Obstacle crossing control method of cleaning device and cleaning device

Abstract

This application provides an obstacle-crossing control method for cleaning equipment and a cleaning equipment itself. The method includes: when a multi-tiered obstacle is identified and meets the obstacle-crossing conditions, controlling the cleaning equipment to move towards the multi-tiered obstacle; for each tier of the multi-tiered obstacle, after moving to a point where at least a portion of the cleaning equipment engages with the current tier of the multi-tiered obstacle, and after the obstacle-crossing wheels engage with the current tier, controlling the drive wheels to move forward, so that the cleaning equipment crosses the current tier and at least a portion of the cleaning equipment engages with the next tier of the multi-tiered obstacle; in response to the cleaning equipment crossing the current tier and at least a portion of the cleaning equipment engaging with the next tier, updating the next tier to the new current tier, and repeating the steps of engaging the obstacle-crossing wheels and moving the drive wheels until the cleaning equipment crosses all tiers of the multi-tiered obstacle. This method is used to achieve stable and efficient crossing of obstacles with heights exceeding conventional obstacle-crossing limits, improving cleaning coverage and equipment operational reliability.

Description

Technical Field

[0001] This application relates to the field of intelligent cleaning equipment technology, and in particular to an obstacle crossing control method for cleaning equipment and a cleaning equipment. Background Technology

[0002] With the widespread adoption of smart homes, cleaning equipment (such as robotic vacuum cleaners) has become a core device for modern families to achieve automated cleaning. Currently, mainstream cleaning equipment mainly improves its obstacle-crossing ability by optimizing the drive wheel structure or adding auxiliary wheels to adapt to common indoor obstacles such as small thresholds and carpet edges.

[0003] However, obstacles such as steps and thresholds, which are common in the home environment, are often too high for existing cleaning equipment to overcome. When the equipment attempts to cross such obstacles, it is prone to failure due to insufficient driving force or structural limitations. Repeated attempts may also damage the equipment or waste electricity, severely limiting the reliability and efficiency of whole-house autonomous cleaning. Summary of the Invention

[0004] The obstacle crossing control method and cleaning equipment provided in this application are used to solve the problem of existing cleaning equipment failing to cross obstacles such as steps and thresholds due to insufficient driving force or structural limitations. This enables stable and efficient crossing of obstacles with heights exceeding conventional obstacle crossing limits, thereby improving cleaning coverage and the reliability of equipment operation.

[0005] In a first aspect, embodiments of this application provide an obstacle-crossing control method for a cleaning device, the cleaning device including a caster wheel, a drive wheel, and obstacle-crossing wheel legs rotatably connected to the drive wheel;

[0006] The method includes:

[0007] When a multi-tiered obstacle is detected and meets the obstacle-crossing conditions, the cleaning device is controlled to move toward the multi-tiered obstacle.

[0008] For each step of the multi-step obstacle, after the cleaning device moves to at least partially overlap the current step of the multi-step obstacle and the obstacle-crossing wheel legs overlap the current step, the drive wheel is controlled to move forward, so as to use the supporting effect generated by the overlap of the obstacle-crossing wheel legs with the current step to enable the cleaning device to cross the current step and enable at least partially overlap the cleaning device with the next step of the multi-step obstacle;

[0009] In response to the cleaning device crossing the current step and at least partially engaging the next step, the next step is updated to the new current step, and the steps of engaging the obstacle-crossing wheel legs and moving the drive wheels are repeated until the cleaning device crosses all steps of the multi-step obstacle.

[0010] This method targets multi-tiered obstacles and employs a step-by-step obstacle-crossing strategy. After identifying a multi-tiered obstacle, the cleaning device moves towards it. For each tier, it sequentially performs the steps of connecting to the current tier, connecting the obstacle-crossing wheels to the current tier, and then driving the drive wheels. The support provided by the connecting obstacle-crossing wheels allows the cleaning device to smoothly cross the current tier and connect to the next tier. The next tier is then updated as the new current tier, and the above steps are repeated until the cleaning device has crossed all tiers. By decomposing the multi-tiered obstacle-crossing task into multiple single-tiered obstacle-crossing sub-tasks, and utilizing the support provided by the connecting obstacle-crossing wheels to each tier to provide a stable fulcrum for the drive wheels, this method solves the problem of cleaning devices being unable to cross multi-tiered obstacles due to insufficient driving force or structural design limitations. It also avoids mechanical impact damage and unnecessary power consumption caused by repeated obstacle-crossing attempts, improving the reliability and efficiency of autonomous cleaning in complex whole-house terrain environments.

[0011] In one possible implementation, the multi-tiered obstacle satisfies obstacle-crossing conditions, including:

[0012] When the multi-tiered obstacle is detected, the height and width information of at least one tier of the multi-tiered obstacle are obtained; wherein each tier includes a side surface and an upper surface connected to the top edge of the side surface; the width information is the width of the upper surface along the traveling direction of the cleaning device, and the height information is the vertical distance between the bottom and top of the side surface of the current tier;

[0013] When the height information is less than the vertical distance between the rolling axis of the omnidirectional wheel and the cleaning surface when the obstacle-crossing wheel leg is in the first obstacle-crossing position, and when the width information is greater than a first preset width threshold and less than a second preset width threshold, the obstacle-crossing condition is determined to be met; wherein, the first obstacle-crossing position is the position where the obstacle-crossing wheel leg swings to the point where its end contacts the cleaning surface and the drive wheel is lifted away from the cleaning surface; the first preset width threshold and the second preset width threshold are both determined according to the structural parameters of the cleaning equipment.

[0014] Through the above implementation method, after detecting a multi-tiered obstacle, the obstacle-crossing operation is not directly triggered. Instead, the height and width information of the obstacle are combined to make a conditional judgment, and the obstacle-crossing process is only executed when preset conditions are met. This effectively avoids equipment failure or obstacle-crossing failure caused by obstacles exceeding the equipment's obstacle-crossing capability. Furthermore, during the judgment process, the obstacle height is compared with the vertical distance from the omnidirectional wheel's rolling axis to the clean surface to ensure that the obstacle-crossing wheels can effectively raise the machine body, avoiding insufficient support due to excessively high obstacles. Simultaneously, the obstacle width is compared with a first preset width threshold and a second preset width to ensure sufficient support area when the equipment overlaps. This prevents tipping or slipping due to obstacles that are too narrow, and avoids the equipment having to travel too far on the steps due to excessively wide obstacles, making it unable to directly overlap onto the next step surface after overcoming the obstacle, thus preventing continuous obstacle-crossing and resulting in obstacle-crossing failure. In addition, the first and second preset width thresholds are determined comprehensively based on the equipment's structural parameters, making the obstacle crossing judgment more in line with the equipment's physical characteristics, further improving the accuracy and adaptability of the judgment. This reduces the risk of equipment damage while ensuring the success rate of obstacle crossing, and enhances the autonomous operation capability and user experience of the cleaning equipment in complex terrain.

[0015] In one possible implementation, controlling the cleaning device to move toward the multi-tiered obstacle in response to the identified multi-tiered obstacle meeting the obstacle-crossing conditions includes:

[0016] In response to the recognition of a multi-stage obstacle that meets the obstacle crossing conditions, the obstacle crossing wheel leg is controlled to swing from the initial position to the first obstacle crossing position; wherein, the initial position is the position where the obstacle crossing wheel leg is retracted into the chassis of the cleaning equipment, and the first obstacle crossing position is the position where the obstacle crossing wheel leg swings to the point where the obstacle crossing wheel at its end contacts the cleaning surface and the drive wheel is lifted away from the cleaning surface;

[0017] The obstacle-crossing wheels are controlled to move the cleaning equipment toward the multi-tiered obstacle.

[0018] Through the above implementation method, after the obstacle-crossing conditions are met, the cleaning equipment swings its obstacle-crossing wheel legs from the initial position retracted into the chassis to the first obstacle-crossing position where the obstacle-crossing wheel contacts the cleaning surface and the drive wheel is lifted away from the cleaning surface. This raises the front end of the equipment to reduce the risk of collision with obstacles, and utilizes the rolling characteristics of the obstacle-crossing wheel to drive the equipment to move smoothly towards multi-stage obstacles. This allows for support point switching and attitude adjustment before obstacle crossing, effectively avoiding additional resistance generated by the drive wheel contacting the cleaning surface. At the same time, by monitoring the attitude and speed of the obstacle-crossing wheel in real time, the stability, safety, and energy efficiency of the obstacle-crossing process are further improved.

[0019] In one possible implementation, controlling the obstacle-crossing wheel leg to swing from the initial position to the first obstacle-crossing position includes:

[0020] The obstacle-crossing wheel is controlled to rotate along a first preset direction and a first preset angle so that the obstacle-crossing wheel moves from the initial position to the first obstacle-crossing position; wherein, the first preset direction is the direction in which the obstacle-crossing wheel swings from the initial position toward the front of the cleaning device.

[0021] In the above embodiments, by adopting an angle control mode, the controller precisely controls the obstacle-crossing wheel legs to rotate along a first preset direction and a first preset angle, ensuring that the obstacle-crossing wheel accurately contacts the clean surface and provides stable support. At the same time, the drive wheel is lifted away from the clean surface, and the front end of the equipment is fully raised to provide space for the subsequent movement and overlap of the obstacle-crossing wheel legs. The first preset angle can be a pre-calibrated fixed value to ensure the repeatability and consistency of the swing, or it can be adjusted in real time according to the height of the first step to adapt to different scenarios. This ensures the reliability of obstacle crossing while avoiding excessive lifting of the drive wheel, which would increase energy consumption. In addition, through real-time feedback from the position sensor and adjustment of the output power of the drive mechanism, angle deviation and machine vibration can be avoided, improving the stability and control accuracy of the swing process, thereby improving the reliability, adaptability, and operational stability of the obstacle-crossing operation.

[0022] In one possible implementation, controlling the cleaning device to move toward the multi-tiered obstacle includes:

[0023] Control the obstacle-crossing wheel legs to move the cleaning device toward the multi-step obstacle until at least part of the cleaning device is in contact with the current step of the multi-step obstacle. Then, control the drive wheel to swing downward relative to the chassis of the cleaning device to contact the cleaning surface, and control the obstacle-crossing wheel legs to continue swinging until they are in contact with the current step.

[0024] Through the above implementation method, the support point of the cleaning equipment is changed from a single obstacle-crossing wheel to a joint support from both the obstacle-crossing wheel and the drive wheel, ensuring the stability of the cleaning equipment at the obstacle junction. Furthermore, during the process, the drive wheel regains traction after the equipment has partially crossed the obstacle, avoiding power loss due to slippage and thus improving the utilization rate of driving force during obstacle crossing.

[0025] In one possible implementation, controlling the obstacle-crossing wheels to move the cleaning device toward the multi-step obstacle until at least a portion of the cleaning device is engaged with the current step, and then controlling the drive wheels to swing downwards relative to the chassis of the cleaning device to contact the cleaning surface, includes:

[0026] Control the obstacle-crossing wheels to move toward the multi-tiered obstacle, thereby driving the cleaning equipment to move toward the multi-tiered obstacle;

[0027] During movement, the horizontal distance between the universal wheel of the cleaning device and the edge of the upper surface of the current step near the cleaning device is periodically detected;

[0028] When the horizontal distance is less than or equal to a preset distance threshold, it is determined that at least a portion of the cleaning equipment is in contact with the current step;

[0029] In response to the determination, the drive wheel is controlled to swing downward relative to the chassis of the cleaning device until the drive wheel contacts the cleaning surface.

[0030] In the above implementation, when the cleaning equipment is on the first step, after the obstacle-crossing wheel legs stably support the cleaning equipment, it is controlled to move towards the first step at a low speed and smoothly. The horizontal distance between the omnidirectional wheel and the edge of the upper surface of the first step is periodically detected. When the distance is less than or equal to a preset threshold, it is determined that the cleaning equipment has partially overlapped with the first step. Then, the drive wheel is controlled to swing downwards to contact the cleaning surface, thereby realizing a smooth transition of the cleaning equipment from single-point support by the obstacle-crossing wheel to joint support by the obstacle-crossing wheel and the drive wheel. In addition, this scheme ensures the accuracy and timeliness of the overlap determination by real-time distance detection and threshold comparison, avoiding the problem of equipment instability due to insufficient overlap or premature reset of the drive wheel due to premature overlap. At the same time, after the drive wheel resets, it forms a stable support structure with the obstacle-crossing wheel, providing a reliable foundation for subsequent obstacle-crossing actions, effectively improving the stability, reliability and safety of the obstacle-crossing process.

[0031] In one possible implementation, controlling the drive wheel to swing downwards relative to the chassis of the cleaning device includes:

[0032] The drive wheel is controlled to swing downward relative to the chassis of the cleaning equipment, and the obstacle-crossing wheel is simultaneously controlled to swing along a first preset direction to a second obstacle-crossing position. Under the coordinated swinging action of the drive wheel and the obstacle-crossing wheel, the body of the cleaning equipment is moved forward a preset distance, so that the cleaning equipment is more stably attached to the current step. The second obstacle-crossing position is the position where the obstacle-crossing wheel continues to swing along the first preset direction from the first obstacle-crossing position until its swing is restricted by the mechanical structure and enters a stall state.

[0033] The above-described implementation determines the second obstacle-crossing position by detecting the stall current characteristics of the obstacle-crossing wheel drive mechanism, ensuring maximum utilization of the swing amplitude without damaging the mechanical structure. At the same time, the synchronous cooperation between the drive wheel and the obstacle-crossing wheel effectively increases the overlap area and improves the overlap stability, preventing the equipment from tilting or slipping during subsequent obstacle crossing due to insufficient overlap. This provides a more reliable support foundation for the obstacle-crossing wheel to overlap the obstacle and for the drive wheel to travel across it, further improving the stability and success rate of obstacle crossing operations.

[0034] In one possible implementation, controlling the obstacle-crossing wheel leg to continue swinging until it engages the current step includes:

[0035] Control the obstacle-crossing wheel legs to continue swinging along the first preset direction, so that they swing from the second obstacle-crossing position to the initial position;

[0036] Control the drive wheels to move until the drive wheels come into contact with the current step;

[0037] In response to the drive wheel abutting against the current step, the obstacle-crossing wheel leg is controlled to swing along the first preset direction until the obstacle-crossing wheel leg engages the current step.

[0038] The above implementation method achieves the reset and precise re-engagement of the obstacle-crossing wheel legs through step-by-step control, avoiding interference between the obstacle-crossing wheel legs and the driving wheel at the second obstacle-crossing position. At the same time, the contact sensor detects the engagement status in real time, ensuring that both the driving wheel and the obstacle-crossing wheel legs can stably contact the obstacle, providing a reliable support foundation for the subsequent driving wheel to cross the obstacle, and effectively improving the stability, reliability and safety of the obstacle-crossing process.

