CN114847810B - Cleaning robot obstacle crossing method, device, equipment and medium based on LDS laser - Google Patents
Cleaning robot obstacle crossing method, device, equipment and medium based on LDS laser Download PDFInfo
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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Abstract
The invention relates to the technical field of robots, and discloses an LDS laser-based obstacle crossing method, device, equipment and medium for a cleaning robot, wherein the method comprises the following steps: acquiring a wall-following coordinate point set of the cleaning robot, and obtaining a preliminary exit set of cleaned points and barrier points according to the wall-following coordinate point set; acquiring a traversal coordinate point set based on the cleaning process of the cleaning robot, and performing laser sensor identification and collision identification on the cleaning robot in the traversal coordinate point set to determine an obstacle point set; determining a first intersection of the preliminary exit set and the barrier point set, and filtering the barrier points identified by the laser sensor aiming at the first intersection to obtain an effective exit set; and planning a motion path according to the exit coordinate points of the effective exit set, and performing obstacle crossing operation on the effective exits of the effective exit set according to the motion path. The invention can improve the efficiency of getting rid of poverty.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an LDS laser-based obstacle crossing method and device for a cleaning robot, a terminal device and a computer-readable storage medium.
Background
With the continuous development of science and technology and the continuous improvement of the living standard of people, the cleaning robot has very wide market prospect due to wide application, and meanwhile, a user puts higher requirements on the function that the cleaning robot can complete obstacle crossing by identifying an effective exit.
When the traditional cleaning robot is used for cleaning in a home environment, the traditional cleaning robot can enter some low-lying environments such as a kitchen and the like, so that the cleaning robot is trapped in the environment, and the external environment is finally missed; in attempting to escape from this environment, the cleaning robot needs to determine where the actual effective exit is; especially, when obstacles such as glass exist in the environment, the judgment of the cleaning robot is more influenced, so that the cleaning robot has the phenomenon of low escaping efficiency.
In summary, under the influence of some low-lying or glass and other obstacle environments, the existing obstacle crossing mode for the cleaning robot has the phenomena that an effective exit cannot be efficiently identified, so that obstacle crossing is not easy to succeed and the escaping efficiency is low, so how to improve the obstacle crossing capability of the cleaning robot is a technical problem to be solved urgently at present.
Disclosure of Invention
The invention mainly aims to provide an LDS laser-based obstacle crossing method, device and equipment for a cleaning robot and a computer-readable storage medium, aiming at realizing that the cleaning robot can efficiently determine an effective exit to improve the obstacle crossing capability and further improve the difficulty getting-out efficiency of the cleaning robot.
In order to achieve the above object, the present invention provides an LDS laser-based obstacle crossing method for a cleaning robot, including:
acquiring a wall-following coordinate point set of the cleaning robot, and obtaining a preliminary exit set of cleaned points and barrier points according to the wall-following coordinate point set;
acquiring a traversal coordinate point set based on the cleaning process of the cleaning robot, and performing laser sensor identification and collision identification on the cleaning robot in the traversal coordinate point set to determine an obstacle point set;
determining a first intersection of the preliminary exit set and the barrier point set, and filtering the barrier points identified by the laser sensor aiming at the first intersection to obtain an effective exit set;
and planning a motion path according to the exit coordinate points of the effective exit set, and performing obstacle crossing operation on the effective exits of the effective exit set according to the motion path.
Optionally, after the step of performing an obstacle crossing operation for the effective exits of the effective exit set according to the motion path, the method includes:
judging whether the cleaning robot successfully executes the obstacle crossing operation;
and if not, acquiring a collision instruction, and executing collision operation on the effective outlet according to the collision instruction.
Optionally, after the step of performing a collision operation for the effective outlet according to the collision instruction, the method further includes:
executing preset wall-following operation;
detecting whether the cleaning robot is in the vicinity of the effective exit according to the wall-following operation;
and if the cleaning robot is detected to be positioned near the effective outlet, determining whether an obstacle exists beside the cleaning robot.
Optionally, after the step of confirming whether there is an obstacle next to the cleaning robot, the method further comprises:
if the obstacle is not arranged beside the cleaning robot, increasing the driving force to execute the obstacle crossing operation so as to ensure that the cleaning robot successfully crosses the obstacle;
and if the obstacle is arranged beside the cleaning robot, when the cleaning robot is determined to execute the wall-following operation for more than preset time, re-executing the step of obtaining the preliminary exit set of the cleaned point and the obstacle point according to the wall-following coordinate point set.
Optionally, the step of obtaining a set of along-wall coordinate points of the cleaning robot and obtaining a preliminary exit set of cleaned points and obstacle points according to the set of along-wall coordinate points includes:
acquiring wall-following sweeping track points in a defined area of the cleaning robot, and taking the wall-following sweeping track points as the set of wall-following coordinate points;
acquiring wall-following sweeping track points in a defined area of the cleaning robot, and taking the wall-following sweeping track points as the set of wall-following coordinate points;
and extracting cleaned points in the set of along-wall coordinate points, and taking the obstacle points identified by the cleaning robot as a preliminary exit set in a movement route formed by the cleaned points.
Optionally, after filtering out the obstacle point identified by the laser sensor for the first intersection to obtain an effective exit set, the method further includes:
replacing the outlet obstacle state corresponding to the effective outlet set with a cleaned state;
and determining the outlet coordinate point corresponding to the effective outlet set according to the cleaned state.
