners. It will be understood by those skilled in the art that the present disclosure may be practiced without some of the specific details. In some instances, methods, means, components and circuits that are well known to those skilled in the art have not been described in detail so as to obscure the gist of the present disclosure.

As described above, for the method of using the front camera or ranging sensor (such as lidar) of an autonomous mobile device to detect surmountable obstacles, due to the various shortcomings of these two sensors and the possible There is a problem of detection blind zone, so the autonomous mobile device may not be able to accurately detect the surmountable obstacle, so that the autonomous mobile device does not try to pass through the surmountable obstacle and thus does not travel to the area it could have traveled to, or makes the The autonomous mobile device misidentifies the surmountable obstacle, which leads to multiple collisions with common obstacles, resulting in damage to the autonomous mobile device itself or damage to common obstacles (such as furniture). Therefore, it is difficult to accurately judge surmountable obstacles such as door sills, slide rails of glass doors, edges of floor mats, etc. simply by using a camera or a distance measuring sensor.

For this reason, considering that if the autonomous mobile device can know where the obstacle is a surmountable obstacle that can be crossed, then the autonomous mobile device only needs to ensure that it can make The correct obstacle-crossing process can pass through the obstacle-crossable area without worrying about the various problems described above.

In addition, with the development of visual SLAM (Simultaneously Localization and Mapping, Simultaneously Localization and Mapping) and laser SLAM technology, the real-time positioning of autonomous mobile devices in the home environment has become easier and easier. The map of the home environment, and the user marks the obstacle-surpassable area corresponding to the surmountable obstacle on the map through the APP and sends it to the autonomous mobile device, then the autonomous mobile device can accurately determine the obstacle-surpassable area, so that The autonomous mobile device can operate in the obstacle-crossing area according to the preset obstacle-crossing mode, so as to easily cross the obstacle-crossing area where the crossable obstacle is located.

In addition, the autonomous mobile device can detect in real time whether it has crossed a surmountable obstacle in normal operation mode (for example, by detecting whether it is stuck in the surmountable area to detect whether it has crossed a surmountable obstacle), when When it detects that it has not crossed a surmountable obstacle, the autonomous mobile device operates in a specific obstacle-crossing mode that is more likely to cross the traversable obstacle, so as to increase the probability of the autonomous mobile device crossing the surmountable obstacle .

Based on the above ideas, the control method of the autonomous mobile device of this exemplary embodiment shown in Figs. 1a-1c is proposed. Such autonomous mobile devices may include, but are not limited to, cleaning robots (such as smart sweepers, smart mopping machines, window cleaning robots), companion mobile robots (such as smart electronic pets, nanny robots), service mobile robots (such as hotels, Reception robots in hotels and meeting places), industrial inspection intelligent equipment (such as power inspection robots, intelligent forklifts, etc.), security robots (such as household or commercial intelligent security robots) and other intelligent devices that can move autonomously. The execution subject of the control method in this embodiment may include, but not limited to, a control unit of the autonomous mobile device, an external device of the autonomous mobile device, and the like, for example.

Referring to Figures 1a-1c, the control method of this exemplary embodiment may include the following steps:

In step S110, a map marked with obstacle-surpassing areas is obtained. Wherein, the obstacle surmountable area may represent a corresponding area in the map of the surmountable obstacle.

In a possible implementation manner, the autonomous mobile device may directly acquire a pre-stored map marked with obstacle-surpassable areas from its own storage unit (such as an internal storage device or device).

In this exemplary embodiment, the autonomous mobile device once performed a work task on a certain workspace (for example, a cleaning robot performed a cleaning task), and during the execution of the work task, the autonomous mobile device established and stored an initial map of the workspace (such as storing the initial map of the workspace in its own storage unit), marking in the initial map the obstacle-surpassable area corresponding to the area occupied by the surmountable obstacle (can be marked manually or automatically by the processing unit), Become a map marked with obstacle-crossable areas and store it, so that when performing follow-up work tasks on the same workspace according to the control method of this embodiment, the autonomous mobile device can directly obtain the marked area from its own storage unit. A map of the obstacle-traversable area. Alternatively, other autonomous mobile devices may acquire the map from a storage unit of the autonomous mobile device storing the map or a server storing the map through a network.

In one embodiment, when the autonomous mobile device builds a map in the workspace, it can automatically mark the obstacle-surpassable area on the newly created map. The map can be established by executing the steps in Figure 1d, as shown in Figure 1d, the method for establishing the map includes:

In step S010, the autonomous mobile device is commanded to operate in an unmapped workspace and map the workspace.

In step S020, it is determined whether the autonomous mobile device is stuck during the operation of the autonomous mobile device. If it is determined that the autonomous mobile device is stuck, the determination in step S020 is "Yes", and then step S030 is executed. If it is determined that the autonomous mobile device is not stuck, proceed to step S020.

In step S030, the autonomous mobile device is commanded to execute the obstacle surmounting mode. Then, step S040 is executed. The obstacle clearance mode will be described later.

In step S040, it is judged whether the autonomous mobile device has passed the area corresponding to the stuck position. If it is determined that the area corresponding to the position where the autonomous mobile device is stuck has passed, the determination in step S040 is "Yes", and then step S050 is executed. If it is determined that the area corresponding to the position where the autonomous mobile device is stuck has not been passed, the determination in step S040 is "No", and then step S060 is executed.

In step S050 , mark the passed area (ie, the area corresponding to the stuck position passed by the autonomous mobile device) on the map as an obstacle-surpassable area.

In step S060, mark the failed area (that is, the area corresponding to the stuck position where the autonomous mobile device failed to pass) as an impassable area on the map.

Through the above-mentioned method of autonomous mobile device detecting obstacle types in person (rather than remote non-contact detection of obstacles such as cameras or lidars), autonomous mobile devices can automatically identify surmountable obstacles and display them on the map during the map building phase. The obstacle-crossable area is marked on the top, and at the same time, the problem of inaccurate recognition caused by long-distance detection of surmountable obstacles only through the camera and/or distance measuring sensor is avoided.

It should be understood that the autonomous mobile device may also use relevant and appropriate methods in the prior art to establish a map of the workspace (such as establishing a map by colliding with obstacles through dead reckoning sensors such as code discs, gyroscopes, and accelerometers, Use the camera or lidar to cooperate with the SLAM of the dead reckoning sensor to build a map, etc.), and then provide the user with the option to mark the obstacle-crossing area on the established map, and the user selects the obstacle-crossing area to guide The autonomous mobile device executes subsequent instructions in the designated (selected) obstacle-surpassable area. Due to limited space, this exemplary embodiment does not elaborate on how the autonomous mobile device builds a map of the workspace and how to mark crossable areas on the map.

