CN107456173B - Obstacle crossing method and device - Google Patents

Abstract

The invention discloses a method and a device for crossing obstacles, and belongs to the technical field of automatic cleaning. The method is applied to a cleaning robot comprising two parallel driving wheels, and comprises the following steps: detecting whether the cleaning robot is in an obstacle blocking state when the cleaning robot travels; if the cleaning robot is in the obstacle blocking state, acquiring the inclination angle of the cleaning robot; if the inclination angle is smaller than the preset angle, controlling the cleaning robot to cross the obstacle; the problem that the cleaning robot cannot continue the cleaning task due to the obstruction of the obstacles in the operation process and can continue the cleaning task only with the help of the outside is solved, and the effects that the cleaning robot can independently complete the crossing of the obstacles and the working adaptability of the cleaning robot is improved are achieved.

Description

Obstacle crossing method and device

technical field

The present disclosure relates to the technical field of automatic cleaning, and in particular, to a method and device for crossing obstacles.

Background technique

With the development of economy and technology, cleaning robots such as sweeping robots and mopping robots are more and more widely used in daily life, bringing a lot of convenience to people's lives.

However, there may be various obstacles in the working environment of the cleaning robot, such as crossing stones between adjacent rooms, wires and stools on the ground, and the cleaning robot is easily hindered by these obstacles during the working process. After the robot is stuck, it will send a distress signal to the user to let the user intervene, causing inconvenience to the user. For example: the user starts the cleaning robot to clean the house before going out in the morning. After the user goes out for a period of time, the cleaning robot is stuck by the wires on the ground and cannot complete the cleaning task. When the user comes back at night, he finds that the house is still not cleaned. , it needs to be cleaned again, which consumes extra time for the user.

SUMMARY OF THE INVENTION

In order to solve the problem that the cleaning robot cannot continue the cleaning task due to obstacles during operation and needs outside help to continue the cleaning task, the embodiment of the present invention provides a cleaning robot and a method for crossing obstacles. The technical solution is as follows:

According to a first aspect of the embodiments of the present disclosure, there is provided a cleaning robot, the cleaning robot includes: a cleaning unit, a driving unit, a detection unit, a calculation unit, and a control unit,

When the driving unit drives the cleaning robot to travel, it is detected by the detection unit whether the cleaning robot is in a state of obstruction by obstacles;

If the detection unit detects that the cleaning robot is in a state of being obstructed by an obstacle, the calculation unit obtains the inclination angle of the cleaning robot;

If the inclination angle is smaller than the predetermined angle, the control unit controls the cleaning robot to straddle the obstacle.

Optionally, the drive unit includes a drive wheel;

Detect whether the cleaning robot is in the state of obstruction by the detection unit, including:

Whether the driving wheel is in a slipping state is detected by the detection unit; the slipping state is the state in which the driving wheel rotates on the contact surface in a sliding manner;

If the driving wheel is in a slipping state, it is determined that the cleaning robot is in an obstacle blocking state.

Optionally, the drive unit includes a drive wheel;

Detect whether the cleaning robot is in the state of obstruction by the detection unit, including:

The detection unit detects whether the drive wheel is in a stuck state; the stuck state is the state in which the drive wheel is stopped by an external force during the rotation process;

If the driving wheel is in a stuck state, it is determined that the cleaning robot is in a state of being blocked by an obstacle.

Optionally, the drive unit includes a drive wheel;

Detect whether the cleaning robot is in the state of obstruction by the detection unit, including:

The detection unit obtains the driving mileage of the driving wheel and the position of the cleaning robot;

If the change value of the mileage exceeds the predetermined range and the position does not change, it is determined that the cleaning robot is in a state of being blocked by an obstacle.

Optionally, the drive unit includes a drive wheel;

Detect whether the cleaning robot is in the state of obstruction by the detection unit, including:

The detection unit detects whether the driving current of the driving unit is greater than a predetermined current value;

If the driving current is greater than the predetermined current value, it is determined that the cleaning robot is in an obstacle blocking state.

Optionally, use the detection unit to detect whether the cleaning robot is in a state of being obstructed by obstacles, including:

The detection unit detects whether the cleaning robot is inclined;

If the cleaning robot is tilted, it is determined that the cleaning robot is in a state of being obstructed by an obstacle.

Optionally, the detection unit detects whether the cleaning robot is tilted, including:

Obtain the average acceleration component of the cleaning robot on the X-axis through a three-axis accelerometer; detect whether the average acceleration component is greater than the first predetermined threshold; if the average acceleration component is greater than the first predetermined threshold, it is determined that the cleaning robot is tilted;

or,

Obtain the instantaneous angular velocity component of the cleaning robot on the Y-axis through a gyroscope; detect whether the instantaneous angular velocity component is greater than the second threshold; if the instantaneous angular velocity component is greater than the second threshold, determine that the cleaning robot is tilted;

The origin of the coordinate system is set as the center point of the cleaning robot, the X axis of the coordinate system is parallel to the front and rear axes of the cleaning robot body, the Y axis of the coordinate system is parallel to the lateral axis of the cleaning robot body, and the Z axis of the coordinate system is parallel. Regarding the vertical axis of the body of the cleaning robot, any two of the X axis, the Y axis and the Z axis are perpendicular to each other.

Optionally, obtain the inclination angle of the cleaning robot through the computing unit, including:

Obtain the average acceleration component of the cleaning robot on the X-axis through a three-axis accelerometer;

The inclination angle is determined by the pre-stored correspondence between the average acceleration component and the inclination angle.

Optionally, the inclination angle of the cleaning robot is determined by the computing unit, including:

The inclination angle of the cleaning robot is obtained through a six-axis gyroscope; the six-axis gyroscope has the functions of a three-axis accelerometer and a three-axis gyroscope at the same time.

Optionally, the drive unit includes two parallel drive wheels;

The control unit controls the cleaning robot to cross obstacles, including:

The control unit first controls one driving wheel to cross the obstacle, and then controls the other driving wheel to cross the obstacle.

According to a second aspect of the embodiments of the present disclosure, there is provided a method for crossing obstacles, the method being applied to a cleaning robot including a driving wheel, the method comprising:

When the cleaning robot is traveling, it is detected whether the cleaning robot is in a state of obstruction;

If the cleaning robot is in the obstruction state, obtain the inclination angle of the cleaning robot;

If the inclination angle is smaller than the predetermined angle, the cleaning robot is controlled to straddle the obstacle.

