Cleaning robot control method and device, program product and cleaning robot

Abstract

The embodiment of the invention provides a cleaning robot control method and device, a program product and a cleaning robot. The method comprises the steps that when the distance between the cleaning robot and an obstacle is smaller than a clamping distance threshold value, a driving wheel module is locked to limit ejection of the driving wheel module, and a mechanical arm is controlled to move the obstacle based on the type of the obstacle; controlling the mechanical arm to reset to a gravity center stable position; obtaining a material detection result of the first sensor system on the current ground where the cleaning robot is located; and when the material detection result indicates that the ground is made of the preset material, the driving wheel module is released, and the driving wheel module is adopted to drive the machine body to move so as to continue to execute the cleaning task. The method is used for achieving the effects of preventing the fuselage from rolling or raising the tail and improving the equipment safety.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent furniture, and in particular to a control method, device, program product and cleaning robot of a cleaning robot. Background Art

[0002] With the gradual popularization of cleaning robots, more and more users are getting used to using cleaning robots to perform indoor or outdoor cleaning tasks.

[0003] However, existing cleaning robots are easily affected by complex indoor or outdoor terrain, resulting in instability and tipping over, which will seriously affect the cleaning effect of the cleaning robot and destroy the user experience. Summary of the invention

[0004] The embodiments of the present application provide a control method, device, program product and cleaning robot for a cleaning robot, so as to achieve the effect of ensuring the body stability of the cleaning robot and the safety of the equipment.

[0005] In a first aspect, an embodiment of the present application provides a control method for a cleaning robot, which is applied to the cleaning robot, wherein a robot arm, a driving wheel module and a first sensor system are provided on the body of the cleaning robot; the driving wheel module is used to drive the body to move, and the first sensor system is used to detect the material of the ground;

[0006] The method comprises:

[0007] When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the driving wheel module is locked to limit the ejection of the driving wheel module, and based on the type of the obstacle, the robot arm is controlled to move the obstacle;

[0008] Controlling the mechanical arm to reset to a stable center of gravity position;

[0009] Obtaining a material detection result of the first sensor system on the ground where the cleaning robot is currently located;

[0010] When the material detection result indicates that the ground is of a preset material, the driving wheel module is released, and the driving wheel module is used to drive the body to move so as to continue to perform the cleaning task.

[0011] In a possible implementation, a second sensor system is further provided on the body of the cleaning robot, and the second sensor system is used for detecting the type of the object;

[0012] When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the driving wheel module is locked to limit the ejection of the driving wheel module, and based on the type of the obstacle, the robot arm is controlled to move the obstacle, including:

[0013] When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, obtaining a detection result of the type of the obstacle by the second sensor system;

[0014] Based on the type of the obstacle indicated by the type detection result, the driving wheel module is locked to limit the ejection of the driving wheel module, and the robot arm is controlled to move the obstacle.

[0015] In a possible implementation manner, obtaining a detection result of the type of the obstacle by the second sensor system includes:

[0016] Acquiring three-dimensional information of the obstacle collected by the second sensor system;

[0017] Based on the three-dimensional information, a detection result of the type of the obstacle is determined.

[0018] In a possible implementation, the type of the obstacle includes one of a preset graspable obstacle type, a preset avoidable obstacle type, a preset pushable obstacle type, and a preset draggable obstacle type;

[0019] The controlling the robot arm to move the obstacle based on the type of the obstacle indicated by the type detection result comprises:

[0020] When the type detection result indicates that the type of the obstacle belongs to a preset graspable obstacle type, locking the driving wheel module to restrict the pop-up of the driving wheel module, and controlling the mechanical arm to grasp the obstacle;

[0021] When the type detection result indicates that the type of the obstacle belongs to a preset avoidance obstacle type, performing an avoidance action;

[0022] When the type detection result indicates that the type of the obstacle belongs to a preset movable obstacle type, the driving wheel module is locked to limit the ejection of the driving wheel module, and the mechanical arm is controlled to push the obstacle;

[0023] When the type detection result indicates that the type of the obstacle belongs to a preset draggable obstacle type, the driving wheel module is locked to limit the pop-up of the driving wheel module, and the mechanical arm is controlled to drag the obstacle.

[0024] In a possible implementation, the step of releasing the driving wheel module and using the driving wheel module to drive the body to move so as to continue to perform the cleaning task further includes:

[0025] When the type detection result indicates that the type of the obstacle belongs to a preset graspable obstacle type, releasing the driving wheel module, and using the driving wheel module to drive the body to move until the distance between the cleaning robot and the first area is less than the clamping distance threshold;

[0026] Locking the driving wheel module, and controlling the robotic arm to place the grabbed obstacle in the first area;

[0027] The robot arm is controlled to reset to the stable center of gravity position, the driving wheel module is released, and the driving wheel module is used to drive the body to move so as to return to the original area where the obstacle is located to continue the cleaning task.

[0028] In a possible implementation manner, before controlling the mechanical arm to reset to a stable center of gravity position, the method further includes:

[0029] Determining a stable center of gravity position of the robotic arm based on the type of the obstacle;

[0030] The controlling the mechanical arm to reset to a stable center of gravity position comprises:

[0031] When the type detection result indicates that the type of the obstacle belongs to a preset graspable obstacle type, controlling the robotic arm to reset to a preset position of the robotic arm;

[0032] When the type detection result indicates that the type of the obstacle belongs to a preset pushable obstacle type or a preset draggable obstacle type, the robotic arm is controlled to reset to an initial position of the robotic arm.

[0033] In a possible implementation, the using the first sensor system to obtain a material detection result of the ground where the cleaning robot is currently located includes:

[0034] Using the first sensor system to transmit a detection signal to the ground, and collecting a reflection signal corresponding to the detection signal, wherein the detection signal is used to detect the material of the ground;

[0035] When the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, determining that the material detection result of the ground indicates that the material of the ground is the preset material;

[0036] Otherwise, obtain a reference height value of the first sensor system, and when the reference height value is less than a preset height value, determine that the material detection result of the ground indicates that the material of the ground is not the preset material; wherein the reference height value is the height of the first sensor system relative to the ground.

[0037] In a possible implementation manner, after releasing the driving wheel module, the method further includes:

[0038] When the material detection result indicates that the ground is not of a preset material, the driving wheel module is used to lift the chassis of the fuselage.

[0039] In a possible implementation, the step of using the driving wheel module to drive the fuselage to move includes:

[0040] When obstacles need to be overcome during movement, identify the height of the object to be overcome;

[0041] When the height of the object to be crossed is less than a preset height threshold, the driving wheel module is used to perform a first obstacle crossing action;

[0042] When the height of the object to be crossed reaches the preset height threshold and the mechanical arm does not hold the obstacle, the driving wheel module is used to perform a second obstacle crossing action;

[0043] When the height of the object to be crossed reaches the preset height threshold and the mechanical arm clamps the obstacle, the mechanical arm is controlled to place the obstacle in the second area, and the driving wheel module is used to perform the second obstacle crossing action.

[0044] In a possible implementation manner, after controlling the mechanical arm to place the obstacle in the second area, the method further includes:

[0045] The robot arm is controlled to reset to the center-of-gravity stable position.

[0046] In a possible implementation manner, after controlling the mechanical arm to place the obstacle in the second area and using the driving wheel module to perform the second obstacle surmounting action, the method further includes:

[0047] Controlling the robotic arm to grab the obstacle from the second area;

[0048] The mechanical arm is controlled to reset to a stable center of gravity position.

[0049] In a second aspect, an embodiment of the present application provides a control device for a cleaning robot, which is applied to the cleaning robot. A mechanical arm, a driving wheel module, a first sensor system and a second sensor system are arranged on the body of the cleaning robot; the driving wheel module is used to drive the body to move, the first sensor system is used to detect the material of the ground, and the second sensor system is used to detect the type of object of an obstacle;

[0050] The device comprises:

[0051] A locking module, used to lock the driving wheel module when the distance between the cleaning robot and the obstacle is less than a clamping distance threshold, so as to limit the ejection of the driving wheel module;

[0052] A control module, configured to control the mechanical arm to move the obstacle based on the type of the obstacle, and to control the mechanical arm to reset to a stable center of gravity position;

[0053] An information collection module, used to obtain the material detection result of the current ground where the cleaning robot is located by the first sensor system, and the type detection result of the obstacle by the second sensor system;

[0054] The mobile control module is used to release the driving wheel module when the material detection result indicates that the ground is of a preset material, and use the driving wheel module to drive the body to move so as to continue to perform the cleaning task.