[0039] In one possible implementation, controlling the obstacle-crossing wheel leg to continue swinging until it engages the current step includes:

[0040] The obstacle-crossing wheel legs are controlled to swing along a second preset direction to the initial position; wherein the second preset direction is opposite to the first preset direction;

[0041] Control the drive wheels to move until the drive wheels come into contact with the current step;

[0042] In response to the drive wheel abutting the current step, the obstacle-crossing wheel leg is controlled to swing along the first preset direction until the obstacle-crossing wheel leg abuts the current step.

[0043] The above-described implementation eliminates the need for excessive mechanical movement space within the chassis for the entire working trajectory of the wheel legs. This facilitates a more compact and miniaturized overall equipment design, optimizes industrial design, reduces internal layout complexity, and potentially frees up valuable internal space to accommodate larger batteries or other functional modules while ensuring obstacle-crossing capability. Furthermore, the use of angle sensors for control and collision detection during the reset process ensures the accuracy and safety of the reset action, providing a reliable foundation for subsequent drive wheel movement and obstacle-crossing wheel leg re-swing and engagement, further enhancing the stability and efficiency of obstacle-crossing operations.

[0044] In one possible implementation, controlling the obstacle-crossing wheel legs to swing along a second preset direction to the initial position includes:

[0045] Control the obstacle-crossing wheel legs to attempt to swing to the initial position along the second preset direction;

[0046] If the obstacle-crossing wheel leg fails to swing to the initial position due to obstruction, the obstacle-crossing wheel leg is controlled to swing to the first obstacle-crossing position to provide swing space for the obstacle-crossing wheel leg to swing back to the initial position;

[0047] Using the swing space, the obstacle-crossing wheel legs are controlled to continue swinging along the second preset direction to the initial position.

[0048] In the above implementation, when the controller attempts to control the obstacle-crossing wheel leg to swing directly to the initial position along the second preset direction, if it detects that the obstacle-crossing wheel leg is obstructed by factors such as foreign objects, structural interference, or ground protrusions and fails to reach the position, the control logic is switched in a timely manner. The obstacle-crossing wheel leg is then controlled to swing back to the first obstacle-crossing position. Utilizing the change in posture where the obstacle-crossing wheel is supported on the clean surface and the drive wheel is lifted off the ground, the original interference area is avoided and sufficient swinging space is created. Subsequently, the obstacle-crossing wheel leg is controlled to continue swinging along the second preset direction to the initial position. In addition, the above scheme also achieves autonomous identification and dynamic adjustment of reset obstruction faults by real-time monitoring of swing stroke, motor current, and obstruction status. This effectively avoids overload of the drive mechanism or equipment damage caused by mechanical jamming. At the same time, using the first obstacle-crossing position as an intermediate avoidance posture provides additional movement margin for the obstacle-crossing wheel leg, ensuring the reliability and success rate of the reset action. This improves the robustness and environmental adaptability of the obstacle-crossing wheel leg control system and ensures the continuity and stability of the overall obstacle-crossing process.

[0049] In one possible implementation, when the obstacle-crossing wheel leg engages the current step, the obstacle-crossing wheel at the end of the obstacle-crossing wheel leg contacts the upper surface of the current step;

[0050] When the drive wheel abuts against the current step, the drive wheel contacts the side surface of the current step.

[0051] The above-described implementation method, through the partitioned contact and cooperation of the obstacle-crossing wheel contacting the upper surface of the obstacle and the drive wheel abutting the side surface of the obstacle, enables the cleaning equipment to simultaneously form vertical support and lateral restraint during the obstacle-crossing preparation stage. The overall force state of the machine is reasonable and the posture is not easy to tilt or deviate, providing a reliable mechanical basis for the subsequent drive wheel to cross the obstacle.

[0052] In one possible implementation, both the drive wheel and the obstacle-crossing wheel legs are two in number, respectively symmetrically arranged on both sides of the chassis of the cleaning equipment;

[0053] Controlling the drive wheels to travel, utilizing the support provided by the overlap between the obstacle-crossing wheel legs and the current step, to allow the cleaning equipment to cross the current step and to allow at least partial overlap of the cleaning equipment on the next step of the multi-step obstacle, includes:

[0054] The two drive wheels are synchronously controlled to move forward, so as to use the support generated by the two obstacle-crossing wheel legs overlapping with the current step to enable the cleaning equipment to cross the current step;

[0055] Control the obstacle-crossing wheel legs to swing and retract to their initial position;

[0056] In response to the obstacle-crossing wheel being in the initial position, the drive wheel is controlled to continue moving until the drive wheel abuts against the next step, and at least part of the cleaning device is engaged with the next step of the multi-step obstacle;

[0057] The above-described implementation maintains consistent travel speeds of the drive wheels on both sides, preventing equipment deflection or instability caused by speed differences and ensuring the cleaning equipment maintains a straight trajectory while crossing obstacles. Simultaneously, the stable support provided by the two obstacle-crossing legs allows the drive wheels to gain sufficient adhesion and propulsion, smoothly traversing the current obstacle and improving the smoothness, reliability, and efficiency of the obstacle-crossing process. Furthermore, timely retraction of the obstacle-crossing legs prevents interference, and the determination of the overlap state provides a stable initial posture for the next obstacle crossing, thereby improving the smoothness, continuity, and control precision of multi-stage obstacle crossing processes and effectively reducing the risk of equipment jamming or overturning.

[0058] The above-described embodiment controls the movement of the drive wheel to utilize the supporting effect generated by the overlap between the obstacle-crossing wheel legs and the current step, enabling the cleaning equipment to cross the current step and at least partially overlap the cleaning equipment on the next step of the multi-step obstacle, including:

[0059] First, control the drive wheel located on the first side to move forward until both the obstacle-crossing wheel leg and the drive wheel located on the first side have passed the current step. Then, control the drive wheel located on the second side to move forward so that both the obstacle-crossing wheel leg and the drive wheel located on the second side have passed the current step.

[0060] Control the obstacle-crossing wheel legs to swing and retract to their initial position;

[0061] In response to the obstacle-crossing wheel being in the initial position, the drive wheel is controlled to continue moving until the drive wheel abuts the next step, and at least part of the cleaning device is engaged with the next step of the multi-step obstacle.

[0062] The above-described implementation, through phased and alternating movement and load-bearing support from both sides, enhances the stability and maneuverability of the cleaning equipment during obstacle crossing. It effectively adapts to obstacles of varying slopes and heights, such as steps, reducing the probability of tipping over due to center of gravity shift. Furthermore, timely retraction of the obstacle-crossing wheels prevents interference, and the determination of the overlap state provides a stable initial posture for the next obstacle crossing stage. This improves the smoothness, continuity, and control precision of multi-stage obstacle crossing processes, effectively reducing the risk of equipment jamming or tipping over.

[0063] In one possible implementation, if the current step is the last step of the multi-step obstacle, after both the obstacle-crossing wheel legs and the drive wheel have crossed the current step, the method further includes:

[0064] Control the drive wheel to swing upward relative to the chassis and retract it to its cleaning working position.

[0065] In this embodiment, by resetting the drive wheel, the machine body can quickly return to normal operating status, improving the continuity and reliability of the obstacle-crossing process.

[0066] Secondly, embodiments of this application provide an obstacle crossing control device for a cleaning equipment, the cleaning equipment including a caster wheel, a drive wheel, and obstacle crossing wheel legs rotatably connected to the drive wheel;

[0067] The device includes:

[0068] The equipment movement module is used to control the cleaning equipment to move toward the multi-tiered obstacle when the detected multi-tiered obstacle meets the obstacle-crossing conditions;

[0069] The first obstacle-crossing module is configured to, for each step of the multi-step obstacle, after the cleaning device has moved to at least partially engage with the current step of the multi-step obstacle and after the obstacle-crossing wheel legs have engaged with the current step, control the drive wheel to move forward, so as to utilize the supporting effect generated by the engagement of the obstacle-crossing wheel legs with the current step to enable the cleaning device to cross the current step and enable at least partially engage with the next step of the multi-step obstacle;

[0070] The second obstacle-crossing module is configured to, in response to the cleaning device crossing the current step and the cleaning device at least partially engaging with the next step, update the next step to the new current step, and repeat the steps of engaging the obstacle-crossing wheel legs and driving the drive wheels until the cleaning device crosses all steps of the multi-step obstacle.

[0071] Thirdly, this embodiment provides a cleaning device, including: a caster wheel, a drive wheel, obstacle-crossing wheel legs rotatably connected to the drive wheel, and a controller;

[0072] The obstacle-crossing wheel leg is rotatably connected to the drive wheel;

[0073] The controller is used to perform the first aspect as described above and / or various possible implementations of the first aspect.

[0074] Fourthly, embodiments of this application provide a controller, including: a memory and a processor;

[0075] The memory stores the instructions that the computer executes;

[0076] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0077] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0078] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0079] The obstacle-crossing control method and cleaning equipment provided in this application embodiment only execute obstacle-crossing actions when the obstacle-crossing conditions are met, avoiding mechanical impact and uneven structural stress caused by repeated obstacle-crossing attempts, effectively reducing the risk of equipment damage, reducing ineffective power consumption, and extending battery life. Furthermore, by decomposing multi-stage obstacle crossing into multiple single-stage obstacle-crossing sub-tasks, and ensuring that the cleaning equipment at least partially engages with the current stage before each stage to prepare for obstacle crossing, the support generated by the obstacle-crossing wheels engaging with the current stage, combined with the drive wheels, enables smooth, step-by-step crossing, thereby improving the obstacle-crossing capability of the cleaning equipment. This allows it to successfully cross multi-level step-like obstacles that cannot be reached in a single obstacle-crossing attempt, increasing the cleaning coverage area in complex home terrains. Simultaneously, by real-time monitoring of the machine's attitude and obstacle-crossing status, timely interruption and adjustment in abnormal situations further improves the reliability and safety of the obstacle-crossing process, enhancing the autonomous operation capability and user experience of the cleaning equipment in complex home environments. Attached Figure Description

[0080] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0081] Figure 1 This is a partial structural schematic diagram of the cleaning equipment provided in the embodiments of this application;

[0082] Figure 2 This is a schematic diagram of the obstacle-crossing mechanism provided in the embodiments of this application;

[0083] Figure 3 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0084] Figure 4 A flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application;

[0085] Figure 5 This is a schematic diagram of parameter information provided in the embodiments of this application;

[0086] Figure 6 This is a schematic diagram showing the obstacle-crossing wheel leg swinging to the first obstacle-crossing position according to an embodiment of this application;

[0087] Figure 7 A schematic diagram of the cleaning equipment provided in this application embodiment being attached to the first stage;

[0088] Figure 8 This is a schematic diagram showing the obstacle-crossing wheel leg swinging to the second obstacle-crossing position according to an embodiment of this application;

[0089] Figure 9 This is a schematic diagram of the obstacle-crossing wheel legs swinging to their initial position, as provided in an embodiment of this application. Figure 1 ;

[0090] Figure 10 This is a schematic diagram of the obstacle-crossing wheel legs swinging to their initial position, as provided in an embodiment of this application. Figure 2 ;

[0091] Figure 11 This is a schematic diagram of the obstacle-crossing wheel legs swinging to their initial position, as provided in an embodiment of this application. Figure 3 ;

[0092] Figure 12 This is a schematic diagram of synchronous obstacle crossing provided in this embodiment;

[0093] Figure 13 This is a schematic diagram of the step-by-step obstacle crossing provided in this embodiment;

[0094] Figure 14 A schematic diagram of obstacle crossing provided for an embodiment of this application;

[0095] Figure 15 A schematic diagram of the obstacle crossing control device for the cleaning equipment provided in this application;

[0096] Figure 16 A schematic diagram of the controller provided in this application.

[0097] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0098] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0099] With the popularization of smart homes, cleaning equipment such as robotic vacuum cleaners have become core devices for modern families to achieve automated cleaning. At present, mainstream cleaning equipment mainly improves its obstacle-crossing ability by optimizing the drive wheel structure or adding auxiliary wheels, so as to adapt to common indoor obstacles such as small thresholds and carpet edges.

[0100] However, real-world scenarios often present obstacles such as multi-level steps, including two-step transitions between the balcony and living room, steps with varying heights inside and outside the entrance door, connecting steps between the stairs and the ground in a duplex, multiple steps between a sunken living room and the surrounding ground, and stepped thresholds between the bathroom and dressing area. These complex terrains place higher demands on the obstacle-crossing capabilities of cleaning equipment. For example, the height of a single step in some of these obstacles can reach 6 centimeters, exceeding the 4.5-centimeter obstacle-crossing limit typically found in existing robotic vacuum cleaners.

[0101] When cleaning equipment attempts to overcome obstacles such as multi-level steps, it often fails due to insufficient driving force or structural design limitations. Furthermore, repeated attempts to overcome obstacles can easily lead to equipment damage from mechanical impacts or uneven structural stress, and also result in wasted electricity, severely restricting the reliability and efficiency of the cleaning equipment in achieving autonomous cleaning throughout the house.

[0102] To address the aforementioned technical problems, this application provides an obstacle-crossing control method for cleaning equipment. This method employs a step-by-step, progressive obstacle-crossing strategy for multi-tiered obstacles. After identifying a multi-tiered obstacle, the cleaning equipment moves towards it. For each tier, it sequentially executes the steps of overlapping the current tier, overlapping the obstacle-crossing wheels with the current tier, and then the drive wheels proceed. The support provided by the overlapping of the obstacle-crossing wheels with the current tier allows the cleaning equipment to smoothly cross the current tier and overlap onto the next tier. The next tier is then updated as the new current tier, and the above steps are repeated until the cleaning equipment has crossed all tiers. By decomposing the multi-tiered obstacle-crossing task into multiple single-tiered obstacle-crossing sub-tasks, and utilizing the support provided by the overlapping of the obstacle-crossing wheels with each tier to provide a stable fulcrum for the drive wheels, this method solves the problem of cleaning equipment being unable to cross multi-tiered obstacles due to insufficient driving force or structural design limitations. It also avoids mechanical impact damage and unnecessary power consumption caused by repeated obstacle-crossing attempts, improving the reliability and efficiency of autonomous cleaning in complex whole-house terrain environments.

[0103] To more clearly understand the obstacle-crossing control method for the cleaning equipment provided in this application, the following will be combined with... Figure 1 A brief description of the structure of the cleaning equipment in this application is provided.

[0104] Figure 1 This is a partial structural schematic diagram of the cleaning equipment provided in an embodiment of this application. Figure 1 As shown, the cleaning device 100 is equipped with a controller 101, which is used to execute any implementation of the obstacle crossing control method of the cleaning device provided in the embodiments of this application.

[0105] Specifically, the cleaning equipment 100 can be an intelligent cleaning robot capable of autonomously moving and completing cleaning tasks within a work area without external human input or control. The work area can include indoor and outdoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc. Cleaning tasks can include cleaning (e.g., washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0106] Cleaning equipment 100 includes, but is not limited to: robotic vacuum cleaners, robotic floor scrubbers, robotic vacuum and mop combos, robotic lawnmowers, and robotic snowplows. Cleaning equipment 100 can perform cleaning using either a front-sweeping-then-mopping method or a separate sweeping-and-mopping method. The front-sweeping-then-mopping method allows sweeping and mopping simultaneously, improving cleaning efficiency. The separate sweeping-and-mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness.