Optionally, the method comprises:
determining a second intersection of the along-wall coordinate point set and the traversal coordinate point set, and determining an outer-ring along-wall set according to the along-wall coordinate point set and the second intersection;
judging whether the coordinate point of the outer ring along the wall set is close to the outlet coordinate point or not;
and if the coordinate point of the outer ring along the wall set is close to the outlet coordinate point, determining the effective outlet according to the coordinate point so as to perform the obstacle crossing operation.
In addition, in order to achieve the above object, the present invention further provides an LDS laser based obstacle crossing device for a cleaning robot, the LDS laser based obstacle crossing device for a cleaning robot according to the present invention comprises:
the cleaning robot comprises an acquisition module, a cleaning module and a control module, wherein the acquisition module is used for acquiring an along-wall coordinate point set of the cleaning robot and obtaining a primary exit set of cleaned points and barrier points according to the along-wall coordinate point set;
the cleaning robot comprises a traversal module, a detection module and a control module, wherein the traversal module is used for acquiring a traversal coordinate point set based on the cleaning process of the cleaning robot, and determining an obstacle point set through laser sensor identification and collision identification of the cleaning robot in the traversal coordinate point set;
the determining module is used for determining a first intersection of the preliminary exit set and the barrier point set, and filtering the barrier points identified by the laser sensor aiming at the first intersection to obtain an effective exit set;
and the obstacle crossing module is used for planning a motion path according to the exit coordinate points of the effective exit set and carrying out obstacle crossing operation on the effective exits of the effective exit set according to the motion path.
When each functional module of the cleaning robot obstacle crossing device based on the LDS laser is operated, the steps of the cleaning robot obstacle crossing method based on the LDS laser are realized.
In addition, in order to achieve the above object, the present invention further provides a terminal device, where the terminal device includes a memory, a processor, and an LDS laser based cleaning robot obstacle crossing program stored in the memory and executable on the processor, and the LDS laser based cleaning robot obstacle crossing program is executed by the processor to implement the steps of the LDS laser based cleaning robot obstacle crossing method.
In addition, to achieve the above object, the present invention also provides a computer readable storage medium having stored thereon an LDS laser based cleaning robot obstacle crossing program, which when executed by a processor implements the steps of the LDS laser based cleaning robot obstacle crossing method.
The invention realizes an obstacle crossing logic of a cleaning robot, firstly, a preliminary exit set (set A) is determined according to a wall-following coordinate point set (set AO) of the cleaning robot, then, a traversal coordinate point set (set BO) is determined by traversing around the cleaning robot as a center in the cleaning process, and extracts the obstacle points identified by the laser sensor and the collision identification in the set BO to determine an obstacle point set (set B), then determining a first intersection between the preliminary exit set and the set of obstacle points, and filtering out obstacles that the laser sensor can recognize to identify a valid exit set (set C), further determining the position of an outlet coordinate point corresponding to the effective outlet set, and planning out the path of the outlet coordinate point and a missed scanning area outside the room, namely, the movement path, and finally, multiple obstacle crossing attempts are carried out according to the position of the exit coordinate point and the movement path.
Different from the traditional obstacle crossing mode of the cleaning robot, the method and the device determine the operation of the effective exit by determining the first intersection between the preliminary exit set and the obstacle point set and filtering the obstacle which can be identified by the laser sensor, effectively avoid the phenomenon that the cleaning robot is trapped and the external environment is not swept because the cleaning robot cannot accurately identify the effective exit in some low-lying or glass or other obstacle environments, and can quickly and accurately identify the effective exit for obstacle crossing, thereby improving the efficiency of the cleaning robot in getting rid of the obstacle.
Drawings
FIG. 1 is a schematic flow chart of a first embodiment of an LDS laser-based obstacle crossing method for a cleaning robot according to the present invention;
FIG. 2 is a schematic diagram of a specific application flow related to an embodiment of an LDS laser-based obstacle crossing method for a cleaning robot according to the present invention;
FIG. 3 is a schematic diagram of a cleaning logic flow involved in an LDS laser-based obstacle crossing method for a cleaning robot according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an LDS laser-based obstacle crossing device module of a cleaning robot according to the present invention;
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
An embodiment of the invention provides an LDS laser-based obstacle crossing method for a cleaning robot, and referring to FIG. 1, FIG. 1 is a schematic flow diagram of a first embodiment of the LDS laser-based obstacle crossing method for the cleaning robot.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application.
The cleaning robot of the invention refers to a household floor cleaning robot such as a floor sweeper, a floor mopping machine, a sweeping and mopping integrated machine, a floor washing machine and the like.
LDS (Laser Direct Structuring ) Laser is also called LDS Laser radar, and cleaning machines people based on LDS Laser radar generally sets up LDS Laser range sensor at the machine top, 360 degrees all-round scans of LDS Laser radar for obtain distance information, navigate and establish the picture at the coordinate system cleaning machines people, when Laser projects on the barrier, can form the facula in the sensor, and simultaneously, image sensor can calculate the central distance to Laser range sensor according to the pixel sequence number of facula.