For ordinary obstacles that the autonomous mobile device can recognize, for example, based on the fact that the autonomous mobile device has not passed through the area corresponding to the location where the autonomous mobile device was stuck before, it is recognized that the obstacle is a common obstacle that can prevent it from passing, or by The direct collision of the collision sensor makes it clear that it is impossible to pass through ordinary obstacles, or the height of the obstacle detected by the proximity sensor is obviously greater than the passable threshold, so that the autonomous mobile device must not be able to cross the common obstacle, and through each sensor Can clearly The common obstacle that the autonomous mobile device cannot cross, the judgment of step S040 is "No", the autonomous mobile device marks it as an impassable area on the map, so that the autonomous mobile device can execute other than the obstacle-crossing mode based on subsequent instructions other modes, such as executing the escape mode (such as back and forth and then rotating, or repeatedly performing rotation and backing away from the obstacle), edge-following mode (such as first rotating so that its side faces the obstacle and continue running, and at the same time The proximity sensor on its side detects the distance between its side and the obstacle without contact and keeps the distance within the set distance range, so that the autonomous mobile device can run along the edge of the obstacle and keep its distance from the obstacle. There is a certain distance between obstacles) and other obstacle avoidance processing.

Whether it is the obstacle-surpassable area marked automatically by the autonomous mobile device or the obstacle-surpassable area manually marked by the user, the autonomous mobile device can first try to cross the obstacle-surpassable area in the obstacle-surpassing mode, so as to reach as far as possible in the workspace More locations, more functions.

In a possible implementation manner, step S110 may include: pushing the map of the workspace to the user; and receiving the map in which the user has marked the obstacle-surpassable area.

In this embodiment, for the situation where the obstacle-surpassable area is marked on the map with the assistance of the user, the autonomous mobile device can push the map of the workspace to the user device via the wireless network; the user can intuitively see the passable area from the map and obstacle areas, and can use the user's own judgment to mark the area where the surmountable obstacles in the actual workspace are located as the obstacle-surpassable area on the map; the user device can mark the user as the obstacle-surpassable area The map of the autonomous mobile device is sent to the autonomous mobile device through the wireless network. Correspondingly, the autonomous mobile device can receive the map where the user has marked the obstacle-surpassable area.

The map pushed by the autonomous mobile device to the user device may be an initial map, or a map that has previously marked the obstacle-surpassable area (either marked by the user or marked by the autonomous mobile device). The user can not only create a new obstacle traversable area on the map, but also modify and/or delete the marked obstacle surmountable area.

Of course, if the user has not marked the obstacle-crossable area after the set time has elapsed since the map was pushed to the user, the user may be prompted to mark the obstacle-crossable area on the map by means such as voice or text message.

In some embodiments, for the obstacles shown on the map, in an implementation, the user needs to judge whether these obstacles can be crossed by the autonomous mobile device according to his own experience or the standards or parameters provided by the product manual. In other words, the user will have a more intuitive judgment on whether the obstacle is a crossable obstacle that can be crossed by the autonomous mobile device, so it is more accurate for the user to mark the obstacle crossable area; in another implementation, the user does not need to judge Whether these obstacles can be crossed by the autonomous mobile device, the user can mark these obstacles and indicate the respective parameters of these obstacles such as height, shape, etc., and the autonomous mobile device can automatically judge whether these obstacles are based on these obstacle parameters. Belongs to surmountable obstacles (such as judging whether these obstacles can be surmounted by autonomous mobile devices).

After the user marks the obstacle-surpassable area on the map, the user equipment can obtain the map marked with the obstacle-surpassable area, and then when the autonomous mobile device executes the control method of this exemplary embodiment, the autonomous mobile device can interact with the The user equipment establishes a communication connection, and sends to the user equipment an acquisition request for a map marked with an obstacle-surpassable area, and the user equipment responds to the acquisition request and sends the map marked with an obstacle-surpassable area to the autonomous mobile device, or the user equipment The user equipment periodically sends the map marked with the obstacle-surpassable area to the autonomous mobile equipment according to a predetermined period.

User equipment may include, but is not limited to, devices capable of establishing a communication connection with the autonomous mobile device and having a display, such as mobile terminal devices such as mobile phones and tablet computers, or terminal devices such as servers and desktop computers. The user equipment may also be referred to as the autonomous mobile device. App-side devices for mobile devices. Exemplarily, the APP end device may include a display for displaying a map and a sensor (such as a touch screen) for detecting the user's marking action, and when the sensor detects the user's marking action on the first area, the APP end device This first area may be marked on the displayed map as an obstacle clearable area.

In order to facilitate the understanding of "the map marked with the obstacle-surpassable area", the map shown in Fig. 2a marked with the obstacle-surpassable area is taken as an example for description below. As shown in FIG. 2a, a map 320 marked with an obstacle-surpassable area is displayed on the display 310 of the user equipment, and an obstacle-surpassable area 340 is marked on the map 320. type obstacle 330, the surmountable obstacle 330 is an obstacle that can be passed by an autonomous mobile device, such as a threshold.

In a possible implementation, after the map of the workspace is pushed to the user, the user is recommended a predetermined shape used to mark the surmountable obstacle in the obstacle-surpassable area. The predetermined shape may represent the corresponding surmountable obstacle, for example The cross-sectional shape of a leaping obstacle, whereby the user can mark the obstacle-surpassable area via the predetermined shape, and accordingly, the autonomous mobile device can receive the map in which the user marks the obstacle-surpassable area with the predetermined shape.

In some embodiments, the aforementioned predetermined shapes include, but are not limited to, rectangles, squares, triangles, circles, ovals, rhombuses, circular arcs, and the like. It should be understood that the present disclosure does not specifically limit the specific shape of the predetermined shape, as long as the predetermined shape can mark the obstacle-surpassable area on the initial map, it should all be applicable to the present disclosure.

In order to facilitate the understanding of "crossable obstacles", the following is an example of a threshold located between two rooms. For the threshold located between two rooms, due to the need to match with the bottom of the door, there are usually slopes (the cross section of which is shown in Figure 2b) and protrusions (such as the doorway stone, whose cross section is shown in Figure 2c) and/or grooves (such as the slide rail of a glass door, whose cross-section is shown in Figure 2d and Figure 2e), when the forward direction of travel of the autonomous mobile device meets the threshold, its moving mechanism may be due to the slope of the threshold. , vertical surfaces or grooves meet and get stuck, resulting in the autonomous mobile device not being able to smoothly (successfully) cross the threshold.

After obtaining the map marked with the obstacle-surpassable area, the following step S120 is performed.

