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EP-4617814-B1 - SELF-MOVING ROBOT, OBSTACLE CROSSING METHOD, OBSTACLE CROSSING SYSTEM, AND COMPUTER READABLE STORAGE MEDIUM

EP4617814B1EP 4617814 B1EP4617814 B1EP 4617814B1EP-4617814-B1

Inventors

  • YAO, NAN

Dates

Publication Date
20260506
Application Date
20240524

Claims (12)

  1. An obstacle crossing method of a self-moving robot, the self-moving robot including an active obstacle crossing component and configured to perform a cleaning task based on a preset cleaning frequency (f), the preset cleaning frequency (f) referring to a number of times (P) the cleaning task is performed within a preset time period (T,T1,T2), characterized in that the obstacle crossing method includes: identifying (S202) a type of an obstacle in a cleaning path during the cleaning task, and determining whether the obstacle is a first type of obstacle or a second type of obstacle according to a height rule, wherein a height of the first type of obstacle is less than a first height, so that the self-moving robot is capable of crossing over the first type of obstacle without activating the active obstacle-crossing component, and a height of the second type of obstacle is greater than the first height and less than a second height. so that the self-moving robot is capable of crossing over the second type of obstacle by activating the active obstacle-crossing component; in response to determining that the obstacle is the first type of obstacle, obtaining a first obstacle crossing frequency (f1) for the first type of obstacle, wherein the first obstacle crossing frequency (f1) is less than or equal to the preset cleaning frequency (f), and the first obstacle crossing frequency (f1) refers to the number of times (P1) the self-moving robot crosses over the first type of obstacle within the preset time period (T,T1,T2); crossing over or not crossing over the first type of obstacle based on the first obstacle crossing frequency (f1); and cleaning a first target region behind the first type of obstacle in the case that the self-moving robot crosses over the first type of obstacle, or continuing to perform the cleaning task in the case that the self-moving robot does not cross over the first type of obstacle (S204); and in response to determining that the obstacle is the second type of obstacle, obtaining a second obstacle crossing frequency (f2) for the second type of obstacle, wherein the second obstacle crossing frequency (f2) is less than the preset cleaning frequency (f) and the second obstacle crossing frequency (f2) refers to the number of times (P2) the self-moving robot crosses over the second type of obstacle within the preset time period (T,T1,T2); crossing over or not crossing over the second type of obstacle based on the second obstacle crossing frequency (f2), and cleaning a second target region behind the second type of obstacle in the case that the self-moving robot crosses over the second type of obstacle; or continuing to perform the cleaning task in the case that the self-moving robot does not cross over the second type of obstacle (S206), to reduce a number of times the self-moving robot activates an active obstacle crossing component and a number of times (P2) the self-moving robot crosses over the second type of obstacle.
  2. The obstacle crossing method of claim 1, characterized in that the first obstacle crossing frequency (f1) is a frequency at which the self-moving robot directly crosses over the first type of obstacle, and the second obstacle crossing frequency (f2) is a frequency at which the self-moving robot crosses over the second type of obstacle by using the active obstacle crossing component, so that the self-moving robot performs different obstacle crossing strategies on the first type of obstacle and the second type of obstacle, respectively.
  3. The obstacle crossing method of claim 1, characterized in that the first height is a maximum height of the obstacle that the self-moving robot cross over in the case that the active obstacle crossing component is not activated, and the second height is a maximum height of the obstacle that the self-moving robot cross over in the case that the active obstacle crossing component is activated.
  4. The obstacle crossing method of claim 1, characterized in that the first type of obstacle includes a plurality of first type of obstacles, each of the first type of obstacles has the corresponding first obstacle crossing frequency (f1), the second type of obstacle includes a plurality of second type of obstacles, and each of the second type of obstacles has the corresponding second obstacle crossing frequency, to perform different obstacle crossing strategies for the different obstacles, respectively.
  5. The obstacle crossing method of claim 1, characterized in that the second obstacle crossing frequency (f2) is less than the first obstacle crossing frequency (f1), to reduce the number of times (P2) the self-moving robot crosses over the second type of obstacle and the number of times the active obstacle crossing component is activated.
  6. The obstacle crossing method of claim 1, characterized in that the performing of the cleaning task in the case that the self-moving robot does not cross over the first type of obstacle includes: adding (S302) a first virtual wall corresponding to the first type of obstacle to a cleaning map corresponding to the cleaning task; and performing (S304) a first path planning based on the first virtual wall and a remaining portion of the cleaning task; and performing (S306) the remaining portion of the cleaning task based on the first path planning without crossing over the first type of obstacle, to improve cleaning efficiency.