Referring to fig. 3, it can be understood that after the cleaning robot is started, the cleaning robot firstly travels along a wall, determines an area virtual boundary when detecting that a distance from a starting wall reaches a preset distance, demarcates a first cleaning area, then traverses in the first cleaning area to perform cleaning (for example, traverses and cleans a zigzag path), continues to travel along the wall from the area virtual boundary to demarcate a second cleaning area after the cleaning is finished, and then traverses and cleans … … in the second cleaning area until all places are completely cleaned.
Because the floor of the room where the second cleaning area is located is low, after the cleaning robot enters the room from the outlet, the floor of the outlet in the room is lower than the floor outside the room (the door sill can be understood to exist), and the height difference between the floor inside and outside the room does not exceed the normal obstacle crossing height of the cleaning robot, the laser sensor can not identify the outlet as an obstacle (the cleaning robot can be understood as identifying the door sill lower than the self height of the cleaning robot as the obstacle through the LDS laser ranging sensor arranged at the top of the cleaning robot, then the cleaning robot walks based on the passable area planned by the LDS laser radar, but when the cleaning robot walks to the outlet, the cleaning robot can collide against the door sill, so that the cleaning robot can identify the position as the obstacle through the collision sensor of the cleaning robot, and then continues to follow the wall along the obstacle, namely, the obstacle is bypassed to walk along the wall to form a primary room outlet, and starting to traverse the arch shape for cleaning until the walking along the wall is finished.
In the process of determining the second cleaning area, the judgment basis of the ending moment along the wall is that the enclosure reaches the closed area and reaches a certain distance or time, so as to refer to fig. 2-3, after the enclosure reaches the closed area along the wall, one more segment is needed.
In this embodiment, the method for obstacle crossing of a cleaning robot based on LDS laser of the present invention is applied to a terminal device for obstacle crossing of a cleaning robot, and may be specifically executed by a control center in the terminal device, and the method for obstacle crossing of a cleaning robot based on LDS laser of the present invention includes:
step S10: acquiring a wall-following coordinate point set of the cleaning robot, and obtaining a preliminary exit set of cleaned points and barrier points according to the wall-following coordinate point set;
in this embodiment, the control center acquires the sweeping walking trajectory points of the cleaning robot during the wall-following period, takes the sweeping walking trajectory points as a set of wall-following coordinate points of the cleaning robot, and then extracts a preliminary exit set marked as a swept point and an obstacle point from the set of wall-following coordinate points.
It should be noted that the set of coordinates points along the wall refers to a set of walking track points of the cleaning robot recorded by the control center during the normal wall-following period (i.e. the cleaning mode); the preliminary exit set refers to a period that the control center firstly extracts the cleaned point (including the effective exit and marked as the cleaned point when the cleaning robot enters the room) in the first round of operation during the wall-following period from the set of the coordinates points along the wall, and then the cleaned point is identified as the set of the obstacle points along the wall during the period that the cleaning robot continues to move along the wall after the first round of operation is completed, wherein the obstacle points along the wall include the exit marked as the obstacle by the cleaning robot at the time, the wall and other obstacle points of which the positions are possibly marked by mistake due to position deviation and the like.
The obstacle point that is erroneously marked due to a positional deviation or the like can be understood as a temporary obstacle and an obstacle that is marked due to a systematic error of the cleaning robot; the temporary barrier is understood to mean that no barrier exists when a certain place passes along the wall for the first time, and a barrier exists when a person walks along the wall for the second time, and the barrier is generally a movable person or a pet; an obstacle marked by a systematic error of the cleaning robot can be understood as a positioning error due to a slip of the cleaning robot or each time the cleaning robot makes a round along a wall.
In addition, as shown in fig. 2, fig. 2 is a schematic diagram of a specific application flow related to an embodiment of the obstacle crossing method for the cleaning robot based on the LDS laser according to the present invention, wherein a curve refers to a set of sweeping walking track points of the cleaning robot during the course along the wall, that is, a set of coordinates points along the wall (also referred to as set AO); the method comprises the following steps that a square frame indicates that a cleaning robot is trapped in a room, a control center needs to extract cleaned points in a wall-following period of the cleaning robot from a wall-following coordinate point set, and when the cleaning robot passes through a movement route formed by the cleaned points along a wall again, a set of wall-following obstacle points for blocking the cleaning robot to run, namely a primary exit set (also called a set A), is identified; when the cleaning robot cannot go out of the current room along the wall, all the solid line parts of the blocks are considered to be obstacles, and the coordinates near the outlet of the blocks are also marked as the obstacles.
In this embodiment, the control hub obtains the preliminary exit set by following the set of wall coordinate points in order to narrow the range of identifying valid exits and obtain the exits preliminarily, but may include temporary obstacles.
Step S20: acquiring a traversal coordinate point set based on the cleaning process of the cleaning robot, and performing laser sensor identification and collision identification on the cleaning robot in the traversal coordinate point set to determine an obstacle point set;
in this embodiment, the control center acquires a set of traversal coordinate points throughout four weeks centering on a current position of the cleaning robot during sweeping of the cleaning robot, and then determines a set of obstacle points by recognizing and colliding obstacles marked by the laser sensor of the cleaning robot in the set of traversal coordinate points.
The set of obstacle points refers to a set of obstacle points recognized by an LDS laser ranging sensor of the cleaning robot during sweeping, and obstacle points recognized by a collision sensor, and may be referred to as a set B.