In step S120, it is determined whether the autonomous mobile device is stuck in the obstacle-surpassable area.

Situations where the autonomous mobile device gets stuck include but are not limited to: when the autonomous mobile device passes through relatively low obstacles (such as high thresholds or light sockets), its chassis is lifted by such obstacles and the wheels are suspended in the air , so that the autonomous mobile device cannot continue to operate through the operation of its motion unit; or its wheels are stuck in the slide rails in the threshold (such as the slide rails of glass doors) and cannot operate, so that the autonomous mobile device cannot continue to move forward; or other Wheels getting stuck in some sort of gap just big enough to accommodate the wheels so the wheels can't turn and the autonomous mobile device can't continue to function, and other similar situations.

The usual way to detect that the autonomous mobile device is stuck is to combine the information of multiple sensors to make a comprehensive judgment. For example, it is possible to judge whether the wheel set of the autonomous mobile device is running through the code disc on the wheel set, and at the same time obtain the information of the autonomous mobile device from the ranging sensor. The distance between the autonomous mobile device and the surrounding fixed obstacles or according to the camera to obtain the surrounding environment photos, if the wheel set is running, but the distance between the autonomous mobile device and the surrounding fixed obstacles obtained by the ranging sensor does not change, or through the camera If the change of the objects in multiple photos and the change of the mutual relationship between objects is smaller than that of the objects in multiple photos and the change of the mutual relationship between the objects when the autonomous mobile device is running normally, it can indicate that the autonomous mobile device is stuck . Those skilled in the art should understand that the method for detecting that the autonomous mobile device is stuck is not limited to the above methods.

In some embodiments, as shown in FIG. 1b, step S120 may include steps S121 and S122.

In step S121, it is judged whether the autonomous mobile device travels to the obstacle-surpassable area. If it is determined that the autonomous mobile device has run to the obstacle-surpassable area, then execute step S122, otherwise, continue to execute step S121.

In step S122, continue to judge whether the autonomous mobile device is stuck in the obstacle-crossable area. If it is determined that the autonomous mobile device is stuck in the obstacle-surpassable area, then in step S120 it is determined that the autonomous mobile device is stuck in the obstacle-surpassable area, and then the following step S130 is performed; otherwise, the autonomous mobile device operates in the original operating mode Continue to run, and continue to execute step S121 to determine whether the autonomous mobile device runs out of the current obstacle-crossable area or travels to other obstacle-crossable areas.

During the operation of the autonomous mobile device, when running to the obstacle-crossable area marked on the map, it is detected whether the autonomous mobile device is stuck. Exemplarily, the autonomous mobile device can judge whether the autonomous mobile device is running to the point where the obstacle can be crossed according to whether its own current position has crossed the boundary position of the obstacle surmountable area or whether the current position of the autonomous mobile device is within the range covered by the obstacle surmountable area. If it is determined that the autonomous mobile device has moved to the obstacle-crossable area, step S121 is judged as "Yes", and then step S122 is executed to further determine whether the autonomous mobile device is in the obstacle-crossable area. stuck. If it is determined that the autonomous mobile device is stuck in the obstacle-crossable area, then step S122 is judged as "yes", so step S120 is judged as "yes", so the following step S130 is executed.

In some embodiments, as shown in Fig. 1c, step S120 may include steps S123 and S124.

In step S123, it is determined whether the autonomous mobile device is stuck. If it is determined that the autonomous mobile device is stuck, execute step S124, otherwise, continue to execute step S123. The way to detect that the autonomous mobile device is stuck can be found in the previous section.

In step S124, continue to judge whether the position where the autonomous mobile device is stuck is within the obstacle-surmountable area. If it is determined that the location where the autonomous mobile device is stuck is within the obstacle-crossable area, it is determined in step S120 that the autonomous mobile device is stuck in the obstacle-crossable area, and then the following step S130 is performed. Otherwise, if it is determined that the location where the autonomous mobile device is stuck is not within the obstacle-surpassable area, then step 170 is performed, and the autonomous mobile device performs a rescue mode and/or an alarm, as shown in Figure 1c; You can mark the stuck location as a normal obstacle or mark the area where the stuck location is located as an impassable area on the map.

During the operation of the autonomous mobile device, it is detected in real time whether the autonomous mobile device is stuck, and when the autonomous mobile device is stuck, it is detected whether the stuck position of the autonomous mobile device is within the obstacle-crossing area marked on the map. Exemplarily, the autonomous mobile device can detect in real time whether the autonomous mobile device is stuck (that is, execute step S123), if it is determined that the autonomous mobile device is stuck, step S123 judges "Yes", and executes step S124 to further according to the autonomous mobile device Whether the position where the mobile device is stuck is on the boundary of the obstacle surmountable area or within the range of the obstacle surmountable area is used to judge whether the position where the autonomous mobile device is stuck is within the obstacle surmountable area; if it is judged that the autonomous mobile device is If the stuck position is within the obstacle-crossable area, step S124 is judged as "Yes", so step S120 is judged as "Yes", and the following step S130 is executed.

To sum up, if it is determined in step S120 that the autonomous mobile device is stuck in the obstacle-crossable area, the following step S130 is executed.

In step S130, the autonomous mobile device is commanded to execute an obstacle surmounting mode, so as to try to pass through the obstacle surmountable area.

According to the control method of this exemplary embodiment, a map marked with an obstacle-surmountable area is obtained, and in the case that the autonomous mobile device is stuck in the obstacle-surpassable area, the autonomous mobile device is commanded to execute the obstacle-overpass mode in order to try to pass Obstacle traversable area. Therefore, compared with the prior art that directly uses the corresponding sensors of the autonomous mobile device, such as the front camera or the ranging sensor, to assist in overcoming obstacles, the present disclosure assists in overcoming obstacles by means of a map marked with areas that can be surmounted , in this way, the above-described problems caused by the inability to accurately distinguish between surmountable obstacles and dangerous distressed areas can be avoided.

In a possible implementation manner, as shown in FIGS. 1b and 1c, after step S130 is performed, steps S140 and S150 may also be performed. In step S140, it is judged whether the autonomous mobile device has passed the obstacle-crossable area; if it is judged that the autonomous mobile device has not passed the obstacle-crossable area, step S150 is executed. In step S150, re-mark the non-passable obstacle-passable area on the map as an impassable area.

Thus, the current type of the obstacle-surpassable area can be updated in real time according to whether the autonomous mobile device that has executed the obstacle-surpassing mode passes through the obstacle-surpassable area, and a more accurate map of the obstacle-surpassable area can be provided for the next operation.