[0107] Specifically, the cleaning device 100 includes at least a controller 101. The controller 101 may include a microcontroller unit (MCU). Of course, the controller 101 may also include other devices capable of control functions.

[0108] Based on this, the cleaning equipment 100 may also include an obstacle-crossing mechanism 102. The obstacle-crossing mechanism may be located at the bottom of the mobile cleaning equipment. The obstacle-crossing mechanism includes a drive wheel, obstacle-crossing wheel legs rotatably mounted on the drive wheel, and a drive motor for driving the obstacle-crossing wheel legs to rotate. The end of the obstacle-crossing wheel legs is provided with an obstacle-crossing wheel, and a support member for supporting the bottom of the mobile cleaning equipment is provided above the drive wheel.

[0109] In addition, the cleaning device 100 may also include a follower wheel component. This follower wheel component may include a caster wheel module. The caster wheel module consists of multiple casters, a bracket, and a connecting shaft. The design of the casters allows the cleaning device 100 to move freely in multiple directions and achieve omnidirectional movement without changing its orientation.

[0110] Figure 2 This is a schematic diagram of the obstacle-crossing mechanism provided in an embodiment of this application. Figure 2 As shown, the drive motor is fixedly installed inside the drive wheel structure, and its output shaft is coupled to the central axis of the obstacle-crossing wheel leg through gear transmission or other means to provide driving force. The pivot point of the obstacle-crossing wheel leg is located at the edge or side of the drive wheel, allowing the obstacle-crossing wheel leg to swing relative to the drive wheel around this pivot point. An obstacle-crossing wheel, which is usually a driven wheel, is installed at the end of the obstacle-crossing wheel leg.

[0111] When the drive motor rotates in the first direction, it drives the obstacle-crossing wheel legs to swing downwards and backwards through the transmission mechanism, causing the end obstacle-crossing wheel to contact the ground, thereby lifting the drive wheel off the ground and achieving the obstacle-crossing function. When the drive motor rotates in the opposite second direction, it drives the obstacle-crossing wheel legs to swing upwards and forwards to lift the support component, which in turn lifts the front chassis of the equipment to increase the bottom ground clearance. It should be understood that the first direction and the second direction refer to two opposite rotation directions of the drive motor, and their specific definitions can be adjusted according to the actual application scenario.

[0112] The drive wheels support the equipment and provide mobility, while the obstacle-crossing legs rotate to lift or support the equipment. The drive motor serves as the power source to move the obstacle-crossing legs. For example, the obstacle-crossing legs can be connected to the drive motor via a linkage mechanism or a gear transmission mechanism to achieve precise angle control.

[0113] Sensor detection can be achieved using devices such as photoelectric sensors, Hall effect sensors, or limit switches, primarily used to detect whether the obstacle-crossing wheel legs have reached a specific position. Stall detection, on the other hand, determines whether the obstacle-crossing wheel legs have reached their mechanical limit position by monitoring changes in the drive motor's current; for example, a stall condition can be identified when the current exceeds a preset threshold.

[0114] Building upon this, the cleaning equipment 100 can also be equipped with various sensors to identify obstacle information and environmental information around the equipment. For example, the sensors can be one or more of the following: ultrasonic sensors, monocular vision sensors, binocular vision sensors, line laser sensors, area laser sensors, LDS sensors, Dtof sensors, Itof sensors, etc. Through the coordinated operation of these sensors, the cleaning equipment 100 can accurately identify the position, height, and shape of multi-tiered obstacles, providing data support for the execution of obstacle-crossing control methods.

[0115] Figure 3 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. For example... Figure 3 As shown, this scenario can be used in situations where cleaning equipment needs to overcome multi-level obstacles during the cleaning process.

[0116] Taking a robotic vacuum cleaner as an example, in the current scenario, during the cleaning task, the robotic vacuum cleaner uses its onboard sensors to identify whether there are multi-tiered obstacles ahead and determines whether the height and width of at least one tier of the obstacle meet the preset obstacle-crossing conditions. When the multi-tiered obstacle is identified as meeting the obstacle-crossing conditions, the robotic vacuum cleaner controls the cleaning device to move towards the multi-tiered obstacle, breaking down the multi-tiered obstacle crossing into multiple single-tiered obstacle-crossing sub-tasks, and crossing each tier sequentially. For each tier, the robotic vacuum cleaner first moves until at least part of the cleaning device is engaged with the current tier, while the obstacle-crossing legs rotate to engage with the current tier. Then, it controls the drive wheels to move forward, using the support generated by the engagement of the obstacle-crossing legs with the current tier to give the robotic vacuum cleaner additional leverage, thus successfully crossing the current tier, which is at least 6cm high. After completing the current tier obstacle crossing, the robotic vacuum cleaner updates the next tier as the new current tier and repeats the above steps of engaging the obstacle-crossing legs and moving the drive wheels until the cleaning device crosses all tiers. In the above scheme, one embodiment is to determine the height and width of at least one step of the multi-step obstacle. Of course, in other embodiments, considering that there may be slight differences in the height and width of different steps, the height and width of each step of the multi-step obstacle can be determined.

[0117] In the above process, the robotic vacuum cleaner can effectively overcome the technical problem of being unable to cross multiple steps due to insufficient obstacle-crossing height in a single attempt by using the step-by-step obstacle-crossing strategy. This avoids mechanical impact damage and ineffective power consumption caused by repeated obstacle-crossing attempts, and significantly improves the reliability and efficiency of the cleaning equipment in achieving autonomous cleaning in complex terrain environments throughout the house.

[0118] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0119] Figure 4 This is a flowchart illustrating an obstacle-crossing control method for a cleaning device provided in an embodiment of this application. Figure 4 As shown, the obstacle crossing control method for cleaning equipment is applied to... Figure 1 and Figure 2 The cleaning equipment shown; the obstacle crossing control method of the cleaning equipment includes the following steps:

[0120] S401. In response to the recognition that a multi-tiered obstacle meets the obstacle crossing conditions, control the cleaning equipment to move toward the multi-tiered obstacle.

[0121] In this embodiment, during the cleaning process, the sensors on the cleaning equipment detect and identify obstacles on the cleaning path in real time. When an obstacle is detected, the controller can analyze it to determine whether it is a multi-stage obstacle.

[0122] Multi-step obstacles are those consisting of two or more consecutive steps, with differences in height and width between each step, requiring cleaning equipment to traverse each step sequentially to pass through the obstacle completely. Examples include two-step transitions between a balcony and a living room, steps with varying heights inside and outside an entrance door, steps connecting stairs to the ground in a duplex, multiple steps between a sunken living room and the surrounding ground, and stepped thresholds between a bathroom and a dressing area.

[0123] Specifically, the controller can determine whether an obstacle is a multi-tiered obstacle by identifying its distribution pattern and contour features. For example, taking a threshold as an example, if the detected obstacle has only one height change surface, that is, only one transition surface between the clean surface and the top surface of the obstacle, then the obstacle is determined to be a single-tiered obstacle; conversely, if the detected obstacle has two or more consecutive height change surfaces, then the obstacle is determined to be a multi-tiered obstacle. As another example, taking a step as an example, if only one step-like structure is detected, then the currently detected obstacle is determined to be a single-tiered obstacle; conversely, if two or more consecutive step-like structures with a certain height difference are detected, then the currently detected obstacle is determined to be a multi-tiered obstacle.

[0124] Based on the identification of multi-tiered obstacles, to further determine whether to initiate an obstacle-crossing operation, the controller can acquire relevant parameters for each tier of the multi-tiered obstacle, including but not limited to the height, width, slope, and distance between each tier and the cleaning equipment. Furthermore, by analyzing the acquired parameters for each tier, it determines whether the multi-tiered obstacle meets preset obstacle-crossing conditions. These conditions can be preset based on the obstacle-crossing capability of the cleaning equipment; for example, the height of each tier may not exceed a certain threshold, or the width of each tier may exceed a certain threshold. These conditions are not specifically limited.

[0125] When all parameters of each stage in a multi-stage obstacle meet the preset obstacle-crossing conditions, it is determined that the obstacle-crossing operation can be performed, and the control command of the cleaning equipment is triggered to control the cleaning equipment to move towards the multi-stage obstacle.

[0126] During the movement of the cleaning equipment towards the multi-tiered obstacle course, the controller continuously acquires and detects data on the obstacle course and the surrounding environment. If changes in the obstacle data are detected (such as a sudden increase in step height or the appearance of new obstacles), causing the obstacle-crossing conditions to no longer be met, the controller can immediately interrupt the movement control command, control the drive wheels to stop moving and adjust the direction of travel to avoid malfunctions such as getting stuck or tipping over, thus ensuring the safe operation of the cleaning equipment.

[0127] S402. For each step of a multi-step obstacle, after the cleaning equipment has moved to at least partially overlap with the current step of the multi-step obstacle and the obstacle-crossing wheel has overlapped with the current step, the drive wheel is controlled to move forward so as to use the support generated by the obstacle-crossing wheel overlapping with the current step to allow the cleaning equipment to cross the current step and allow at least partially of the cleaning equipment to overlap with the next step of the multi-step obstacle.

[0128] Multi-level obstacles are composed of several consecutive single-level obstacles stacked on top of each other, with each level possessing the structural characteristics of a single-level obstacle. Before initiating obstacle crossing, the controller uses the acquired parameters such as the total number of levels of the multi-level obstacles, the height and width of each level, and executes the crossing operation for each level sequentially from the lowest to the highest level.

[0129] When the cleaning equipment is preparing to cross the first step of a multi-tiered obstacle, it is positioned on the clean surface but not yet in a connected state. Therefore, the controller needs to slowly move the drive wheels to gradually bring the cleaning equipment closer to the first step, ensuring that at least part of the equipment's body is connected to the first step, forming initial support and positioning to prevent the equipment from sliding or deviating during subsequent obstacle crossing.

[0130] Simultaneously, the controller sends control commands to the drive motor of the obstacle-crossing mechanism. The drive motor rotates in a preset direction, causing the obstacle-crossing wheel legs to swing until the obstacle-crossing wheel at the end of the wheel leg engages with the first step. At this point, the reaction force generated by the obstacle-crossing wheel leg engaging with the current step forms a stable supporting force. This supporting force, combined with the leverage effect of the obstacle-crossing wheel leg, provides sufficient leverage points for the drive wheel, effectively counteracting the tilting torque caused by the shift in the center of gravity when the cleaning equipment moves, preventing the machine from tilting forward, tipping over, or getting stuck on obstacles.

[0131] At this point, the cleaning equipment has completed its preparations for crossing the first obstacle. The obstacle-crossing maneuvers for each subsequent obstacle are performed in the same manner.

[0132] Specifically, for each step of a multi-tiered obstacle course, the obstacle-crossing actions that the cleaning equipment needs to perform include: sending a travel command to the drive mechanism of the drive wheels, controlling the drive wheels to move, and driving the cleaning equipment to move in the direction of crossing the obstacle.

[0133] Driven by the driving force of the drive wheels, the body of the cleaning equipment is gradually lifted and moves smoothly upward along the current step's facade, thus crossing the current step.

[0134] As the cleaning equipment traverses the current step, the controller uses sensors to monitor the machine's posture, the contact status of the obstacle-crossing wheels, and its relative position to the next step in real time. Simultaneously, it fine-tunes the speed of the drive wheels and the support angle of the obstacle-crossing wheels to ensure smooth and controllable obstacle-crossing. At the same time, it also uses sensors to monitor the position of the obstacle-crossing wheels in real time to prevent stalling or excessive swaying. When the controller detects that the cleaning equipment has at least partially contacted the next step of a multi-step obstacle and that the contact pressure between the obstacle-crossing wheels and the first step is below a preset threshold, it determines that the obstacle crossing for the current step is complete.

[0135] During the above process, if the sensor detects abnormal overlap of the obstacle-crossing wheel legs, deviation of the machine body attitude exceeding the preset range, or changes in the parameters of the next step that cause the obstacle-crossing conditions to be unmet, the controller will immediately interrupt the drive wheel movement command, control the equipment to stop moving, and adjust the attitude of the obstacle-crossing wheel legs and the position of the equipment. After returning to a stable state, the obstacle-crossing operation will continue to be performed, avoiding damage to the equipment due to mechanical impact or uneven force, while reducing ineffective power consumption, and further improving the reliability and efficiency of the cleaning equipment in overcoming obstacles.

[0136] S403. In response to the cleaning device crossing the current step and at least part of the cleaning device engaging the next step, the next step is updated to the new current step, and the steps of engaging the obstacle-crossing wheel legs and driving the drive wheels are repeated until the cleaning device crosses all steps of the multi-step obstacle.

[0137] In this embodiment, after the cleaning device successfully crosses the current step, at least part of its structure will connect with the next step. At this time, the controller determines that the obstacle crossing operation of the current step has been completed. Based on this, the controller updates the next step to the new current step, and repeats the above obstacle crossing action when at least part of the cleaning device is connected with the next step of the multi-step obstacle. That is, it repeats the steps of controlling the drive wheel to contact the current step and controlling the drive wheel to move to achieve obstacle crossing, until the controller detects that the cleaning device has completely crossed all steps or the body has completely left the multi-step obstacle range. At this time, the cycle stops and the normal cleaning and traveling state is restored.

[0138] The obstacle-crossing control method for cleaning equipment provided in this embodiment only executes obstacle-crossing actions when the obstacle-crossing conditions are met. This avoids mechanical impact and uneven structural stress caused by repeated obstacle-crossing attempts, effectively reducing the risk of equipment damage and minimizing ineffective power consumption, thus extending battery life. Furthermore, by decomposing multi-stage obstacle crossing into multiple single-stage obstacle-crossing sub-tasks, and ensuring that the cleaning equipment at least partially engages with the current stage before each stage to prepare for obstacle crossing, the method utilizes the support provided by the obstacle-crossing wheels engaging with the current stage, combined with the drive wheels, to achieve a smooth, step-by-step crossing. This enhances the obstacle-crossing capability of the cleaning equipment, enabling it to successfully traverse multi-level step-like obstacles that cannot be reached in a single attempt, increasing the cleaning coverage area in complex home environments. Simultaneously, by monitoring the machine's attitude and obstacle-crossing status in real time, the method promptly interrupts and adjusts the process in abnormal situations, further improving the reliability and safety of the obstacle-crossing process and enhancing the autonomous operation capability and user experience of the cleaning equipment in complex home environments.

[0139] Next, the obstacle-crossing control process of the cleaning equipment will be described in further detail. It should be noted that the following description is merely an exemplary implementation of the technical solution of this application and does not constitute a limitation on the technical solution of this application.

[0140] In this embodiment, after a multi-tiered obstacle is detected, the obstacle crossing operation is not triggered directly. Instead, the system further determines whether the multi-tiered obstacle meets the preset obstacle crossing conditions. Only when the determination result is met will the subsequent obstacle crossing process be executed, so as to avoid equipment failure or obstacle crossing failure due to the obstacle exceeding the device's obstacle crossing capability.