[0055] In a third aspect, an embodiment of the present application provides a cleaning robot, wherein a controller, a mechanical arm, a driving wheel module, a first sensor system and a second sensor system are disposed on the body of the cleaning robot, and the controller is respectively connected to the mechanical arm, the driving wheel module, the first sensor system and the second sensor system;

[0056] The driving wheel module is used to drive the fuselage to move;

[0057] The first sensor system is used for ground material detection;

[0058] The second sensor system is used to detect the type of object of the obstacle;

[0059] The mechanical arm is used to move the obstacle based on the type of the obstacle;

[0060] The controller is used to execute the above first aspect and / or various possible methods of the first aspect.

[0061] In a fourth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementations of the first aspect.

[0062] The control method, device, program product and cleaning robot of the cleaning robot provided in the embodiments of the present application can lock the driving wheel module when the existence of an obstacle is detected, so that the driving wheel module cannot pop out, thereby during the operation of the robotic arm, the reaction force generated by the driving wheel module can be offset by locking the driving wheel module, so that the body of the cleaning robot remains stable and prevents the occurrence of side tilt or tail lift; and it is able to judge the ground where the cleaning robot is located, and control the driving wheel module to unlock based on the judged ground material, so that the cleaning robot can adapt to the characteristics of different ground surfaces, ensure cleaning efficiency and equipment safety, thereby increasing the reliability of the entire machine operation and improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0064] Figure 1 A schematic diagram of the structure of the cleaning robot provided for this application;

[0065] Figure 2 for Figure 1 A schematic diagram of the enlarged structure of part A;

[0066] Figure 3 This is a schematic diagram of the structure of the driving wheel module and the obstacle crossing module in the cleaning robot provided in this application;

[0067] Figure 4 A schematic diagram of a flow chart of a control method for a cleaning robot provided in the present application;

[0068] Figure 5 A schematic diagram of the structure of the control device of the cleaning robot provided in this application;

[0069] Figure 6 A schematic diagram of the structure of the electronic device provided in this application.

[0070] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0071] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0072] The control method of the cleaning robot provided in the embodiment of the present application can be applied to Figure 1 The cleaning robot 100 is shown.

[0073] The cleaning robot 100 may be a self-propelled robot that can move autonomously in a working area and complete cleaning tasks autonomously without external human information input and control. The working area may include indoor areas and outdoor areas. Indoor areas may include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas may include lawns, gardens, roads, etc. Cleaning tasks may include sweeping (e.g., washing, mopping, sweeping, etc.), mowing lawns, snow removal, etc.

[0074] The cleaning robot 100 includes but is not limited to: a sweeping robot, a floor scrubber robot, a sweeping and mopping robot, a lawn mowing robot, a snow sweeping robot, etc. The cleaning robot 100 can clean by sweeping first and mopping second or by sweeping and mopping separately. The sweeping and mopping second method can sweep the floor and mop the floor at the same time, which can improve the cleaning efficiency. The sweeping and mopping separately method can sweep the floor first and then mop the floor after sweeping the floor, which can improve the cleaning effect.

[0075] Specifically, the cleaning robot 100 at least includes a body 10, a controller (not shown in the figure), one or more cleaning components (not shown in the figure), a driving wheel module 20, a first sensor system (not shown in the figure) and a second sensor system (not shown in the figure). The driving wheel module 20 is disposed on one side of the body 10, and the driving wheel module 20 is used to drive the body 10 to move so as to perform cleaning operations.

[0076] Specifically, the cleaning components may include one or more of the following: a side brush, a main brush (or roller brush), a rag plate (or mop plate), etc. The cleaning components may be in a circular, square or other shapes (e.g., semicircular, arc-shaped, triangular, or other special shapes). The circular shape facilitates the cleaning components to rotate and clean. The special shape facilitates the cleaning components to clean corner areas. The side brush can gather foreign matter and move it toward the center of the bottom of the cleaning robot 100. The main brush can sweep up foreign matter at the bottom of the cleaning robot 100 and allow the foreign matter to enter the dust box through the suction port. The rag plate is used for wiping or mopping the floor.

[0077] Specifically, a rag is arranged on the rag plate. A water tank is arranged on the cleaning robot. Water in the water tank flows to the rag through the hole to wet the rag. The wetted rag is used for mopping the floor.

[0078] The above-mentioned main brush is arranged in the main brush cavity at the bottom of the body 10 of the cleaning robot 100. The main brush cavity is connected to the dust suction channel of the cleaning robot. Smaller garbage such as dust and hair swept up by the main brush and / or side brush will be sucked into the cleaning robot through the main brush cavity.

[0079] Specifically, the shape of the fuselage 10 may be circular, square or other shapes. For example, a part of the fuselage may be circular, and another part may be square.

[0080] The controller may include a microcontroller unit (MCU). Of course, the controller may also include other devices that can have control functions.

[0081] The above-mentioned first sensor system and second sensor system can be respectively arranged on the body 10 of the cleaning robot 100. The first sensor system can be, for example, an ultrasonic sensor, and the second sensor system can adopt, for example, one or more of the following sensors: monocular vision sensor, binocular vision sensor, line laser sensor, surface laser sensor, LDS sensor, Dtof sensor, Itof sensor, etc.

[0082] Specifically, the first sensor can detect the material of the ground where the fuselage 10 is located by sending a detection signal to the ground.

[0083] Specifically, the second sensor system may use a monocular vision sensor, for example, which can obtain a projection image of an obstacle on a two-dimensional plane through a single camera, and the image may carry shape information, color information, texture information, size information, etc. of the obstacle. The second sensor system may also use a binocular vision sensor, for example, which can simulate human vision and obtain three-dimensional information of the obstacle through two cameras.

[0084] Further, if Figure 1 As shown, the cleaning robot 100 may further include a mechanical arm 30, and accordingly, a mechanical arm storage slot 31 matching the mechanical arm 30 may be provided on the body 10. The mechanical arm 30 is provided on a side of the body 10 away from the driving wheel module 20, so as to extend out of the body 10 to work. A rotating shaft may be fixedly provided in the mechanical arm storage slot 31, and the mechanical arm 30 is connected to the rotating shaft.

[0085] Specifically, when the robot arm 30 is not in use, it can be retracted and placed in the robot arm storage slot 31 .

[0086] When the robotic arm 30 is started and used, the robotic arm 30 can rotate and unfold with the rotating shaft as a fulcrum, and then the robotic arm 30 can be used to complete specific actions, such as grasping actions, pushing actions, etc.

[0087] Specifically, the mechanical arm 30 is at least provided with a gripping portion, such as a clamping claw, etc. Accordingly, the cleaning robot 100 can use the gripping portion provided on the mechanical arm 30 to grip specific objects.

[0088] The second sensor system may be disposed on the robotic arm 30 to obtain more comprehensive three-dimensional information of obstacles.

[0089] It should be noted that the above-mentioned robotic arms and robotic arm storage slots are only schematic illustrations. In specific implementation, other types of robotic arms and other types of robotic arm storage slots may also be included according to specific application scenarios and processing requirements. This specification does not limit this.

[0090] Furthermore, if Figure 1 and Figure 2 As shown, in another embodiment, the fuselage 10 is further provided with an ejection assembly 11, a locking assembly 12 and an obstacle crossing assembly 40. The ejection assembly 11 is connected to the driving wheel module 20, and the ejection assembly 11 is used to eject the driving wheel module 20 from the fuselage 10, and the locking assembly 12 is used to lock the driving wheel module 20 when the mechanical arm 30 is working, so as to limit the ejection of the driving wheel module 20.

[0091] That is, when the cleaning robot 100 performs cleaning operations, the locking assembly 12 does not work, so that the pop-up assembly 11 can provide suspension, shock absorption, maintain the pressure of the driving wheel or automatically adjust the height of the driving wheel module 20 when needed, such as walking on uneven ground, walking on inclined ground, crossing small obstacles, transitioning from ground of different thicknesses or materials, etc., and pop the driving wheel module 20 out of the fuselage 10, so that the cleaning robot 100 can travel normally. When the mechanical arm 30 is working, the locking assembly 12 works to lock the driving wheel module 20, so that the pop-up assembly 11 cannot pop out the driving wheel module 20, offset the reaction force generated by the setting of the pop-up assembly 11, make full use of the weight of the driving wheel module 20 itself, and solve the problem of the cleaning robot 100 rolling over and lifting its tail.

[0092] By setting the locking assembly 12 on the fuselage 10, when the mechanical arm 30 grabs the object, the locking assembly 12 locks the driving wheel module 20, so that the driving wheel is locked in the lifting state and cannot be ejected, thereby offsetting the reaction force generated by the ejection assembly 11, keeping the fuselage 10 stable, preventing the occurrence of side tilt or tail lift, increasing the reliability of the whole machine operation, and improving the user experience. The coordinated cooperation of the ejection assembly 11 and the locking assembly 12 allows the driving wheel module 20 to be ejected when needed, and the cleaning robot 100 can maintain efficient and stable performance in different operating modes, thereby enhancing the adaptability of the machine. The locking assembly 12 has a simple structure and low manufacturing cost, which not only reduces the production cost, but also reduces the complexity of the equipment and improves the maintainability of the equipment. By making full use of the weight of the driving wheel module 20 itself, the stability of the machine is improved, instead of relying on adding additional counterweights, avoiding the problem of affecting the endurance and mobility of the whole machine due to the increase in the weight of the whole machine.

