Cleaning robot wheel set trapped state identification method and walking system

Abstract

The present invention relates to a method for identifying a trapped state of a wheel set of a cleaning robot and a walking system, wherein the cleaning robot comprises a shell, a pair of driving wheels and a pair of driven wheels arranged below the shell of the cleaning robot, and is characterized in that the trapped state of the two driving wheels and the two driven wheels is identified in the following manner: a first laser distance sensor and a second laser distance sensor are respectively arranged on the two driving wheels or on the shells beside the two driving wheels, and a third laser distance sensor and a fourth laser distance sensor are respectively arranged on the two driven wheels or on the shells beside the two driven wheels; if the distance data collected by the laser distance sensor changes with time, rising from a certain value H1 to H2 and then falling to H3, it is judged that the corresponding driving wheel or the driven wheel has crossed an obstacle, otherwise it is judged that the corresponding driving wheel has not crossed the obstacle and is in a trapped state.

Description

Technical Field

[0001] The invention relates to a method for identifying a trapped state of a wheel set of a cleaning robot and a walking system of the cleaning robot using the identification method. Background Art

[0002] A cleaning robot (such as a cleaning robot, a mopping robot, or a sweeping and mopping robot) is a type of smart home appliance that can automatically clean the floor in a room with a certain degree of artificial intelligence. When a cleaning robot walks in a room, it will inevitably encounter obstacles. However, existing cleaning robots often fail to pass through high obstacles, and the main reason is that the walking system is not designed well enough.

[0003] In order to solve the problem of insufficient obstacle crossing ability of cleaning robots, existing technologies generally adopt the following methods: 1. Increasing the diameter of the driving wheel; however, the larger the wheel, the smaller the torque, and the method of increasing the diameter of the driving wheel will lead to poor power; 2. Increasing the power of the driving motor, but if the power of the driving motor is increased, the supporting circuit must also be upgraded, the battery life will be reduced, and the cost will also increase; 3. Using a driving wheel obstacle crossing spring structure, however, the driving wheel spring structure has poor obstacle crossing ability in actual operation. Summary of the invention

[0004] The first technical problem to be solved by the present invention is to provide a method for identifying the trapped state of a wheel group of a cleaning robot in view of the above-mentioned prior art.

[0005] The second technical problem to be solved by the present invention is that the cleaning robot is unable to make real-time feedback on the trapped scene and get out of the predicament when encountering obstacles during the cleaning process. A walking system for a cleaning robot is provided, which can obtain the trapped signals of different wheel groups of the cleaning robot in real time, and adaptively adjust the driving force of each wheel group of the sweeping robot according to different trapped signals to get out of the predicament.

[0006] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: a method for identifying the trapped state of a wheel set of a cleaning robot, wherein the cleaning robot comprises a shell, a pair of spaced driving wheels arranged at the middle and rear side below the shell of the cleaning robot, and a pair of spaced driven wheels arranged below the shell of the cleaning robot and located at the front side of the two driving wheels, characterized in that the trapped state of the two driving wheels and the two driven wheels is identified by the following method:

[0007] A first laser distance sensor and a second laser distance sensor are respectively arranged on the two driving wheels or on the housings beside the two driving wheels, and a third laser distance sensor and a fourth laser distance sensor are respectively arranged on the two driven wheels or on the housings beside the two driven wheels;

[0008] If the distance data collected by the first laser distance sensor changes with time, increases from a certain value H1 to H2 and then decreases to H3, it is judged that the corresponding driving wheel has crossed the obstacle, wherein H2 is greater than H3 and H2 is greater than H1; if the distance data collected by the first laser distance sensor changes with time, increases from a certain value H1 to H2 and then does not decrease, it is judged that the corresponding driving wheel has not crossed the obstacle and is in a trapped state; the method for judging whether the other driving wheel and the two driven wheels have crossed the obstacle is the same as the above judgment method.