Optionally, detect whether the cleaning robot is in a state of obstruction, including:

Detect whether the driving wheel is in a slipping state; the slipping state is the state in which the driving wheel rotates on the contact surface in a sliding manner;

If the driving wheel is in a slipping state, it is determined that the cleaning robot is in an obstacle blocking state.

Optionally, detect whether the cleaning robot is in a state of obstruction, including:

Detect whether the drive wheel is in a stuck state; the stuck state is the state in which the drive wheel is stopped by an external force during rotation;

If the driving wheel is in a stuck state, it is determined that the cleaning robot is in a state of being blocked by an obstacle.

Optionally, detect whether the cleaning robot is in a state of obstruction, including:

Get the mileage of the drive wheel and the location of the cleaning robot;

If the change value of the mileage exceeds the predetermined range and the position does not change, it is determined that the cleaning robot is in a state of being blocked by an obstacle.

Optionally, detect whether the cleaning robot is in a state of obstruction, including:

Detecting whether the drive current is greater than a predetermined current value;

If the driving current is greater than the predetermined current value, it is determined that the cleaning robot is in an obstacle blocking state.

Optionally, detect whether the cleaning robot is in a state of obstruction, including:

Detect whether the cleaning robot is tilted;

If the cleaning robot is tilted, it is determined that the cleaning robot is in a state of being obstructed by an obstacle.

Optionally, detect whether the cleaning robot is tilted, including:

Obtain the average acceleration component of the cleaning robot on the X-axis through a three-axis accelerometer; detect whether the average acceleration component is greater than the first predetermined threshold; if the average acceleration component is greater than the first predetermined threshold, it is determined that the cleaning robot is tilted;

or,

Obtain the instantaneous angular velocity component of the cleaning robot on the Y-axis through a gyroscope; detect whether the instantaneous angular velocity component is greater than the second threshold; if the instantaneous angular velocity component is greater than the second threshold, determine that the cleaning robot is tilted;

The origin of the coordinate system is set as the center point of the cleaning robot, the X axis of the coordinate system is parallel to the front and rear axes of the cleaning robot body, the Y axis of the coordinate system is parallel to the lateral axis of the cleaning robot body, and the Z axis of the coordinate system is parallel. Regarding the vertical axis of the body of the cleaning robot, any two of the X axis, the Y axis and the Z axis are perpendicular to each other.

Optionally, obtain the inclination angle of the cleaning robot, including:

Obtain the average acceleration component of the cleaning robot on the X-axis through a three-axis accelerometer;

The inclination angle is determined by the pre-stored correspondence between the average acceleration component and the inclination angle.

Optionally, obtain the inclination angle of the cleaning robot, including:

The inclination angle of the cleaning robot is obtained through a six-axis gyroscope; the six-axis gyroscope has the functions of a three-axis accelerometer and a three-axis gyroscope at the same time.

Optionally, the cleaning robot includes two parallel drive wheels;

Control the cleaning robot to cross obstacles, including:

Control one driving wheel to cross the obstacle first, and then control the other driving wheel to cross the obstacle.

The beneficial effects brought by the technical solutions provided in the embodiments of the present invention are:

By detecting whether the cleaning robot is in an obstacle blocking state when the cleaning robot travels in the forward direction, when the cleaning robot is in an obstacle blocking state, the cleaning robot is inclined, and the inclination angle of the cleaning robot is obtained. When the inclination angle is smaller than the predetermined angle, Controlling the cleaning robot to cross obstacles, solves the problem that the cleaning robot cannot continue the cleaning task due to obstacles in the operation process, and needs outside help to continue the cleaning task, so that the cleaning robot can independently complete the escape and the obstacle. The leap forward has improved the work adaptability of cleaning robots. The cleaning robot of the present invention can perceive its own state, and according to the state, judge by itself whether to go ahead or return after crossing the obstacle, so that the cleaning robot can automatically continue to work in various complex environments without requiring manual intervention, which greatly enhances the Full automation of cleaning robots.

It is to be understood that the foregoing general description and the following detailed description are exemplary only and do not limit the present disclosure.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

FIG. 1 is a schematic structural diagram of a cleaning robot involved in various embodiments of the present disclosure;

2 is a schematic structural diagram of a cleaning robot involved in various embodiments of the present disclosure;

3 is a structural block diagram of a cleaning robot involved in various embodiments of the present disclosure;

FIG. 4 is a coordinate system provided by an embodiment of the present disclosure;

FIG. 5A is a flowchart of a method for crossing obstacles according to an exemplary embodiment;

Fig. 5B is a schematic diagram showing an obstacle blocking state according to an exemplary embodiment;

FIG. 6 is a flowchart of a method for crossing obstacles according to another exemplary embodiment;

FIG. 7A is a schematic diagram illustrating the implementation of an obstacle crossing method according to an exemplary embodiment;

FIG. 7B is a schematic diagram illustrating the implementation of an obstacle crossing method according to an exemplary embodiment;

FIG. 7C is a schematic diagram illustrating the implementation of an obstacle crossing method according to an exemplary embodiment;

FIG. 7D is a schematic diagram illustrating the implementation of an obstacle crossing method according to an exemplary embodiment;

FIG. 7E is a schematic diagram illustrating the implementation of an obstacle crossing method according to an exemplary embodiment;

FIG. 7F is a schematic diagram illustrating the implementation of an obstacle crossing method according to an exemplary embodiment;

FIG. 8A is a schematic diagram of an implementation of acquiring an inclination angle according to another exemplary embodiment;

FIG. 8B is a schematic diagram of an implementation of acquiring an inclination angle according to another exemplary embodiment;

FIG. 8C is a schematic diagram illustrating an implementation of acquiring an inclination angle according to another exemplary embodiment.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as recited in the appended claims.

1 and 2 are schematic diagrams of a cleaning robot involved in various embodiments of the present disclosure. FIG. 1 exemplarily shows a schematic top view of the cleaning robot 10 , and FIG. 2 exemplarily shows a bottom schematic view of the cleaning robot 10 . As shown in FIG. 1 and FIG. 2 , the cleaning robot 10 includes: a body 110 , a detection assembly 120 , a left wheel 131 , a motor (not shown) connected to the left wheel 131 , a right wheel 132 , and a motor connected to the right wheel 132 (not shown), and the main brush 140 .