  7. The obstacle crossing method of claim 1, characterized in that the performing of the cleaning task in the case that the self-moving robot does not cross over the second type of obstacle includes: adding (S402) a second virtual wall corresponding to the second type of obstacle to a cleaning map corresponding to the cleaning task; performing (S404) a second path planning based on the second virtual wall and a remaining portion of the cleaning task; and performing (S406) the remaining portion of the cleaning task based on the second path planning without crossing over the second type of obstacle, to improve cleaning efficiency.
  8. The obstacle crossing method of claim 1, characterized in that the cleaning of the second target region behind the second type of obstacle in the case that the self-moving robot crosses over the second type of obstacle includes: when moving to a position within a preset distance from the second type of obstacle, activating the active obstacle crossing component to raise a height of at least a portion of a bottom of the self-moving robot, to allow the self-moving robot to cross over the second type of obstacle having the height greater than the first height and less than the second height, thereby increasing a success rate in crossing obstacle.
  9. The obstacle crossing method of claim 1, characterized in that a height of the first type of obstacle and a height of the second type of obstacle are determined by a structured light module in the self-moving robot by collecting point cloud data of the first type of obstacle and point cloud data of the second type of obstacle, respectively, to improve accuracy of determining the height of the first type of obstacle and the height of the second type of obstacle.
  10. An obstacle crossing system (502) of a self-moving robot, the self-moving robot including an active obstacle crossing component and configured to perform a cleaning task based on a preset cleaning frequency (f), the preset cleaning frequency (f) referring to a number of times (P) the cleaning task is performed within a preset time period (T,T1,T2), characterized in that the obstacle crossing system (502) includes: an identification module (502), configured to identify a type of an obstacle in a cleaning path during the cleaning task, and determine whether the obstacle is a first type of obstacle or a second type of obstacle according to a height rule, wherein a height of the first type of obstacle is less than a first height, so that the self-moving robot is capable of crossing over the first type of obstacle without activating the active obstacle-crossing component, and a height of the second type of obstacle is greater than the first height and less than a second height, so that the self-moving robot is capable of crossing over the second type of obstacle by activating the active obstacle-crossing component; a first obstacle crossing module (504), configured to obtain a first obstacle crossing frequency (f1) corresponding to the first type of obstacle in response to determining that the obstacle is the first type of obstacle, wherein the first obstacle crossing frequency (f1) is less than or equal to the preset cleaning frequency (f), and the first obstacle crossing frequency (f1) refers to the number of times (P1) the self-moving robot crosses over the first type of obstacle within the preset time period (T,T1,T2), and wherein the self-moving robot crosses over or does not cross over the first type of obstacle based on the first obstacle crossing frequency (f1) and clean a first target region behind the first type of obstacle in the case that the self-moving robot crosses over the first type of obstacle, or continue to perform the cleaning task in the case that the self-moving robot does not cross over the first type of obstacle, and a second obstacle crossing module (506), configured to obtain a second obstacle crossing frequency (f2) corresponding to the second type of obstacle in response to determining that the obstacle is the second type of obstacle, wherein the second obstacle crossing frequency (f2) is less than the preset cleaning frequency (f) and the second obstacle crossing frequency (f2) refers to the number of times (P2) the self-moving robot crosses over the second type of obstacle within the preset time period (T,T1,T2), and wherein the self-moving robot crosses over or does not to cross over the second type of obstacle based on the second obstacle crossing frequency (f2) and clean a second target region behind the second type of obstacle in the case that the self-moving robot crosses over the second type of obstacle, or continue to perform the cleaning task in the case that the self-moving robot does not cross over the second type of obstacle, to reduce a number of times the self-moving robot activates an active obstacle crossing component and a number of times the self-moving robot (P2) crosses over the second type of obstacle.
  11. A computer-readable storage medium, characterized in that , the computer readable storage medium stores a computer program which, when executed by a processor (102), causes the processor (102) to implement the obstacle crossing method of the self-moving robot of any one of claims 1 to 9.
  12. A self-moving robot including a memory (104) and a processor (102), wherein a computer program is stored in the memory (104) and the processor (102) is configured to perform the obstacle crossing method of the self-moving robot of any one of claims 1 to 9.