For example, when the cleaning robot is trapped in the kitchen (the kitchen area topography is lower than the kitchen area topography), since the sweeping robot is in the inner circle along the wall, the effective exit mistakenly marked as the obstacle must also be in the inner circle, i.e. the cleaning robot can touch; the control center acquires a set BO in a four-cycle progression with the current position of the cleaning robot as the center, marks obstacle points in the set BO through laser recognition and collision recognition of the cleaning robot, and saves the position coordinates of the marked obstacle points to a set B, namely an obstacle point set, which only includes the obstacles in the inner circle.
In the present embodiment, the set of obstacle points is acquired by marking the obstacle points in the set of traversal coordinate points by the cleaning robot laser sensor recognition and the collision recognition in order to prevent erroneous determination as an obstacle outside the room.
Step S30: and determining a first intersection of the preliminary exit set and the barrier point set, and filtering the barrier points identified by the laser sensor aiming at the first intersection to obtain an effective exit set.
The control center firstly determines a first intersection between the preliminary exit set and the obstacle point set, filters the obstacle points recognized by the cleaning robot based on the laser sensor in the first intersection, namely the solid obstacles, and finally determines an effective exit set, which can also be called a set C.
The first intersection refers to a set formed by all the obstacle coordinate points which belong to the preliminary exit set and belong to the obstacle point set;
the set of obstacle points may also include obstacles that are not swept by the laser (e.g., exit, glass wall), but a set B' of obstacles recognized by the cleaning robot after a collision.
The set B' can be understood that the laser sensor of the cleaning robot cannot identify the barrier made of transparent materials such as glass, for example, when the barrier is met, the barrier can be identified as the barrier only through collision; and because the effective outlet has a height difference with the ground in the room, the position of the laser sensor of the cleaning robot is higher than the outlet ground/threshold, so that the outlet cannot be identified as an obstacle, the cleaning robot can collide with the threshold when walking to the outlet, and the threshold is identified as the obstacle through collision.
An entity obstacle is not necessarily an effective exit, and may be understood as an obstacle point recognized by the cleaning robot based on the laser sensor, such as a table, a chair, a tea table, a refrigerator, a floor air conditioner, and the like, which may be recognized by the laser sensor of the cleaning robot.
In the present embodiment, the intersection operation based on the set a and the set B may be understood as the first intersection obtained by the intersection operation based on the set a and the set B' has excluded the glass wall and the like.
In the embodiment, the effective exit set is obtained by filtering the obstacle points identified by the laser sensor at the intersection between the preliminary exit set and the obstacle point set of the cleaning robot, which lays a foundation for determining the effective exit of the cleaning robot for obstacle crossing.
Step S40: and planning a motion path according to the exit coordinate points of the effective exit set, and performing obstacle crossing operation on the effective exits of the effective exit set according to the motion path.
In the embodiment, after the control center replaces the state of the obstacle, which is obtained by mistakenly marking the effective exit as the state of the obstacle, with the state of the cleaned obstacle, the control center deletes the obstacle near the exit in the map, then the planned movement path of the cleaning robot can be directly calculated according to the exit coordinate points corresponding to the effective exit set and the missed cleaning area outside the room, then the cleaning robot is controlled to perform obstacle crossing operation on the movement path, if the cleaning robot is not collided for multiple times, the control center controls the cleaning robot to perform preset wall-following operation, and when the cleaning robot is determined to be near the effective exit position, the control center determines that the cleaning robot detects that no obstacle exists beside the machine body by using the laser sensor, and then the obstacle crossing operation is performed again.
It should be noted that the effective exit refers to a position of an obstacle that the cleaning robot performs obstacle crossing; the movement path refers to a path from an outlet coordinate point corresponding to the position of the effective outlet set determined by the cleaning robot to a missing scanning area outside the room; the obstacle crossing operation refers to the operation that the cleaning robot crosses an obstacle to go to a missed scanning area outside a room based on a point-to-point moving logic; the preset wall following operation refers to a specific operation, i.e., only walking along the wall, unlike the step of acquiring the set of wall following coordinate points of the cleaning robot.
In summary, the invention realizes an obstacle crossing logic of a cleaning robot, firstly, a preliminary exit set (set A) is determined according to a wall-following coordinate point set (set AO) of the cleaning robot, then, a traversal coordinate point set (set BO) is determined by traversing around the cleaning robot as a center in the cleaning process, and extracts the obstacle points identified by the laser sensor and the collision in the set BO to determine an obstacle point set (set B), then determining a first intersection between the preliminary exit set and the set of obstacle points, and filtering out obstacles that the laser sensor can recognize to identify a valid exit set (set C), further determining the position of an outlet coordinate point corresponding to the effective outlet set, and planning out the path of the outlet coordinate point and a missed scanning area outside the room, namely, the movement path, and finally, multiple obstacle crossing attempts are carried out according to the position of the exit coordinate point and the movement path.
Different from the traditional obstacle crossing mode of the cleaning robot, the method and the device determine the operation of the effective exit by determining the first intersection between the preliminary exit set and the obstacle point set and filtering the obstacle which can be identified by the laser sensor, effectively avoid the phenomenon that the cleaning robot is trapped and the external environment is not swept because the cleaning robot cannot accurately identify the effective exit in some low-lying or glass or other obstacle environments, and can quickly and accurately identify the effective exit for obstacle crossing, thereby improving the efficiency of the cleaning robot in getting rid of the obstacle.