[0009] As an improvement, by judging the trapped state of the two driving wheels and the two driven wheels, it is determined which of the following five trapped scenarios the cleaning robot is in, wherein the five trapped scenarios are:

[0010] The first trapped scenario: both driven wheels have crossed the obstacle, but both driving wheels have not crossed the obstacle;

[0011] The second trapped scenario: only one driven wheel passes over the obstacle, while the other driven wheel and the two driving wheels do not pass over the obstacle;

[0012] The third trapped scenario: only one driving wheel does not cross the obstacle, while the other driving wheel and two driven wheels all cross the obstacle;

[0013] The fourth trapped scenario: one driving wheel and one driven wheel pass over the obstacle, while the other driving wheel and the other driven wheel do not pass over the obstacle;

[0014] The fifth trapped scenario: both driving wheels and both driven wheels fail to cross the obstacle.

[0015] The technical solution adopted by the present invention to solve the above-mentioned second technical problem is: a walking system of a cleaning robot, including a pair of driving wheels arranged at intervals on the middle and rear side below the cleaning robot shell, a main driving mechanism arranged in the cleaning robot shell and capable of controlling the torque and rotation direction of the driving wheels, and a pair of driven wheels arranged at intervals below the cleaning robot shell and located in front of the two driving wheels, characterized in that it also includes a slave driving mechanism arranged in the cleaning robot shell and capable of controlling the torque and rotation direction of the driven wheels, a first laser distance sensor and a second laser distance sensor are respectively arranged on the two driving wheels or on the shells next to the two driving wheels, and a second laser distance sensor is respectively arranged on the two driven wheels or on the two driven wheels. A third laser distance sensor and a fourth laser distance sensor are arranged on a shell body next to each driven wheel, and a controller connected to the main driving mechanism, the slave driving mechanism, the first laser distance sensor, the second laser distance sensor, the third laser distance sensor and the fourth laser distance sensor is arranged. The controller can judge the trapped signal of the driving wheel or / and the driven wheel by the above-mentioned identification method according to the distance data detected by the first laser distance sensor, the second laser distance sensor, the third laser distance sensor and the fourth laser distance sensor, so as to control the working state of the main driving mechanism or / and the slave driving mechanism, thereby controlling the torque and rotation direction of the driving wheel or / and the driven wheel, and further helping the driving wheel or / and the driven wheel to get rid of the trapped state.

[0016] As an improvement, by judging the trapped state of the two driving wheels and the two driven wheels, it is determined which of the following five trapped scenarios the cleaning robot is in, and different escape strategies are adopted to try to escape until the cleaning robot is successfully escaped. The five trapped scenarios are:

[0017] The first trapped scenario: both driven wheels have crossed the obstacle, but both driving wheels have not crossed the obstacle;

[0018] The second trapped scenario: only one driven wheel passes over the obstacle, while the other driven wheel and the two driving wheels do not pass over the obstacle;

[0019] The third trapped scenario: only one driving wheel does not cross the obstacle, while the other driving wheel and two driven wheels all cross the obstacle;

[0020] The fourth trapped scenario: one driving wheel and one driven wheel pass over the obstacle, while the other driving wheel and the other driven wheel do not pass over the obstacle;

[0021] The fifth trapped scenario: both driving wheels and both driven wheels fail to cross the obstacle.

[0022] Further improvement, when the cleaning robot is in the first trapped scenario, it attempts to escape through any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five:

[0023] Escape strategy 1-1: The controller controls the main driving mechanism to increase the torque of the two driving wheels and make the rotation direction of the two driving wheels the same as the forward direction of the cleaning robot;

[0024] Escape strategy 1-2: The controller controls the main drive mechanism to increase the torque of the two driving wheels, and at the same time, the rotation direction of the two driving wheels forms a 60° oblique angle with the forward direction of the cleaning robot;

[0025] Escape strategy 1-3: The controller controls the main drive mechanism to increase the torque of the two driving wheels, and at the same time, the rotation direction of the two driving wheels forms a 45° angle with the forward direction of the cleaning robot;

[0026] Escape strategy 1-4: The controller controls the main drive mechanism to increase the torque of the two driving wheels, and at the same time, the rotation direction of the two driving wheels forms a -45° angle with the forward direction of the cleaning robot;

[0027] Escape strategy 1-5: The controller controls the main drive mechanism to increase the torque of the two driving wheels and at the same time make the rotation direction of the two driving wheels form an angle of -60° with the forward direction of the cleaning robot.