Description

TECHNICAL FIELD The present application relates to a technical field of walking of a self-moving robot, and more particularly, to a self-moving robot, an obstacle crossing method, an obstacle crossing system, and a computer readable storage medium. BACKGROUND With the development of artificial intelligence technologies, various self-moving robots with automatic mobile functions appear, such as a robot vacuum cleaner. The robot vacuum cleaner is an automatic household appliance, which may be used to clean the floor instead of manually cleaning the floor. Generally, sundries on the floor are first sucked into a dust box and then the floor is cleaned. In the operation of a self-moving robot such as a robot vacuum cleaner, a sensor is generally used to sense an obstacle in front of the sensor, and a corresponding obstacle avoidance strategy is determined based on a type of obstacle, to complete a cleaning task with the highest efficiency. For example, when the sensor senses that there is an obstacle at a certain distance in front of the sensor, the self-moving robot moves backward and moves in another direction to pass the obstacle for a subsequent cleaning task. When the sensor senses that there is no obstacle in front of it, the self-moving robot will move forward all the way and perform a cleaning operation. For another example, the robot vacuum cleaner has a certain obstacle avoidance capability. If a height of the obstacle is lower than a preset height, the robot vacuum cleaner may directly pass the obstacle. For a target obstacle whose height is higher than the preset height, the self-moving robot has improved to have an active obstacle crossing component, and the self-moving robot may activate the active obstacle crossing component at the obstacle to lift the robot vacuum cleaner, and improve the obstacle crossing capability of the robot vacuum cleaner to pass the target obstacle. The patent application CN111142526A discloses a method for determining an obstacle type and an obstacle crossing strategy, but does not disclose an obstacle crossing method of a self-moving robot having an active obstacle crossing component. It is time-consuming to activate the active obstacle crossing component to pass the target obstacle, and thus cleaning efficiency is reduced. During the crossing process, the robot vacuum cleaner may contact, collide, and friction with the target obstacle, and may cause wear and tear to the robot vacuum cleaner, thereby reducing the service life of the robot. However, for a region behind the target obstacle, the cleaning task is not necessarily urgent, and it is not required to clean the region every time. In general, a comprehensive consideration is required for the frequency at which the active obstacle crossing component is activated or not required to be activated by the self-moving robot to pass the obstacle. Therefore, whether the self-moving robot having the active obstacle crossing component needs to activate the active obstacle crossing component and whether the self-moving robot needs to pass the target obstacle to clean the target region are problems to be comprehensively considered, and there is a need for the obstacle crossing method for improving the cleaning efficiency and reducing the wear and tear of the self-moving robot. WO2023133743A1 discloses a mobile apparatus includes a frame (01) and multifunctional mechanical legs (02) connected to the frame (01); and further includes at least one of a fourth motion mechanism configured to enable a base of the mechanical legs (02) to realize a lifting motion and/or a forward-backward motion, and/or a rolling-type travelling mechanism. Each mechanical leg (02) includes a first joint portion (101), a first connecting rod (102), a second joint portion (103) and a second connecting rod (104), which are sequentially connected, the root of the first joint portion (101) being connected to the frame (01). US20170090456A1 discloses an autonomous cleaning robot performs a cleaning function and determines if an obstacle is in its path while performing the cleaning function. When an obstacle is in its path, the autonomous cleaning robot determines if a height of the obstacle is under a clearance height of the autonomous cleaning robot. When the height of the obstacle is under the clearance height of the autonomous cleaning robot, the autonomous cleaning robot determines if the obstacle is to be avoided. SUMMARY The invention is set out in the appended set of claims BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included in and form a part of the specification, illustrate exemplary embodiments, features, and aspects of the present application together with the description and serve to explain the principles of the present application. FIG. 1 is a hardware block diagram of a computer terminal for an obstacle crossing method of a self-moving robot according to an embodiment of the present application.FIG. 2 is a flow chart