[0141] In one optional embodiment, the specific judgment process for obstacle crossing conditions may include: when a multi-tiered obstacle is detected, acquiring the height and width information of each tier in the multi-tiered obstacle; wherein each tier includes a side surface and an upper surface connected to the top edge of the side surface; the width information is the width of the upper surface along the traveling direction of the cleaning equipment, and the height information is the vertical distance between the bottom and top of the side surface of the current tier; when the height information is less than the vertical distance between the rolling axis of the omnidirectional wheel and the cleaning surface, and the width information is greater than a first preset width threshold and less than a second preset width threshold, it is determined that the obstacle crossing condition is met; wherein the first obstacle crossing position is the position where the obstacle crossing wheel leg swings to the point where the obstacle crossing wheel contacts the cleaning surface and the drive wheel is lifted away from the cleaning surface; the first preset width threshold and the second preset width threshold are both determined according to the structural parameters of the cleaning equipment.

[0142] Specifically, upon detecting a multi-tiered obstacle, the controller acquires relevant parameters of the obstacle. This acquisition can be based on detection information from the initial detection of the multi-tiered obstacle; that is, directly utilizing sensor data collected by the cleaning equipment during obstacle detection to extract and determine parameters related to the obstacle and obstacle clearance, eliminating the need for re-detection and reducing computation and response time. Alternatively, after confirming the obstacle is multi-tiered, re-detection can be performed. This involves the cleaning equipment actively adjusting sensor posture, position, or detection mode to perform a second or more refined scan and perception of the multi-tiered obstacle to obtain more accurate and comprehensive parameters.

[0143] It should be clarified that the multi-stage obstacle in this embodiment can be understood as multiple connected single-stage obstacles, each of which has a defined upper surface and a side surface. The side surface is a vertical surface that is perpendicular (or approximately perpendicular) to the clean surface (or the upper surface of the previous stage, hereinafter collectively referred to as the clean surface), and the upper surface is a plane that is parallel (or approximately parallel) to the clean surface.

[0144] Based on this, the relevant parameters obtained for each level include height and width information. Figure 5 A schematic diagram illustrating the relevant parameters provided in the embodiments of this application. See also... Figure 5In the diagram, parts a and b define the obstacle crossing conditions. Height information refers to the vertical distance between the side surface of the current step and the clean surface, i.e., the vertical height of the obstacle from the clean surface to its top surface. This height directly determines whether the cleaning equipment can be lifted and crossed using its obstacle-crossing legs. Width information refers to the width of the top surface of the current step along the direction of travel of the cleaning equipment. This width determines the stability of the cleaning equipment when it is attached to the obstacle. If the width is too narrow, the equipment may become unstable and tip over. After obtaining the height and width information, the controller compares these two parameters with preset judgment criteria to determine the obstacle-crossing conditions.

[0145] For each step, the specific judgment logic is as follows: when the height information of the current step is less than the vertical distance between the rolling axis of the universal wheel and the cleaning surface when the obstacle-crossing wheel leg of the cleaning equipment is in the first obstacle-crossing position, and the width information of the current step is greater than the first preset width threshold and less than the second preset width threshold, the controller determines that the current step meets the obstacle-crossing condition. This continues until all steps meet the obstacle-crossing condition, at which point the multi-step obstacle is determined to meet the obstacle-crossing condition. Conversely, if any step does not meet the condition, the multi-step obstacle is determined not to meet the obstacle-crossing condition. In this case, the controller will control the cleaning equipment to bypass the multi-step obstacle and continue to perform other cleaning operations.

[0146] To further explain, the casters are located at the front end of the cleaning equipment, and the rolling axis of the casters is the axis of rotation when the casters are in contact with the cleaning surface and rotating. During normal cleaning operations, this rolling axis is parallel to the horizontal plane of the cleaning surface, and the cleaning equipment is in a horizontal position. When the obstacle-crossing wheels are in the first obstacle-crossing position, the cleaning equipment is in a front-end raised position. At this time, the vertical distance between the rolling axis of the casters and the cleaning surface can be used to determine the maximum obstacle-crossing height of the cleaning equipment. By limiting the height of the obstacle within this range, it is possible to determine whether the cleaning equipment has the conditions to attach to the target obstacle, that is, whether it can successfully cross the obstacle.

[0147] It also needs to be explained that the first obstacle-crossing position is the position where the obstacle-crossing wheel leg swings to the point where the end of the obstacle-crossing wheel contacts the clean surface, and the drive wheel is lifted off the clean surface. In other words, the criteria for determining the first obstacle-crossing position are: the obstacle-crossing wheel at the end of the obstacle-crossing wheel leg is in complete contact with the clean surface and can provide stable support, while the drive wheel under the chassis of the cleaning equipment is completely lifted off the clean surface. At this time, the support point of the cleaning equipment changes from the drive wheel to the obstacle-crossing wheel, and the front end of the cleaning equipment changes from a horizontal posture to a raised posture, reducing the risk of collision when the front end of the equipment contacts the obstacle, and providing greater spatial freedom for subsequent obstacle-crossing actions.

[0148] It should be noted that the specific angle and position parameters of the first obstacle-crossing position can be preset based on hardware parameters such as the chassis height and obstacle-crossing wheel length of the cleaning equipment, and stored in the controller's storage module to ensure that each swing action accurately reaches the preset position. Of course, this first obstacle-crossing position can also be set in real time based on the parameter information of each step in a multi-tiered obstacle. For example, it can be set to ensure that the front of the equipment is higher than the height of each step. This allows for dynamic adjustment of the swing amplitude of the obstacle-crossing wheel according to the actual height of different steps, avoiding excessive lifting of the drive wheels due to an excessively high preset position, which would increase energy consumption, or collision between the front of the equipment and the obstacle due to an excessively low preset position. This ensures obstacle-crossing reliability while improving energy efficiency and further reducing the risk of equipment damage.

[0149] Furthermore, both the first and second preset width thresholds can be fixed values ​​or flexibly determined based on the structural parameters of different cleaning equipment. For example, both the first and second preset width thresholds can be determined based on the structural parameters of the cleaning equipment, specifically by combining the equipment's body length (distance between the front and rear of the body), drive wheel diameter (or radius), and the support range of the obstacle-crossing legs. The first preset width threshold is less than the second preset width threshold; that is, the first preset width threshold is the minimum width at which the cleaning equipment can achieve a stable overlap. If the width information is less than this threshold, it means that the current step's surface cannot provide sufficient overlap support area for the equipment, and the equipment is prone to side-slipping during overlap. The second preset width threshold is the maximum width that the cleaning equipment can successfully cross. If the width information is greater than this threshold, it means that the current step width is too large, and the equipment needs to travel too far on the step, making it impossible to directly overlap onto the next step's surface after overcoming the obstacle, thus preventing continuous obstacle crossing and causing obstacle crossing failure. Therefore, the obstacle crossing requirement in the width direction is only satisfied when the width information of each step is greater than the first preset width threshold and less than the second preset width threshold.

[0150] For example, taking a cleaning device with a body width of 350mm as an example, the first preset width threshold can be set to half the body width plus the diameter of the drive wheel (e.g., 175mm plus the diameter of the drive wheel of 10mm), and the second preset width threshold can be set to the entire body width (i.e., 350mm). When the width information of a certain step is greater than the first preset width threshold (e.g., 175mm plus the diameter of the drive wheel of 10mm) and less than the second preset width threshold (e.g., less than 350mm), it is determined that the step meets the obstacle crossing requirements in the width direction.

[0151] Through the above implementation method, after detecting a multi-tiered obstacle, the obstacle-crossing operation is not directly triggered. Instead, the height and width information of the obstacle are combined to make a conditional judgment, and the obstacle-crossing process is only executed when preset conditions are met. This effectively avoids equipment failure or obstacle-crossing failure caused by obstacles exceeding the equipment's obstacle-crossing capability. Furthermore, during the judgment process, the obstacle height is compared with the vertical distance from the omnidirectional wheel's rolling axis to the clean surface to ensure that the obstacle-crossing wheels can effectively raise the machine body, avoiding insufficient support due to excessively high obstacles. Simultaneously, the obstacle width is compared with a first preset width threshold and a second preset width to ensure sufficient support area when the equipment overlaps. This prevents tipping or slipping due to obstacles that are too narrow, and avoids the equipment having to travel too far on the steps due to excessively wide obstacles, making it unable to directly overlap onto the next step surface after overcoming the obstacle, thus preventing continuous obstacle-crossing and resulting in obstacle-crossing failure. In addition, the first and second preset width thresholds are determined comprehensively based on the equipment's structural parameters, making the obstacle crossing judgment more in line with the equipment's physical characteristics, further improving the accuracy and adaptability of the judgment. This reduces the risk of equipment damage while ensuring the success rate of obstacle crossing, and enhances the autonomous operation capability and user experience of the cleaning equipment in complex terrain.

[0152] When a multi-tiered obstacle is determined to meet the obstacle-crossing conditions, the controller randomly controls the cleaning equipment to move towards the multi-tiered obstacle. One possible implementation of the movement control may include: in response to the identified multi-tiered obstacle meeting the obstacle-crossing conditions, controlling the obstacle-crossing wheels to swing from an initial position to a first obstacle-crossing position; wherein the initial position is the position where the obstacle-crossing wheels are retracted into the chassis of the cleaning equipment; controlling the obstacle-crossing wheels to drive the cleaning equipment towards the multi-tiered obstacle.

[0153] Specifically, when all parameters of the multi-stage obstacle meet the preset obstacle crossing conditions, it is determined that the obstacle crossing operation can be performed, and the swing control command of the obstacle crossing wheel is triggered.

[0154] Before the swing control command is triggered, the obstacle-crossing legs are in their initial position. This initial position is the position where the obstacle-crossing legs are retracted into the chassis of the cleaning equipment. At this time, the obstacle-crossing legs are not in contact with the cleaning surface; the cleaning equipment relies solely on the drive wheels under the chassis for movement and cleaning operations, ensuring that the obstacle-crossing legs do not interfere with normal operation. When the controller issues the swing control command, it activates the drive mechanism of the obstacle-crossing legs, causing them to swing from their initial position toward the cleaning surface around their hinge point.

[0155] During the swinging of the obstacle-crossing wheel leg, the controller can collect the swing angle of the obstacle-crossing wheel leg and the position information of the obstacle-crossing wheel in real time through the position sensor. When the obstacle-crossing wheel leg is detected to have swung to the first obstacle-crossing position, the controller immediately controls the drive mechanism to stop, completing the position switching of the obstacle-crossing wheel leg.

[0156] After confirming that the obstacle-crossing wheel leg is stably in the first obstacle-crossing position, the controller can immediately send a movement control command to the drive mechanism of the obstacle-crossing wheel leg to control the rotation of the obstacle-crossing wheel, thereby driving the entire cleaning equipment to move slowly toward the multi-stage obstacle.

[0157] At this point, the cleaning equipment is entirely supported by the obstacle-crossing wheels, while the drive wheels and casters are lifted off the cleaning surface to avoid contact between the drive wheels and casters and the cleaning surface, thus preventing additional resistance. At the same time, the rolling characteristics of the obstacle-crossing wheels are utilized to ensure smooth movement of the equipment.

[0158] During movement, the controller also monitors the relative distance between the cleaning equipment and the multi-stage obstacles in real time through sensors, and controls the movement speed of the obstacle-crossing wheels to keep it at a preset low speed to avoid collisions between the equipment and obstacles due to excessive speed. At the same time, it detects the posture of the obstacle-crossing wheels in real time. If the obstacle-crossing wheels are detected to be detached from the cleaning surface or the posture is deviated, the drive motor speed is immediately fine-tuned and the position of the obstacle-crossing wheels is adjusted to ensure the stability of the equipment's movement posture.

[0159] Through the above implementation method, after the obstacle-crossing conditions are met, the cleaning equipment swings its obstacle-crossing wheel legs from the initial position retracted into the chassis to the first obstacle-crossing position where the obstacle-crossing wheel contacts the cleaning surface and the drive wheel is lifted away from the cleaning surface. This raises the front end of the equipment to reduce the risk of collision with obstacles, and utilizes the rolling characteristics of the obstacle-crossing wheel to drive the equipment to move smoothly towards multi-stage obstacles. This allows for support point switching and attitude adjustment before obstacle crossing, effectively avoiding additional resistance generated by the drive wheel contacting the cleaning surface. At the same time, by monitoring the attitude and speed of the obstacle-crossing wheel in real time, the stability, safety, and energy efficiency of the obstacle-crossing process are further improved.

[0160] In the process described above, the controller then triggers a swing control command for the obstacle-crossing wheel leg to perform a swing operation from the initial position to the first obstacle-crossing position. An optional implementation may include: controlling the obstacle-crossing wheel leg to rotate along a first preset direction by a first preset angle so that the obstacle-crossing wheel leg moves from the initial position to the first obstacle-crossing position; wherein, the first preset direction is the direction in which the obstacle-crossing wheel leg swings from the initial position toward the front of the cleaning equipment.

[0161] Specifically, the controller sends a steering control command to the drive mechanism of the obstacle-crossing wheel legs, controlling the obstacle-crossing wheel legs to rotate along a first preset direction. The first preset direction is the direction in which the obstacle-crossing wheel legs swing from their initial position toward the front (outside) of the cleaning equipment. This direction is consistent with the direction in which the cleaning equipment moves toward the multi-tiered obstacle, ensuring that the obstacle-crossing wheel legs can support the cleaning equipment after swinging, thus preparing for subsequent obstacle-crossing movement and overlapping support.

[0162] After determining the swing direction, the controller further sends an angle control command to control the obstacle-crossing wheel legs to rotate along the first preset direction by a first preset angle. Here, the first preset angle can be a pre-calibrated fixed angle value, and its calibration process needs to be determined in conjunction with the hardware structural parameters of the cleaning equipment. Specifically, it can be based on factors such as the length of the obstacle-crossing wheel legs, the relative posture between the initial position and the first obstacle-crossing position, the height of the cleaning equipment chassis, and the installation position of the drive wheels. For example, if the length of the obstacle-crossing wheel legs is 15cm, and the obstacle-crossing wheel legs are at 0° to the chassis plane in the initial position (fully retracted), the first obstacle-crossing position requires the obstacle-crossing wheel to contact the cleaning surface and the drive wheel to lift off the cleaning surface. After calibration, the first preset angle can be set to 60° to ensure that after the obstacle-crossing wheel legs rotate by this angle, they can accurately reach the first obstacle-crossing position.