[0028] Further improvement, when the cleaning robot is in the second trapped scenario, it attempts to escape through any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five:

[0029] Escape strategy 2-1: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is the same as the vertical direction of the obstacle;

[0030] Escape strategy 2-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is at an angle of 60° to the vertical direction of the obstacle;

[0031] Escape strategy 2-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is at a 45° angle to the vertical direction of the obstacle;

[0032] Escape strategy 2-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is at an angle of -45° to the vertical direction of the obstacle;

[0033] Escape strategy 2-5: The controller controls the main drive mechanism and the slave drive mechanism to increase the torque of the two trapped driving wheels and the one trapped driven wheel at the same time, and at the same time, the rotation directions of the two trapped driving wheels and the one trapped driven wheel are at an angle of -60° to the vertical direction of the obstacle.

[0034] Further improvement, when the cleaning robot is in the third trapped scenario, it attempts to escape through any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five:

[0035] Escape strategy 3-1: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are the same as the vertical direction of the obstacle;

[0036] Escape strategy 3-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at an angle of 60° to the vertical direction of the obstacle;

[0037] Escape strategy 3-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at a 45° oblique angle to the vertical direction of the obstacle;

[0038] Escape strategy 3-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at an angle of -45° to the vertical direction of the obstacle;

[0039] Escape strategy 3-5: The controller controls the main drive mechanism and the slave drive mechanism to increase the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at an angle of -60° to the vertical direction of the obstacle.

[0040] Further improvement, when the cleaning robot is in the fourth trapped scenario, any one of the following five escape strategies or any combination of two or any combination of three or any combination of four or the following five are used to try to escape until the cleaning robot is successfully escaped:

[0041] Escape strategy 4-1: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are the same as the vertical direction of the obstacle;

[0042] Escape strategy 4-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are both at an angle of 60° to the vertical direction of the obstacle;

[0043] Escape strategy 4-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are both at a 45° oblique angle to the vertical direction of the obstacle;

[0044] Escape strategy 4-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are both at an angle of -45° to the vertical direction of the obstacle;

[0045] Escape strategy 4-5: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are both at an angle of -60° to the vertical direction of the obstacle.

[0046] Further improvement, when the cleaning robot is in the fifth trapped scenario, any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five are used to try to escape until the cleaning robot is successfully escaped:

[0047] Escape strategy 5-1, the controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels is the same as the forward direction of the cleaning robot;

[0048] Escape strategy 5-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels forms a 60° oblique angle with the forward direction of the cleaning robot;

[0049] Escape strategy 5-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels is at a 45° angle to the forward direction of the cleaning robot;

[0050] Escape strategy 5-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels forms an oblique angle of -45° with the forward direction of the cleaning robot;

[0051] Escape strategy 5-5: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation directions of the two driven wheels and the two driven wheels form an angle of -60° with the forward direction of the cleaning robot.

[0052] Further improvement, in different trapped scenarios, if five escape strategies are selected at the same time for escape attempts, the execution priority order of the five escape strategies is from front to back, that is, escape strategy 1-1, escape strategy 1-2, escape strategy 1-3, escape strategy 1-4, escape strategy 1-5 are executed in sequence, or escape strategy 2-1, escape strategy 2-2, escape strategy 2-3, escape strategy 2-4, escape strategy 2-5 are executed in sequence; or escape strategy 3-1, escape strategy 3-2, escape strategy 3-3, escape strategy 3-4, escape strategy 3-5 are executed in sequence; or escape strategy 4-1, escape strategy 4-2, escape strategy 4-3, escape strategy 4-4, escape strategy 4-5 are executed in sequence; or escape strategy 5-1, escape strategy 5-2, escape strategy 5-3, escape strategy 5-4, escape strategy 5-5 are executed in sequence.

[0053] As an improvement, each escape strategy lasts for 25 to 35 seconds. If the vehicle is still not escaped after all five escape strategies are executed, an alarm will be sounded.

[0054] As a further improvement, a counterweight is provided near the front side of the cleaning robot housing.