Further, based on the first embodiment of the obstacle crossing of the cleaning robot, the second embodiment of the obstacle crossing of the cleaning robot is provided.
In the present embodiment, the step S10: acquiring a set of coordinates points along a wall of the cleaning robot may specifically include:
step S1010: acquiring wall-following sweeping track points in a defined area of the cleaning robot, and taking the wall-following sweeping track points as the set of wall-following coordinate points;
in this embodiment, the control hub records the wall-following sweeping trajectory points determined by normal wall-following operations of the cleaning robot within the defined sweeping area and then treats the wall-following sweeping trajectory points as a set of wall-following coordinate points for the cleaning robot.
Step S1011: and extracting cleaned points in the set of along-wall coordinate points, and taking the obstacle points identified by the cleaning robot as a preliminary exit set in a movement route formed by the cleaned points.
In this embodiment, the control center extracts the cleaned point of the cleaning robot in the wall-following set, (which may be understood as the cleaned point obtained by the cleaning robot entering the defined area from another area and performing the first circle of wall following in the defined area, and at this time, the effective exit is also marked as the cleaned point), and further, when the cleaning robot continues to move along the wall in the defined area and passes through the movement route formed by the cleaned point, the control center marks the set of obstacle points, i.e., the preliminary exit set, in which the cleaning robot is blocked from running on the movement route; in other words, the coordinate point in the preliminary exit set is marked as a swept point at a previous time during the wall-following period, and is marked as an obstacle point when the coordinate point passes by the vicinity of the coordinate point again at a later time, for example, the coordinate point moving along the wall while the cleaning robot enters the room is marked as a swept point, continues to move along the wall while entering the room, and collides with the threshold when passing by the vicinity of the effective exit again, thereby marking the coordinate point of the effective exit as an obstacle point.
In this embodiment, the set of along-wall sweeping trajectory points of the cleaning robot is used as the set of along-wall coordinate points of the cleaning robot to determine the approximate range of the effective exit of the cleaning robot.
Further, in other possible embodiments, in the step S30: after the obstacle point identified by the laser sensor is filtered for the first intersection to obtain an effective exit set, the method for obstacle crossing of the cleaning robot based on the LDS laser may further include:
step A10: replacing the outlet obstacle state corresponding to the effective outlet set with a cleaned state;
the control center replaces the state of the outlet obstacle corresponding to the effective outlet set with the state of already cleaning, namely, the obstacle near the effective outlet is deleted in the map.
Step A20: and determining the outlet coordinate point corresponding to the effective outlet set according to the cleaned state.
In this embodiment, when the control center determines that the state of the obstacle at the exit corresponding to the effective exit is changed to the cleaned state, the exit coordinate point corresponding to the effective exit set may be determined according to the cleaned state.
Further, in some possible embodiments, in the step S40: after the obstacle crossing operation is performed on the effective exits of the effective exit set according to the obstacle crossing motion trajectory, the method for obstacle crossing by the cleaning robot based on the LDS laser may further include:
step B10: judging whether the cleaning robot successfully executes the obstacle crossing operation;
in this embodiment, the control center needs to determine whether the cleaning robot completes the obstacle crossing operation at one time, i.e., whether the obstacle crossing operation is successful.
Step B20: and if not, acquiring a collision instruction, and executing collision operation on the effective outlet according to the collision instruction.
In this embodiment, if the control center obtains that the cleaning robot completes obstacle crossing operation at one time, information that the cleaning robot succeeds in obstacle crossing can be determined; and if the control center obtains that the cleaning robot does not complete the obstacle crossing operation, sending a collision instruction to the cleaning robot, and enabling the cleaning robot to execute multiple collisions aiming at the effective outlet by the control center according to the collision instruction to try to cross the obstacle.
The collision instruction refers to that the control center sends out information that the cleaning robot collides with the obstacle; the collision operation refers to causing the cleaning robot to collide with an obstacle to generate vibration, and reminding the cleaning robot to adjust the direction of attempting obstacle crossing by means of the vibration.
For example, when the cleaning robot is used in a home environment, the cleaning robot may be trapped in a low-lying environment in a kitchen area or in an environment with obstacles such as glass, and the cleaning robot may not be able to go to an external environment (e.g., a living room) for cleaning. When the cleaning robot tries to cross the obstacle for the first time, the cleaning robot cannot pass through the effective outlet at one time due to factors such as height and the like, then the cleaning robot is collided for multiple times through collision operation to generate vibration, and then the cleaning robot is reminded to adjust the obstacle crossing direction according to the vibration to try to cross the obstacle.
Further, in other possible embodiments, in the step B20: after performing a collision operation for the effective exit according to the collision command, the LDS laser-based cleaning robot obstacle crossing method may further include:
step C10: performing preset wall-following operations
In this embodiment, after the control center determines that the cleaning robot cannot successfully surmount the obstacle after performing the collision operation, the control center determines the wall following information of the cleaning robot and performs the preset wall following operation according to the wall following information.
It should be noted that the wall following operation in the present embodiment is different from the operation in which the trajectory of the cleaning robot walking during the wall following is taken as the coordinate set, and the wall following operation refers to an operation in which the cleaning robot enters a specific motion during the wall following, rather than an operation in which the sweeping motion trajectory of the cleaning robot during the wall following is acquired.