In a possible implementation manner, as shown in FIGS. 1b and 1c, after step S150 is performed, step S160 may also be performed. In step S160, the autonomous mobile device tries other paths, such as performing an escape mode (such as back and forth and then rotating, or repeatedly rotating and backing) so as to stay away from the obstacle, or performing an edge-following mode (such as rotating first to make it a The side faces the obstacle and continues to run, and at the same time, the proximity sensor on the side detects the distance between the side and the obstacle in a non-contact manner and keeps the distance within the set distance range) so that the autonomous mobile device can move along the Run on the edge of the obstacle. The present disclosure does not limit the running path of the autonomous mobile device after not passing through the obstacle-surpassable area.

Thus, for the previously marked obstacle-passable area (and then re-marked as an impassable area), after attempting to cross the obstacle in the obstacle-passing mode fails, other paths can be tried, thereby avoiding unnecessary obstacle-crossing that takes a long time time.

There are many ways to overcome the obstacles involved in step S130. In a possible implementation, if the autonomous mobile device operates in the obstacle-surpassing mode, steps S710, S720, and S730 in FIG. distance; S720: the autonomous mobile device brakes the second driving mechanism, and rotates the first driving mechanism forward by a first angle around the second driving mechanism; S730: fixes the first driving mechanism, and makes the The second drive mechanism is rotated forward by a second angle about the first drive mechanism. Wherein the first drive mechanism and the second drive mechanism are arranged side by side at the lower part of the autonomous mobile device.

In this embodiment, if the autonomous mobile device is stuck in the area where the obstacle can be crossed, the first drive mechanism and the second drive mechanism of the autonomous mobile device will retreat a certain distance together to retreat a certain distance from the stuck position, thereby providing The drive mechanism of the autonomous mobile device rotates to provide room for acceleration before reaching the lower edge of the obstacle slope; then, braking one drive mechanism of the autonomous mobile device, such as the second drive mechanism, makes it stand still or occurs a small amount in the opposite direction Rotate while another drive mechanism, such as the first drive mechanism, rotates an angle around the braked second drive mechanism at a suitable speed or acceleration so as to have a displacement component of forward motion, and then hold the previously rotating first drive mechanism stationary motionless, while the previously braked second drive mechanism orbits the now immobilized first drive mechanism at a suitable speed or acceleration (the speed and/or acceleration of the first drive mechanism and the second drive mechanism may be the same or different) The mechanism is rotated by an angle so as to have a displacement component of forward movement, thereby achieving alternate forward movement of the first drive mechanism and the second drive mechanism. In this way, by means of the alternating rotational movements of the two drive mechanisms, it is possible for the autonomous mobile device to step onto or over a passable obstacle.

For ease of understanding, the obstacle surmounting mode in FIG. 7a will be described by taking a surmountable obstacle as the threshold 210 as an example and referring to FIGS. 7b-7e.

Please refer to FIG. 7b. When the autonomous mobile device 220 is stuck, step S710 is executed, and the autonomous mobile device retreats a first distance driven by the first drive mechanism W1 and the second drive mechanism W2, and the distance between the autonomous mobile device 220 and the threshold 210 The schematic diagram of the relative positional relationship between is changed from Fig. 7b to Fig. 7c.

Next, in step S720, the second drive mechanism W2 is braked, the first drive mechanism W1 rotates around the second drive mechanism W2 by a first angle, and the schematic diagram of the relative positional relationship between the autonomous mobile device 220 and the threshold 210 is shown in FIG. 7c Transformed into Figure 7d.

Next, in step S730, the first driving mechanism W1 is fixed, and the second driving mechanism W2 is rotated forward by a second angle around the first driving mechanism W1. 7d is transformed into Figure 7e, thereby completing the obstacle surmounting.

Thus, in the case that the autonomous mobile device is stuck at the threshold 210, the two driving mechanisms W1 and W2 are alternately operated through the obstacle-overriding mode of steps S710, S720 and S730, and finally both can cross the slope of the threshold 210 , so as to solve the technical problem that the autonomous mobile device is stuck before the threshold, and it is an effective obstacle-crossing mode in practice.

In a possible implementation, if the autonomous mobile device operates in the obstacle-surmounting mode, steps S410 and S420 in FIG. The device increases its speed to accelerate to a first preset speed, and attempts to cross the surmountable obstacle at the increased first preset speed (greater than the speed at which the autonomous mobile device is normally operating). This also includes that the autonomous mobile device sets the first preset speed as the target value of the speed increase, but in actual operation, the autonomous mobile device has rushed over a surmountable obstacle or even crossed it before the increased speed reaches the first preset speed The situation in the obstacle-traversable area.

In a possible implementation, if the autonomous mobile device operates in the obstacle-surpassing mode, steps S510, S520, and S530 in FIG. 5 may be executed in sequence, that is, the autonomous mobile device retreats a first distance from the current position where it is stuck, The autonomous mobile device takes the current direction after the first distance as the initial direction, and rotates the first set angle in situ along the first rotation direction, and then the autonomous mobile device controls its motion unit to move forward while rotating the second rotation direction for the first time. 2. Set the angle, repeat the above process, and try to cross the obstacle-crossing area during the process; if the obstacle-crossing area is successfully crossed, the autonomous mobile device will perform subsequent normal operations. For an exemplary schematic diagram of the autonomous mobile device operating in the obstacle-surpassing mode, refer to FIG. 8a.

As shown in Figure 8a, the autonomous mobile device takes the current direction after retreating the first distance from the stuck current position A as the initial direction, and first rotates the first setting in place along the first rotation direction (for example, clockwise). Angle θ (such as 85°), and then control its wheel set to move forward while rotating a certain set angle in the second direction of rotation (such as counterclockwise) (which can be called the second set angle, such as 175°) In order to reach the coordinate position of point E1, since the coordinate position of point E1 does not go around the coordinate position of point A (which is the position of the surmountable obstacle), the autonomous mobile device then controls its wheel set to move forward and edge A certain rotation direction (such as clockwise) rotates a certain set angle (such as 180°) to reach the coordinate position of point C across the obstacle-surpassable area, and then the subsequent normal operation can be performed.

In a possible implementation, if the autonomous mobile device operates in the obstacle-surpassing mode, steps S610, S620, and S630 in FIG. The autonomous mobile device takes the current direction after retreating the second distance as the initial direction, rotates the third set angle in situ along the third rotation direction, and then the autonomous mobile device controls its motion unit to move forward in a straight line for the set distance, and repeat the above steps repeatedly. Rotate and operate straight until it crosses the obstacle-surpassable area, and then perform subsequent normal operations. For an exemplary schematic diagram of the autonomous mobile device operating in this obstacle-surpassing mode, please refer to FIG. 8b.