The body 110 forms a housing of the cleaning robot, and accommodates other components.

Optionally, the body 110 has a flat cylindrical shape.

The detection component 120 is used to measure the surrounding environment of the cleaning robot, so as to find environmental objects such as obstacles, walls, steps, etc. The detection component 120 can also judge the motion state of the cleaning robot itself. The detection component 120 may include an odometer, an LDS (Laser Distance Sensor, laser distance sensor), a cliff sensor, a three-axis accelerometer, a gyroscope, and a collision sensor. Optionally, the detection component 120 may further include an infrared sensor, an ultrasonic sensor, a camera, a Hall sensor, and the like.

This embodiment does not limit the number and location of the detection components 120 .

The left wheel 131 is installed on the left side of the cleaning robot body 110 , and the right wheel 132 is installed on the right side of the cleaning robot body 110 . The left wheel 131 and the right wheel 132 are respectively controlled by the motors connected to the respective ones.

A motor connected to the left wheel 131 is also installed on the left side of the cleaning robot body 110, and the drive circuit of the motor connected to the left wheel 131 is connected to the control unit of the cleaning robot, and the control unit sends to the drive circuit of the motor corresponding to different duty ratios The first control signal, the driving circuit of the motor generates the corresponding driving current according to the first control signal to make the motor rotate, thereby controlling the driving direction and rotation speed of the left wheel 131; wherein, the duty cycle refers to the power-on time of the pulse signal and the power-on period. Ratio, the larger the duty ratio, the higher the rotation speed of the left wheel 131, and the smaller the duty ratio, the lower the rotation speed of the left wheel 132. For example, the drive circuit of the motor connected to the left wheel 131 receives the first control signal corresponding to the duty ratio of 1/2 sent by the control unit, and generates the corresponding drive current according to the first control signal. Under the action of the drive current, The motor connected to the left wheel 131 controls the driving direction of the left wheel 131 to be the forward direction, and the rotation speed is 50 rpm.

A motor connected to the right wheel 132 is also installed on the right side of the cleaning robot body 110, and the drive circuit of the motor connected to the right wheel 132 is connected to the control unit of the cleaning robot, and the control unit sends to the drive circuit of the motor corresponding to different duty cycles The driving circuit of the motor generates a corresponding driving current according to the second control signal to rotate the motor, thereby controlling the driving direction and rotation speed of the right wheel 132 . For example, the drive circuit of the motor connected to the right wheel 132 receives the second control signal corresponding to the duty cycle of 1/2 sent by the control unit, and generates a corresponding drive current according to the second control signal. Under the action of the drive current , the motor connected with the right wheel 132 controls the driving direction of the right wheel 132 to be the forward direction, and the rotation speed is 50 rpm.

The left wheel 131 of the cleaning robot 10 , the motor connected to the left wheel 131 , the right wheel 132 , and the motor connected to the right wheel 132 constitute a driving unit of the cleaning robot 10 .

Optionally, the cleaning robot 10 further includes a guide wheel 133 disposed at the front of the body 110, and the guide wheel 133 is used to change the traveling direction of the cleaning robot during the traveling process.

The main brush 140 is installed at the bottom of the body 110 . Optionally, the main brush 140 is a drum-shaped rotating brush that rotates relative to the contact surface in a roller type.

It should be noted that, the cleaning robot may also include other modules or components, or only include some of the above modules or components, which is not limited in this embodiment, and only the above cleaning robot is used as an example for description.

FIG. 3 is a structural block diagram of a cleaning robot provided according to an exemplary embodiment. The cleaning robot includes a control unit 310 , a storage unit 320 , a detection unit 330 , a calculation unit 340 , a driving unit 350 and a cleaning unit 360 .

The control unit 310 is used to control the overall operation of the cleaning robot. When receiving the cleaning command, the control unit 310 can control the cleaning robot to travel in a forward direction or a backward direction according to preset logic and perform cleaning during the travel. Upon receiving the travel command, the control unit 310 controls the cleaning robot to travel on a travel path in a predetermined travel mode. In this embodiment, other instructions received by the control unit 310 from the user are not described again.

The storage unit 320 is used to store at least one instruction, which includes an instruction for executing a predetermined travel mode and a travel path, an instruction for cleaning, an instruction for detecting whether an obstacle obstructs a state, an instruction for calculating an inclination angle The command used to detect whether the tilt angle is greater than the predetermined angle command and so on. The storage unit 320 is also used to store the self-position data of the cleaning robot during the traveling process, the traveling speed, the traveling mileage, and the data related to the obstacles during the traveling process.

The detection unit 330 is used to detect the obstacles in the traveling area of the cleaning robot and the traveling state of the cleaning robot. The obstacles can be furniture, home appliances, office equipment, brick walls, wooden walls, wires on the ground, and between rooms. The gate stone and so on.

The calculation unit 340 is used to calculate the inclination angle of the cleaning robot and the distance from the obstacle in the travel area of the cleaning robot when the cleaning robot is in the obstacle blocking state. For example, the calculation unit 340 calculates the inclination angle of the cleaning robot through a three-axis accelerometer, or the calculation unit 340 calculates the inclination angle of the cleaning robot through a gyroscope, or the calculation unit 340 obtains the inclination angle of the cleaning robot through a six-axis gyroscope, or , the calculation unit 340 calculates the inclination angle of the cleaning robot according to the distance of the cleaning robot from the obstacle or the traveling distance of the cleaning robot.

The driving unit 350 is used to control the driving direction and rotation speed of the first driving wheel according to the first control signal of the control unit 310 , or control the driving direction and rotation speed of the second driving wheel according to the second control signal of the control unit 310 .

The cleaning unit 360 is used to control the main brush at the bottom of the cleaning robot to clean the main brush in a rolling manner during the traveling process when the cleaning command is received and the control unit 310 controls the cleaning robot to travel in the forward direction or the backward direction according to the preset logic. contact surface.

In an exemplary embodiment, control unit 310 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A programming gate array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components are implemented for implementing the cleaning robot control method in the embodiments of the present disclosure.

Optionally, the control unit 310 is further configured to:

When the driving unit 350 drives the cleaning robot to travel, the detection unit 330 detects whether the cleaning robot is in a state of being obstructed by an obstacle;

If the detection unit 330 detects that the cleaning robot is in a state of being obstructed by an obstacle, the calculation unit 340 obtains the inclination angle of the cleaning robot;

If the inclination angle is smaller than the predetermined angle, the control unit 310 controls the cleaning robot to straddle the obstacle.