[0055] As a further improvement, the front side of the lower side of the cleaning robot housing is arranged as an inclined surface.

[0056] Compared with the prior art, the advantages of the present invention are: a slave drive mechanism is provided, and when the driving wheel and / or the driven wheel are trapped, the working state of the main drive mechanism and / or the slave drive mechanism is controlled, thereby controlling the torque and rotation direction of the driving wheel and / or the driven wheel, thereby helping the driving wheel and / or the driven wheel to get rid of the trapped state, and the design structure is more reasonable. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 Schematic diagram of the structure of the cleaning robot in an embodiment of the present invention.

[0058] Figure 2 FIG. 4 is a side view of a cleaning robot in another embodiment of the present invention.

[0059] Figure 3 Schematic diagram of the positional relationship between the two driving wheels and the two driven wheels and obstacles when the cleaning robot is in the first trapped scenario according to an embodiment of the present invention.

[0060] Figure 4 Schematic diagram of the positional relationship between the two driving wheels and the two driven wheels and obstacles when the cleaning robot is in the second trapped scenario in an embodiment of the present invention.

[0061] Figure 5 Schematic diagram of the positional relationship between the two driving wheels and the two driven wheels and obstacles when the cleaning robot is in the third trapped scenario in an embodiment of the present invention.

[0062] Figure 6 Schematic diagram of the positional relationship between the two driving wheels and the two driven wheels and obstacles when the cleaning robot is in the fourth trapped scenario in an embodiment of the present invention.

[0063] Figure 7 Schematic diagram of the positional relationship between the two driving wheels and the two driven wheels and obstacles when the cleaning robot is in the fifth trapped scenario according to an embodiment of the present invention. DETAILED DESCRIPTION

[0064] The present invention is further described in detail below with reference to the accompanying drawings.

[0065] like Figure 1 , 2The walking system of the cleaning robot shown in the figure comprises a pair of driving wheels 1 and 2 arranged at intervals on the middle and rear side below the cleaning robot housing 10, a main driving mechanism 5 arranged in the cleaning robot housing 10 and capable of controlling the torque and rotation direction of the driving wheels, a pair of driven wheels 3 and 4 arranged at intervals below the cleaning robot housing 10 and located in front of the two driving wheels 1 and 2, a slave driving mechanism 6 arranged in the cleaning robot housing 10 and capable of controlling the torque and rotation direction of the driven wheels, a first laser distance sensor 11 and a second laser distance sensor 12 respectively arranged on the two driving wheels 1 and 2, and a third laser distance sensor 13 and a fourth laser distance sensor respectively arranged on the two driven wheels 3 and 4. The cleaning robot comprises a sensor 14, and a controller 7 connected to the main driving mechanism 5, the slave driving mechanism 6, the first laser distance sensor 11, the second laser distance sensor 12, the third laser distance sensor 13 and the fourth laser distance sensor 14. The controller 7 can judge the trapped signals of the two driving wheels and the two driven wheels according to the distance signals detected by the first laser distance sensor 11, the second laser distance sensor 12, the third laser distance sensor 13 and the fourth laser distance sensor 14, and then control the working state of the main driving mechanism and the slave driving mechanism according to the trapped signals of the two driving wheels and the two driven wheels, thereby controlling the torque and rotation direction of the driving wheel and the driven wheel, and then helping the driving wheel or / and the driven wheel to get rid of the trapped state. A counterweight block 9 is provided near the front side in the cleaning robot housing 10, and the front side below the cleaning robot housing is set as an inclined surface 101.