For example, when the cleaning robot collides a plurality of times in a low-lying environment in a kitchen area or in an environment having an obstacle such as glass or cannot escape from a trapped environment, the cleaning robot performs a specific motion according to a preset wall-following operation.
Step C20: detecting whether the cleaning robot is in the vicinity of the effective exit according to the wall following operation;
in this embodiment, after the control hub determines that the cleaning robot is performing the wall-following operation, it is necessary to detect whether the cleaning robot is in the vicinity of the effective exit.
For example, when the cleaning robot moves along a wall, it is necessary to detect whether the cleaning robot is currently located near an effective exit position in a low-lying environment in a kitchen area or an environment with obstacles such as glass.
Step C30: and if the cleaning robot is detected to be positioned near the effective outlet, determining whether an obstacle exists beside the cleaning robot.
In this embodiment, after the control center detects that the current position of the cleaning robot is near the effective exit, it is also necessary to confirm whether the cleaning robot satisfies the condition that no obstacle is present near the cleaning robot.
For example, after the control center detects that the cleaning robot is currently near an effective exit position escaping from a low-lying environment in a kitchen area or an environment with obstacles such as glass, it is necessary to further confirm whether or not there is an obstacle near the body of the cleaning robot by using laser light.
Further, in some possible embodiments, at the above step C30: after confirming whether an obstacle is beside the cleaning robot, the method for clearing an obstacle by a cleaning robot based on the LDS laser may further include:
step D10: if the obstacle is not arranged beside the cleaning robot, increasing the driving force to execute the obstacle crossing operation so as to ensure that the cleaning robot successfully crosses the obstacle;
in this embodiment, after the control center determines that there is no obstacle information near the body of the cleaning robot, it is determined that the cleaning robot will perform the increase driving force operation to increase the driving force of the wheels, thereby making the cleaning robot successful in obstacle crossing.
For example, when the cleaning robot is near an exit coordinate point, i.e. an effective exit, and the laser detects that there is no obstacle beside the cleaning robot, the cleaning robot will increase the driving force of the wheels so that the cleaning robot escapes from the low-lying environment in the kitchen area or the environment with obstacles such as glass, i.e. the obstacle crossing is successful.
Step D20: and if the obstacle is arranged beside the cleaning robot, when the cleaning robot is determined to execute the wall-following operation for more than preset time, re-executing the step of obtaining the preliminary exit set of the cleaned point and the obstacle point according to the wall-following coordinate point set.
In this embodiment, after the control center determines that there is an obstacle in the vicinity of the cleaning robot, it determines that the wall-following operation time of the cleaning robot exceeds the preset time, and the control center re-performs the step of obtaining the preliminary exit set of the cleaned point and the obstacle point from the set of the wall-following coordinate points.
It should be noted that the preset time refers to a trigger condition for re-executing the step of obtaining the effective exit according to the set of wall-following coordinate points, and is a time interval set inside the system.
For example, when the cleaning robot is near the effective exit, but the cleaning robot detects that an obstacle exists beside the body of the cleaning robot, the obstacle crossing operation cannot be completed, and further the cleaning robot continues to operate along the wall for 15 seconds, namely the wall-following operation time exceeds the preset time; the cleaning robot determines the set A again in the coordinate set AO and acquires the set B again in the set BO, then determines a first intersection according to the set A and the set B, and finally determines the position of the effective exit in the first intersection, namely determines the effective exit of the obstacle crossing again. The preset time can be any other value, and is not limited to be a fixed value of only 15 seconds.
Further, in some possible embodiments, the LDS laser-based cleaning robot obstacle crossing method may further include:
step E10: determining a second intersection of the along-wall coordinate point set and the traversal coordinate point set, and determining an outer-ring along-wall set according to the along-wall coordinate point set and the second intersection;
in this embodiment, the control hub first determines a second intersection of the preliminary exit set of the cleaning robot and the set of traversal coordinate points, the second intersection being expressed in terms of AO ≦ BO, the set of coordinates for the inner wall, and then determines an outer along-the-wall set, also referred to as A1, from the set of along-the-wall coordinate points AO and the set of along-the-wall intersection AO ≦ BO.
It should be noted that, the representation form of the outer circle along the wall set is determined according to the along-wall coordinate point set AO and the along-wall intersection AO ∞ BO as follows: AO- (AO ∞ BO) = a1, a1 is a set of coordinates along the wall on the outer circle before entering the room (i.e. along the wall on the section outside the enclosure area in fig. 3), and at least one coordinate in the set of a1 is near the effective exit.
Step E20: judging whether the coordinate point of the outer ring along the wall set is close to the outlet coordinate point or not;
in this embodiment, the control center needs to determine whether the coordinate point of the outer ring along the wall set is close to the outlet coordinate point corresponding to the effective outlet set.
Step E30: and if the coordinate point of the outer ring along the wall set is close to the outlet coordinate point, determining the effective outlet according to the coordinate point so as to perform the obstacle crossing operation.
In this embodiment, if the control center determines that the coordinate point of the outer ring along the wall set is close to the exit coordinate point corresponding to the effective exit set, that is, the control center determines the coordinate point in the set a1 close to the set C as the effective exit, and then performs the obstacle crossing operation.