[0093] Furthermore, the obstacle module 40 is rotatably disposed on the driving wheel module 20. The locking assembly 12 is used to engage with the obstacle module 40 when the obstacle module 40 rotates, and lock the obstacle module 40, thereby limiting the ejection of the driving wheel module 20 connected to the obstacle module 40.

[0094] The design of the obstacle crossing module 40 enables the cleaning robot 100 to cross obstacles more effectively, thereby improving the adaptability of the cleaning robot 100, for example, when encountering thresholds, carpet edges or other small obstacles in a home environment.

[0095] By locking the obstacle crossing module 40 when the obstacle crossing module 40 rotates, the locking assembly 12 can effectively limit the popping out of the driving wheel module 20, which helps the locking assembly 12 to lock the driving wheel module 20 when the robotic arm 30 is working, thereby maintaining the stability of the equipment and preventing the reaction force generated by the pop-up assembly 11 from causing the equipment to tilt or lift its tail.

[0096] The combination of the locking assembly 12 and the obstacle crossing module 40 allows for more precise control over the locking of the drive wheel module 20. By limiting the pop-up action of the drive wheel module 20, the device can maintain higher reliability when performing complex tasks (such as using a robotic arm to grab objects), reducing the risk of operational failure due to instability.

[0097] The combined design of the locking assembly 12 and the obstacle-crossing module 40 utilizes the existing obstacle-crossing module 40 to achieve locking of the driving wheel module 20 , avoiding additional complex structures or components, thereby maintaining the simplicity and cost-effectiveness of the device.

[0098] like Figure 2As shown, in a possible implementation, the locking assembly 12 includes a locking bracket 121 and a locking roller 122. The locking bracket 121 is arranged on the host 10, and the locking roller 122 is rotatably arranged on the locking bracket 121. The obstacle crossing module 40 is provided with a wheel leg groove 401. When the obstacle crossing module 40 rotates, the locking roller 122 can slide into the wheel leg groove 401 to engage with the wheel leg groove 401.

[0099] The locking roller 122 can automatically slide into the wheel leg slot 401 when the obstacle module 40 rotates, realizing an automated locking process. The locking roller 122 is engaged with the wheel leg slot 401 to provide a stable locking mechanism, ensuring that the driving wheel module 20 can be firmly locked during the operation of the equipment, especially when the mechanical arm is working, to prevent unnecessary ejection. At the same time, the design of the locking roller 122 allows smooth rotation and engagement, reducing wear on components during the locking and unlocking process, thereby extending the service life of the equipment.

[0100] The design of locking the roller 122 and setting the wheel leg groove 401 on the obstacle crossing module 40 utilizes a simple mechanical structure, the roller and the groove to achieve the locking function, thereby maintaining the simplicity and easy maintainability of the device.

[0101] In a possible implementation, the wheel leg groove 401 provided on the obstacle crossing module 40 is an arc groove with openings on both sides, and the locking roller 122 can slide with the wheel leg groove 401. Thus, when the obstacle crossing module 40 rotates, the locking roller 122 can slide into the wheel leg groove 401 from the opening to be locked.

[0102] like Figure 3 As shown, in a possible implementation, the driving wheel module 20 includes a driving wheel bracket 21 and a driving wheel 22. The driving wheel bracket 21 is disposed on one side of the fuselage 10, and the driving wheel 22 is rotatably disposed on the driving wheel bracket 21. The pop-up assembly 11 is connected to the driving wheel bracket 21, and the pop-up assembly 11 is used to pop the driving wheel bracket 21 out of the fuselage 10, and the obstacle crossing module 40 is rotatably disposed on the driving wheel bracket 21.

[0103] The combination of the pop-up assembly 11 and the driving wheel bracket 21 allows the driving wheel 22 to pop out when needed to adapt to uneven ground or cross obstacles. This flexibility improves the stability and adaptability of the device in various environments.

[0104] The obstacle crossing module 40 is directly mounted on the driving wheel bracket 21, so that the device can more flexibly cope with terrain changes. When the device encounters an obstacle, the position of the driving wheel 22 can be more effectively adjusted, thereby improving the obstacle crossing capability.

[0105] Integrating the obstacle-crossing module 40 and the driving wheel 22 on the driving wheel bracket 21 helps to optimize the space utilization inside the device and reduce the overall volume of the device. The driving wheel bracket 21 is an independent module on which the driving wheel 22, the ejection assembly 11 and the obstacle-crossing module 40 are integrated. This integrated design simplifies the manufacturing and maintenance process and makes it easier to replace or repair a part.

[0106] In a possible implementation, the pop-up component 11 is a tension spring, but is not limited thereto.

[0107] In a possible implementation, the obstacle crossing module 40 includes a wheel leg base 41, a wheel leg cover 42 and a wheel leg driving member 43. The wheel leg base 41 is rotatably connected to the driving wheel bracket 21. The wheel leg cover 42 is arranged on a side of the wheel leg base 41 away from the driving wheel bracket 21, and a wheel leg groove 401 is provided on the wheel leg cover 42. The wheel leg driving member 43 is arranged on the driving wheel bracket 21, and the wheel leg driving member 43 is used to drive the wheel leg base 41 to rotate, so as to drive the wheel leg cover 42 to rotate.

[0108] When the wheel leg driving member 43 drives the wheel leg cover 42 to rotate, the wheel leg groove 401 on the wheel leg cover 42 rotates accordingly, so that the locking roller 122 slides into the wheel leg groove 401 and engages with the wheel leg groove 401, thereby locking the wheel leg cover 42, locking the wheel leg base 41 and the driving wheel bracket 21 connected thereto, and locking the driving wheel module 20.

[0109] The design of the wheel leg base 41 and the wheel leg cover 42 allows the equipment to be effectively adjusted and crossed when encountering obstacles. Driven by the wheel leg driving component 43, the obstacle-crossing wheel leg can flexibly change the angle and position to adapt to obstacles of different heights and shapes. It can also cooperate with the locking roller 122 to lock the driving wheel module 20, thereby performing the operation of the robotic arm module 30.

[0110] The wheel leg driving component 43 provides precise control of the wheel leg base 41 and the wheel leg cover 42, so that the device can adjust the position and angle of the obstacle-crossing wheel legs according to real-time environmental conditions. The device can maintain better balance and stability and reduce the risk of overturning due to imbalance.

[0111] Integrating the obstacle crossing function into an obstacle crossing module 40 makes the design more modular, simplifies the manufacturing, assembly and maintenance process, and reduces the complexity of the device. The wheel leg base 41 and the wheel leg cover 42 are compactly designed to provide the obstacle crossing function without increasing the overall volume of the device.

[0112] In a possible implementation, the wheel-leg driving member 43 is a motor.

[0113] The specific motion logic of the cleaning robot 100 is as follows:

[0114] The locking function of the driving wheel module 20: the wheel leg driving member 43 drives the wheel leg cover plate 42 to rotate forward, so that the obstacle module 40 rotates from the initial position to the locking position, and the driving wheel module 20 is locked by the cooperation of the locking roller 122 and the wheel leg groove 401. At this time, the mechanical arm module 30 can work. After the end, the wheel leg driving member 43 drives the wheel leg cover plate 42 to reverse, so that the obstacle module 40 returns to the initial position for reset.

[0115] Chassis lifting function: The wheel leg driving member 43 drives the wheel leg cover plate 42 to rotate in the opposite direction, so that the obstacle crossing module 40 rotates from the initial position to the lifting position. At this time, the driving wheel module 20 is slightly ejected under the action of the obstacle crossing module 40 and the ejection assembly 11, thereby lifting the chassis of the fuselage 10. After completion, the wheel leg driving member 43 drives the wheel leg cover plate 42 to rotate forward, so that the obstacle crossing module 40 returns to the initial position for reset.

[0116] Obstacle crossing function: The wheel leg driving member 43 drives the wheel leg cover plate 42 to rotate forward, so that the obstacle crossing module 40 rotates from the initial position to the obstacle crossing position beyond the locking position. At this time, the obstacle crossing module 40 pops out and can perform obstacle crossing operations. It continues to rotate forward to the obstacle crossing end position, and the obstacle crossing ends. After the end, the wheel leg driving member 43 drives the wheel leg cover plate 42 to rotate in the opposite direction, so that the obstacle crossing module 40 returns to the initial position for reset.

[0117] In a possible implementation, the chassis lifting function can lift the driving wheel module 20 to a height within a range of 5 mm to 20 mm. The obstacle crossing function can lift the driving wheel module 20 to a height within a range of 5 cm to 10 cm.