[0066] If the distance data collected by the first laser distance sensor 11 changes with time, increases from a certain value H1 to H2 and then decreases to H3, it is judged that the corresponding driving wheel 1 has crossed the obstacle, wherein H2 is greater than H3 and H2 is greater than H1; if the distance data collected by the first laser distance sensor changes with time, increases from a certain value H1 to H2 and then does not decrease, it is judged that the corresponding driving wheel 1 has not crossed the obstacle and is in a trapped state; if the distance data collected by the second laser distance sensor 12 changes with time, increases from a certain value H1 to H2 and then decreases to H3, it is judged that the corresponding driving wheel 2 has crossed the obstacle, wherein H2 is greater than H3 and H2 is greater than H1; if the distance data collected by the second laser distance sensor 12 changes with time, increases from a certain value H1 to H2 and then does not decrease, it is judged that the corresponding driving wheel 2 has not crossed the obstacle and is in a trapped state; If the distance data collected by the third laser distance sensor 13 changes with time, increases from a certain value H1 to H2 and then decreases to H3, it is judged that the corresponding driven wheel 3 has crossed the obstacle, wherein H2 is greater than H3, and H2 is greater than H1; if the distance data collected by the third laser distance sensor 13 changes with time, increases from a certain value H1 to H2 and then does not decrease, it is judged that the corresponding driving wheel 3 has not crossed the obstacle and is in a trapped state; if the distance data collected by the third laser distance sensor 14 changes with time, increases from a certain value H1 to H2 and then decreases to H3, it is judged that the corresponding driven wheel 4 has crossed the obstacle, wherein H2 is greater than H3, and H2 is greater than H1; if the distance data collected by the third laser distance sensor 14 changes with time, increases from a certain value H1 to H2 and then does not decrease, it is judged that the corresponding driving wheel 4 has not crossed the obstacle and is in a trapped state.

[0067] Through the detection data of four laser distance sensors, it is possible to determine which of the following five trapped scenarios the cleaning robot is in, and then adopt different escape strategies to try to escape until the cleaning robot is successfully escaped; the five trapped scenarios are:

[0068] The first trapped scenario: Both driven wheels 3 and 4 have passed the obstacle 8, but both driving wheels 1 and 2 have not passed the obstacle. Figure 3 As shown;

[0069] The second trapped scenario: only one driven wheel 4 passes over the obstacle 8, while the other driven wheel 3 and the two driving wheels 1 and 2 do not pass over the obstacle. Figure 4 As shown;

[0070] The third trapped scenario: only one driving wheel 1 does not cross the obstacle 8, and the other driving wheel 2 and two driven wheels 3 and 4 all cross the obstacle, see Figure 5 As shown;

[0071] The fourth trapped scenario: one driving wheel 1 and one driven wheel 3 pass over the obstacle 8, while the other driving wheel 2 and the other driven wheel 4 do not pass over the obstacle, see Figure 6 As shown;

[0072] The fifth trapped scenario: Both driving wheels 1, 2 and both driven wheels 3, 4 have not crossed the obstacle 8, see Figure 7 shown.

[0073] When the cleaning robot detected by the trapped detection element is in the first trapped scenario, an escape attempt is made through any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five:

[0074] Escape strategy 1-1: The controller controls the main driving mechanism to increase the torque of the two driving wheels and make the rotation direction of the two driving wheels the same as the forward direction of the cleaning robot;

[0075] Escape strategy 1-2: The controller controls the main drive mechanism to increase the torque of the two driving wheels, and at the same time, the rotation direction of the two driving wheels forms a 60° oblique angle with the forward direction of the cleaning robot;

[0076] Escape strategy 1-3: The controller controls the main drive mechanism to increase the torque of the two driving wheels, and at the same time, the rotation direction of the two driving wheels forms a 45° angle with the forward direction of the cleaning robot;

[0077] Escape strategy 1-4: The controller controls the main drive mechanism to increase the torque of the two driving wheels, and at the same time, the rotation direction of the two driving wheels forms a -45° angle with the forward direction of the cleaning robot;

[0078] Escape strategy 1-5: The controller controls the main drive mechanism to increase the torque of the two driving wheels and at the same time make the rotation direction of the two driving wheels form an angle of -60° with the forward direction of the cleaning robot.

[0079] In this embodiment, five escape strategies are selected at the same time for escape attempts, and the execution priority order of the five escape strategies is from front to back, that is, escape strategy 1-1, escape strategy 1-2, escape strategy 1-3, escape strategy 1-4, and escape strategy 1-5 are executed in sequence, and the duration of each escape strategy is 30 seconds. If the vehicle is still not escaped after all five escape strategies are executed, an alarm is issued.