Optionally, the driving unit 350 includes a driving wheel;

The detection unit 330 detects whether the cleaning robot is in an obstacle blocking state, including:

Whether the driving wheel is in a slipping state is detected by the detection unit 330; the slipping state is a state in which the driving wheel rotates on the contact surface in a sliding manner;

If the driving wheel is in a slipping state, it is determined that the cleaning robot is in an obstacle blocking state.

Optionally, the driving unit 350 includes a driving wheel;

The detection unit 330 detects whether the cleaning robot is in an obstacle blocking state, including:

Whether the driving wheel is in a stuck state is detected by the detection unit 330; the stuck state is a state in which the driving wheel is stopped by an external force during the rotation process;

If the driving wheel is in a stuck state, it is determined that the cleaning robot is in a state of being blocked by an obstacle.

Optionally, the driving unit 350 includes a driving wheel;

The detection unit 330 detects whether the cleaning robot is in an obstacle blocking state, including:

The detection unit 330 obtains the driving distance of the driving wheel and the position of the cleaning robot;

If the change value of the mileage exceeds the predetermined range and the position does not change, it is determined that the cleaning robot is in a state of being blocked by an obstacle. Optionally, the drive unit includes a drive wheel;

The detection unit 330 detects whether the cleaning robot is in an obstacle blocking state, including:

The detection unit 330 detects whether the driving current of the driving unit 350 is greater than a predetermined current value;

If the driving current is greater than the predetermined current value, it is determined that the cleaning robot is in an obstacle blocking state.

Optionally, the detection unit 330 detects whether the cleaning robot is in an obstacle blocking state, including:

The detection unit 330 detects whether the cleaning robot is tilted;

If the cleaning robot is tilted, it is determined that the cleaning robot is in a state of being obstructed by an obstacle.

Optionally, the detection unit 330 detects whether the cleaning robot is tilted, including:

Obtain the average acceleration component of the cleaning robot on the X-axis through a three-axis accelerometer; detect whether the average acceleration component is greater than the first predetermined threshold; if the average acceleration component is greater than the first predetermined threshold, it is determined that the cleaning robot is tilted;

or,

Obtain the instantaneous angular velocity component of the cleaning robot on the Y-axis through a gyroscope; detect whether the instantaneous angular velocity component is greater than the second threshold; if the instantaneous angular velocity component is greater than the second threshold, determine that the cleaning robot is tilted;

The origin of the coordinate system is set as the center point of the cleaning robot, the X axis of the coordinate system is parallel to the front and rear axes of the cleaning robot body, the Y axis of the coordinate system is parallel to the lateral axis of the cleaning robot body, and the Z axis of the coordinate system is parallel. Regarding the vertical axis of the body of the cleaning robot, any two of the X axis, the Y axis and the Z axis are perpendicular to each other.

Optionally, the inclination angle of the cleaning robot is obtained through the computing unit 340, including:

Obtain the average acceleration component of the cleaning robot on the X-axis through a three-axis accelerometer;

The inclination angle is determined by the pre-stored correspondence between the average acceleration component and the inclination angle.

Optionally, the inclination angle of the cleaning robot is determined by the computing unit 340, including:

The inclination angle of the cleaning robot is obtained through a six-axis gyroscope; the six-axis gyroscope has the functions of a three-axis accelerometer and a three-axis gyroscope at the same time.

Optionally, the cleaning robot includes two parallel drive wheels; the control unit 310 controls the cleaning robot to cross obstacles, including:

The control unit 310 first controls one driving wheel to straddle the obstacle, and then controls the other driving wheel to straddle the obstacle.

In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, for example, a storage unit 320 including instructions, and the instructions can be executed by the control unit 310 to complete the cleaning robot in the above-described embodiments of the present disclosure. Control Method. For example, the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

In the following embodiments, the left wheel of the cleaning robot is determined as the first driving wheel, and the right wheel of the cleaning robot is determined as the second driving wheel. In other possible embodiments, the right wheel of the cleaning robot may also be determined as the first driving wheel, and the left wheel of the cleaning robot may be determined as the second driving wheel, which is not limited in this embodiment of the present disclosure.

In order to describe the behavior of the cleaning robot conveniently, as shown in Figure 4, a coordinate system based on the cleaning robot is established. The coordinate system includes the X axis, the Y axis and the Z axis. The origin of the coordinate system is the center point of the cleaning robot. Any two of the Y axis and the Z axis are perpendicular to each other; the X axis and the Y axis are in the same plane, the X axis is parallel to the front and rear axes of the cleaning robot body, and the Y axis of the coordinate system is parallel to the lateral direction of the cleaning robot body axis; the Z axis is perpendicular to the plane determined by the X axis and the Y axis, and the Z axis of the coordinate system is parallel to the vertical axis of the body of the cleaning robot. The forward driving direction along the X-axis is the forward direction, and the rearward driving direction along the X-axis is the backward direction.

The embodiments of the present disclosure will describe the obstacle crossing method based on the above-mentioned cleaning robot, but the embodiments of the present disclosure do not limit the type of the cleaning robot.

Please refer to FIG. 5A , which shows a flowchart of an obstacle crossing method according to an exemplary embodiment. The obstacle crossing method includes the following steps:

In step 501, when the cleaning robot travels, it is detected whether the cleaning robot is in an obstacle blocking state.

Optionally, the cleaning robot may travel in a forward direction, or the cleaning robot may travel in a backward direction.

Optionally, the obstacle is a bar with a certain hardness and a small height, such as a door stone between adjacent rooms, or the obstacle is a soft and deformable wire, such as a wire.

Optionally, the cleaning robot includes two side-by-side drive wheels.

The fact that the cleaning robot is in an obstacle blocking state means that the driving wheel of the cleaning robot does not cross the obstacle, and the body of the cleaning robot is in a tilted state. As shown in FIG. 5B , it shows that the cleaning robot 51 is blocked by the door stone 52 when passing through two rooms, the left and right wheels do not cross the door stone 52 , and the body of the cleaning robot 51 is in a tilted state.

In step 502, if the cleaning robot is in an obstacle blocking state, the inclination angle of the cleaning robot is acquired.

In step 503, if the inclination angle is smaller than the predetermined angle, the cleaning robot is controlled to straddle the obstacle.