In summary, in this embodiment, the effective exit position of the cleaning robot is determined, the obstacle at the effective exit position is replaced with a cleaned state, the coordinate point of the effective exit position and the path of the missed-scanning area outside the room are calculated, after the path is calculated, the cleaning robot goes to the missed-scanning area outside the room through point-to-point logic, the cleaning robot may not pass through the obstacle at the effective exit at one time due to factors such as height, and then the cleaning robot enters wall-following operation, and when it is determined that the cleaning robot is near the effective exit coordinate, and the laser detects that no obstacle is beside the machine body; the cleaning robot can increase the driving force of the wheels, so that the obstacle crossing is successful, the phenomenon of missing sweeping of the external environment is avoided, and the escaping efficiency of the cleaning robot is improved.
Furthermore, the invention also provides an LDS laser-based obstacle crossing device of the cleaning robot. Referring to fig. 4, fig. 4 is a schematic diagram of an obstacle crossing device module of a cleaning robot based on LDS laser according to the present invention.
The invention relates to an LDS laser-based obstacle crossing device of a cleaning robot, which comprises:
an obtaining module H01, configured to obtain a set of along-wall coordinate points of the cleaning robot, and obtain a preliminary exit set of cleaned points and obstacle points according to the set of along-wall coordinate points;
a traversal module H02, configured to obtain a set of traversal coordinate points based on a sweeping process of the cleaning robot, and determine a set of obstacle points in the set of traversal coordinate points through laser sensor recognition and collision recognition performed by the cleaning robot;
a determining module H03, configured to determine a first intersection of the preliminary exit set and the obstacle point set, and filter, for the first intersection, the obstacle point identified by the laser sensor to obtain an effective exit set;
and the obstacle crossing module H04 is used for planning a motion path according to the exit coordinate points of the effective exit set and carrying out obstacle crossing operation on the effective exits of the effective exit set according to the motion path.
When running, each functional module of the cleaning robot obstacle crossing device based on the LDS laser realizes the steps of each embodiment of the cleaning robot obstacle crossing method based on the LDS laser.
Optionally, the obstacle crossing module H03 may include:
a judging unit for judging whether the obstacle crossing operation performed by the cleaning robot is successful;
and the collision unit is used for acquiring a collision instruction if the effective exit is not in the collision state, and executing collision operation on the effective exit according to the collision instruction.
Optionally, the obstacle crossing module H04 may also include:
the execution unit is used for executing preset wall-following operation;
a detection unit for detecting whether the cleaning robot is in the vicinity of the effective outlet according to the wall-following operation;
and the confirming unit is used for confirming whether an obstacle exists beside the cleaning robot or not if the cleaning robot is detected to be positioned near the effective outlet.
Optionally, the obstacle crossing module H04 may further include:
the driving unit is used for increasing the driving force to execute the obstacle crossing operation to ensure that the cleaning robot successfully crosses the obstacle if no obstacle exists beside the cleaning robot;
and the re-execution unit is used for re-executing the step of obtaining the preliminary outlet set of the cleaned point and the obstacle point according to the along-wall coordinate point set when the cleaning robot is determined to execute the along-wall operation for more than preset time if the obstacle is beside the cleaning robot.
Optionally, the obtaining module H01 may include:
the wall-following track acquisition unit is used for acquiring wall-following sweeping track points in a defined area of the cleaning robot and taking the wall-following sweeping track points as the wall-following coordinate point set;
and the recognition unit is used for extracting the cleaned points in the wall coordinate point set, and taking the obstacle points recognized by the cleaning robot as a primary exit set in the movement route formed by the cleaned points.
Optionally, the determining module H03 may further include:
the replacing unit is used for replacing the outlet barrier state corresponding to the effective outlet set with a cleaned state;
and the outlet coordinate determination unit is used for determining the outlet coordinate point corresponding to the effective outlet set according to the cleaned state.
Optionally, the determining module H03 may further include:
the second intersection determining unit is used for determining a second intersection of the along-wall coordinate point set and the traversal coordinate point set and determining an outer-ring along-wall set according to the along-wall coordinate point set and the second intersection;
the judging unit is used for judging whether the coordinate point of the outer ring edge wall set is close to the outlet coordinate point or not;
and the operation unit is used for determining the effective outlet according to the coordinate point to perform the obstacle crossing operation if the coordinate point of the outer ring along the wall set is close to the outlet coordinate point.
In addition, the invention also provides terminal equipment. Referring to fig. 5, fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention. The terminal equipment of the embodiment of the invention can be equipment for obstacle crossing of a locally operated cleaning robot.
As shown in fig. 5, the terminal device according to the embodiment of the present invention may include: a processor 1001, e.g. a CPU, a communication bus 1002, a user interface 1003, a network interface 1004 and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., a Wi-Fi interface).
A memory 1005 is provided on the terminal apparatus main body, and the memory 1005 stores a program that realizes a corresponding operation when executed by the processor 1001. The memory 1005 is also used to store parameters for use by the terminal device. The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the terminal device configuration shown in fig. 5 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 5, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an intelligent connection program of a terminal device.
In the terminal device shown in fig. 5, the processor 1001 may be configured to call the intelligent connection program of the terminal device stored in the memory 1005 and execute the steps of the above-described various embodiments of the LDS laser-based cleaning robot obstacle crossing method of the present invention.