As shown in Figure 8b, the autonomous mobile device takes the current direction after retreating a second distance from the stuck current position A as the initial direction, and first rotates the third setting in place along the third rotation direction (for example, clockwise) Angle θ' (such as 85°), and then control its wheel set to move forward in a straight line for a set distance to reach the coordinate position of point E1. position), therefore, the autonomous mobile device then rotates in a certain direction of rotation (such as counterclockwise) at a set angle (such as 135°), and then controls its wheel set to move forward in a straight line for a certain set distance To reach the coordinate position of point E2, since the coordinate position of point E2 does not bypass the coordinate position of point A, the autonomous mobile device then rotates in a certain direction of rotation (such as clockwise) at a set angle (such as 60°) , and then control its wheel set to move forward in a straight line. During this process, the autonomous mobile device successfully crosses the obstacle-surpassing area to point C, and then can perform subsequent normal operations.

In a possible implementation manner, in step S110, parameters of surmountable obstacles in the obstacle-surpassable area are also acquired.

In this exemplary embodiment, in addition to marking the obstacle-surpassable area on the map, the user can also set the parameters of the surmountable obstacles in the obstacle-surpassable area, where the parameters may include but are not limited to the shape of the obstacle ( Such as cross-sectional shape (e.g. trapezoidal, rectangular, circular, etc.) and/or height.

In a possible implementation manner, the user can set the parameters of the surmountable obstacle through the screen displayed on the user equipment for setting the parameters of the surmountable obstacle, and the screen displays the parameters of the surmountable obstacle. The selection buttons corresponding to various parameters, the user can set the corresponding obstacle parameters by clicking the corresponding button. Due to limited space, the present disclosure does not describe the manner in which the user sets the parameters of the surmountable obstacle.

In a possible implementation, it may be judged according to the parameters of the surmountable obstacle whether the autonomous mobile device can surmount the surmountable obstacle, wherein, if it is determined that the surmountable obstacle can be surmounted, the above-mentioned Step S130.

In this exemplary embodiment, the autonomous mobile device may judge whether the autonomous mobile device can cross the surmountable obstacle according to the acquired parameters of the surmountable obstacle.

If the acquired parameter (such as an obstacle with a trapezoidal cross-section and a height of 2.0cm) is not greater than the parameter corresponding to the obstacle that can be crossed (parameter threshold, such as a trapezoidal cross-section and a height not greater than 2.7cm), then judge In order for the autonomous mobile device to be able to overcome the obstacle, the autonomous mobile device may perform step S130 to operate in the obstacle-surpassing mode to try to pass through the obstacle-surmountable area corresponding to the obstacle.

Conversely, if the acquired parameter is greater than the parameter corresponding to the obstacle that can be crossed, it is judged that the autonomous mobile device cannot cross the obstacle, and it may be unnecessary for the autonomous mobile device to attempt to cross the obstacle, so the autonomous mobile device can be ordered Perform obstacle avoidance processing such as escape mode and edge following mode to improve work efficiency.

In a possible implementation manner, the parameter of the surmountable obstacle has a corresponding relationship with the obstacle surmounting mode, and when the autonomous mobile device is stuck in the obstacle surmountable area, according to the surmountable The parameters of the leap-over obstacle and the corresponding relationship implement the corresponding obstacle-crossing mode.

In this exemplary embodiment, the obstacle-crossing mode corresponding to the parameter can be selected according to the parameter of the surmountable obstacle, and the selected obstacle-breaking mode can be executed. In other words, different obstacle clearance modes can be set according to the parameters of different surmountable obstacles.

Assume that the parameter thresholds of the surmountable obstacles include the cross-sectional shape of the obstacle as a trapezoid and the height of the first threshold of 2.7cm, the cross-sectional shape of the obstacle as a rectangle and the height of the second threshold of 2cm, and the cross-sectional shape of the obstacle as an arc and the height is the third threshold of 2.2cm, if the user sets the obstacle parameter with a height higher than the first threshold via the user equipment, then it can be determined according to the parameter of the surmountable obstacle set by the user and the aforementioned obstacle parameter threshold The obstacle cannot be crossed. Therefore, when the autonomous mobile device runs into the obstacle-surpassable area, it will not try to cross the obstacle. For example, it can perform obstacle avoidance processing such as escape mode and edge following mode, and the autonomous mobile device can Automatically marks the area on the map as impassable.

Continuing the above example, if the user sets the obstacle parameter with a height lower than the first threshold and a trapezoidal cross-sectional shape via the user equipment, the autonomous mobile device can determine the obstacle according to the obstacle parameter set by the user and the aforementioned obstacle parameter threshold Objects can be surmounted. If the autonomous mobile device is stuck in the obstacle surmountable area, it will run in the obstacle surmountable mode. Exemplarily, the autonomous mobile device will follow the forward direction and the surmountable obstacle corresponding to the obstacle surmountable area. The lower edge of the slope of the type obstacle runs in the direction of a preset angle to cross the surmountable obstacle. That is, the autonomous mobile device runs along the oblique obstacle-crossing path shown in Figure 3d.

Continuing the above example, if the user sets the obstacle parameter with a height lower than the second threshold and a rectangular cross-sectional shape via the user equipment, the autonomous mobile device can determine the obstacle according to the obstacle parameter set by the user and the aforementioned obstacle parameter threshold Objects can be surmounted. If the autonomous mobile device is stuck in the obstacle-surpassable area, it operates in obstacle-surpassing mode. For example, the autonomous mobile device moves back a certain distance, brakes one wheel and makes the other wheel go around the obstacle. The braked wheel is rotated at an angle to allow the rotating wheel to step over or over an obstacle, keeping the previously rotating wheel stationary, while the previously braked wheel is rotated at an angle around the fixed wheel to allow the rotating wheel Stepping to or over an obstacle, that is, the autonomous mobile device operates with the flow chart of the obstacle surmounting mode shown in FIG. 7 .

Continuing with the above example, if the user sets an obstacle parameter whose height is lower than the third threshold and the cross-sectional shape of the obstacle is a circular arc via the user equipment, the autonomous mobile device will It can be determined that the obstacle is surmountable. If the autonomous mobile device is stuck in the obstacle-surpassable area, it operates in a specific obstacle-surpassing mode. For example, the autonomous mobile device retreats a certain distance, increases its speed and uses The increased speed traverses the obstacle, ie the autonomous mobile device operates in the obstacle clearance mode shown in FIG. 4 .

