US 12,390,069 B2
Obstacle avoidance method and device for self-walking robot, robot, and storage medium
Zhen Wu, Beijing (CN); Haojian Xie, Beijing (CN); Song Peng, Beijing (CN); Yixing Wang, Beijing (CN); and Zhiying Hu, Beijing (CN)
Assigned to Beijing Roborock Innovation Technology Co., Ltd., Beijing (CN)
Appl. No. 17/996,699
Filed by Beijing Roborock Innovation Technology Co., Ltd., Beijing (CN)
PCT Filed Jan. 8, 2021, PCT No. PCT/CN2021/070912
§ 371(c)(1), (2) Date Oct. 20, 2022,
PCT Pub. No. WO2021/212926, PCT Pub. Date Oct. 28, 2021.
Claims priority of application No. 202010311652.2 (CN), filed on Apr. 20, 2020.
Prior Publication US 2023/0225576 A1, Jul. 20, 2023
Int. Cl. A47L 9/00 (2006.01); A47L 9/28 (2006.01); A47L 11/40 (2006.01); G05D 1/00 (2006.01); G05D 1/224 (2024.01)
CPC A47L 9/2805 (2013.01) [A47L 9/009 (2013.01); A47L 9/2852 (2013.01); A47L 11/4011 (2013.01); A47L 11/4061 (2013.01); G05D 1/0214 (2013.01); A47L 2201/04 (2013.01)] 5 Claims
OG exemplary drawing
 
1. An obstacle avoidance method for a self-moving robot, comprising:
obtaining and recording, by the self-moving robot, information about an obstacle encountered during traveling, wherein the information about the obstacle comprises type information and location information of the obstacle; and
receiving, by the self-moving robot, an operation instruction for ignoring a specified obstacle sent from a human-machine interaction interface, wherein the operation instruction is configured for instructing the self-moving robot, when detecting an obstacle of a same type as the specified obstacle in a region range labeled with the specified obstacle, to keep cleaning without performing an obstacle avoidance operation on the obstacle of the same type, and the operation instruction comprises type information and location information of the specified obstacle,
wherein detecting the obstacle of the same type as the specified obstacle in the region range labeled with the specified obstacle comprises:
matching a type of a detected obstacle with a type of the specified obstacle;
in response to that the matching succeeds, determining whether the obstacle is in the region range labeled with the specified obstacle; and
in response to determining the obstacle is in the region range, confirming that the obstacle of the same type as the specified obstacle is detected in the region range labeled with the specified obstacle,
wherein the region range comprises a zone in which the obstacle is located, and the zone is automatically divided by the self-moving robot or is manually divided by a user.