In addition, the invention also provides a computer readable storage medium. Referring to fig. 6, fig. 6 is a schematic structural diagram of a computer-readable storage medium according to an embodiment of the present invention.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with an LDS laser-based cleaning robot obstacle crossing program, and when the LDS laser-based cleaning robot obstacle crossing program is executed by a processor, the steps of the LDS laser-based cleaning robot obstacle crossing method are realized.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or system in which the element is included.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An LDS laser-based cleaning robot obstacle crossing method is characterized by comprising the following steps:
acquiring a wall-following coordinate point set of the cleaning robot, and obtaining a preliminary exit set of cleaned points and barrier points according to the wall-following coordinate point set;
acquiring a traversal coordinate point set based on the cleaning process of the cleaning robot, and performing laser sensor identification and collision identification on the cleaning robot in the traversal coordinate point set to determine an obstacle point set;
determining a first intersection of the preliminary exit set and the barrier point set, and filtering the barrier points identified by the laser sensor aiming at the first intersection to obtain an effective exit set;
and planning a motion path according to the exit coordinate points of the effective exit set, and performing obstacle crossing operation on the effective exits of the effective exit set according to the motion path.
2. The LDS laser-based cleaning robot obstacle crossing method of claim 1, wherein after the step of performing obstacle crossing operations for the active exits of the active exit set in the motion path, the method comprises:
judging whether the cleaning robot successfully executes the obstacle crossing operation;
and if not, acquiring a collision instruction, and executing collision operation on the effective outlet according to the collision instruction.
3. The LDS laser-based cleaning robot obstacle crossing method of claim 2, wherein after the step of performing a collision operation for the effective exit according to the collision command, the method further comprises:
executing preset wall-following operation;
detecting whether the cleaning robot is in the vicinity of the effective exit according to the wall-following operation;
and if the cleaning robot is detected to be positioned near the effective outlet, determining whether an obstacle exists beside the cleaning robot.
4. The LDS laser-based cleaning robot obstacle crossing method of claim 3, wherein after the step of confirming whether there is an obstacle next to the cleaning robot, the method further comprises:
if the obstacle is not arranged beside the cleaning robot, increasing the driving force to execute the obstacle crossing operation so as to ensure that the cleaning robot successfully crosses the obstacle;
and if the obstacle is arranged beside the cleaning robot, when the cleaning robot is determined to execute the wall-following operation for more than preset time, re-executing the step of obtaining the preliminary exit set of the cleaned point and the obstacle point according to the wall-following coordinate point set.
5. The LDS laser-based cleaning robot obstacle crossing method of claim 1, wherein the step of obtaining a set of along-wall coordinate points of the cleaning robot and deriving a preliminary exit set of swept points and obstacle points from the set of along-wall coordinate points comprises:
acquiring wall-following sweeping track points in a defined area of the cleaning robot, and taking the wall-following sweeping track points as the set of wall-following coordinate points;
and extracting cleaned points in the set of along-wall coordinate points, and taking the obstacle points identified by the cleaning robot as a preliminary exit set in a movement route formed by the cleaned points.
6. The LDS laser-based cleaning robot obstacle crossing method of claim 1, wherein after filtering the obstacle points identified by the laser sensor for the first intersection to obtain a valid exit set, the method further comprises:
replacing the outlet obstacle state corresponding to the effective outlet set with a cleaned state;
and determining the outlet coordinate point corresponding to the effective outlet set according to the cleaned state.
7. The LDS laser-based cleaning robot obstacle crossing method of claim 1, wherein the method comprises:
determining a second intersection of the along-wall coordinate point set and the traversal coordinate point set, and determining an outer-ring along-wall set according to the along-wall coordinate point set and the second intersection;
judging whether the coordinate point of the outer ring along the wall set is close to the outlet coordinate point or not;
and if the coordinate point of the outer ring along the wall set is close to the outlet coordinate point, determining the effective outlet according to the coordinate point so as to perform the obstacle crossing operation.
8. An LDS laser-based cleaning robot obstacle crossing device, which is characterized by comprising:
the cleaning robot comprises an acquisition module, a cleaning module and a control module, wherein the acquisition module is used for acquiring an along-wall coordinate point set of the cleaning robot and obtaining a primary exit set of cleaned points and barrier points according to the along-wall coordinate point set;
the cleaning robot comprises a traversal module, a detection module and a control module, wherein the traversal module is used for acquiring a traversal coordinate point set based on the cleaning process of the cleaning robot, and determining an obstacle point set through laser sensor identification and collision identification of the cleaning robot in the traversal coordinate point set;
the determining module is used for determining a first intersection of the preliminary exit set and the barrier point set, and filtering the barrier points identified by the laser sensor aiming at the first intersection to obtain an effective exit set;
and the obstacle crossing module is used for planning a motion path according to the exit coordinate points of the effective exit set and carrying out obstacle crossing operation on the effective exits of the effective exit set according to the motion path.
9. A terminal device, comprising a memory, a processor and an LDS laser based cleaning robot obstacle crossing program stored on the memory and executable on the processor, wherein the processor implements the steps of the LDS laser based cleaning robot obstacle crossing method according to any one of claims 1 to 7 when executing the LDS laser based cleaning robot obstacle crossing program.
10. A computer readable storage medium, wherein the computer readable storage medium has stored thereon an LDS laser based cleaning robot obstacle crossing program, which when executed by a processor implements the steps of the LDS laser based cleaning robot obstacle crossing method as recited in any one of claims 1 to 7.
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