[0163] Furthermore, the first preset angle can be adjusted in real time based on the parameter information of the first stage. Specifically, after acquiring the height information of the first stage, the controller, combined with the current chassis height of the cleaning equipment, the length of the obstacle-crossing wheel legs, and other hardware parameters, calculates the required first preset angle in real time through a preset geometric relationship model. This ensures that after the obstacle-crossing wheel legs swing, the end of the obstacle-crossing wheel just contacts the cleaning surface, while the drive wheel is lifted away from the cleaning surface. For example, when the height of the first stage is low, the first preset angle can be appropriately reduced to avoid the drive wheel being lifted too high, which would increase energy consumption; when the height of the first stage is high, the first preset angle is increased accordingly to ensure that the front part of the cleaning equipment can be fully lifted, leaving enough space for subsequent crossing actions. In this way, the swing amplitude of the obstacle-crossing wheel legs can be dynamically adjusted according to the actual height of different obstacles, improving energy utilization efficiency while ensuring obstacle-crossing reliability and further reducing the risk of equipment damage.

[0164] During the rotation of the obstacle-crossing leg, the controller can collect the actual rotation angle of the obstacle-crossing leg in real time through the position sensor and compare the actual angle with the first preset angle in real time. When the actual rotation angle of the obstacle-crossing leg is detected to reach the first preset angle, the controller immediately sends a stop command to the drive mechanism to control the obstacle-crossing leg to stop rotating. At this time, the obstacle-crossing leg has just reached the first obstacle-crossing position from the initial position, that is, the obstacle-crossing wheel at the end of the obstacle-crossing leg is in full contact with the cleaning surface and provides stable support. The drive wheel of the cleaning equipment is simultaneously lifted off the cleaning surface, completing the swing operation, which prepares for the movement and overlap of the obstacle-crossing leg in the subsequent steps. In addition, in order to avoid angular deviation during rotation, the controller will also adjust the output power of the drive mechanism in real time to ensure that the rotation speed of the obstacle-crossing leg is stable and reduce the vibration of the machine body.

[0165] Figure 6 This is a schematic diagram illustrating the swing of the obstacle-crossing wheel leg to the first obstacle-crossing position, as provided in an embodiment of this application. Figure 6As shown, before swinging, the obstacle-crossing wheel is in its initial position, completely retracted inside the cleaning equipment chassis. The obstacle-crossing wheel is not in contact with the cleaning surface, and the drive wheel is supported on the cleaning surface. The arrow in the diagram indicates the first preset direction, which is the direction in which the obstacle-crossing wheel swings forward from its initial position, consistent with the direction the cleaning equipment travels towards the multi-tiered obstacle. After swinging, the obstacle-crossing wheel is in the first obstacle-crossing position. At this point, the obstacle-crossing wheel rotates a first preset angle along the first preset direction, and its end wheel fully contacts the cleaning surface, providing stable support. The drive wheel of the cleaning equipment is simultaneously lifted away from the cleaning surface.

[0166] In the above embodiments, by adopting an angle control mode, the controller precisely controls the obstacle-crossing wheel legs to rotate along a first preset direction and a first preset angle, ensuring that the obstacle-crossing wheel accurately contacts the clean surface and provides stable support. At the same time, the drive wheel is lifted away from the clean surface, and the front end of the equipment is fully raised to provide space for the subsequent movement and overlap of the obstacle-crossing wheel legs. The first preset angle can be a pre-calibrated fixed value to ensure the repeatability and consistency of the swing, or it can be adjusted in real time according to the height of the first step to adapt to different scenarios. This ensures the reliability of obstacle crossing while avoiding excessive lifting of the drive wheel, which would increase energy consumption. In addition, through real-time feedback from the position sensor and adjustment of the output power of the drive mechanism, angle deviation and machine vibration can be avoided, improving the stability and control accuracy of the swing process, thereby improving the reliability, adaptability, and operational stability of the obstacle-crossing operation.

[0167] After confirming that the obstacle-crossing wheel is stably in the first obstacle-crossing position, one alternative implementation of controlling the cleaning equipment to move toward the multi-step obstacle may include: controlling the obstacle-crossing wheel to move the cleaning equipment toward the multi-step obstacle until at least part of the cleaning equipment is in contact with the current step of the multi-step obstacle, controlling the drive wheel to swing downward relative to the chassis of the cleaning equipment to contact the cleaning surface, and controlling the obstacle-crossing wheel to continue swinging until it is in contact with the current step.

[0168] At this point, the cleaning equipment is still on the cleaning surface, meaning it is about to cross the first step, which is currently the first step. Specifically, the controller sends a movement control command to the drive mechanism of the obstacle-crossing wheel legs, controlling the obstacle-crossing wheels to rotate, thereby driving the entire cleaning equipment to slowly move towards the multi-step obstacle.

[0169] During the movement, the controller receives distance information and obstacle-crossing wheel posture information from the sensors in real time, and dynamically adjusts the speed and direction of the obstacle-crossing wheels to avoid collision between the cleaning equipment and the first step, while ensuring that the movement trajectory of the cleaning equipment is precisely aligned with the position of the first step, thus preparing for subsequent overlapping actions.

[0170] As the cleaning equipment moves toward the first step, the controller continuously monitors the contact state between the cleaning equipment and the first step using sensors to determine whether the cleaning equipment has met the overlap condition of at least partially overlapping the first step. In this embodiment, the specific criteria for determining the overlap condition can be preset according to actual conditions. For example, it can be set that the overlap requirement is met when the edge of the cleaning equipment's chassis contacts the top of the first step and the contact pressure reaches a preset threshold, or when the front part of the cleaning equipment covers the top surface of the first step and maintains a stable posture. At this time, the controller can immediately control the obstacle-crossing wheels to stop rotating, so that the cleaning equipment maintains the current overlap state.

[0171] Once the cleaning equipment is stably mounted on the first step, the controller issues a drive wheel reset control command, causing the drive wheels to swing downwards relative to the chassis of the cleaning equipment. During the swinging process, the position sensor can collect the position information of the drive wheels in real time. When it detects that the drive wheels are fully in contact with the cleaning surface and can provide stable support, the controller controls the drive components to stop moving, completing the reset of the drive wheels.

[0172] Through the above implementation method, the support point of the cleaning equipment is changed from a single obstacle-crossing wheel to a joint support from both the obstacle-crossing wheel and the drive wheel, ensuring the stability of the cleaning equipment at the obstacle junction. Furthermore, during the process, the drive wheel regains traction after the equipment has partially crossed the obstacle, avoiding power loss due to slippage and thus improving the utilization rate of driving force during obstacle crossing.

[0173] In the above embodiments, an alternative embodiment in which the obstacle-crossing wheels are controlled to move the cleaning equipment toward the multi-step obstacle until at least a portion of the cleaning equipment is in contact with the current step, and the drive wheels are controlled to swing downward relative to the chassis of the cleaning equipment to contact the cleaning surface, may include: controlling the obstacle-crossing wheels to move toward the multi-step obstacle to move the cleaning equipment toward the multi-step obstacle; during the movement, periodically detecting the horizontal distance between the omnidirectional wheels of the cleaning equipment and the edge of the upper surface of the current step near the cleaning equipment; when the horizontal distance is less than or equal to a preset distance threshold, determining that at least a portion of the cleaning equipment is in contact with the current step; in response to the determination, controlling the drive wheels to swing downward relative to the chassis of the cleaning equipment until the drive wheels contact the cleaning surface.

[0174] In this embodiment, after the controller sends a travel control command to the drive mechanism of the obstacle-crossing wheel legs, the obstacle-crossing wheel legs can be controlled to move towards the first step. Furthermore, since the obstacle-crossing wheel legs are currently in the first obstacle-crossing position and stably supporting the cleaning equipment, the rotation of the obstacle-crossing wheels will directly drive the entire cleaning equipment to move synchronously towards the first step.

[0175] Optionally, during the movement, the controller can adjust the speed of the obstacle-crossing wheels in real time to maintain a low and stable speed, avoiding collisions between the cleaning equipment and obstacles due to excessive speed. At the same time, it ensures that the trajectory of the cleaning equipment remains perpendicular to the side surface of the first step, ensuring the stability of subsequent overlaps.

[0176] Externally, during movement, the system periodically detects the horizontal distance between the omnidirectional wheels of the cleaning equipment and the edge of the first-step upper surface closest to the cleaning equipment. Here, the horizontal distance refers to the horizontal projected distance between the center of the omnidirectional wheels and the edge of the first-step upper surface closest to the cleaning equipment. This distance directly reflects the relative position of the cleaning equipment and the obstacle, and is the basis for determining whether an overlap has been completed. For example, the detection cycle can be preset according to the travel speed, such as once every 100ms, to ensure timely capture of distance changes and avoid missing the overlap determination point.

[0177] During this process, the controller will also compare each detected horizontal distance with a preset distance threshold in real time. The preset distance threshold can be a fixed value pre-calibrated based on the structural parameters of the cleaning equipment (such as the installation position of the casters and the width of the front of the chassis).

[0178] Optionally, when the controller detects that the horizontal distance is less than or equal to the threshold, the front end or chassis edge of the cleaning device has extended to the upper surface of the first step, thus satisfying the condition that at least part of the cleaning device is engaged with the first step. At this time, the controller can determine that at least part of the cleaning device is engaged with the first step and stop the obstacle-crossing wheel drive, so that the cleaning device maintains its current engaged posture.

[0179] Figure 7 This is a schematic diagram showing the cleaning equipment provided in an embodiment of this application attached to the first stage. (See diagram below.) Figure 7 As shown, the front end of the cleaning equipment has been connected to the first step. At this point, the cleaning equipment is in a stable connected position, ready for the subsequent drive wheels to cross the obstacle.

[0180] At this point, the cleaning equipment has completed its preparations for crossing the first step. Furthermore, after crossing the first step, its front end will directly engage with the second step, and subsequent obstacle-crossing actions will commence. Therefore, the obstacle-crossing actions of the cleaning equipment after engaging with the second step are consistent for each step. In the subsequent implementation description, "current step" can refer to the first step of a multi-step obstacle course, or any other step; there is no limitation on this. Correspondingly, when the current step is the first step, the cleaning surface refers to the original clean surface (such as the ground) corresponding to the cleaning equipment before crossing the obstacle; when the current step is another step (such as the second step, third step, etc.), the cleaning surface refers to the upper surface of the previous step, which is also a clean surface in the multi-step obstacle course, and the cleaning equipment prepares for and executes its actions for crossing the next step on this clean surface.

[0181] Based on the above, for each step of the multi-stage obstacle (including the first step or any other step, usually the current step), the controller responds to the determination result and sends a downward swing command to the drive component of the drive wheel, controlling the drive wheel to swing downward relative to the chassis of the cleaning equipment. During the swing, the position sensor collects the position information of the drive wheel in real time. When it detects that the drive wheel is in full contact with the cleaning surface and the contact pressure reaches the preset support threshold and can provide stable support, the controller controls the drive component to stop moving, completing the swing operation of the drive wheel.

[0182] As an alternative implementation, the machine body is equipped with a limiting structure to restrict the swing stroke. During the downward swing of the drive wheel, when the drive wheel support moves to contact the limiting structure, the motor enters a stall state. At this time, the change in motor current can be detected to determine whether the drive wheel has swung to the correct position. Alternatively, when the support swings to the position of the limiting structure, it triggers mechanical or electrical components such as limit switches, which can also achieve position detection.

[0183] It should be noted that, based on the above technical ideas, those skilled in the art can derive various specific implementation methods, and this embodiment does not limit such methods.

[0184] At this point, the cleaning equipment is supported by both the obstacle-crossing wheels and the drive wheels, providing a stable foundation for the obstacle-crossing actions in subsequent steps.

[0185] In the above implementation, when the cleaning equipment is on the first step, after the obstacle-crossing wheel legs stably support the cleaning equipment, it is controlled to move towards the first step at a low speed and smoothly. The horizontal distance between the omnidirectional wheel and the edge of the upper surface of the first step is periodically detected. When the distance is less than or equal to a preset threshold, it is determined that the cleaning equipment has partially overlapped with the first step. Then, the drive wheel is controlled to swing downwards to contact the cleaning surface, thereby realizing a smooth transition of the cleaning equipment from single-point support by the obstacle-crossing wheel to joint support by the obstacle-crossing wheel and the drive wheel. In addition, this scheme ensures the accuracy and timeliness of the overlap determination by real-time distance detection and threshold comparison, avoiding the problem of equipment instability due to insufficient overlap or premature reset of the drive wheel due to premature overlap. At the same time, after the drive wheel resets, it forms a stable support structure with the obstacle-crossing wheel, providing a reliable foundation for subsequent obstacle-crossing actions, effectively improving the stability, reliability and safety of the obstacle-crossing process.

[0186] In each implementation of the obstacle-crossing action, an optional implementation of controlling the drive wheel to swing downward relative to the chassis of the cleaning equipment may include: controlling the drive wheel to swing downward relative to the chassis of the cleaning equipment, and simultaneously controlling the obstacle-crossing wheel leg to swing along a first preset direction to a second obstacle-crossing position, so that under the coordinated swinging action of the drive wheel and the obstacle-crossing wheel leg, the body of the cleaning equipment is moved forward a preset distance, so that the cleaning equipment is more stably attached to the current step; wherein, the second obstacle-crossing position is the position where the obstacle-crossing wheel leg continues to swing along the first preset direction from the first obstacle-crossing position until its swing is restricted by the mechanical structure and enters a stall state.

[0187] In this embodiment, the second obstacle-crossing position is specifically defined as the position where the obstacle-crossing wheel leg continues to swing in the first preset direction from the first obstacle-crossing position until its swing is restricted by the mechanical structure of the cleaning equipment, thus entering a stall state. The mechanical structure restriction here refers to the obstacle-crossing wheel leg swing limiting structure preset inside the chassis of the cleaning equipment. This structure is used to limit the maximum swing angle of the obstacle-crossing wheel leg, preventing excessive swinging and damage to the mechanism. The stall state means that the drive mechanism of the obstacle-crossing wheel leg still outputs driving force, but due to the obstruction of the mechanical limit, the obstacle-crossing wheel leg cannot continue to rotate. At this time, the current of the drive mechanism will increase significantly. The controller can determine whether the obstacle-crossing wheel leg has entered a stall state by detecting the change in the current of the drive mechanism, thereby confirming that it has reached the second obstacle-crossing position.

[0188] It should be noted that after the obstacle-crossing leg enters the second obstacle-crossing position, the controller can release or reset the stall threshold. The reason for setting the stall threshold when the obstacle-crossing leg reaches the second obstacle-crossing position is to ensure that the drive mechanism stops promptly after the obstacle-crossing leg engages with the current step's side surface and generates sufficient support force. This prevents the obstacle-crossing leg from continuing to swing and exceeding the predetermined position, ensuring that the obstacle-crossing leg can stably remain in the second obstacle-crossing position, providing reliable support and thrust for the cleaning equipment and preventing support failure or equipment attitude loss due to excessive swinging. However, after the obstacle-crossing leg completes its support task for the current step, when it needs to swing back from the second obstacle-crossing position to the initial position, if the stall threshold remains unchanged, the drive mechanism may misinterpret slight resistance during the swing as stalling and stop prematurely, preventing the obstacle-crossing leg from successfully resetting. Therefore, the controller needs to release or reset the stall threshold so that the drive mechanism can overcome normal resistance during the swing and smoothly complete the resetting action. This ensures that the obstacle-crossing legs can accurately position and remain stable during the support phase, and can smoothly reset during the return phase, thereby improving the reliability and control precision of the obstacle-crossing leg movements and ensuring the continuity and stability of the cleaning equipment during multi-stage obstacle crossing.