[0118] In a possible implementation, the fuselage 10 may also be provided with a universal wheel, a universal wheel leg driving member and a transmission assembly, the universal wheel is arranged at a position close to the front end of the fuselage 10, and the universal wheel is used to change the direction of the cleaning robot 100. The transmission assembly is used to connect the universal wheel leg driving member and the universal wheel, so as to convert the rotational motion of the universal wheel leg driving member into a linear motion, and the universal wheel can be flexibly pushed out or retracted by the driving of the universal wheel leg driving member to adapt to different terrains and environments. When in complex terrain (such as thresholds, carpet edges), the universal wheel leg driving member can extend the universal wheel through the transmission assembly, so as to increase the support points of the cleaning robot 100, reduce the center of gravity, and prevent the cleaning robot 100 from tipping over. When on a flat ground, the universal wheel leg driving member can retract the universal wheel through the transmission assembly to avoid the fuselage head from tilting due to the extension of the universal wheel, thereby ensuring the fuselage stability of the cleaning robot 100 when moving on a flat ground.

[0119] The caster leg drive provides precise control of the casters, allowing the device to adjust the position of the casters according to real-time environmental conditions. The device can maintain better balance and stability, reducing the risk of overturning due to imbalance.

[0120] It should be noted that the cleaning robot 100 as described above is used to provide a structure of a cleaning robot that can implement the following control method. The control method of the cleaning robot in this application does not limit the specific structure of the cleaning robot. It only needs to be able to lift the chassis of the cleaning robot, overcome obstacles, and lock the drive wheel module.

[0121] In one embodiment, a control method for a cleaning robot is provided. This embodiment is illustrated by applying the control method for the cleaning robot to the controller of the cleaning robot. Figure 3 As shown, the control method includes:

[0122] Step 402: When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the driving wheel module is locked to limit the ejection of the driving wheel module, and based on the type of the obstacle, the robot arm is controlled to move the obstacle.

[0123] During the movement of the cleaning robot, when the second sensor system on the cleaning robot detects an obstacle and the distance between the obstacle and the body is less than the clamping distance threshold, the obstacle crossing module on the cleaning robot is controlled to rotate from the initial position to the locking position. When the obstacle crossing module rotates, the locking component on the cleaning robot engages with the obstacle crossing module, thereby locking the obstacle crossing module and limiting the pop-up of the driving wheel module connected to the obstacle crossing module, thereby offsetting the reaction force generated by the setting of the pop-up component in the cleaning robot, making full use of the weight of the driving wheel module itself, and solving the problems of the cleaning robot rolling and lifting its tail.

[0124] Specifically, the above-mentioned moving process of the cleaning robot can be a process in which the cleaning robot moves while cleaning, or a process in which the cleaning robot only moves without cleaning, etc. And the above-mentioned moving process can be a moving process along a straight path, or a moving process along an arc path, or a moving process along an irregular path, etc.

[0125] When the cleaning robot in this embodiment is moving, it will detect in real time or periodically whether there are obstacles in the front area through the second sensor system.

[0126] Alternatively, the controller may also use a distance sensor additionally provided on the cleaning robot to accurately locate the obstacle, wherein the distance sensor may be, for example, an infrared sensor, and the distance sensor may be provided on one side of the forward direction of the body.

[0127] The clamping distance threshold may be pre-set based on the maximum extension distance of the mechanical arm on the cleaning robot, and the clamping distance threshold may be less than or equal to the maximum extension distance of the mechanical arm.

[0128] Step 404: Control the robotic arm to reset to a stable center of gravity position.

[0129] The stable center of gravity position can be, for example, the position where the robotic arm is retracted to the maximum extent. When the robotic arm is in the stable center of gravity position, the center of gravity of the robotic arm can be on the same vertical line as the center of gravity of the fuselage after moving back, so that the center of gravity of the cleaning robot remains in the center position, thereby allowing the fuselage to remain stable and preventing the cleaning robot from tilting or lifting its tail.

[0130] As an example, when the robot arm is in a stable center of gravity position, the angle between the upper arm connecting the robot arm to the fuselage and the horizontal plane is about 55°.

[0131] Step 406: Use the first sensor system to obtain material detection results of the ground where the cleaning robot is currently located.

[0132] Step 408: When the material detection result indicates that the ground is of a preset material, the driving wheel module is released, and the driving wheel module is used to drive the body to move to continue the cleaning task.

[0133] The processor can use the first sensor system to detect the material of the ground where the fuselage is located, so that different control strategies can be used to handle obstacles according to different ground materials.

[0134] When detecting the ground material where the cleaning robot is currently located, the first sensor system can detect the ground by sending a detection signal to the ground using a perception sensor (for example, an ultrasonic sensor, etc.) to obtain a material detection result. The above detection signal is a detection signal for detecting the ground material. The perception sensor can transmit a detection signal to the ground, receive a reflection signal generated by the reflection of the detection signal on the ground, and detect the ground material of the ground according to the signal strength value of the reflection signal.

[0135] For example, cleaning robots are often equipped with ultrasonic material detection sensors to detect floor material.

[0136] The cleaning robot may obtain the reflected signal in one or more ways, such as receiving the reflected signal through a sensing sensor, receiving the reflected signal through other receiving devices on the cleaning robot (for example, synthetic aperture radar, etc.), or obtaining the reflected signal in other ways, which is not limited to this in this embodiment.

[0137] Alternatively, the first sensor system may also adopt one of an infrared sensor, a line laser sensor, and a TOF sensor. When the first sensor system adopts an infrared sensor, the infrared sensor may send infrared light to the ground and receive infrared light reflected by the ground, so as to distinguish different materials by utilizing the different reflectivity of the ground to infrared light of different materials; when the first sensor system adopts a line laser sensor, the line laser sensor may construct a three-dimensional contour of the ground surface by emitting a line laser and receiving reflected light of the line laser reflected by the ground, so as to distinguish different materials by utilizing the different three-dimensional contours formed by the reflected light based on the different surface textures and roughness of the ground of different materials; when the first sensor system adopts a TOF sensor, the TOF sensor may construct a depth image of the ground by measuring the laser flight time, and identify the material based on the depth information.

[0138] Alternatively, in this embodiment, the material of the ground can be indirectly determined by detecting the working current of the cleaning components on the cleaning robot, because different materials of the ground have different resistance to the cleaning components on the cleaning robot, which will lead to different motor loads of the cleaning components, which are ultimately reflected in the change of working current. For example, when the working current of the roller brush on the cleaning robot changes abnormally and remains at a high level for a period of time, it can be considered that the roller brush is currently receiving greater resistance and the current ground of the cleaning robot is relatively rough, thereby achieving the discrimination of the material of the ground.

[0139] The present application does not impose any restrictions on the method of detecting the material of the ground. It only needs to be able to detect the material of the ground where the cleaning robot is located based on one or more components carried by the cleaning robot.

[0140] Preset materials may be, for example, hardwood floors, ceramic tiles, or low-pile carpets.

[0141] When the controller determines that the current ground surface of the cleaning robot is of a preset material according to the material detection result of the first sensor system, the controller can control the driving wheel module to unlock and use the driving wheel module to drive the body to move to continue the cleaning task.

[0142] In one possible implementation, when the material detection result indicates that the ground is not a preset material, for example, it can be determined that the cleaning robot is on a thick carpet. At this time, the controller can control the driving wheel module to unlock and control the driving wheel module to lift the body, and further use the driving wheel module to drive the body to move to move the obstacle.

[0143] The control method of the above-mentioned cleaning robot can lock the driving wheel module when the existence of an obstacle is detected, so that the driving wheel module cannot pop out, thereby during the operation of the robotic arm, the reaction force generated by the driving wheel module can be offset by locking the driving wheel module, so that the body of the cleaning robot remains stable and prevents the occurrence of sideways or tail lift; and it can judge the ground where the cleaning robot is located, and control the driving wheel module to unlock based on the judged ground material, so that the cleaning robot can adapt to the characteristics of different grounds, ensure cleaning efficiency and equipment safety, thereby increasing the reliability of the whole machine operation and improving the user experience.

[0144] In a possible implementation, step 402 includes:

[0145] When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the second sensor system is used to obtain a detection result of the type of obstacle;

[0146] Based on the type of the obstacle indicated by the type detection result, the driving wheel module is locked to limit the pop-up of the driving wheel module, and the robotic arm is controlled to move the obstacle.

[0147] When the second sensor system on the cleaning robot detects an obstacle and the distance between the obstacle and the body is less than the clamping distance threshold, the controller further uses the second sensor system to detect the object type of the obstacle.

