Self-moving robot, obstacle crossing method, obstacle crossing system and computer-readable storage medium

Abstract

A control method for a self-moving robot, including: identifying a first type of obstacle and a second type of obstacle in an area to be cleaned, where a height of the first type of obstacle is less than a first height, a height of the second type of obstacle is greater than the first height and less than a second height; determining whether an angle between a first length direction of the first type of obstacle and a second length direction of the second type of obstacle is 90 degrees; when the angle is 90 degrees, determining a cleaning path based on the area to be cleaned and the second length direction; performing a cleaning task on the area to be cleaned based on the cleaning path, where an angle between a cleaning direction of the self-moving robot and the second length direction is less than a preset angle.

What is claimed is: 
     
         1 . A control method for a self-moving robot, the self-moving robot comprising an active obstacle crossing component, and the self-moving robot performing a cleaning task on an area to be cleaned, wherein the method comprises:
 identifying a first type of obstacle and a second type of obstacle in the area to be cleaned, wherein a height of the first type of obstacle is less than a first height, and a height of the second type of obstacle is greater than the first height and less than a second height;   determining whether an angle between a first length direction of the first type of obstacle and a second length direction of the second type of obstacle is 90 degrees;   based on that the angle is 90 degrees, determining a cleaning path based on the area to be cleaned and the second length direction;   performing the cleaning task on the area to be cleaned based on the cleaning path, wherein an angle between a cleaning direction of the self-moving robot and the second length direction is less than a preset angle, so as to reduce a number of times that the self-moving robot starts the active obstacle crossing component and a number of times that the self-moving robot crosses over the second type of obstacle.   
     
     
         2 . The method according to  claim 1 , wherein the first height is a maximum height of an obstacle that is crossed over by the self-moving robot without starting the active obstacle crossing component, and the second height is a maximum height of an obstacle that is crossed over by the self-moving robot when starting the active obstacle crossing component. 
     
     
         3 . The method according to  claim 1 , wherein the first length direction is a direction in which a long side of the first type of obstacle is located, and the second length direction is a direction in which a long side of the second type of obstacle is located. 
     
     
         4 . The method according to  claim 1 , wherein a range of the preset angle is greater than or equal to 0 degrees and less than or equal to 30 degrees. 
     
     
         5 . The method according to  claim 1 , wherein a range of the preset angle is greater than or equal to 0 degrees and less than or equal to 20 degrees. 
     
     
         6 . The method according to  claim 1 , wherein a range of the preset angle is greater than or equal to 0 degrees and less than or equal to 15 degrees. 
     
     
         7 . The method according to  claim 1 , wherein a range of the preset angle is greater than or equal to 0 degrees and less than or equal to 10 degrees. 
     
     
         8 . The method according to  claim 1 , wherein a range of the preset angle is greater than or equal to 0 degrees and less than or equal to 5 degrees. 
     
     
         9 . The method according to  claim 1 , wherein the preset angle is 0 degrees, and the cleaning direction is parallel to the length direction. 
     
     
         10 . A self-moving robot, wherein the self-moving robot comprises an active obstacle crossing component, and the self-moving robot performs a cleaning task on an area to be cleaned, and the self-moving robot comprises a memory and a processor, wherein a computer program is stored in the memory, and the computer program, when executed by the processor, causes the processor to:
 identify a first type of obstacle and a second type of obstacle in the area to be cleaned, wherein a height of the first type of obstacle is less than a first height, and a height of the second type of obstacle is greater than the first height and less than a second height;   determine whether an angle between a first length direction of the first type of obstacle and a second length direction of the second type of obstacle is 90 degrees;   based on that the angle is 90 degrees, determine a cleaning path based on the area to be cleaned and the second length direction;   perform the cleaning task on the area to be cleaned based on the cleaning path, wherein an angle between a cleaning direction of the self-moving robot and the second length direction is less than a preset angle, so as to reduce a number of times that the self-moving robot starts the active obstacle crossing component and a number of times that the self-moving robot crosses over the second type of obstacle.   
     
     
         11 . The self-moving robot according to  claim 10 , wherein the first height is a maximum height of an obstacle that is crossed over by the self-moving robot without starting the active obstacle crossing component, and the second height is a maximum height of an obstacle that is crossed over by the self-moving robot when starting the active obstacle crossing component. 
     
     
         12 . The self-moving robot according to  claim 10 , wherein the first length direction is a direction in which a long side of the first type of obstacle is located, and the second length direction is a direction in which a long side of the second type of obstacle is located. 
     
     
         13 . The self-moving robot according to  claim 10 , wherein a range of the preset angle is greater than or equal to 0 degrees and less than or equal to 30 degrees. 
     
     
         14 . The self-moving robot according to  claim 10 , wherein a range of the preset angle is greater than or equal to 0 degrees and less than or equal to 20 degrees. 
     
     
         15 . The self-moving robot according to  claim 10 , wherein a range of the preset angle is greater than or equal to 0 degrees and less than or equal to 15 degrees. 
     
     
         16 . The self-moving robot according to  claim 10 , wherein a range of the preset angle is greater than or equal to 0 degrees and less than or equal to 10 degrees. 
     
     
         17 . The self-moving robot according to  claim 10 , wherein a range of the preset angle is greater than or equal to 0 degrees and less than or equal to 5 degrees. 
     
     
         18 . The self-moving robot according to  claim 10 , wherein the preset angle is 0 degrees, and the cleaning direction is parallel to the length direction. 
     
     
         19 . A non-transitory computer-readable storage medium, wherein the computer-readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the following:
 identifying a first type of obstacle and a second type of obstacle in an area to be cleaned, wherein a height of the first type of obstacle is less than a first height, and a height of the second type of obstacle is greater than the first height and less than a second height;   determining whether an angle between a first length direction of the first type of obstacle and a second length direction of the second type of obstacle is 90 degrees;   based on that the angle is 90 degrees, determining a cleaning path based on the area to be cleaned and the second length direction;   performing a cleaning task on the area to be cleaned based on the cleaning path, wherein an angle between a cleaning direction of a self-moving robot and the second length direction is less than a preset angle, so as to reduce a number of times that the self-moving robot starts an active obstacle crossing component of the self-moving robot and a number of times that the self-moving robot crosses over the second type of obstacle.   
     
     
         20 . The storage medium according to  claim 19 , wherein the first height is a maximum height of an obstacle that is crossed over by the self-moving robot without starting the active obstacle crossing component, and the second height is a maximum height of an obstacle that is crossed over by the self-moving robot when starting the active obstacle crossing component.