Optionally, when the inclination angle is greater than the predetermined angle, the cleaning robot is controlled to travel in a direction opposite to the travel direction before being in the obstacle blocking state.

Optionally, the predetermined angle is an angle at which the body of the cleaning robot is inclined when the cleaning robot is in an obstacle blocking state and the obstacle can be crossed under normal circumstances. Optionally, the predetermined angle is the maximum angle at which the body of the cleaning robot is tilted when the cleaning robot is in a state of being obstructed by an obstacle and the obstacle can be crossed. When the robot is blocked by an obstacle with a height of two centimeters, the body tilts, and the tilt angle is 5 degrees, that is, the predetermined angle is 5 degrees.

To sum up, the obstacle crossing method provided by the embodiments of the present disclosure detects whether the cleaning robot is in an obstacle blocking state when the cleaning robot travels, and when the cleaning robot is in an obstacle blocking state, the cleaning robot tilts to obtain clean The inclination angle of the robot. When the inclination angle is less than the predetermined angle, the cleaning robot is controlled to cross the obstacles, which solves the problem that the cleaning robot cannot continue the cleaning task due to obstacles during operation, and needs outside help to continue the cleaning task. , so that the cleaning robot can independently complete the crossing of obstacles, and the work adaptability of the cleaning robot is improved.

Please refer to FIG. 6 , which shows a flowchart of an obstacle crossing method according to another exemplary embodiment. The obstacle crossing method includes the following steps:

In step 601, when the cleaning robot travels, it is detected whether the cleaning robot is in an obstacle blocking state.

There are several ways to detect whether the cleaning robot is in the state of obstruction:

1. According to the state of the driving wheel of the cleaning robot, determine whether the cleaning robot is in a state of obstruction, as shown in Figure 7A:

In step 701a, it is detected whether the driving wheel is in a slipping state.

The slipping state is the state in which the drive wheel rotates in a sliding manner on the contact surface; where the contact surface is the surface on which the robot performs the cleaning task, such as a floor or a table top.

In step 702a, if the driving wheel is in a slipping state, it is determined that the cleaning robot is in an obstacle blocking state.

2. According to the state of the driving wheel of the cleaning robot, determine whether the cleaning robot is in a state of obstruction, as shown in Figure 7B:

In step 701b, it is detected whether the driving wheel is in a stuck state.

The stuck state is the state in which the drive wheel is stopped by an external force during the rotation.

In step 702b, if the driving wheel is in a stuck state, it is determined that the cleaning robot is in an obstacle blocking state.

3. According to the state of the driving wheel of the cleaning robot and the position change of the cleaning robot, determine whether the cleaning robot is in a state of obstruction by obstacles, as shown in Figure 7C:

In step 701c, the mileage of the driving wheel and the position of the cleaning robot are obtained.

Optionally, the driving mileage of the driving wheel is obtained through the odometer in the cleaning robot body.

Optionally, the position of the cleaning robot is determined by a positioning system in the cleaning robot, or the position of the cleaning robot is determined by measuring the position information from an obstacle in front of the cleaning robot by using an LDS (Laser Distance Sensor, laser distance sensor).

In step 702c, if the change value of the mileage exceeds a predetermined range and the position does not change, it is determined that the cleaning robot is in a state of being blocked by an obstacle.

The method is an implementation method for detecting the slip state of the driving wheel, and other implementation methods can also be designed according to the motion characteristics and electrical characteristics of the slip behavior of the wheel.

Optionally, the predetermined range is set by the manufacturer when the cleaning robot leaves the factory. The variation range of the mileage is within the predetermined range, indicating that the position of the cleaning robot has not changed.

When the cleaning robot is in a slipping state, the driving wheel rotates, and the mileage of the driving wheel changes. When the driving mileage of the driving wheel exceeds the predetermined range, the position of the cleaning robot should change, but in fact the position of the cleaning robot does not change. , so that it can be determined that the cleaning robot is in a state of obstruction by obstacles.

As shown in FIG. 7D , the driving wheel 71 of the cleaning robot is rotating, but the distance L measured by the LDS 72 of the cleaning robot to the obstacle 73 in front does not change, and the change value of the driving mileage of the driving wheel 71 exceeds the predetermined range, but the distance L If there is a change, it is determined that the cleaning robot is in an obstacle blocking state.

4. According to the driving current of the cleaning robot, determine whether the cleaning robot is in a state of obstruction, as shown in Figure 7E:

In step 701e, it is detected whether the driving current is greater than a predetermined current value.

Obtain the drive current of the motor connected to the drive wheel, and detect whether the drive current is greater than a predetermined current value.

The method is an implementation method for detecting the stuck state of the driving wheel, and other implementation methods can also be designed according to the motion characteristics and electrical characteristics of the stuck behavior of the wheel.

Optionally, the predetermined current value is a threshold value set by the cleaning robot when it slips, and optionally, the predetermined current value is a value greater than the maximum current value of the cleaning robot during normal travel.

Optionally, the predetermined current value is a threshold value of the current when the driving wheel is stopped by an external force during the rotation process. Optionally, the predetermined current value is the minimum current value when the driving wheel is stopped by an external force during the rotation process.

In step 702e, if the driving current is greater than the predetermined current value, it is determined that the cleaning robot is in an obstacle blocking state.

5. According to the body state of the cleaning robot, determine whether the cleaning robot is in a state of obstruction, as shown in Figure 7F:

In step 701f, it is detected whether the cleaning robot is tilted.

There are two ways to detect whether the cleaning robot is tilted:

(1) Obtain the average acceleration component of the cleaning robot on the X-axis through a three-axis accelerometer; detect whether the average acceleration component is greater than the first predetermined threshold; if the average acceleration component is greater than the first predetermined threshold, it is determined that the cleaning robot is tilted.

When the cleaning robot is not tilted, the average acceleration component on the X axis is zero. Optionally, the first predetermined threshold is zero.

(2) Obtain the instantaneous angular velocity component of the cleaning robot on the Y-axis through the gyroscope; detect whether the instantaneous angular velocity component is greater than the second threshold; if the instantaneous angular velocity component is greater than the second threshold, determine that the cleaning robot is tilted.

When the cleaning robot is not tilted, the instantaneous angular velocity component on the Y axis is zero. Optionally, the second predetermined threshold is zero.

In step 702f, if the cleaning robot is tilted, it is determined that the cleaning robot is in an obstacle blocking state.