According to the control method of this exemplary embodiment, it is determined whether the obstacle can be crossed according to the obtained obstacle parameters. The obstacle-crossable area is set with a predetermined path of the obstacle-crossing path and runs according to the predetermined path. Thus, the user assists in marking obstacles on the map and setting obstacle parameters, and determines that obstacles can be crossed based on the obstacle parameters. In the case of marking, the path suitable for the marked obstacles is planned based on the marked map. In this way, the risk of being trapped that the autonomous mobile device may encounter during unnecessary attempts to cross obstacles can be avoided, and the The time consumed by autonomous mobile equipment in unnecessary obstacle-crossing processing can ensure the stability of equipment operation and improve work efficiency. In addition, when the autonomous mobile device is stuck in the obstacle-surpassable area, the autonomous mobile device operates in an obstacle-surpassing mode with a higher probability of overcoming obstacles, thereby increasing the probability of the autonomous mobile device overcoming obstacles.

In a possible implementation, as described in Figures 1b and 1c, after step S130, the following steps are also performed:

In step S140, it is judged whether the autonomous mobile device has passed the obstacle-surpassable area.

In this embodiment, there are situations where it is difficult for the autonomous mobile device to pass through the obstacle-surpassable area due to obstacles such as being too high. If you fail to pass through the obstacle surmountable area, if you continue to try to pass through the obstacle surmountable area, it will affect the normal working efficiency of the autonomous mobile device.

To this end, after executing all the steps of the control method shown in Figure 1a, as described in Figures 1b and 1c, it is also judged whether the autonomous mobile device has passed the obstacle-crossable area, for example, by judging whether the autonomous mobile device is in the If it is stuck in the obstacle-crossing area, it is judged whether the autonomous mobile device has passed the obstacle-crossable area. If it is judged that the autonomous mobile device is stuck in the obstacle-crossable area, it is judged that the autonomous mobile device has not passed the obstacle-crossable area; , if it is determined that the autonomous mobile device is not stuck in the obstacle-surpassable area, it is determined that the autonomous mobile device has passed the obstacle-surmountable area. Among them, the method of judging whether the autonomous mobile device is stuck can refer to the previous description, and due to space limitation, details will not be repeated here.

In one implementation, if the determination is "No" in step S140, the autonomous mobile device has not passed the obstacle-surpassable area even if it is running in the obstacle-surpassing mode. The area is re-marked as an impassable area.

In this embodiment, when the autonomous mobile device operates in the obstacle surmounting mode to try to overcome the obstacle and fails, in order to improve work efficiency, the autonomous mobile device can try other paths, such as executing the escape mode, edge following mode, etc.

In a possible implementation manner, the obstacle surmounting mode includes: making the autonomous mobile device follow the forward travel direction of the autonomous mobile device along the slope of the surmountable obstacle corresponding to the obstacle surmountable area The lower edge of the face runs in a direction at a preset angle to cross over a surmountable obstacle. Wherein, the preset angle may include, but not limited to, any angle within the interval [10°, 45°], for example.

In this embodiment, the autonomous mobile device can use the A-Star (also written as A*) algorithm to plan the path. Wherein, those skilled in the art can know that the A* algorithm is the most effective direct search method for solving the shortest path in a static road network, and its formula is expressed as: f(n)=g(n)+h(n) , where f(n) is the cost estimate from the initial state to the goal state via state n, g(n) is the actual cost from the initial state to state n in the state space, h(n) is the cost from state n to the goal The estimated cost of the best path to the state. (For the path search problem, the state is the node in the graph, and the cost is the distance). Due to the limited space, the principle of the A* algorithm will not be repeated in this disclosure.

When the autonomous mobile device uses the A* algorithm to plan the path, if the search point is located in the obstacle-surpassing area (such as the threshold area), the cost of the oblique search method is set to be lower than the cost of the horizontal and vertical search methods, so that The path planned by the autonomous mobile device tends to pass through the obstacle-surpassing area obliquely, that is, the planned path is modified from a horizontal and vertical obstacle-crossing path to an oblique obstacle-crossing path.

In order to facilitate the understanding of "path planning", 3a-3d are taken as examples for description below. Combining with Figures 3a-3d, it can be seen that when the autonomous mobile device performs path planning on the grid map, for the points located outside the obstacle surmountable area 240, the horizontal and vertical direction search methods are used; The directional search method is adjusted to use an oblique search method with a lower cost than the horizontal and vertical search methods, and thus the planned path is the path shown in Figure 3d. Compared with the route planned without adjusting the search method of the points located in the obstacle surmountable area 240 shown in FIG. 3c , the route shown in FIG. , the path in the obstacle-surpassable area 240 tends to pass through the obstacle-surpassable area 240 along a direction of 45 degrees. In other words, referring to FIG. 3e, it can be seen that if the autonomous mobile device runs along the path shown in FIG. 3d, the angle between the forward direction of the autonomous mobile device and the obstacle 230 (the lower edge of the slope) is 45°.

It should be understood that when the autonomous mobile device fails to cross the obstacle-surpassable area with the above-mentioned oblique obstacle-surpassing path, it can continue to use another oblique obstacle-surpassing path (the corresponding predetermined angle is different from the previous oblique obstacle-surpassing path) Try again to cross the accessible area. In other words, if the autonomous mobile device runs along a direction in which the forward travel direction forms a preset angle with the lower edge of the slope of the surmountable obstacle corresponding to the obstacle-surpassable area to perform obstacle-surpassing processing and fails, the preset can be changed. The forward travel direction of the autonomous mobile device and the lower edge of the slope of the surmountable obstacle corresponding to the obstacle-surpassing area form a changed preset angle to perform obstacle-surpassing processing again.

In a possible implementation manner, the mode corresponding to the predetermined path that the autonomous mobile device can plan may include special modes in the prior art such as a bow-shaped coverage mode, an edge mode, a navigation mode, and an escape mode. Due to space limitation, this disclosure will not describe it any further.

Fig. 9 shows a block diagram of a control device of an autonomous mobile device according to an exemplary embodiment. Referring to FIG. 9 , the control apparatus 1100 of the autonomous mobile device may include an acquiring unit 1110 , a judging unit 1120 and a processing unit 1130 . The obtaining unit 1110 is used to obtain a map marked with obstacle-surpassable areas. The judging unit 1120 is used to judge whether the autonomous mobile device is stuck in the obstacle-surpassable area. The processing unit 1130 is connected to the judging unit 1120, and is configured to command the autonomous mobile device to execute an obstacle-crossing mode in order to try to pass the obstacle-crossable area when it is judged that the autonomous mobile device is stuck in the obstacle-crossable area. Obstacle clearance area.