[0189] Specifically, during control, the controller simultaneously sends two sets of control commands. One set of commands controls the drive wheels to slowly swing downwards relative to the chassis, gradually approaching the cleaning surface; the other set of commands controls the obstacle-crossing legs to continue swinging along a first preset direction, propelling the cleaning equipment body forward. During the coordinated swinging process, the controller can collect the swing position of the drive wheels, the swing angle of the obstacle-crossing legs, and the current information of the drive mechanism in real time, dynamically adjusting the swing speed of both to ensure the synchronicity of the coordinated actions. That is, while the drive wheels swing downwards to provide support, the swinging of the obstacle-crossing legs drives the body forward, gradually increasing the overlap area of ​​the cleaning equipment.

[0190] When the controller detects a stall current characteristic in the drive mechanism of the obstacle-crossing wheel leg, such as the current value reaching a preset stall threshold and lasting for a preset duration, it determines that the obstacle-crossing wheel leg has reached the second obstacle-crossing position and immediately controls the drive mechanism of the obstacle-crossing wheel leg to stop outputting driving force, maintaining the stable state of the obstacle-crossing wheel leg in the second obstacle-crossing position.

[0191] Figure 8 This is a schematic diagram illustrating the swing of the obstacle-crossing wheel leg to the second obstacle-crossing position, as provided in an embodiment of this application. Figure 8 As shown, before the swing, the obstacle-crossing wheel is in the first obstacle-crossing position. After the drive wheel completes its downward swing, the drive wheel contacts the cleaning surface, and the obstacle-crossing wheel is in the second obstacle-crossing position to provide stable support. With the combined effect of both, the cleaning equipment body has moved forward a preset distance. At this point, the front or middle part of the cleaning equipment chassis has stably connected to the current step, improving connection stability and fully preparing for the subsequent obstacle-crossing wheel to connect with the obstacle and for the drive wheel to move across it.

[0192] The above-described implementation determines the second obstacle-crossing position by detecting the stall current characteristics of the obstacle-crossing wheel drive mechanism, ensuring maximum utilization of the swing amplitude without damaging the mechanical structure. At the same time, the synchronous cooperation between the drive wheel and the obstacle-crossing wheel effectively increases the overlap area and improves the overlap stability, preventing the equipment from tilting or slipping during subsequent obstacle crossing due to insufficient overlap. This provides a more reliable support foundation for the obstacle-crossing wheel to overlap the obstacle and for the drive wheel to travel across it, further improving the stability and success rate of obstacle crossing operations.

[0193] After the drive wheel swings to contact the cleaning surface and the cleaning device more stably attaches to the current step, the controller further controls the obstacle-crossing wheel legs to continue swinging until they attach to the current step. Optionally, one possible implementation of the obstacle-crossing wheel leg swinging may include: controlling the obstacle-crossing wheel legs to continue swinging along a first preset direction, causing them to swing from a second obstacle-crossing position back to the initial position; controlling the drive wheel to move until the drive wheel touches the current step; and responding to the drive wheel touching the current step by controlling the obstacle-crossing wheel legs to swing along the first preset direction until the obstacle-crossing wheel legs attach to the current step.

[0194] Specifically, the controller sends a reverse swing command to the drive mechanism of the obstacle-crossing wheel leg, controlling the obstacle-crossing wheel leg to continue swinging along the first preset direction from the second obstacle-crossing position. In this way, by maintaining the continuity of the wheel leg swing, there is no need to adjust its posture after the drive wheel swings down to make room for the wheel leg to swing, thereby simplifying the control logic, shortening the execution time of the action sequence, and improving the overall efficiency and response speed of the obstacle-crossing action.

[0195] Since the obstacle-crossing wheel leg swings continuously along the first preset direction, its motion trajectory is circular. Therefore, by continuing to swing along the first preset direction from the second obstacle-crossing position, the obstacle-crossing wheel leg can complete a full circular motion around its rotation axis and finally return to the initial position. Here, the initial position is still the position where the obstacle-crossing wheel leg is when it is retracted into the chassis of the cleaning equipment. Controlling the obstacle-crossing wheel leg to return to the initial position can release its mechanical limit constraint at the second obstacle-crossing position, leaving enough swing space for subsequent swinging and overlapping of the current step, while avoiding interference between the obstacle-crossing wheel leg and the drive wheel in the current position.

[0196] Once the obstacle-crossing leg reaches its initial position, the controller stops the drive mechanism of the obstacle-crossing leg and then sends a travel command to the drive component of the drive wheel, controlling the drive wheel to travel forward and driving the entire cleaning equipment to continue moving towards the current step, while maintaining a low and stable travel speed to avoid violent collisions with obstacles.

[0197] During the movement of the cleaning equipment driven by the drive wheel, the controller uses pressure sensors or contact sensors to detect the contact state between the drive wheel and the current step in real time, determining whether the drive wheel is against the current step. When the drive wheel reaches the point of contact with the current step and the contact pressure reaches a preset contact threshold, the controller determines that the drive wheel has stably contacted the current step. Since the increased friction after contact leads to an increase in current, an increase in the current of the drive motor of the drive wheel can also indicate that the drive wheel has contacted a single-step obstacle. It should be noted that those skilled in the art can derive various specific implementation methods based on the above technical concept, and this embodiment does not limit such implementations.

[0198] At this point, immediately stop the drive wheels to keep the cleaning equipment in its current stable position and prevent the drive wheels from continuing to move, which could cause the equipment to deviate from its intended position.

[0199] In response to the determination result that the drive wheel is against the current step, the controller sends a swing command to the drive mechanism of the obstacle-crossing wheel leg again, controlling the obstacle-crossing wheel leg to swing along the first preset direction.

[0200] When the controller detects that the end of the obstacle-crossing wheel leg (or the obstacle-crossing wheel) is in contact with the edge of the current step and the contact pressure reaches a preset support threshold, it determines that the obstacle-crossing wheel leg has stably connected to the current step and immediately controls the drive mechanism of the obstacle-crossing wheel leg to stop moving, completing the entire swing connection operation. It should be understood that in this embodiment, the operation of determining whether the obstacle-crossing wheel leg has connected to the obstacle can be achieved by detecting an increase in the current of the drive motor, and this embodiment does not limit this to this method.

[0201] At this point, the cleaning equipment is in a stable state with the drive wheel abutting against the current step and the obstacle-crossing wheel legs engaging with the current step, preparing for subsequent control of the drive wheel's movement and using the support to cross obstacles.

[0202] Figure 9 This is a schematic diagram of the obstacle-crossing wheel legs swinging to their initial position, as provided in an embodiment of this application. Figure 1 .like Figure 9 As shown, the obstacle-crossing wheel leg is in the second obstacle-crossing position before swinging. Based on this, the obstacle-crossing wheel leg is controlled to continue swinging in the first preset direction indicated by the arrow in the figure, so that the cleaning equipment, after passing the initial position, attaches to the current step.

[0203] The above implementation method achieves the reset and precise re-engagement of the obstacle-crossing wheel legs through step-by-step control, avoiding interference between the obstacle-crossing wheel legs and the driving wheel at the second obstacle-crossing position. At the same time, the contact sensor detects the engagement status in real time, ensuring that both the driving wheel and the obstacle-crossing wheel legs can stably contact the obstacle, providing a reliable support foundation for the subsequent driving wheel to cross the obstacle, and effectively improving the stability, reliability and safety of the obstacle-crossing process.

[0204] Based on the above implementation, another optional implementation may be included in the process of controlling the obstacle-crossing wheel leg to swing to the initial position: controlling the obstacle-crossing wheel leg to swing to the initial position along a second preset direction; wherein the second preset direction is opposite to the first preset direction; controlling the drive wheel to move until the drive wheel touches the current step; in response to the drive wheel touching the current step, controlling the obstacle-crossing wheel leg to swing along a first preset direction until the obstacle-crossing wheel leg engages the current step.

[0205] Specifically, the controller sends a direction control command to the drive mechanism of the obstacle-crossing leg, controlling the obstacle-crossing leg to swing along a second preset direction until it is fully returned to its initial position. Here, the second preset direction is explicitly defined as the direction opposite to the first preset direction. In the aforementioned embodiment, the first preset direction is clearly defined as the direction in which the obstacle-crossing leg swings from its initial position towards the front of the cleaning device. Therefore, the second preset direction is the direction in which the obstacle-crossing leg swings back from its current second obstacle-crossing position to the front (outer side) of the cleaning device. This direction setting allows the leg to complete its forward swinging motion in the external space of the device, effectively avoiding or reducing the space occupied by the internal structure of the device. In other words, there is no need to reserve excessive mechanical movement space inside the device chassis for the entire working trajectory of the leg, thus facilitating a compact and miniaturized design of the overall device structure. While ensuring obstacle-crossing capability, it optimizes the product's industrial design, reduces the complexity of the internal layout, and may free up valuable internal space to accommodate larger batteries or other functional modules.

[0206] During the obstacle-crossing wheel leg swinging and resetting in the second preset direction, the controller also collects the actual swing angle in real time through the angle sensor and compares it with the initial position calibrated angle. At the same time, it detects the distance between the wheel leg and the internal structure of the chassis to avoid collision or jamming. When the actual angle is detected to be consistent with the calibrated angle and the obstacle-crossing wheel is completely retracted into the chassis and no longer in contact with the clean surface, the reset is determined to be complete and the drive mechanism is stopped.

[0207] Figure 10 This is a schematic diagram of the obstacle-crossing wheel legs swinging to their initial position, as provided in an embodiment of this application. Figure 2 .like Figure 10 As shown, the obstacle-crossing wheel leg is in the second obstacle-crossing position before swinging. Based on this, the obstacle-crossing wheel leg is controlled to continue swinging in the second preset direction indicated by the arrow in the figure, so that the cleaning equipment is attached to the current step.

[0208] After confirming that the obstacle-crossing wheel leg has been stably in the initial position, the controller controls the drive wheel to move forward, to stop, and to control the obstacle-crossing wheel leg to swing. The specific control process can be referred to the description of the aforementioned implementation method, and will not be repeated here.

[0209] The above-described implementation eliminates the need for excessive mechanical movement space within the chassis for the entire working trajectory of the wheel legs. This facilitates a more compact and miniaturized overall equipment design, optimizes industrial design, reduces internal layout complexity, and potentially frees up valuable internal space to accommodate larger batteries or other functional modules while ensuring obstacle-crossing capability. Furthermore, the use of angle sensors for control and collision detection during the reset process ensures the accuracy and safety of the reset action, providing a reliable foundation for subsequent drive wheel movement and obstacle-crossing wheel leg re-swing and engagement, further enhancing the stability and efficiency of obstacle-crossing operations.

[0210] In the process of controlling the obstacle-crossing wheel leg to swing to the initial position along the second preset direction, an optional implementation may include: controlling the obstacle-crossing wheel leg to attempt to swing to the initial position along the second preset direction; if the obstacle-crossing wheel leg fails to swing to the initial position due to obstruction, controlling the obstacle-crossing wheel leg to swing to the first obstacle-crossing position to provide swing space for the obstacle-crossing wheel leg to swing back to the initial position; using the swing space, controlling the obstacle-crossing wheel leg to continue swinging to the initial position along the second preset direction.

[0211] Figure 11 This is a schematic diagram of the obstacle-crossing wheel legs swinging to their initial position, as provided in an embodiment of this application. Figure 3 .like Figure 11 As shown, specifically, the controller issues a control command to drive the obstacle-crossing wheel legs to swing in the second preset direction, attempting to directly return to the preset initial position, that is, to the retracted position where the obstacle-crossing wheel legs are completely stored inside the chassis of the cleaning equipment.

[0212] Throughout the entire process of the obstacle-crossing wheel attempting to swing and reset, the controller monitors the swing stroke, drive motor operating current, and motion obstruction status of the obstacle-crossing wheel in real time through angle sensors and mechanical limit detection structures. When the controller detects that the obstacle-crossing wheel is blocked by foreign objects, interference from the machine structure, or ground protrusions, resulting in jamming, inability to reach the required stroke, sudden increase in motor current causing stall, and failure to swing smoothly to the initial position, the controller determines that the direct reset has failed, i.e., the obstacle-crossing wheel swing is obstructed and cannot reach the initial position.

[0213] In response to the above judgment result, the controller immediately switches the control logic, suspends the current retraction action, and re-controls the obstacle-crossing wheel leg to swing in the opposite direction, causing it to swing back to the first obstacle-crossing position for attitude avoidance. Here, the first obstacle-crossing position allows the obstacle-crossing wheel at the end of the obstacle-crossing wheel leg to support itself on the clean surface and the drive wheel to lift off the ground, thereby changing the overall attitude and ground clearance of the obstacle-crossing wheel leg, avoiding the original interference and obstruction area, and freeing up sufficient swinging avoidance space and movement margin for the subsequent retraction action of the obstacle-crossing wheel leg.

[0214] After the obstacle-crossing wheel leg smoothly arrives at and maintains the preset posture at the first obstacle-crossing position, the controller issues a swing command again. Utilizing the existing avoidance swing space, the controller re-controls the obstacle-crossing wheel leg to continue swinging smoothly along the second preset direction, avoiding previous interference obstacles, until the obstacle-crossing wheel leg is successfully retracted into place and accurately reaches the initial position, completing the fault avoidance reset action of the obstacle-crossing wheel leg, ensuring that the subsequent obstacle-crossing process can be executed normally.

[0215] In the above implementation, when the controller attempts to control the obstacle-crossing wheel leg to swing directly to the initial position along the second preset direction, if it detects that the obstacle-crossing wheel leg is obstructed by factors such as foreign objects, structural interference, or ground protrusions and fails to reach the position, the control logic is switched in a timely manner. The obstacle-crossing wheel leg is then controlled to swing back to the first obstacle-crossing position. Utilizing the change in posture where the obstacle-crossing wheel is supported on the clean surface and the drive wheel is lifted off the ground, the original interference area is avoided and sufficient swinging space is created. Subsequently, the obstacle-crossing wheel leg is controlled to continue swinging along the second preset direction to the initial position. In addition, the above scheme also achieves autonomous identification and dynamic adjustment of reset obstruction faults by real-time monitoring of swing stroke, motor current, and obstruction status. This effectively avoids overload of the drive mechanism or equipment damage caused by mechanical jamming. At the same time, using the first obstacle-crossing position as an intermediate avoidance posture provides additional movement margin for the obstacle-crossing wheel leg, ensuring the reliability and success rate of the reset action. This improves the robustness and environmental adaptability of the obstacle-crossing wheel leg control system and ensures the continuity and stability of the overall obstacle-crossing process.

[0216] During the implementation of the above method, when the obstacle-crossing wheel leg overlaps the current step, the obstacle-crossing wheel at the end of the obstacle-crossing wheel leg contacts the upper surface of the current step. When the drive wheel abuts against the current step, the drive wheel contacts the side surface of the current step.