It should be noted that the ordinal numbers such as "one", "two", and "three" mentioned in the embodiments of the present disclosure should be understood as only for distinction unless they really express the meaning of conformity according to the context.

In step 602, if the cleaning robot is in an obstacle blocking state, the inclination angle of the cleaning robot is acquired.

There are several ways to obtain the tilt angle of the cleaning robot:

1. Obtain the average acceleration component of the cleaning robot on the X-axis through a three-axis accelerometer; and then determine the inclination angle through the pre-stored correspondence between the average acceleration component and the inclination angle.

The storage unit of the cleaning robot stores a one-to-one correspondence between the average acceleration component on the X axis and the tilt angle. After the computing unit of the cleaning robot obtains the average acceleration component on the X axis, it determines the corresponding tilt angle.

2. Obtain the inclination angle of the cleaning robot through a six-axis gyroscope.

The six-axis gyroscope is a device with both three-axis accelerometer functions and three-axis gyroscope functions. The computing unit of the cleaning robot obtains the Euler angle of the cleaning robot through the six-axis gyroscope, that is, the inclination angle of the cleaning robot.

3. Calculate the tilt angle through the acceleration component obtained by the three-axis accelerometer:

(1) Obtain the first acceleration component of the cleaning robot on the X-axis and the second acceleration component of the cleaning robot on the Z-axis through a three-axis accelerometer.

(2) The tilt angle is calculated using the trigonometric function relationship between the first acceleration component and the second acceleration component.

As shown in FIG. 8A , the first acceleration component R _x in the X-axis direction and the second acceleration component R _z in the Z-axis direction of the cleaning robot are acquired through a three-axis accelerometer.

Using formula 1, the inclination angle θ of the inclined robot is obtained;

θ=arctan(R _x /R _z ) (Formula 1).

4. Obtain the instantaneous angular velocity through the gyroscope, and integrate the instantaneous angular velocity to calculate the inclination angle:

(1) Obtain the instantaneous angular velocity of the cleaning robot according to a predetermined time interval in the time period from the first time point to the second time point by using the gyroscope.

Wherein, the first time point is the time point when the cleaning robot is in the obstacle blocking state, and the second time point is the latest time point before the cleaning robot is in the obstacle obstacle state.

Optionally, the predetermined time interval is a sampling time interval.

In the time period from the first time point to the second time point, the instantaneous angular velocity of each time point is acquired according to a predetermined time interval.

(2) Integrate the instantaneous angular velocity and the time period to calculate the inclination angle.

Using formula 2, the obtained instantaneous angular velocity and time period are integrated to calculate the inclination angle to calculate the inclination angle θ;

Among them, w _n is the instantaneous angular velocity, and T is the period of time from the normal operation to the obstacle blocking state.

Fifth, use the three-axis accelerometer and gyroscope to jointly calculate the tilt angle:

(1) Obtain the instantaneous angular velocity of the cleaning robot according to a predetermined time interval in the time period from the first time point to the second time point by using the gyroscope.

Wherein, the first time point is the time point when the cleaning robot is in the obstacle blocking state, and the second time point is the latest time point before the cleaning robot is in the obstacle obstacle state.

This step has been described in detail in Method 4, and will not be repeated here.

(2) Integrate the instantaneous angular velocity and the time end to calculate the first tilt angle.

This step has been described in detail in Method 4, and will not be repeated here.

(3) Calculate the offset value of the gyroscope through the accelerometer.

Optionally, the offset value of the gyroscope is calculated according to a specific fusion algorithm.

(4) Use the offset value to calibrate the first inclination angle to obtain the second inclination angle.

Optionally, the offset value is used to calibrate the first tilt angle according to a specific fusion algorithm to obtain the second tilt angle.

6. Calculate the inclination angle through the change law of the distance measurement value of the obstacle in front of the LDS:

(1) Obtain the first distance value of the cleaning robot from the front obstacle at the first time point through LDS, and obtain the second distance value of the cleaning robot from the front obstacle at the second time point.

Wherein, the first time point is the time point when the cleaning robot is in the obstacle blocking state, and the second time point is the latest time point before the cleaning robot is in the obstacle obstacle state.

Optionally, the obstacle ahead is not an obstacle that makes the cleaning robot in an obstacle blocking state. For example: the obstacle that makes the cleaning robot in the obstacle blocking state is the wire, and the obstacle in front is the wall in front of the wire.

Optionally, when calculating the inclination angle, the front obstacle as the reference object is the same obstacle.

(2) The inclination angle is calculated using the trifunctional relationship between the first distance value and the second distance value.

Using the second distance value, the time difference between the second time point and the first time point, and the speed of the cleaning robot during normal travel, the theoretical distance value of the cleaning robot from the obstacle ahead at the first time point is calculated.

For example, as shown in FIG. 8B, the first distance value L1=15 from the obstacle in front is measured at the first time point T1, and the second distance value L2=10 from the obstacle in front is measured at the second time point T2; Then use the time interval of the difference between the first time point T1 and the second time point T2, the speed of the cleaning robot during normal travel, and calculate the theoretical distance value L3=4 from the obstacle in front of the second time point T2; Calculate the tilt angle according to formula 3:

θ=arccos(L ₃ /L ₂ ) Formula 3

7. Obtain the distance of the cleaning robot from the ground at different time points through the cliff sensor to calculate the tilt angle:

(1) Obtain the third distance value of the cleaning robot from the contact surface at the first time point through the cliff sensor, the fourth distance value of the cleaning robot from the contact surface at the second time point, and obtain the position and the position of the cleaning robot at the first time point and the contact surface. The straight-line distance between the positions of the second time point.

Among them, the contact surface is the plane on which the robot performs the cleaning task, usually the ground, or the table top. The first time point is the time point when the cleaning robot is in the obstacle blocking state, and the second time point is the closest time point before the cleaning robot is in the obstacle blocking state.

(2) Calculate the inclination angle according to the triangular relationship between the third distance value, the fourth distance value and the straight-line distance.

For example, as shown in Figure 8C, the upper part of the figure shows the distance L4 measured at time point T3, the distance L5 measured at time point T4, and the straight-line distance between the cleaning robots at time points T3 and T4 L6, the lower part of the figure shows the triangular relationship between L4, L5, and L6, and the inclination angle θ is obtained according to formula 4:

θ=arctan(L ₆ /(L ₅ -L ₄ )) Formula 4

It should be noted that the ordinal numbers such as "one", "two", and "three" mentioned in the embodiments of the present disclosure should be understood as only for distinction unless they really express the meaning of conformity according to the context.