In a possible implementation manner, the judging unit 1120 is configured to: judge whether the autonomous mobile device runs to the obstacle-crossable area; Next, continue to judge whether the autonomous mobile device is stuck in the obstacle-passable area, wherein, if it is determined that the autonomous mobile device is stuck in the obstacle-passable area, the processing unit 1130 instructs the The autonomous mobile device executes an obstacle surmounting mode to try to pass through the obstacle surmountable area.

In a possible implementation manner, the judging unit 1120 is configured to: judge whether the autonomous mobile device is stuck; if it is judged that the autonomous mobile device is stuck, continue to judge that the autonomous mobile device is stuck Whether the stuck position is within the obstacle-surmountable area, wherein, if it is determined that the autonomous mobile device is stuck within the obstacle-surpassable area, the processing unit 1130 instructs the autonomous mobile device to Executing an obstacle clearance mode to attempt to pass through the obstacle clearance area.

In a possible implementation manner, the judging unit 1120 also judges whether the autonomous mobile device has passed the obstacle-crossable area; if it is judged that the autonomous mobile device has not passed the obstacle-crossable area, Obstacle traversable areas that have not been passed are remarked as impassable areas on the map.

In a possible implementation manner, when it is determined that the location where the autonomous mobile device is stuck is not within the obstacle-surpassable area, the processing unit 1130 commands the autonomous mobile device to execute the escape mode, alarm, and /or mark the stuck position on the map as a common obstacle or mark the area where the stuck position is located as an impassable area.

In a possible implementation, the processing unit 1130 commands the autonomous mobile device to run in a workspace without a map and establishes a map of the workspace; the judging unit 1120 judges whether the autonomous mobile device is stuck; If it is judged that the autonomous mobile device is stuck at the current position, the processing unit 1130 commands the autonomous mobile device to execute the obstacle-crossing mode; after the autonomous mobile device executes the obstacle-crossing mode, the judging unit 1120 judges that the autonomous mobile device Whether the mobile device has passed the area corresponding to the position where the autonomous mobile device is stuck; if it is determined that the autonomous mobile device has passed the area corresponding to the position where the autonomous mobile device is stuck, marking the area on the created map as an obstacle traversable area; and/or in the event that the autonomous mobile device is determined not to have passed through the area corresponding to the location where the autonomous mobile device is stuck, The created map marks the area as impassable.

In a possible implementation manner, the acquiring unit 1110 also acquires parameters of surmountable obstacles in the obstacle-surpassable area.

In a possible implementation manner, the obtaining unit 1110 is configured to: push the map of the workspace to the user; and receive the map on which the user has marked the obstacle-surpassable area.

In a possible implementation, it also includes: a recommendation unit (not shown), configured to recommend to the user to mark the surmountable obstacle in the obstacle-surpassable area after the map of the workspace is pushed to the user predetermined shape.

In a possible implementation manner, the judging unit 1120 also judges whether the autonomous mobile device can surmount the surmountable obstacle according to the parameters of the surmountable obstacle, wherein, after judging that the surmountable obstacle can be In the case of a surmountable obstacle, the processing unit 1130 instructs the autonomous mobile device to execute an obstacle surmounting mode, so as to try to pass through the obstacle surmountable area.

In a possible implementation manner, the obstacle surmounting mode includes: making the autonomous mobile device form a preset angle with the lower edge of the slope of the surmountable obstacle corresponding to the obstacle surmountable area along the forward traveling direction run in the direction to cross the surmountable obstacle.

In a possible implementation manner, the preset angle is not less than 10° and not greater than 45°.

In a possible implementation manner, the obstacle surmounting mode includes: making the autonomous mobile device retreat a first distance from the current position; braking the second driving mechanism, and making the first driving mechanism rotate around the second driving mechanism; The mechanism is rotated forward by a first angle, wherein the first drive mechanism and the second drive mechanism are arranged side by side on the autonomous mobile device; the first drive mechanism is fixed, and the second drive mechanism is rotated around the The first driving mechanism rotates forward by a second angle.

In a possible implementation manner, the obstacle surmounting mode includes: making the autonomous mobile device retreat a first distance from the stuck current position; accelerating the autonomous mobile device to a first preset speed, and The first preset speed crosses the surmountable obstacle, wherein the first preset speed is greater than the speed of the autonomous mobile device during normal operation.

In a possible implementation manner, the obstacle surmounting mode includes: making the autonomous mobile device retreat a first distance from a stuck current position; The direction is the initial direction, rotate the first set angle in situ along the first rotation direction, and then control the motion unit of the autonomous mobile device to move forward while rotating the second set angle along the second rotation direction, wherein the first The second direction of rotation is opposite to the first direction of rotation.

In a possible implementation manner, the obstacle surmounting mode includes: making the autonomous mobile device retreat a second distance from a stuck current position; The direction is the initial direction, rotate in situ at a third set angle along the third rotation direction, and then control the motion unit of the autonomous mobile device to move forward a set distance in a straight line.

In a possible implementation, the parameter of the surmountable obstacle corresponds to the obstacle surmounting mode, and when the autonomous mobile device is stuck in the obstacle surmountable area, the processing unit 1130 The parameters of the surmountable obstacle and the corresponding relationship execute a corresponding obstacle-crossing mode.

In a possible implementation manner, the parameters of the surmountable obstacle include shape and/or height.

Figure 10 shows a block diagram of an autonomous mobile device, according to an exemplary embodiment. Referring to FIG. 10 , the autonomous mobile device 1200 may include a control device 1100 and a motion unit 1210 of the autonomous mobile device. The movement unit 1210 is connected with the control device 1100, and is used for responding to the control device 1100 commanding the autonomous mobile device 1200 to execute an obstacle-crossing mode, and to try to pass through the obstacle-crossing area by moving in the obstacle-crossing mode. The exercise unit 1210 may include, but is not limited to, a wheel set, for example.

Regarding the apparatus in the above embodiments, the specific manner in which each unit performs operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

Having described various embodiments of the present disclosure above, the foregoing description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and alterations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles of the various embodiments, practical applications or technical improvements over technologies in the market, or to enable other persons of ordinary skill in the art to understand the various embodiments disclosed herein.