[0148] When the second sensor system is set on the robotic arm, the controller can control the robotic arm to expand, retract, rotate and other operations, and can flexibly adjust the posture of the robotic arm relative to the obstacle, so as to flexibly and finely adjust the posture of the second sensor system relative to the obstacle within a large range. For example, the height of the second sensor system can be made higher than the obstacle. In this way, by adjusting the robotic arm, the second sensor system can cover as much as possible the areas that were previously easily blocked and ignored, such as the area above the obstacle and the area behind the obstacle. Thus, relatively complete and detailed data information related to the obstacle can be accurately obtained through the obstacle set on the robotic arm. Specifically, using the second sensor system to obtain the type detection result of the obstacle includes: using the second sensor system to obtain the three-dimensional information of the obstacle; based on the three-dimensional information, determining the type detection result of the obstacle.

[0149] The type of obstacle may include one of a preset graspable obstacle type, a preset avoidable obstacle type, a preset pushable obstacle type, and a preset draggable obstacle type.

[0150] The three-dimensional information may include information such as the height, width and depth of the obstacle.

[0151] In this embodiment, the controller can, for example, first compare the height of the obstacle with a preset grasping height threshold, and compare the width of the obstacle with a preset grasping width threshold, wherein the grasping height threshold is used to indicate the minimum height that can be grasped by the grasping part of the robot arm, and the grasping width threshold is used to indicate the maximum width that can be grasped by the grasping part of the robot arm.

[0152] For example, the controller may determine the obstacle type detection result based on the three-dimensional information, and the controller may extract the graphic features and graphic size relationship of the obstacle from the three-dimensional information.

[0153] When the height of the obstacle does not reach the grasping height threshold, and the width of the obstacle is greater than the grasping width threshold, the controller can match the graphic features and graphic size relationship of the obstacle with the preset graphic parameter template of the preset avoidance obstacle type. If the match is successful, it can be concluded that the type detection result indicates that the type of obstacle belongs to the preset avoidance obstacle type. At this time, there is no need for the robotic arm to grasp, drag, or push and pull the obstacle. The cleaning robot performs avoidance actions according to the type detection results. The preset avoidance obstacle type is used to indicate large or fixed obstacles, such as walls, furniture, etc. The avoidance action is used to indicate that the cleaning robot does not collide with obstacles of the preset avoidance obstacle type and can continue to perform the cleaning task. The avoidance action can be, for example, a back-up action in place, a detour cleaning action, etc.

[0154] When the height of the obstacle reaches the grasping height threshold and the width of the obstacle is not greater than the grasping width threshold, the controller may consider that the size of the obstacle is suitable for being grasped by the robot arm, and at this time, the graphic features and graphic size relationship of the obstacle may be matched with the preset graphic parameter templates of the preset graspable obstacle type, the preset pushable obstacle type, and the preset draggable obstacle type. Alternatively, when the graphic features and graphic size relationship of the obstacle fail to match the preset graphic parameter templates of the avoidance obstacle type, the graphic features and graphic size relationship of the obstacle are further matched with the preset graphic parameter templates of the preset graspable obstacle type, the preset pushable obstacle type, and the preset draggable obstacle type, and according to the matching result, it is determined whether the obstacle belongs to the preset graspable obstacle type, the preset pushable obstacle type, or the preset draggable obstacle type.

[0155] Furthermore, if the graphic features and graphic size relationship of the obstacle successfully match the preset graphic parameter template of the preset graspable obstacle type, it can be concluded that the type detection result indicates that the type of the obstacle belongs to the preset graspable obstacle type. At this time, the controller can lock the driving wheel module to limit the pop-up of the driving wheel module, and use the robotic arm to grasp the obstacle.

[0156] If the graphic features and graphic size relationship of the obstacle successfully match the preset graphic parameter template of the preset movable obstacle type, it can be concluded that the type detection result indicates that the type of the obstacle belongs to the preset movable obstacle type. At this time, the controller can lock the driving wheel module to limit the pop-up of the driving wheel module and use the robotic arm to push the obstacle.

[0157] If the graphic features and graphic size relationship of the obstacle successfully match the preset graphic parameter template of the preset draggable obstacle type, it can be concluded that the type detection result indicates that the type of the obstacle belongs to the preset draggable obstacle type. At this time, the controller can lock the driving wheel module to limit the pop-up of the driving wheel module, and use the robotic arm to drag the obstacle.

[0158] If the graphic features and graphic size relationship of the obstacle fail to match the graphic parameter template of the preset obstacle avoidance type, it can be concluded that the type detection result indicates that the obstacle type does not belong to the preset obstacle avoidance type. At this time, the robot arm may be able to grab, drag or push and pull the obstacle, and the controller further locks the drive wheel module to limit the ejection of the drive wheel module. The controller can, for example, drive the wheel leg cover plate to rotate forward through the wheel leg drive member in the above-mentioned cleaning robot, so that the obstacle crossing module rotates from the initial position to the locking position, and the drive wheel module is locked through the cooperation of the locking roller and the wheel leg groove.

[0159] The control method of the above-mentioned cleaning robot identifies the type of object in the obstacle through the second sensor system, thereby realizing fast and accurate identification of the obstacle. When faced with an obstacle type that cannot be grasped, the cleaning robot can directly perform a circumvention action to avoid wasting time trying to grasp or drag or push, thereby saving the obstacle processing response time.

[0160] In a possible implementation, before step 206, the process further includes:

[0161] Based on the type of obstacle, determine the stable position of the center of gravity of the robot arm;

[0162] Step 206 includes:

[0163] When the type detection result indicates that the type of the obstacle belongs to the preset graspable obstacle type, the robot arm is controlled to reset to the preset position of the robot arm;

[0164] When the type detection result indicates that the type of the obstacle belongs to a preset pushable obstacle type or a preset draggable obstacle type, the robotic arm is controlled to reset to an initial position of the robotic arm.

[0165] Based on the type of obstacle, determining the stable center of gravity position of the robot arm may include, for example: when the type detection result indicates that the type of the obstacle belongs to a preset graspable obstacle type, determining the stable center of gravity position to be the preset position of the robot arm; when the type detection result indicates that the type of the obstacle belongs to a preset pushable obstacle type or a preset draggable obstacle type, determining the stable center of gravity position to be the initial position of the robot arm.

[0166] The preset position may be, for example, the position of the robotic arm when it is retracted to the maximum extent, and the initial position refers to the position of the robotic arm when it is stored in the robotic arm storage slot.

[0167] When the robotic arm is in a preset position, the center of gravity of the robotic arm can be on the same vertical line as the center of gravity of the body after moving back, so that the center of gravity of the cleaning robot remains in the center position, thereby allowing the body to remain stable and preventing the cleaning robot from tilting or lifting its tail.

[0168] As an example, when the robot arm is in a preset position, the angle between the upper arm connecting the robot arm to the fuselage and the horizontal plane is about 55°.

[0169] When the type detection result indicates that the type of the obstacle belongs to the preset graspable obstacle type, the controller can control the mechanical arm storage slot to rotate and open the door, so that the mechanical arm extends out of the fuselage to grasp the obstacle. Further, after the mechanical arm grasps the obstacle, the controller can control the mechanical arm to reset to the preset position. At this time, the mechanical arm moves the clamped obstacle above the fuselage, so that the center of gravity of the mechanical arm and the obstacle can be on the same vertical line as the center of gravity of the fuselage, so that the fuselage can remain stable. When the type detection result indicates that the type of the obstacle belongs to the preset pushable obstacle type or the preset draggable obstacle type, the controller can control the mechanical arm storage slot to rotate and open the door, so that the mechanical arm extends out of the fuselage to drag or push and pull the obstacle. After the mechanical arm completes the dragging or pushing and pulling of the obstacle, the controller can control the mechanical arm to be stored back in the mechanical arm storage slot, and control the mechanical arm storage slot to rotate and close the door, so that while ensuring the stability of the fuselage, the space occupied by the cleaning robot can be saved, the appearance of the cleaning robot can be kept neat and beautiful, and the visual appeal of the product can be enhanced.

[0170] In a possible implementation, step 406 includes:

[0171] Using a first sensor system to transmit a detection signal to the ground, and collecting a reflection signal corresponding to the detection signal, wherein the detection signal is used to detect the ground material;

[0172] When the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, determining that the material detection result of the ground indicates that the material of the ground is a preset material;

[0173] Otherwise, obtain a reference height value of the first sensor system, and when the reference height value is less than a preset height value, determine that the material detection result of the ground indicates that the material of the ground is not a preset material; wherein the reference height value is the height of the first sensor system relative to the ground.

[0174] Since different floor materials have different absorption intensities for reflected signals, the floor material where the cleaning robot is located can be determined based on the signal strength value of the reflected signal. For some floor materials (for example, floors or thin carpets) with weaker absorption intensity for detection signals, the signal strength value of the reflected signal is relatively large, and an intensity threshold, i.e., a preset intensity threshold, can be set in advance. The cleaning robot can determine the signal strength value of the reflected signal, and determine the magnitude relationship between the signal strength value of the reflected signal and the preset intensity threshold. If the signal strength value of the reflected signal is greater than or equal to the preset intensity threshold, the floor material of the floor can be determined as the preset material. Among them, by lowering or raising the preset intensity threshold, dynamic regulation of attributing thin carpets to preset materials can be achieved.