[0080] When the cleaning robot detected by the trapped detection element is in the second trapped scenario, an escape attempt is made through any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five:

[0081] Escape strategy 2-1: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is the same as the vertical direction of the obstacle;

[0082] Escape strategy 2-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is at an angle of 60° to the vertical direction of the obstacle;

[0083] Escape strategy 2-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is at a 45° angle to the vertical direction of the obstacle;

[0084] Escape strategy 2-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is at an angle of -45° to the vertical direction of the obstacle;

[0085] Escape strategy 2-5: The controller controls the main drive mechanism and the slave drive mechanism to increase the torque of the two trapped driving wheels and the one trapped driven wheel at the same time, and at the same time, the rotation directions of the two trapped driving wheels and the one trapped driven wheel are at an angle of -60° to the vertical direction of the obstacle.

[0086] In this embodiment, five escape strategies are also selected at the same time for escape attempts, and the execution priority order of the five escape strategies is from front to back, that is, escape strategy 2-1, escape strategy 2-2, escape strategy 2-3, escape strategy 24, and escape strategy 2-5 are executed in sequence. The duration of each escape strategy is 30 seconds. If the vehicle still cannot escape after all five escape strategies are executed, an alarm is issued.

[0087] When the cleaning robot detected by the trapped detection element is in the third trapped scenario, an escape attempt is made through any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five:

[0088] Escape strategy 3-1: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are the same as the vertical direction of the obstacle;

[0089] Escape strategy 3-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at an angle of 60° to the vertical direction of the obstacle;

[0090] Escape strategy 3-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at a 45° oblique angle to the vertical direction of the obstacle;

[0091] Escape strategy 3-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at an angle of -45° to the vertical direction of the obstacle;

[0092] Escape strategy 3-5: The controller controls the main drive mechanism and the slave drive mechanism to increase the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at an angle of -60° to the vertical direction of the obstacle.

[0093] In this embodiment, five escape strategies are selected at the same time for escape attempts, and the execution priority order of the five escape strategies is from front to back, that is, escape strategy 3-1, escape strategy 3-2, escape strategy 3-3, escape strategy 3-4, and escape strategy 3-5 are executed in sequence. The duration of each escape strategy is 30 seconds. If the vehicle still has not escaped after all five escape strategies are executed, an alarm is issued.

[0094] When the trapped detection element detects that the cleaning robot is in the fourth trapped scenario, any one of the following five escape strategies, any combination of two, any combination of three, any combination of four, or the following five are used to attempt to escape until the cleaning robot escapes successfully:

[0095] Escape strategy 4-1: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are the same as the vertical direction of the obstacle;

[0096] Escape strategy 4-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are both at an angle of 60° to the vertical direction of the obstacle;

[0097] Escape strategy 4-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are both at a 45° oblique angle to the vertical direction of the obstacle;

[0098] Escape strategy 4-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are both at an angle of -45° to the vertical direction of the obstacle;

[0099] Escape strategy 4-5: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are both at an angle of -60° to the vertical direction of the obstacle.

[0100] In this embodiment, five escape strategies are selected at the same time for escape attempts, and the execution priority order of the five escape strategies is from front to back, that is, escape strategy 4-1, escape strategy 4-2, escape strategy 4-3, escape strategy 4-4, and escape strategy 4-5 are executed in sequence, and each escape strategy lasts for 30 seconds. If the vehicle still has not escaped after all five escape strategies are executed, an alarm is issued.

[0101] When the trapped detection element detects that the cleaning robot is in the fifth trapped scenario, any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five are used to attempt to escape until the cleaning robot escapes successfully:

[0102] Escape strategy 5-1, the controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels is the same as the forward direction of the cleaning robot;

[0103] Escape strategy 5-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels forms a 60° oblique angle with the forward direction of the cleaning robot;

[0104] Escape strategy 5-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels is at a 45° angle to the forward direction of the cleaning robot;

[0105] Escape strategy 5-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels forms an oblique angle of -45° with the forward direction of the cleaning robot;

[0106] Escape strategy 5-5: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation directions of the two driven wheels and the two driven wheels form an angle of -60° with the forward direction of the cleaning robot.