In step 603, if the inclination angle is smaller than the predetermined angle, first control one driving wheel to straddle the obstacle, and then control the other driving wheel to straddle the obstacle.

Optionally, when the inclination angle is greater than the predetermined angle, the cleaning robot is controlled to travel in a first direction, the first direction is opposite to the second direction, and the second direction is the travel direction of the cleaning robot before the obstacle is blocked.

Optionally, the predetermined angle is an angle at which the body of the cleaning robot is inclined when the cleaning robot is in an obstacle blocking state and the obstacle can be crossed under normal circumstances.

Optionally, the predetermined angle is the maximum angle at which the body of the cleaning robot is tilted when the cleaning robot is in a state of being obstructed by an obstacle and the obstacle can be crossed. When the robot is blocked by an obstacle with a height of two centimeters, the body tilts, and the tilt angle is 5 degrees, that is, the predetermined angle is 5 degrees.

Optionally, when the cleaning robot is in an obstacle blocking state and the inclination angle is close to zero, the cleaning robot may be hindered by a slowly changing obstacle in the vertical direction in the travel route. At this time, the cleaning robot is controlled to clean. The robot travels in a travel direction opposite to the travel direction before being in the obstacle blocking state. For example, if the cleaning robot is obstructed by the wall in front, the cleaning robot is controlled to travel in the backward direction.

Optionally, the cleaning robot includes two parallel driving wheels, and the implementation of controlling one of the driving wheels to span the obstacles can be as follows:

1. Control one driving wheel to travel in a first direction, and control the other driving wheel to travel in a second direction, wherein the first direction is opposite to the second direction.

Wherein, the first direction is the traveling direction of the cleaning robot before the obstacle is blocked.

2. Control one driving wheel to travel in a first direction at a first speed, and control the other driving wheel to travel in a first direction at a second speed, and the first speed is greater than the second speed.

3. Control one driving wheel to travel in the first direction, and control the other driving wheel to remain stationary.

It should be noted that the ordinal numbers such as "one", "two", and "three" mentioned in the embodiments of the present disclosure should be understood as only for distinction unless they really express the meaning of conformity according to the context.

To sum up, the obstacle crossing method provided by the embodiments of the present disclosure detects whether the cleaning robot is in the obstacle blocking state when the cleaning robot travels in the forward direction, and when the cleaning robot is in the obstacle blocking state, the cleaning robot tilts , get the inclination angle of the cleaning robot, when the inclination angle is less than the predetermined angle, control the cleaning robot to cross the obstacle, which solves the problem that the cleaning robot cannot continue the cleaning task due to obstacles during operation, and needs outside help to continue cleaning. The problem of the task enables the cleaning robot to independently complete the escape and overcome obstacles, which improves the work adaptability of the cleaning robot. The cleaning robot of the present invention can perceive its own state, and according to the state, judge by itself whether to go ahead or return after crossing the obstacle, so that the cleaning robot can automatically continue to work in various complex environments without requiring manual intervention, which greatly enhances the Full automation of cleaning robots.

Other embodiments of the present disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or techniques in the technical field not disclosed by the present disclosure . The specification and examples are to be regarded as exemplary only, with the true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (18)

1. A cleaning robot, characterized in that the cleaning robot comprises: the device comprises a cleaning unit, a driving unit, a detection unit, a calculation unit and a control unit;

when the driving unit drives the cleaning robot to move, whether the cleaning robot is in an obstacle blocking state is detected through the detection unit, the driving unit comprises a driving wheel, and the obstacle blocking state comprises a slipping state of the driving wheel and a blocking state of the driving wheel;

if the detection unit detects that the cleaning robot is in the obstacle blocking state, the inclination angle of the cleaning robot is obtained through the calculation unit;

if the inclination angle is smaller than a preset angle, the control unit controls the cleaning robot to cross the obstacle, and the preset angle is the maximum angle of the body of the cleaning robot when the cleaning robot is in an obstacle blocking state and the obstacle can be crossed;

if the inclination angle is greater than the predetermined angle, the control unit controls the cleaning robot to travel in a direction opposite to a travel direction before being in an obstacle obstructing state;

the driving unit comprises two parallel driving wheels;

the control unit controls the cleaning robot to cross the obstacle, including:

the control unit controls the first driving wheel to travel in a first direction, and controls the second driving wheel to travel in a second direction, the first direction being opposite to the second direction, the first direction being a travel direction of the cleaning robot before being in an obstacle obstructing state; or, controlling the first drive wheel to travel in the first direction at a first speed and the second drive wheel to travel in the first direction at a second speed, the first speed being greater than the second speed; or controlling the first driving wheel to travel in a first direction and controlling the second driving wheel to keep still.

2. The cleaning robot according to claim 1, wherein the detecting, by the detecting unit, whether the cleaning robot is in an obstacle obstructing state includes:

detecting whether the driving wheel is in a slipping state through the detection unit; the slip state is a state in which the drive wheel rotates on the contact surface in a sliding manner;

determining that the cleaning robot is in the obstacle obstructing state if the driving wheel is in the slipping state.

3. The cleaning robot according to claim 1, wherein the detecting, by the detecting unit, whether the cleaning robot is in an obstacle obstructing state includes:

detecting whether the driving wheel is in a stuck state or not through the detection unit; the locking state is a state that the driving wheel stops rotating by external force in the rotating process;

and if the driving wheel is in the jammed state, determining that the cleaning robot is in the obstacle blocking state.

4. The cleaning robot according to claim 1,

the detecting, by the detecting unit, whether the cleaning robot is in an obstacle obstructing state includes:

the detection unit acquires the driving mileage of the driving wheel and the position of the cleaning robot;

and if the change value of the driving mileage exceeds a preset range and the position is not changed, determining that the cleaning robot is in an obstacle blocking state.

5. The cleaning robot according to claim 1, wherein the detecting, by the detecting unit, whether the cleaning robot is in an obstacle obstructing state includes:

the detection unit detects whether the driving current of the driving unit is larger than a preset current value;

and if the driving current is larger than the preset current value, determining that the cleaning robot is in the obstacle blocking state.