[0175] For some floor materials that have a strong absorption intensity of detection signals (for example, thick carpets), the signal strength value of the reflected signal obtained by the cleaning robot is relatively small. In special scenes, the signal strength value of the reflected signal obtained may also be relatively small because the reflecting surface is at a certain angle to the emission direction of the detection signal. Therefore, it is impossible to determine whether the detected signal is a floor material that has a strong absorption intensity of detection signals or a special scene based solely on the condition that the signal strength value of the reflected signal obtained is less than the preset strength threshold.

[0176] In this regard, the cleaning robot can also obtain a reference height value of the first sensor system, and the reference height value of the first sensor system is the height of the first sensor system relative to the ground. The reference height value can be obtained in one or more ways, and can be determined based on the emission time of the detection signal and the reception time of the reflected signal, or can be determined in combination with the height of the first sensor system relative to the ground detected by other detection components (the height of other detection components relative to the ground to be detected is determined by combining the height difference between other detection components and the perception sensor), or can be obtained in other ways, which is not limited in this embodiment.

[0177] The method for obtaining the reference altitude value of the first sensor system may be, for example: determining the time difference between the time when the first sensor system transmits a detection signal to the ground and the time when the reflected signal is received; and determining the reference altitude value based on the time difference and a preset transmission speed of the detection signal.

[0178] The preset height value may be obtained when the cleaning robot keeps the driving wheel module locked at the base station. The controller may determine the time difference between the time when the first sensor system transmits a detection signal to the ground and the time when the reflected signal is received when the cleaning robot keeps the driving wheel module locked at the base station; and determine the preset height value according to the time difference and the preset transmission speed of the detection signal. The preset height value indicates the distance between the first sensor system and the ground of the cleaning robot base station.

[0179] When the reference height value is less than the preset height value, it can be determined that the distance between the first sensor system on the cleaning robot and the current ground is less than the distance between the first sensor system on the cleaning robot and the ground at the base station. It can be considered that the current ground is higher than the ground at the base station, for example, it may be a thick carpet.

[0180] It should be noted that when the signal strength value of the reflected signal is less than the preset strength threshold, and the reference height value of the first sensor system is greater than the preset height value, the controller can obtain the previous material detection result of the first sensor system, and determine the current material detection result based on the previous material detection result. For example, the previous material detection result indicates that the material of the ground is the preset material. In the current ground material detection, if the signal strength value of the reflected signal is less than the preset strength threshold, and the reference height value of the first sensor system is greater than the preset height value, the controller can directly determine that the current material detection result indicates that the material of the ground is the preset material; or, if the previous material detection result indicates that the material of the ground is not the preset material, in the current ground material detection, if the signal strength value of the reflected signal is less than the preset strength threshold, and the reference height value of the first sensor system is greater than the preset height value, the controller can directly determine that the current material detection result indicates that the material of the ground is not the preset material.

[0181] The control method of the above-mentioned cleaning robot can quickly determine the material of the ground by comparing the signal strength value of the reflected signal with the preset strength threshold, and the distance between the first sensor system on the cleaning robot and the current ground is less than the distance between the first sensor system on the cleaning robot and the ground at the base station, thereby improving the convenience of ground material detection.

[0182] In a possible implementation, after step 406, the following further steps are included:

[0183] When the type detection result indicates that the type of the obstacle belongs to the preset graspable obstacle type, the driving wheel module is released, and the driving wheel module is used to drive the body to move until the distance between the cleaning robot and the first area is less than the clamping distance threshold;

[0184] The driving wheel module is locked, and the grabbed obstacle is placed in the first area using a robotic arm;

[0185] The robot arm is controlled to reset to a stable center of gravity position, the driving wheel module is released, and the driving wheel module is used to drive the body to move so as to return to the original area where the obstacle is located to continue the cleaning task.

[0186] The first area may be a specific area determined in advance, or may be any area where the cleaning robot has completed the cleaning action.

[0187] In this embodiment, the driving wheel module can be locked before the obstacle is placed in the first area to offset the reaction force generated by the driving wheel module, so that the body of the cleaning robot remains stable and prevents the phenomenon of tilting or lifting the tail; and after the obstacle is placed in the first area, the robotic arm can be retracted into the robotic arm storage slot to keep the center of gravity of the cleaning robot in the center position, thereby allowing the body to remain stable and preventing the cleaning robot from tilting or lifting the tail.

[0188] In a possible implementation, after releasing the driving wheel module, the method further includes:

[0189] When the material detection result indicates that the ground is not of the preset material, the driving wheel module is used to lift the chassis of the fuselage.

[0190] In this embodiment, the action of releasing the driving wheel module can occur after the mechanical arm grabs the obstacle, after the mechanical arm pushes the obstacle, after the mechanical arm drags the obstacle, or after the mechanical arm places the obstacle in the first area. Regardless of whether the mechanical arm grabs, drags, or pushes and pulls the obstacle, the control method in this application can control the driving wheel module to lock before the mechanical arm processes the obstacle, and after the processing is completed, based on the material of the ground, when the material of the ground is not the preset material, control the chassis to lift.

[0191] When the material detection result indicates that the ground is not the preset material, the ground at this time may be, for example, a thick carpet, and the controller can drive the wheel leg cover plate to rotate in the opposite direction through the wheel leg driving member, so that the obstacle crossing module rotates from the initial position to the lifting position. At this time, the driving wheel module is slightly ejected under the action of the obstacle crossing module and the ejection component, thereby lifting the chassis of the fuselage. After completion, the wheel leg driving member drives the wheel leg cover plate to rotate forward, so that the obstacle crossing module returns to the initial position for reset.

[0192] Because the fibers of thick carpets are long and dense, they can easily get entangled in the cleaning components at the bottom of the machine body or clog the vacuum cleaner port at the bottom of the machine body. By lifting the machine body, the distance between the cleaning components and the vacuum cleaner port and the thick carpet can be increased, reducing the risk of entanglement and cloggation and ensuring the cleaning effect.

[0193] In a possible implementation, the process of using the driving wheel module to drive the fuselage to move includes:

[0194] When obstacles need to be overcome during movement, identify the height of the object to be overcome;

[0195] When the height of the object to be crossed is less than the preset height threshold, the driving wheel module is used to perform the first obstacle crossing action;

[0196] When the height of the object to be crossed reaches the preset height threshold and the robot arm does not hold an obstacle, the driving wheel module is used to perform the second obstacle crossing action;

[0197] When the height of the object to be crossed reaches a preset height threshold and the robotic arm holds an obstacle, the robotic arm is controlled to place the obstacle in the second area and the driving wheel module is used to perform a second obstacle crossing action.

[0198] In this embodiment, the action of using the driving wheel module to drive the body to move can occur after the robotic arm grabs the obstacle, after the robotic arm pushes the obstacle, after the robotic arm drags the obstacle, or after the robotic arm places the obstacle in the first area. The control method in this embodiment can cross the object that needs to be crossed regardless of whether the cleaning robot has clamped the obstacle.

[0199] During the movement of the cleaning robot, when the second sensor system on the cleaning robot detects that there is an object to be crossed, it can further obtain three-dimensional information of the object to be crossed to obtain the height of the object to be crossed.

[0200] It should be noted that the controller also needs to use the driving wheel module to cross the object to be crossed when the three-dimensional information collected by the second sensor system indicates that the object to be crossed meets the obstacle crossing condition.

[0201] The obstacle crossing condition is a condition that the cleaning robot can cross, which is specifically related to the obstacle crossing condition set on the cleaning robot. For example, it may include the condition that the cleaning robot can pass through the top of the obstacle and that the normal movement of the cleaning robot is not affected after passing through. For example, the obstacle crossing condition may be that the height of the space above the obstacle is greater than or equal to a preset height, and the height difference between the upper surface height behind the obstacle and the upper surface height of the obstacle is less than the preset height difference. The preset height may be the sum of the height of the cleaning robot's fuselage and the height of the fixed distance from the fuselage.

[0202] For example, there may be an open area above the obstacle without other obstacles, or there may be other obstacles, but other obstacles do not affect the normal obstacle crossing of the cleaning robot, that is, it will not be stuck by other obstacles that may exist above the obstacle. In addition, the height difference between the rear of the obstacle and the obstacle cannot be too large, so that when the body passes through the top of the obstacle and reaches the rear of the obstacle, it can fall behind the obstacle and perform the cleaning action normally.

[0203] It should be noted that this embodiment does not limit how to identify the object to be crossed. For example, the control device can determine that there is an object to be crossed when it is determined that it is necessary to move from one area to another area based on the map for performing the cleaning task, or the controller can identify whether there is an object to be crossed based on a set second sensor system or other sensors. The sensor mentioned here can be carried by the cleaning robot itself, or it can be in the same space as the cleaning robot.