[0217] Specifically, when the obstacle-crossing wheel retraction controller controls the swing to achieve contact with the current step, the end of the obstacle-crossing wheel (or its obstacle-crossing wheel) can contact the upper surface of the current step. Under normal circumstances, the upper surface of the current step is a flat support surface parallel to the cleaning surface. Therefore, after the end of the wheel contacts its upper surface, it can obtain a stable load-bearing fulcrum and sufficient contact area, which can provide reliable support for the lifting of the cleaning equipment body, attitude adjustment and obstacle crossing process, avoiding the slippage and force offset problems that are prone to occur when the obstacle-crossing wheel contacts the vertical surface.

[0218] When the drive wheel moves with the cleaning equipment and comes into contact with the current step, the outer circumferential surface of the drive wheel makes contact with the side surface of the current step. Since the side surface of the current step is a vertical structure, the drive wheel's contact with this side surface can provide lateral restraint and stop on the movement of the cleaning equipment, preventing the equipment from moving forward and keeping the overall position of the machine at a fixed reference.

[0219] The above-described implementation method, through the partitioned contact and cooperation of the obstacle-crossing wheel contacting the upper surface of the obstacle and the drive wheel abutting the side surface of the obstacle, enables the cleaning equipment to simultaneously form vertical support and lateral restraint during the obstacle-crossing preparation stage. The overall force state of the machine is reasonable and the posture is not easy to tilt or deviate, providing a reliable mechanical basis for the subsequent drive wheel to cross the obstacle.

[0220] Based on the above implementation method, the cleaning equipment provided in this embodiment includes two drive wheels and two obstacle-crossing wheel legs, which are symmetrically arranged on both sides of the chassis of the cleaning equipment.

[0221] Based on this, when controlling the drive wheels to travel over the current step, one alternative implementation may include: simultaneously controlling the travel of two drive wheels to utilize the support generated by the two obstacle-crossing wheel legs engaging with the current step to allow the cleaning equipment to cross the current step; controlling the obstacle-crossing wheel legs to swing back to the initial position; and in response to the obstacle-crossing wheel legs being in the initial position, controlling the drive wheels to continue traveling until the drive wheels approach the next step, and at least partially engaging the cleaning equipment with the next step of the multi-step obstacle.

[0222] After confirming that the obstacle-crossing wheels at the ends of the obstacle-crossing wheel legs on both sides are stably in contact with the upper surface of the current step and that both drive wheels are abutting against the side surface of the current step, the controller issues a synchronous travel control command to enable the two drive wheels to synchronously cross the current step.

[0223] Figure 12 This is a schematic diagram of synchronous obstacle crossing provided in this embodiment. Figure 12 As shown, the controller controls the left and right drive wheels to rotate in the same direction at the same speed, keeping the obstacle-crossing wheel legs in a synchronized support posture. This ensures that the cleaning equipment maintains a straight-line trajectory while crossing obstacles until both drive wheels have completely passed the current step. Furthermore, the controller controls the drive wheels to move forward and stops when the drive wheels touch the next step, and when at least part of the cleaning equipment is in contact with the next step of the multi-step obstacle.

[0224] Regarding the driving method, this embodiment provides two optional implementation methods. In one implementation method, the two drive wheels can be synchronously controlled by the same drive motor. In this case, the controller sends a control command to the drive motor, and the output torque of the motor is synchronously transmitted to the left and right drive wheels through the mechanical transmission mechanism, so as to realize the driving of the two drive wheels with the same speed in the same direction and completely consistent, without the need for separate control, thus simplifying the control logic and hardware structure.

[0225] In another implementation, each drive wheel can be equipped with its own drive motor for independent control. In this case, the controller synchronously sends speed commands to the drive motors of the left and right drive wheels respectively, ensuring that the output speeds of the two motors are the same and their directions are consistent, thereby achieving synchronous driving of the two drive wheels. This method allows the controller to make independent fine adjustments to the speed of the two drive wheels when necessary, in order to cope with uneven ground or differences in the contact state with obstacles, thus improving the flexibility and adaptability of driving control.

[0226] Regardless of the driving method used, the controller ensures that the left and right drive wheels remain synchronized during travel by monitoring the speed feedback signal of the drive wheels in real time. This prevents the cleaning equipment from deflecting or becoming unstable due to speed differences, thus providing a smooth and reliable driving power foundation for the subsequent drive wheels to cross the current stage.

[0227] After both sides of the obstacle-crossing wheel legs and drive wheels have passed the current step, the controller will simultaneously issue an obstacle-crossing wheel leg retraction control command, controlling both sides of the obstacle-crossing wheel legs to swing along the second preset direction and gradually retract to the initial position, that is, the obstacle-crossing wheel legs are completely retracted into the storage position inside the chassis of the cleaning equipment.

[0228] When the controller detects that both obstacle-crossing wheel legs have been fully retracted to their initial positions and the obstacle-crossing wheels have completely disengaged from the current step and do not affect the machine's movement, it immediately responds to this state and issues a command to the drive wheels to continue moving. The drive wheels are controlled to maintain their original direction of travel, driving the cleaning equipment to continue moving forward until the drive wheels touch the next step and at least part of the cleaning equipment is in contact with the next step of the multi-step obstacle. At this point, the obstacle crossing of the current step is determined to be complete.

[0229] The above-described implementation maintains consistent travel speeds of the drive wheels on both sides, preventing equipment deflection or instability caused by speed differences and ensuring the cleaning equipment maintains a straight trajectory while crossing obstacles. Simultaneously, the stable support provided by the two obstacle-crossing legs allows the drive wheels to gain sufficient adhesion and propulsion, smoothly traversing the current obstacle and improving the smoothness, reliability, and efficiency of the obstacle-crossing process. Furthermore, timely retraction of the obstacle-crossing legs prevents interference, and the determination of the overlap state provides a stable initial posture for the next obstacle crossing, thereby improving the smoothness, continuity, and control precision of multi-stage obstacle crossing processes and effectively reducing the risk of equipment jamming or overturning.

[0230] Based on this, when controlling the drive wheel to travel over the current step, another alternative implementation may include: first controlling the drive wheel on the first side to travel until both the obstacle-crossing wheel leg and the drive wheel on the first side have crossed the current step, then controlling the drive wheel on the second side to travel so that both the obstacle-crossing wheel leg and the drive wheel on the second side have crossed the current step; controlling the obstacle-crossing wheel leg to swing back to the initial position; and in response to the obstacle-crossing wheel leg being in the initial position, controlling the drive wheel to continue traveling until the drive wheel comes into contact with the next step, and at least part of the cleaning equipment is engaged with the next step of the multi-step obstacle.

[0231] Specifically, the controller divides the drive wheels and obstacle-crossing legs of the cleaning equipment into two sets of structures, a first side and a second side, with each set of drive wheels and obstacle-crossing legs corresponding to each set.

[0232] Figure 13 This is a schematic diagram illustrating the step-by-step obstacle crossing method provided in this embodiment. (See diagram below.) Figure 13As shown, when obstacle crossing begins, the controller first issues a separate advance control command, controlling only the drive wheel on the first side to rotate and move independently, while the drive wheel on the second side remains stationary and locked. During the movement of the drive wheel on the first side, the contact support between the obstacle crossing wheel leg on that side and the upper surface of the current step forms a stable support for the first side of the fuselage. Combined with the traction force of the drive wheel on the first side, the obstacle crossing wheel leg on the first side and the drive wheel gradually cross the side and upper surfaces of the current step.

[0233] The controller continuously monitors the position, height off the ground, and contact force of the first obstacle-crossing wheel leg and drive wheel in real time through various sensors. When it detects that the first obstacle-crossing wheel leg has completely detached from the obstacle support position and the first drive wheel has smoothly traveled to the upper surface of the current step, i.e. the clean surface on the other side, it determines that the first side structure has completely crossed the current step, and then stops the movement of the first drive wheel and maintains attitude lock.

[0234] Once the first obstacle crossing is completed, the controller issues another advance command, independently controlling the drive wheel located on the second side to rotate and move forward. At this time, the obstacle crossing wheel leg and drive wheel on the first side, which have already completed the obstacle crossing, can provide stable support for the whole machine, preventing the machine from tilting or slipping. This then drives the obstacle crossing wheel leg and drive wheel on the second side to move forward slowly, repeating the obstacle crossing posture adjustment and position transition process, until the obstacle crossing wheel leg and drive wheel on the second side also smoothly cross the current step and land on the upper surface of the current step, which can also be called the cleaning surface of the next section.

[0235] When the controller detects that both obstacle-crossing wheel legs have been fully retracted to their initial positions and the obstacle-crossing wheels have completely disengaged from the current step and do not affect the machine's movement, it immediately responds to this state and issues a command to the drive wheels to continue moving. The drive wheels are controlled to maintain their original direction of travel, driving the cleaning equipment to continue moving forward until the drive wheels touch the next step and at least part of the cleaning equipment is in contact with the next step of the multi-step obstacle. At this point, the obstacle crossing of the current step is determined to be complete.

[0236] The above-described implementation, through phased and alternating movement and load-bearing support from both sides, enhances the stability and maneuverability of the cleaning equipment during obstacle crossing. It effectively adapts to obstacles of varying slopes and heights, such as steps, reducing the probability of tipping over due to center of gravity shift. Furthermore, timely retraction of the obstacle-crossing wheels prevents interference, and the determination of the overlap state provides a stable initial posture for the next obstacle crossing stage. This improves the smoothness, continuity, and control precision of multi-stage obstacle crossing processes, effectively reducing the risk of equipment jamming or tipping over.

[0237] In the above embodiments, if the current step is the last section, when the cleaning equipment crosses the current step, whether the double-sided drive wheels cross synchronously or cross separately, an optional embodiment after crossing also includes: controlling the drive wheels to swing upward relative to the chassis and retract to its cleaning working position.

[0238] Figure 14 This is a schematic diagram illustrating obstacle crossing as provided in an embodiment of this application. Specifically, see [link to specific details]. Figure 14 In response to the judgment that the body of the cleaning equipment has completely crossed the last step, after both sides of the obstacle crossing legs and drive wheels have crossed the last step, the controller will simultaneously issue an obstacle crossing leg retraction control command, controlling both sides of the obstacle crossing legs to swing along the second preset direction and gradually retract to the initial position, that is, the obstacle crossing legs are completely retracted into the storage position inside the chassis of the cleaning equipment.

[0239] In addition, the controller also issues drive wheel retraction control commands, controlling the two drive wheels to swing upward relative to the chassis of the cleaning equipment, gradually retracting them to their cleaning working position. This cleaning working position is where the drive wheels are in normal cleaning operations, at which point the drive wheels are in full contact with the cleaning surface, providing stable support for the cleaning equipment, while also adapting to the normal movement and cleaning posture.

[0240] During the recycling process, the controller monitors the swing position of the drive wheel in real time through the position sensor. When it detects that the drive wheel swings to the cleaning working position and the contact pressure reaches the preset threshold for normal cleaning, it controls the drive wheel to stop swinging and completes the recycling reset.

[0241] At this point, the cleaning equipment has completed the entire obstacle-crossing process, and both the obstacle-crossing legs and drive wheels have returned to their normal working positions. It can then immediately switch to the regular cleaning mode to continue the cleaning operation.

[0242] In this embodiment, by resetting the drive wheel, the machine body can quickly return to normal operating status, improving the continuity and reliability of the obstacle-crossing process.

[0243] During the obstacle crossing process of the aforementioned multi-tiered obstacles, after crossing a certain tier, the cleaning equipment can first control the obstacle crossing wheels to retract to the initial position and control the drive wheels to return to the normal working position, and then clean the surface. After cleaning is completed, it can continue to return to the obstacle crossing posture for obstacle crossing processing, so as to realize the alternating execution of obstacle crossing and cleaning operations, avoid missing the cleaning of the upper surface of the steps due to continuous obstacle crossing, thereby ensuring the continuity of obstacle crossing while improving the comprehensive cleaning coverage capability of the cleaning equipment, and meeting the user's operational needs for cleaning the surfaces of each tier of multi-tiered obstacles (such as stairs, steps, etc.).

[0244] Figure 15 This is a schematic diagram of the obstacle-crossing control device for the cleaning equipment provided in this application. Figure 15As shown, the obstacle crossing control device 150 for the cleaning equipment provided in this embodiment includes:

[0245] The equipment movement module 1501 is used to control the cleaning equipment to move toward the multi-level obstacle when the detected multi-level obstacle meets the obstacle crossing conditions.

[0246] The first obstacle-crossing module 1502 is used to control the drive wheel to move forward for each step of a multi-step obstacle after the cleaning equipment has moved to at least partially overlapped with the current step of the multi-step obstacle and after the obstacle-crossing wheel legs have overlapped with the current step, so as to use the support generated by the overlap of the obstacle-crossing wheel legs with the current step to enable the cleaning equipment to cross the current step and enable at least partially overlap the cleaning equipment with the next step of the multi-step obstacle.

[0247] The second obstacle-crossing module 1503 is used to update the next step to the new current step in response to the cleaning device crossing the current step and at least partially engaging the cleaning device with the next step, and to repeat the steps of engaging the obstacle-crossing wheel legs and driving the drive wheels until the cleaning device crosses all steps of the multi-step obstacle.

[0248] In one possible implementation, the device is also used for:

[0249] When a multi-level obstacle is detected, the height and width information of each level in the multi-level obstacle are obtained; each level includes a side surface and an upper surface connected to the top edge of the side surface; the width information is the width of the upper surface along the direction of travel of the cleaning equipment, and the height information is the vertical distance between the bottom and top of the side surface of the current level.

[0250] When the height information is less than the vertical distance between the rolling axis of the omnidirectional wheel and the cleaning surface when the obstacle-crossing wheel leg is in the first obstacle-crossing position, and the width information is greater than the first preset width threshold and less than the second preset width threshold, the obstacle-crossing condition is determined to be met; wherein, the first obstacle-crossing position is the position where the obstacle-crossing wheel leg swings to the point where the obstacle-crossing wheel at its end contacts the cleaning surface and the drive wheel is lifted away from the cleaning surface; the first preset width threshold and the second preset width threshold are both determined according to the structural parameters of the cleaning equipment.

[0251] In one possible implementation, the device moving module 1501 is specifically used for:

[0252] In response to the recognition of a multi-tiered obstacle that meets the obstacle crossing conditions, the obstacle crossing wheel legs are controlled to swing from the initial position to the first obstacle crossing position; wherein, the initial position is the position where the obstacle crossing wheel legs are retracted into the chassis of the cleaning equipment;

[0253] Control the obstacle-crossing wheels to move the cleaning equipment toward the multi-tiered obstacle.

[0254] In one possible implementation, the device moving module 1501 is specifically used for:

[0255] The obstacle-crossing wheel legs are controlled to rotate along a first preset direction and a first preset angle so that the obstacle-crossing wheel legs reach the first obstacle-crossing position from the initial position; wherein, the first preset direction is the direction in which the obstacle-crossing wheel legs swing from the initial position toward the front of the cleaning equipment.