Claims

A method for controlling an autonomous mobile device, comprising:

The obtaining step is used to obtain the map marked with the obstacle traversable area;

A judging step, for judging whether the autonomous mobile device is stuck in the obstacle-crossable area;

A processing step for ordering the autonomous mobile device to execute an obstacle-passing mode in order to try to pass through the obstacle-passable area when it is determined that the autonomous mobile device is stuck in the obstacle-passable area;

The control method also includes, after the processing step:

judging whether the autonomous mobile device has passed the obstacle-surpassable area;

If it is determined that the autonomous mobile device has not passed the obstacle-passable area, re-marking the failed obstacle-passable area as an impassable area on the map.
The control method according to claim 1, wherein the judging step comprises:

judging whether the autonomous mobile device runs to the obstacle-surpassable area;

If it is determined that the autonomous mobile device is running to the obstacle-surpassable area, continue to determine whether the autonomous mobile device is stuck in the obstacle-surmountable area,

Wherein, when it is determined that the autonomous mobile device is stuck in the obstacle-surpassable area, the processing steps are executed.
The control method according to claim 1, wherein the judging step comprises:

determining whether the autonomous mobile device is stuck;

If it is determined that the autonomous mobile device is stuck, continue to determine whether the stuck position of the autonomous mobile device is within the obstacle-surpassable area,

Wherein, in a case where it is determined that the position where the autonomous mobile device is stuck is within the obstacle-surpassable area, the processing steps are executed.
The control method according to claim 3, characterized in that,

If it is determined that the position where the autonomous mobile device is stuck is not within the obstacle-surpassable area, order the autonomous mobile device to perform an escape mode, alarm, and/or place the stuck position on the map Mark the location as a normal obstacle or mark the area where the stuck location is located as an impassable area.
According to the control method described in any one of claims 1-3, it is characterized in that, also comprising the step of building a map:

commanding the autonomous mobile device to operate in an unmapped workspace and map the workspace;

determining whether the autonomous mobile device is stuck during operation of the autonomous mobile device;

If it is determined that the autonomous mobile device is stuck at the current location, ordering the autonomous mobile device to execute an obstacle surmounting mode;

After the autonomous mobile device executes the obstacle-crossing mode, judging whether the autonomous mobile device has passed an area corresponding to the position where the autonomous mobile device is stuck;

If it is determined that the autonomous mobile device has passed through an area corresponding to the location where the autonomous mobile device is stuck, marking the area as an obstacle traversable area on the created map; and/or

If it is determined that the autonomous mobile device has not passed through the area corresponding to the location where the autonomous mobile device is stuck, marking the area as an impassable area on the created map.
The control method according to any one of claims 1-3, characterized in that, in the acquiring step, parameters of surmountable obstacles in the obstacle-surpassable area are also acquired.
The control method according to any one of claims 1-6, wherein the acquiring step comprises:

Push the map of the workspace to the user;

Receives a map where the user has marked obstacle-traversable areas.
The control method according to claim 7, further comprising:

After the map of the workspace is pushed to the user, recommend to the user a predetermined shape for marking a surmountable obstacle in the obstacle-surpassable area;

A map in which the user has marked the obstacle-surpassable area using the predetermined shape is received.
The control method according to claim 6, further comprising:

judging whether the autonomous mobile device can cross the surmountable obstacle according to parameters of the surmountable obstacle,

Wherein, when it is determined that the surmountable obstacle can be crossed, the processing step is executed.
The control method according to any one of claims 1-9, characterized in that the obstacle surmounting mode includes: making the autonomous mobile device follow the forward travel direction and the surmountable type corresponding to the obstacle surmountable area. The lower edge of the slope of the obstacle runs in a direction at a predetermined angle to overcome the surmountable obstacle.
The control method according to claim 10, wherein the preset angle is not less than 10° and not greater than 45°.
The control method according to any one of claims 1-9, characterized in that the obstacle surmounting mode comprises:

retreating the autonomous mobile device a first distance from a current location;

braking the second drive mechanism and rotating the first drive mechanism forward by a first angle around the second drive mechanism, wherein the first drive mechanism and the second drive mechanism are arranged in parallel on the autonomous mobile device lower part;

The first drive mechanism is fixed, and the second drive mechanism is rotated forwardly about the first drive mechanism by a second angle.
The control method according to any one of claims 1-9, characterized in that the obstacle surmounting mode comprises:

retreating the autonomous mobile device a first distance from a stuck current location;

Accelerating the autonomous mobile device to a first preset speed, and crossing the surmountable obstacle in the obstacle-surpassable area at the first preset speed, wherein the first preset speed is greater than the autonomous mobile device The speed at which the mobile device operates normally.
The control method according to any one of claims 1-9, characterized in that the obstacle surmounting mode comprises:

retreating the autonomous mobile device a first distance from a stuck current location;

Make the autonomous mobile device take the current direction after retreating the first distance as the initial direction, rotate the first set angle in situ along the first rotation direction, and then control the motion unit of the autonomous mobile device to move forward by one The edge is rotated by a second set angle along a second rotation direction, wherein the second rotation direction is opposite to the first rotation direction.
The control method according to any one of claims 1-9, characterized in that the obstacle surmounting mode comprises:

moving the autonomous mobile device back a second distance from a stuck current location;

Make the autonomous mobile device take the current direction after retreating the second distance as the initial direction, rotate in situ along the third rotation direction at a third set angle, and then control the motion unit of the autonomous mobile device to move forward in a straight line. fixed distance.
The control method according to claim 6, characterized in that,

The parameters of the surmountable obstacle have a corresponding relationship with the obstacle surmounting mode,

When the autonomous mobile device is stuck in the obstacle-crossable area, a corresponding obstacle-crossing mode is executed according to the parameters of the crossable obstacle and the corresponding relationship.
The control method according to claim 6, wherein the parameters of the surmountable obstacle include shape and/or height.
A control device for autonomous mobile equipment, characterized in that it includes:

an acquisition unit, configured to acquire a map marked with an obstacle-crossable area;

a judging unit, configured to judge whether the autonomous mobile device is stuck in the obstacle-crossable area;

a processing unit, configured to order the autonomous mobile device to execute an obstacle-passing mode in order to try to pass through the obstacle-passable area when it is determined that the autonomous mobile device is stuck in the obstacle-passable area;

Wherein, the judgment unit also

judging whether the autonomous mobile device has passed the obstacle-surpassable area;

If it is determined that the autonomous mobile device has not passed the obstacle-passable area, the processing unit re-marks the failed obstacle-passable area as an impassable area on the map.
A control device for autonomous mobile equipment, characterized in that it includes:

processor;

memory for storing processor-executable instructions;

Wherein, the processor is configured to: execute the steps of the control method described in any one of claims 1-17.
An autonomous mobile device, comprising:

A control device according to claim 18 or 19; and

a motion unit, configured to respond to the control device instructing the autonomous mobile device to execute an obstacle-crossing mode, and to move in the obstacle-crossing mode to try to pass through the obstacle-crossable area.
A non-transitory computer readable storage medium having instructions in the storage medium which, when executed by a processor, enable the processor to perform control of an autonomous mobile device according to any one of claims 1 to 17 method.