[0204] The first obstacle overcoming action may be, for example, a chassis lifting action, and the second obstacle overcoming action may be, for example, the cleaning robot executing its own obstacle overcoming function. The obstacle overcoming function may be achieved by the wheel-leg driving member driving the wheel-leg cover plate to rotate forward, so that the obstacle overcoming module rotates from the initial position past the locking position to the obstacle overcoming position. At this time, the obstacle overcoming module pops out and obstacle overcoming operations can be performed.

[0205] It should be noted that the obstacle crossing operation of the cleaning robot includes crossing upward (up the stairs) and crossing downward (down the stairs). Based on the three-dimensional information of the object to be crossed, the process of obtaining the height of the object to be crossed includes the cleaning robot identifying the object to be crossed under the stairs, that is, the height of the stairs to be crossed upward, and identifying the object to be crossed on the stairs, that is, the height of the stairs to be crossed downward. It can be understood that the first obstacle crossing action and the second obstacle crossing action both include two modes: climbing stairs and descending stairs.

[0206] Specifically, if the height of the object to be crossed does not reach the preset height threshold, it can be understood that the cleaning robot needs to go up a lower step or down a lower step. At this time, if the robotic arm clamps an obstacle, the controller can keep the robotic arm in a preset position and perform the first obstacle crossing action. At this time, if the robotic arm does not clamp an obstacle, the controller can keep the robotic arm in the initial position and perform the first obstacle crossing action; if the height of the object to be crossed reaches the preset height threshold, it can be understood that the cleaning robot needs to go up a higher step or down a higher step. At this time, if the robotic arm clamps an obstacle, the controller can control the robotic arm to place the obstacle in the second area. It should be noted that before the robotic arm places the obstacle in the second area, the controller controls the drive wheel module to lock, and after the robotic arm places the obstacle in the second area, the drive wheel module is released, and when the ground is not of the preset material, the drive wheel module is used to lift the chassis of the fuselage, and then the drive wheel module is used to perform the second obstacle crossing action.

[0207] It should be noted that this embodiment does not limit how to determine whether the cleaning robot needs to go up or down stairs. For example, the control device can determine that a descent process is required when it is determined based on a map for performing a cleaning task that it needs to move from one area to another area, or the controller can identify whether a descent process is required based on a set second sensor system or other sensors. The sensor mentioned here can be carried by the cleaning robot itself, or it can be in the same space as the cleaning robot.

[0208] In one possible implementation, universal wheels are also provided on the body. When the cleaning robot needs to go down the stairs, the controller can control the universal wheel leg drive to extend the universal wheels through the transmission assembly, thereby increasing the support points of the cleaning robot, lowering the center of gravity, and preventing the cleaning robot from tipping over.

[0209] After the obstacle is placed in the second area by the robotic arm, the method further includes:

[0210] Control the robotic arm to return to a stable center of gravity position.

[0211] In the present embodiment, when the cleaning robot carries an obstacle to overcome a higher object, the obstacle can be first placed in the second area to reduce the load size of the cleaning robot during the obstacle crossing process. After the obstacle is placed in the second area, the robotic arm can be retracted into the robotic arm storage slot or kept in a preset position to keep the center of gravity of the cleaning robot in the center position, thereby allowing the body to remain stable and preventing the cleaning robot from tilting or lifting its tail.

[0212] In a possible implementation, after the obstacle is placed in the second area by using the robotic arm and the second obstacle-crossing action is performed by using the driving wheel module, the method further includes:

[0213] Control the robotic arm to grab obstacles from the second area;

[0214] Control the robotic arm to return to a stable center of gravity position.

[0215] After completing the obstacle crossing, the controller can control the robotic arm to re-grasp the obstacle and maintain the robotic arm in a preset position so that the body can remain stable and prevent the cleaning robot from tilting or lifting its tail.

[0216] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0217] Based on the same inventive concept, the embodiment of the present application also provides a control device for implementing the control method of the cleaning robot involved above. The implementation scheme for solving the problem provided by the control device of the cleaning robot is similar to the implementation scheme recorded in the control method of the cleaning robot above, so the specific limitations in one or more device embodiments provided below can refer to the limitations of the control method of the cleaning robot above, and will not be repeated here.

[0218] In one embodiment, Figure 5 As shown, a control device 500 of a cleaning robot is provided, which is applied to the cleaning robot. A mechanical arm, a driving wheel module and a first sensor system are arranged on the body of the cleaning robot; the driving wheel module is used to drive the body to move, the first sensor system is used to detect the material of the ground, and the second sensor system is used to detect the type of objects on the obstacles. The control device 500 includes:

[0219] The locking module 502 is used to lock the driving wheel module when the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, so as to limit the ejection of the driving wheel module;

[0220] A control module 504, for controlling the robot arm to move the obstacle based on the type of the obstacle, and controlling the robot arm to reset to a stable center of gravity position;

[0221] The information collection module 506 is used to obtain the material detection result of the cleaning robot's current ground surface by the first sensor system and the type detection result of the obstacle by the second sensor system;

[0222] The movement control module 508 is used to release the driving wheel module and use the driving wheel module to drive the body to move when the material detection result indicates that the ground is of a preset material, so as to continue to perform the cleaning task.

[0223] In a possible implementation, a second sensor system is further provided on the body of the cleaning robot, and the second sensor system is used to detect the type of the object;

[0224] The locking module 502 is further configured to:

[0225] When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, obtaining a detection result of the type of the obstacle by the second sensor system;

[0226] Based on the type of the obstacle indicated by the type detection result, the driving wheel module is locked to limit the pop-up of the driving wheel module, and the robotic arm is controlled to move the obstacle.

[0227] In a possible implementation, the locking module 502 is further configured to:

[0228] Acquiring three-dimensional information of the obstacle collected by the second sensor system;

[0229] Based on the three-dimensional information, the obstacle type detection result is determined.

[0230] In a possible implementation, the type of obstacle includes one of a preset graspable obstacle type, a preset avoidable obstacle type, a preset pushable obstacle type, and a preset draggable obstacle type;

[0231] The locking module 502 is further configured to:

[0232] When the type detection result indicates that the type of the obstacle belongs to the preset graspable obstacle type, the driving wheel module is locked to limit the ejection of the driving wheel module, and the robotic arm is controlled to grasp the obstacle;

[0233] When the type detection result indicates that the type of the obstacle belongs to the preset avoidance obstacle type, perform an avoidance action;

[0234] When the type detection result indicates that the type of the obstacle belongs to the preset movable obstacle type, the driving wheel module is locked to limit the ejection of the driving wheel module, and the robotic arm is controlled to push the obstacle;

[0235] When the type detection result indicates that the type of the obstacle belongs to the preset draggable obstacle type, the driving wheel module is locked to limit the pop-up of the driving wheel module, and the robotic arm is controlled to drag the obstacle.

[0236] In a possible implementation, the movement control module 508 is further configured to:

[0237] When the type detection result indicates that the type of the obstacle belongs to the preset graspable obstacle type, the driving wheel module is released, and the driving wheel module is used to drive the body to move until the distance between the cleaning robot and the first area is less than the clamping distance threshold;

[0238] Lock the driving wheel module and control the robotic arm to place the grabbed obstacle in the first area;

[0239] The robot arm is controlled to reset to a stable center of gravity position, the driving wheel module is released, and the driving wheel module is used to drive the body to move so as to return to the original area where the obstacle is located to continue the cleaning task.

[0240] In a possible implementation, the control module 504 is further configured to:

[0241] Determining a stable center of gravity position of the robotic arm based on the type of the obstacle;

[0242] When the type detection result indicates that the type of the obstacle belongs to a preset graspable obstacle type, controlling the robotic arm to reset to a preset position of the robotic arm;

[0243] When the type detection result indicates that the type of the obstacle belongs to a preset pushable obstacle type or a preset draggable obstacle type, the robotic arm is controlled to reset to an initial position of the robotic arm.

[0244] In a possible implementation, the movement control module 508 is further configured to:

[0245] Using a first sensor system to transmit a detection signal to the ground, and collecting a reflection signal corresponding to the detection signal, wherein the detection signal is used to detect the ground material;

[0246] When the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, determining that the material detection result of the ground indicates that the material of the ground is a preset material;

[0247] Otherwise, obtain a reference height value of the first sensor system, and when the reference height value is less than a preset height value, determine that the material detection result of the ground indicates that the material of the ground is not a preset material; wherein the reference height value is the height of the first sensor system relative to the ground.

[0248] In a possible implementation, the movement control module 508 is further configured to:

[0249] When the material detection result indicates that the ground is not of the preset material, the driving wheel module is used to lift the chassis of the fuselage.