[0256] In one possible implementation, the device moving module 1501 is specifically used for:

[0257] Control the obstacle-crossing wheel legs to move the cleaning equipment toward the multi-step obstacle until at least part of the cleaning equipment is in contact with the current step of the multi-step obstacle. Control the drive wheel to swing downward relative to the chassis of the cleaning equipment to contact the cleaning surface, and control the obstacle-crossing wheel legs to continue swinging until they are in contact with the current step.

[0258] In one possible implementation, the device moving module 1501 is specifically used for:

[0259] Control the obstacle-crossing wheel legs to move towards the multi-tiered obstacle, thereby propelling the cleaning equipment toward the multi-tiered obstacle;

[0260] During movement, the horizontal distance between the omnidirectional wheels of the cleaning equipment and the edge of the upper surface of the current step closest to the cleaning equipment is periodically checked;

[0261] When the horizontal distance is less than or equal to a preset distance threshold, it is determined that at least part of the cleaning equipment is in contact with the current step;

[0262] In response to the decision, the drive wheel is controlled to swing downward relative to the chassis of the cleaning equipment until the drive wheel contacts the cleaning surface.

[0263] In one possible implementation, the device moving module 1501 is specifically used for:

[0264] The drive wheel is controlled to swing downward relative to the chassis of the cleaning equipment, and the obstacle-crossing wheel is simultaneously controlled to swing along the first preset direction to the second obstacle-crossing position. Under the coordinated swinging action of the drive wheel and the obstacle-crossing wheel, the body of the cleaning equipment is moved forward a preset distance, so that the cleaning equipment can be more stably attached to the current step. The second obstacle-crossing position is the position where the obstacle-crossing wheel continues to swing along the first preset direction from the first obstacle-crossing position until its swing is restricted by the mechanical structure and enters a stall state.

[0265] In one possible implementation, the first obstacle-crossing module 1502 is specifically used for:

[0266] Control the obstacle-crossing wheel legs to continue swinging along the first preset direction, so that they swing from the second obstacle-crossing position back to the initial position;

[0267] Control the drive wheels to move until they touch the current step;

[0268] In response to the drive wheel abutting the current step, the obstacle-crossing wheel leg is controlled to swing along a first preset direction until the obstacle-crossing wheel leg engages the current step.

[0269] In one possible implementation, the first obstacle-crossing module 1502 is specifically used for:

[0270] Control the obstacle-crossing wheel legs to swing to the initial position along a second preset direction; wherein the second preset direction is opposite to the first preset direction;

[0271] Control the drive wheels to move until they touch the current step;

[0272] In response to the drive wheel abutting the current step, the obstacle-crossing wheel leg is controlled to swing along a first preset direction until the obstacle-crossing wheel leg engages the current step.

[0273] In one possible implementation, the first obstacle-crossing module 1502 is specifically used for:

[0274] Control the obstacle-crossing wheel legs to attempt to swing back to the initial position along the second preset direction;

[0275] If the obstacle-crossing wheel leg fails to swing to the initial position due to obstruction, control the obstacle-crossing wheel leg to swing to the first obstacle-crossing position to provide swing space for the obstacle-crossing wheel leg to swing back to the initial position;

[0276] Using the swing space, control the obstacle-crossing wheel legs to continue swinging along the second preset direction to the initial position.

[0277] In one possible implementation, when the obstacle-crossing wheel leg overlaps the current step, the obstacle-crossing wheel at the end of the obstacle-crossing wheel leg contacts the upper surface of the current step;

[0278] When the drive wheel abuts against the current step, the drive wheel comes into contact with the side surface of the current step.

[0279] In one possible implementation, the first obstacle-crossing module 1502 is specifically used for:

[0280] Controlling the drive wheels to travel in order to utilize the support provided by the overlap between the obstacle-crossing wheel legs and the current step, enabling the cleaning equipment to cross the current step and to at least partially overlap the cleaning equipment with the next step of a multi-step obstacle, including:

[0281] The two drive wheels are controlled synchronously to utilize the support generated by the two obstacle-crossing wheel legs overlapping with the current step, enabling the cleaning equipment to cross the current step;

[0282] Control the obstacle-crossing wheel legs to swing and retract to their initial position;

[0283] In response to the obstacle-crossing wheel legs being in the initial position, the drive wheel is controlled to continue moving until the drive wheel touches the next step and at least part of the cleaning equipment is engaged with the next step of the multi-step obstacle;

[0284] or,

[0285] First, control the drive wheel on the first side to move forward until both the obstacle-crossing wheel leg and the drive wheel on the first side have crossed the current step. Then, control the drive wheel on the second side to move forward so that both the obstacle-crossing wheel leg and the drive wheel on the second side have crossed the current step.

[0286] Control the obstacle-crossing wheel legs to swing and retract to their initial position;

[0287] In response to the obstacle-crossing wheel legs being in the initial position, the drive wheel is controlled to continue moving until the drive wheel touches the next step and at least part of the cleaning equipment is engaged with the next step of the multi-step obstacle.

[0288] In one possible implementation, if the current step is the last step of a multi-step obstacle, the device is also used for:

[0289] After both obstacle-crossing wheels and drive wheels have passed the current step, control the drive wheels to swing upward relative to the chassis and retract to their cleaning working position.

[0290] Figure 16 This is a schematic diagram of the controller provided in this application. Figure 16 As shown, the controller 160 provided in this embodiment includes at least one processor 1601 and a memory 1602. Optionally, the controller 160 further includes a communication component 1603. The processor 1601, memory 1602, and communication component 1603 are connected via a bus 1604.

[0291] In a specific implementation, at least one processor 1601 executes computer execution instructions stored in memory 1602, causing at least one processor 1601 to perform the above-described method.

[0292] The specific implementation process of processor 1601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0293] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0294] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0295] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0296] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0297] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0298] The aforementioned 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 storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0299] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from 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 reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0300] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0301] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0302] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0303] If a function is implemented as 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 this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0304] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0305] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for obstacle crossing control of cleaning equipment, characterized in that, The cleaning equipment includes casters, drive wheels, and obstacle-crossing wheel legs rotatably connected to the drive wheels; The method includes: When a multi-tiered obstacle is detected and meets the obstacle-crossing conditions, the cleaning device is controlled to move toward the multi-tiered obstacle. For each step of the multi-step obstacle, after the cleaning device moves to at least partially overlap the current step of the multi-step obstacle and the obstacle-crossing wheel legs overlap the current step, the drive wheel is controlled to move forward, so as to use the supporting effect generated by the overlap of the obstacle-crossing wheel legs with the current step to enable the cleaning device to cross the current step and enable at least partially overlap the cleaning device with the next step of the multi-step obstacle; In response to the cleaning device crossing the current step and at least partially engaging the next step, the next step is updated to the new current step, and the steps of engaging the obstacle-crossing wheel legs and moving the drive wheels are repeated until the cleaning device crosses all steps of the multi-step obstacle.

2. The method according to claim 1, characterized in that, The multi-tiered obstacle satisfies the obstacle-crossing conditions, including: When the multi-tiered obstacle is detected, the height and width information of at least one tier of the multi-tiered obstacle are obtained; wherein each tier includes a side surface and an upper surface connected to the top edge of the side surface; the width information is the width of the upper surface along the traveling direction of the cleaning device, and the height information is the vertical distance between the bottom and top of the side surface of the current tier; When the height information is less than the vertical distance between the rolling axis of the omnidirectional wheel and the cleaning surface when the obstacle-crossing wheel leg is in the first obstacle-crossing position, and when the width information is greater than a first preset width threshold and less than a second preset width threshold, the obstacle-crossing condition is determined to be met; wherein, the first obstacle-crossing position is the position where the obstacle-crossing wheel leg swings to the point where its end contacts the cleaning surface and the drive wheel is lifted away from the cleaning surface; the first preset width threshold and the second preset width threshold are both determined according to the structural parameters of the cleaning equipment.

3. The method according to claim 2, characterized in that, The step of controlling the cleaning device to move toward the multi-tiered obstacle when the identified multi-tiered obstacle meets the obstacle-crossing conditions includes: In response to the recognition of a multi-tiered obstacle that meets the obstacle crossing conditions, the obstacle crossing wheel is controlled to swing from the initial position to the first obstacle crossing position; wherein, the initial position is the position where the obstacle crossing wheel is retracted into the chassis of the cleaning equipment; The obstacle-crossing wheels are controlled to move the cleaning equipment toward the multi-tiered obstacle.

4. The method according to claim 3, characterized in that, The control of the obstacle-crossing wheel legs to swing from the initial position to the first obstacle-crossing position includes: The obstacle-crossing wheel is controlled to rotate along a first preset direction and a first preset angle so that the obstacle-crossing wheel moves from the initial position to the first obstacle-crossing position; wherein, the first preset direction is the direction in which the obstacle-crossing wheel swings from the initial position toward the front of the cleaning device.

5. The method according to claim 3, characterized in that, Controlling the cleaning equipment to move toward the multi-tiered obstacle includes: Control the obstacle-crossing wheel legs to move the cleaning device toward the multi-step obstacle until at least part of the cleaning device is in contact with the current step of the multi-step obstacle. Then, control the drive wheel to swing downward relative to the chassis of the cleaning device to contact the cleaning surface, and control the obstacle-crossing wheel legs to continue swinging until they are in contact with the current step.

6. The method according to claim 5, characterized in that, The step of controlling the obstacle-crossing wheels to move the cleaning equipment toward the multi-step obstacle until at least a portion of the cleaning equipment is in contact with the current step, and then controlling the drive wheels to swing downwards relative to the chassis of the cleaning equipment to contact the cleaning surface, includes: Control the obstacle-crossing wheels to move toward the multi-tiered obstacle, thereby driving the cleaning equipment to move toward the multi-tiered obstacle; During movement, the horizontal distance between the universal wheel of the cleaning device and the edge of the upper surface of the current step near the cleaning device is periodically detected; When the horizontal distance is less than or equal to a preset distance threshold, it is determined that at least a portion of the cleaning equipment is in contact with the current step; In response to the determination, the drive wheel is controlled to swing downward relative to the chassis of the cleaning device until the drive wheel contacts the cleaning surface.

7. The method according to claim 6, characterized in that, Controlling the drive wheel to swing downwards relative to the chassis of the cleaning equipment includes: The drive wheel is controlled to swing downward relative to the chassis of the cleaning equipment, and the obstacle-crossing wheel is simultaneously controlled to swing along a first preset direction to a second obstacle-crossing position. Under the coordinated swinging action of the drive wheel and the obstacle-crossing wheel, the body of the cleaning equipment is moved forward a preset distance, so that the cleaning equipment is more stably attached to the current step. The second obstacle-crossing position is the position where the obstacle-crossing wheel continues to swing along the first preset direction from the first obstacle-crossing position until its swing is restricted by the mechanical structure and enters a stall state.

8. The method according to claim 7, characterized in that, Controlling the obstacle-crossing wheel legs to continue swinging until they engage with the current step includes: Control the obstacle-crossing wheel legs to continue swinging along the first preset direction, so that they swing from the second obstacle-crossing position to the initial position; Control the drive wheels to move until the drive wheels come into contact with the current step; In response to the drive wheel abutting against the current step, the obstacle-crossing wheel leg is controlled to swing along the first preset direction until the obstacle-crossing wheel leg engages the current step.

9. The method according to claim 7, characterized in that, Controlling the obstacle-crossing wheel legs to continue swinging until they engage with the current step includes: The obstacle-crossing wheel legs are controlled to swing along a second preset direction to the initial position; wherein the second preset direction is opposite to the first preset direction; Control the drive wheels to move until the drive wheels come into contact with the current step; In response to the drive wheel abutting against the current step, the obstacle-crossing wheel leg is controlled to swing along the first preset direction until the obstacle-crossing wheel leg engages the current step.

10. The method according to claim 9, characterized in that, Controlling the obstacle-crossing wheel legs to swing along a second preset direction to the initial position includes: Control the obstacle-crossing wheel legs to attempt to swing to the initial position along the second preset direction; If the obstacle-crossing wheel leg fails to swing to the initial position due to obstruction, the obstacle-crossing wheel leg is controlled to swing to the first obstacle-crossing position to provide swing space for the obstacle-crossing wheel leg to swing back to the initial position; Using the swing space, the obstacle-crossing wheel legs are controlled to continue swinging along the second preset direction to the initial position.

11. The method according to claim 8 or 9, characterized in that, When the obstacle-crossing wheel leg engages with the current step, the obstacle-crossing wheel at the end of the obstacle-crossing wheel leg contacts the upper surface of the current step; When the drive wheel abuts against the current step, the drive wheel contacts the side surface of the current step.

12. The method according to claim 1, characterized in that, The drive wheel and the obstacle-crossing wheel legs each include two, which are symmetrically arranged on both sides of the chassis of the cleaning equipment; Controlling the drive wheels to travel, utilizing the support provided by the overlap between the obstacle-crossing wheel legs and the current step, to allow the cleaning equipment to cross the current step and to allow at least partial overlap of the cleaning equipment on the next step of the multi-step obstacle, includes: The two drive wheels are synchronously controlled to move forward, so as to use the support generated by the two obstacle-crossing wheel legs overlapping with the current step to enable the cleaning equipment to cross the current step; Control the obstacle-crossing wheel legs to swing and retract to their initial position; In response to the obstacle-crossing wheel being in the initial position, the drive wheel is controlled to continue moving until the drive wheel abuts the next step, and at least part of the cleaning device is engaged with the next step of the multi-step obstacle.

13. The method according to claim 1, characterized in that, The drive wheel and the obstacle-crossing wheel legs each include two, which are symmetrically arranged on both sides of the chassis of the cleaning equipment; Controlling the drive wheels to travel, utilizing the support provided by the overlap between the obstacle-crossing wheel legs and the current step, to allow the cleaning equipment to cross the current step and to allow at least partial overlap of the cleaning equipment on the next step of the multi-step obstacle, includes: First, control the drive wheel located on the first side to move forward until both the obstacle-crossing wheel leg and the drive wheel located on the first side have passed the current step. Then, control the drive wheel located on the second side to move forward so that both the obstacle-crossing wheel leg and the drive wheel located on the second side have passed the current step. Control the obstacle-crossing wheel legs to swing and retract to their initial position; In response to the obstacle-crossing wheel being in the initial position, the drive wheel is controlled to continue moving until the drive wheel abuts the next step, and at least part of the cleaning device is engaged with the next step of the multi-step obstacle.

14. The method according to claim 12 or 13, characterized in that, If the current step is the last step of the multi-step obstacle, after both the obstacle-crossing wheels and the drive wheels have crossed the current step, the method further includes: Control the drive wheel to swing upward relative to the chassis and retract it to its cleaning working position.

15. A cleaning device, characterized in that, include: The system includes a swivel wheel, a drive wheel, obstacle-crossing wheel legs rotatably connected to the drive wheel, and a controller. The obstacle-crossing wheel leg is rotatably connected to the drive wheel; The controller is used to perform the obstacle crossing control method for the cleaning equipment as described in any one of claims 1-14.

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