6. The cleaning robot according to claim 1, wherein the detecting, by the detecting unit, whether the cleaning robot is in an obstacle obstructing state includes:

the detection unit detects whether the cleaning robot is inclined;

determining that the cleaning robot is in the obstacle obstructing state if the cleaning robot is tilted.

7. The cleaning robot according to claim 6, wherein the detecting unit detects whether the cleaning robot is tilted, includes:

acquiring an average acceleration component of the cleaning robot on an X axis through a three-axis accelerometer; detecting whether the average acceleration component is greater than a first predetermined threshold; determining that the cleaning robot is tilted if the average acceleration component is greater than the first predetermined threshold;

or the like, or, alternatively,

acquiring an instantaneous angular velocity component of the cleaning robot on a Y axis through a gyroscope; detecting whether the instantaneous angular velocity component is greater than a second threshold; determining that the cleaning robot is tilted if the instantaneous angular velocity component is greater than a second threshold;

the cleaning robot comprises a cleaning robot body, a coordinate system, a cleaning robot and a cleaning robot, wherein an original point of the coordinate system is set as a central point of the cleaning robot, an X axis of the coordinate system is parallel to a front and rear axis of the cleaning robot body, a Y axis of the coordinate system is parallel to a transverse axis of the cleaning robot body, a Z axis of the coordinate system.

8. The cleaning robot according to claim 1, wherein acquiring, by the calculation unit, the inclination angle of the cleaning robot includes:

acquiring an average acceleration component of the cleaning robot on an X axis through a three-axis accelerometer;

and determining the inclination angle according to the pre-stored corresponding relation between the average acceleration component and the inclination angle.

9. The cleaning robot of claim 1, wherein determining, by the computing unit, the tilt angle of the cleaning robot comprises:

acquiring an inclination angle of the cleaning robot through a six-axis gyroscope; the six-axis gyroscope has the functions of a three-axis accelerometer and a three-axis gyroscope simultaneously.

10. An obstacle crossing method for use in a cleaning robot including a drive wheel, the method comprising:

detecting whether the cleaning robot is in an obstacle blocking state while the cleaning robot travels, wherein the obstacle blocking state comprises that the driving wheel is in a slipping state and the driving wheel is in a stuck state;

if the cleaning robot is in the obstacle blocking state, acquiring an inclination angle of the cleaning robot;

if the inclination angle is smaller than a preset angle, controlling the cleaning robot to cross the obstacle, wherein the preset angle is the maximum angle of the body of the cleaning robot when the cleaning robot is in an obstacle blocking state and the obstacle can be crossed;

if the inclination angle is greater than the predetermined angle, controlling the cleaning robot to travel in a direction opposite to a travel direction before being in an obstacle obstructing state;

the cleaning robot comprises two parallel driving wheels;

the controlling the cleaning robot to cross the obstacle includes:

controlling a first driving wheel to travel in a first direction, and controlling a second driving wheel to travel in a second direction, the first direction being opposite to the second direction, the first direction being a traveling direction before the cleaning robot is in an obstacle obstructing state; or, controlling the first drive wheel to travel in the first direction at a first speed and the second drive wheel to travel in the first direction at a second speed, the first speed being greater than the second speed; or controlling the first driving wheel to travel in a first direction and controlling the second driving wheel to keep still.

11. The obstacle crossing method according to claim 10, wherein the detecting whether the cleaning robot is in an obstacle obstructing state comprises:

detecting whether the driving wheels are in a slipping state; the slip state is a state in which the drive wheel rotates on the contact surface in a sliding manner;

determining that the cleaning robot is in the obstacle obstructing state if the driving wheel is in the slipping state.

12. The obstacle crossing method according to claim 10, wherein the detecting whether the cleaning robot is in an obstacle obstructing state comprises:

detecting whether the driving wheel is in a stuck state; the locking state is a state that the driving wheel stops rotating by external force in the rotating process;

and if the driving wheel is in the jammed state, determining that the cleaning robot is in the obstacle blocking state.

13. The obstacle crossing method according to claim 10, wherein the detecting whether the cleaning robot is in an obstacle obstructing state comprises:

acquiring the driving mileage of the driving wheel and the position of the cleaning robot;

and if the change value of the driving mileage exceeds a preset range and the position is not changed, determining that the cleaning robot is in an obstacle blocking state.

14. The obstacle crossing method according to claim 10, wherein the detecting whether the cleaning robot is in an obstacle obstructing state comprises:

detecting whether the driving current is larger than a preset current value;

and if the driving current is larger than the preset current value, determining that the cleaning robot is in the obstacle blocking state.

15. The obstacle crossing method according to claim 10, wherein the detecting whether the cleaning robot is in an obstacle obstructing state comprises:

detecting whether the cleaning robot is tilted;

determining that the cleaning robot is in the obstacle obstructing state if the cleaning robot is tilted.

16. The obstacle crossing method according to claim 15, wherein the detecting whether the cleaning robot is tilted comprises:

acquiring an average acceleration component of the cleaning robot on an X axis through a three-axis accelerometer; detecting whether the average acceleration component is greater than a first predetermined threshold; determining that the cleaning robot is tilted if the average acceleration component is greater than the first predetermined threshold;

or the like, or, alternatively,

acquiring an instantaneous angular velocity component of the cleaning robot on a Y axis through a gyroscope; detecting whether the instantaneous angular velocity component is greater than a second threshold; determining that the cleaning robot is tilted if the instantaneous angular velocity component is greater than a second threshold;

the cleaning robot comprises a cleaning robot body, a coordinate system, a cleaning robot and a cleaning robot, wherein an original point of the coordinate system is set as a central point of the cleaning robot, an X axis of the coordinate system is parallel to a front and rear axis of the cleaning robot body, a Y axis of the coordinate system is parallel to a transverse axis of the cleaning robot body, a Z axis of the coordinate system.

17. The obstacle crossing method according to claim 10, wherein the acquiring of the inclination angle of the cleaning robot comprises:

acquiring an average acceleration component of the cleaning robot on an X axis through a three-axis accelerometer;

and determining the inclination angle according to the pre-stored corresponding relation between the average acceleration component and the inclination angle.

18. The obstacle crossing method according to claim 10, wherein the acquiring of the inclination angle of the cleaning robot comprises:

acquiring an inclination angle of the cleaning robot through a six-axis gyroscope; the six-axis gyroscope has the functions of a three-axis accelerometer and a three-axis gyroscope simultaneously.

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