[0250] In a possible implementation, the movement control module 508 is further configured to:

[0251] The driving wheel module is used to drive the fuselage to move, including:

[0252] When obstacles need to be overcome during movement, identify the height of the object to be overcome;

[0253] When the height of the object to be crossed is less than the preset height threshold, the driving wheel module is used to perform the first obstacle crossing action;

[0254] When the height of the object to be crossed reaches the preset height threshold and the robot arm does not hold an obstacle, the driving wheel module is used to perform the second obstacle crossing action;

[0255] When the height of the object to be crossed reaches a preset height threshold and the robotic arm holds an obstacle, the robotic arm is controlled to place the obstacle in the second area and the driving wheel module is used to perform a second obstacle crossing action.

[0256] In a possible implementation, the movement control module 508 is further configured to:

[0257] Control the robotic arm to return to a stable center of gravity position.

[0258] In a possible implementation, the movement control module 508 is further configured to:

[0259] Control the robotic arm to grab obstacles from the second area;

[0260] Control the robotic arm to return to a stable center of gravity position.

[0261] Each module in the above device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0262] Figure 6 This is a schematic diagram of the structure of the electronic device provided in this application. Figure 6 As shown, the electronic device 60 provided in this embodiment includes: at least one processor 601 and a memory 602. Optionally, the device 60 also includes a communication component 603. The processor 601, the memory 602 and the communication component 603 are connected via a bus 604. In the specific implementation process, at least one processor 601 executes the computer execution instructions stored in the memory 602, so that the at least one processor 601 executes the above method.

[0263] The specific implementation process of the processor 601 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0264] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0265] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0266] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0267] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0268] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0269] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0270] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0271] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0272] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0273] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0274] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0275] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0276] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A control method for a cleaning robot, characterized in that: Applied to a cleaning robot, the cleaning robot is provided with a mechanical arm, a driving wheel module and a first sensor system on its body; The driving wheel module is used to drive the fuselage to move, and the first sensor system is used to detect the material of the ground; The method comprises: When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the driving wheel module is locked to limit the ejection of the driving wheel module, and based on the type of the obstacle, the robot arm is controlled to move the obstacle; Controlling the mechanical arm to reset to a stable center of gravity position; Obtaining a material detection result of the first sensor system on the ground where the cleaning robot is currently located; When the material detection result indicates that the ground is of a preset material, the driving wheel module is released, and the driving wheel module is used to drive the body to move so as to continue to perform the cleaning task.

2. The method according to claim 1, characterized in that: The cleaning robot is also provided with a second sensor system, which is used for detecting the type of the object; When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the driving wheel module is locked to limit the ejection of the driving wheel module, and based on the type of the obstacle, the robot arm is controlled to move the obstacle, including: When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, obtaining a detection result of the type of the obstacle by the second sensor system; Based on the type of the obstacle indicated by the type detection result, the driving wheel module is locked to limit the ejection of the driving wheel module, and the robot arm is controlled to move the obstacle.

3. The method according to claim 2, characterized in that The obtaining of the obstacle type detection result of the second sensor system includes: Acquiring three-dimensional information of the obstacle collected by the second sensor system; Based on the three-dimensional information, a detection result of the type of the obstacle is determined.

4. The method according to claim 2, characterized in that: The type of the obstacle includes one of a preset grabbable obstacle type, a preset avoidable obstacle type, a preset pushable obstacle type, and a preset draggable obstacle type; The controlling the robot arm to move the obstacle based on the type of the obstacle indicated by the type detection result comprises: When the type detection result indicates that the type of the obstacle belongs to a preset graspable obstacle type, locking the driving wheel module to restrict the pop-up of the driving wheel module, and controlling the mechanical arm to grasp the obstacle; When the type detection result indicates that the type of the obstacle belongs to a preset avoidance obstacle type, performing an avoidance action; When the type detection result indicates that the type of the obstacle belongs to a preset movable obstacle type, the driving wheel module is locked to limit the ejection of the driving wheel module, and the mechanical arm is controlled to push the obstacle; When the type detection result indicates that the type of the obstacle belongs to a preset draggable obstacle type, the driving wheel module is locked to limit the pop-up of the driving wheel module, and the mechanical arm is controlled to drag the obstacle.

5. The method according to claim 4, characterized in that The step of releasing the driving wheel module and using the driving wheel module to drive the body to move so as to continue to perform the cleaning task further includes: When the type detection result indicates that the type of the obstacle belongs to a preset graspable obstacle type, releasing the driving wheel module, and using the driving wheel module to drive the body to move until the distance between the cleaning robot and the first area is less than the clamping distance threshold; Locking the driving wheel module, and controlling the robotic arm to place the grabbed obstacle in the first area; The robot arm is controlled to reset to the stable center of gravity position, the driving wheel module is released, and the driving wheel module is used to drive the body to move so as to return to the original area where the obstacle is located to continue the cleaning task.

6. The method according to claim 4, characterized in that Before controlling the mechanical arm to reset to a stable center of gravity position, the method further includes: Determining a stable center of gravity position of the robotic arm based on the type of the obstacle; The controlling the mechanical arm to reset to a stable center of gravity position comprises: When the type detection result indicates that the type of the obstacle belongs to a preset graspable obstacle type, controlling the robotic arm to reset to a preset position of the robotic arm; When the type detection result indicates that the type of the obstacle belongs to a preset pushable obstacle type or a preset draggable obstacle type, the robotic arm is controlled to reset to an initial position of the robotic arm.

7. The method according to claim 1, characterized in that The using the first sensor system to obtain the material detection result of the ground where the cleaning robot is currently located includes: Using the first sensor system to transmit a detection signal to the ground, and collecting a reflection signal corresponding to the detection signal, wherein the detection signal is used to detect the material of the ground; When the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, determining that the material detection result of the ground indicates that the material of the ground is the preset material; Otherwise, obtain a reference height value of the first sensor system, and when the reference height value is less than a preset height value, determine that the material detection result of the ground indicates that the material of the ground is not the preset material; wherein the reference height value is the height of the first sensor system relative to the ground.

8. The method according to any one of claims 1 to 7, characterized in that After releasing the driving wheel module, the method further comprises: When the material detection result indicates that the ground is not of a preset material, the driving wheel module is used to lift the chassis of the fuselage.

9. The method according to any one of claims 1 to 7, characterized in that: The method of using the driving wheel module to drive the body to move includes: When obstacles need to be overcome during movement, identify the height of the object to be overcome; When the height of the object to be crossed is less than a preset height threshold, the driving wheel module is used to perform a first obstacle crossing action; When the height of the object to be crossed reaches the preset height threshold and the mechanical arm does not hold the obstacle, the driving wheel module is used to perform a second obstacle crossing action; When the height of the object to be crossed reaches the preset height threshold and the mechanical arm clamps the obstacle, the mechanical arm is controlled to place the obstacle in the second area, and the driving wheel module is used to perform the second obstacle crossing action.

10. The method according to claim 9, characterized in that After controlling the mechanical arm to place the obstacle in the second area, the method further includes: The robot arm is controlled to reset to the center-of-gravity stable position.

11. The method according to claim 9, characterized in that After controlling the mechanical arm to place the obstacle in the second area and using the driving wheel module to perform the second obstacle-crossing action, the method further includes: Controlling the robotic arm to grab the obstacle from the second area; The mechanical arm is controlled to reset to a stable center of gravity position.

12. A control device for a cleaning robot, characterized in that: Applied to a cleaning robot, the cleaning robot is provided with a mechanical arm, a driving wheel module, a first sensor system and a second sensor system on its body; the driving wheel module is used to drive the body to move, the first sensor system is used to detect the material of the ground, and the second sensor system is used to detect the type of objects on obstacles; The device comprises: A locking module, used to lock the driving wheel module when the distance between the cleaning robot and the obstacle is less than a clamping distance threshold, so as to limit the ejection of the driving wheel module; A control module, configured to control the mechanical arm to move the obstacle based on the type of the obstacle, and to control the mechanical arm to reset to a stable center of gravity position; An information collection module, used to obtain the material detection result of the current ground where the cleaning robot is located by the first sensor system, and the type detection result of the obstacle by the second sensor system; The mobile control module is used to release the driving wheel module when the material detection result indicates that the ground is of a preset material, and use the driving wheel module to drive the body to move so as to continue to perform the cleaning task.

13. A cleaning robot, characterized in that: The cleaning robot is provided with a controller, a mechanical arm, a driving wheel module, a first sensor system and a second sensor system on its body, and the controller is connected to the mechanical arm, the driving wheel module, the first sensor system and the second sensor system respectively; The driving wheel module is used to drive the fuselage to move; The first sensor system is used for ground material detection; The second sensor system is used to detect the type of object of the obstacle; The mechanical arm is used to move the obstacle based on the type of the obstacle; The controller is used to execute the method according to any one of claims 1 to 11.

14. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 11 when being executed by a processor.

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