[0107] In this embodiment, five escape strategies are selected at the same time for escape attempts, and the execution priority order of the five escape strategies is from front to back, that is, escape strategy 5-1, escape strategy 5-2, escape strategy 5-3, escape strategy 5-4, and escape strategy 5-5 are executed in sequence. The duration of each escape strategy is 30 seconds. If the vehicle is still not escaped after all five escape strategies are executed, an alarm is issued.

Claims

1. A method for identifying a trapped state of a wheel set of a cleaning robot, wherein the cleaning robot comprises a housing, a pair of spaced driving wheels arranged at a rear side below the housing of the cleaning robot, and a pair of spaced driven wheels arranged below the housing of the cleaning robot and located in front of the two driving wheels, characterized in that: The stuck state of two driving wheels and two driven wheels is identified by: A first laser distance sensor and a second laser distance sensor are respectively arranged on the two driving wheels or on the housings beside the two driving wheels, and a third laser distance sensor and a fourth laser distance sensor are respectively arranged on the two driven wheels or on the housings beside the two driven wheels; If the distance data collected by the first laser distance sensor changes with time, increases from a certain value H1 to H2 and then decreases to H3, it is judged that the corresponding driving wheel has crossed the obstacle, wherein H2 is greater than H3 and H2 is greater than H1; if the distance data collected by the first laser distance sensor changes with time, increases from a certain value H1 to H2 and then does not decrease, it is judged that the corresponding driving wheel has not crossed the obstacle and is in a trapped state; the method for judging whether the other driving wheel and the two driven wheels have crossed the obstacle is the same as the above judgment method.

2. The method for identifying a trapped state of a cleaning robot wheel assembly according to claim 1, characterized in that: By judging the trapped states of the two driving wheels and the two driven wheels, it is determined which of the following five trapped scenarios the cleaning robot is in, wherein the five trapped scenarios are: The first trapped scenario: both driven wheels have crossed the obstacle, but both driving wheels have not crossed the obstacle; The second trapped scenario: only one driven wheel passes over the obstacle, while the other driven wheel and the two driving wheels do not pass over the obstacle; The third trapped scenario: only one driving wheel does not cross the obstacle, while the other driving wheel and two driven wheels all cross the obstacle; The fourth trapped scenario: one driving wheel and one driven wheel pass over the obstacle, while the other driving wheel and the other driven wheel do not pass over the obstacle; The fifth trapped scenario: both driving wheels and both driven wheels fail to cross the obstacle.

3. A walking system of a cleaning robot, comprising a pair of spaced driving wheels arranged at the middle and rear side below a housing of the cleaning robot, a main driving mechanism arranged in the housing of the cleaning robot and capable of controlling the torque and rotation direction of the driving wheels, and a pair of spaced driven wheels arranged below the housing of the cleaning robot and located in front of the two driving wheels, characterized in that: The cleaning robot also includes a slave drive mechanism that is arranged in the shell of the cleaning robot and can control the torque and rotation direction of the driven wheel. A first laser distance sensor and a second laser distance sensor are respectively arranged on the two driving wheels or on the shells next to the two driving wheels. A third laser distance sensor and a fourth laser distance sensor are respectively arranged on the two driven wheels or on the shells next to the two driven wheels, and a controller connected to the main drive mechanism, the slave drive mechanism, the first laser distance sensor, the second laser distance sensor, the third laser distance sensor and the fourth laser distance sensor. The controller can judge the trapped signal of the driving wheel or / and the driven wheel according to the distance data detected by the first laser distance sensor, the second laser distance sensor, the third laser distance sensor and the fourth laser distance sensor by using the identification method as claimed in claim 1, so as to control the working state of the main drive mechanism or / and the slave drive mechanism, thereby controlling the torque and rotation direction of the driving wheel or / and the driven wheel, and then helping the driving wheel or / and the driven wheel to get rid of the trapped state.

4. The walking system of the cleaning robot according to claim 3, characterized in that: By judging the trapped state of the two driving wheels and the two driven wheels, it is determined which of the following five trapped scenarios the cleaning robot is in, and different escape strategies are adopted to try to escape until the cleaning robot is successfully escaped. The five trapped scenarios are: The first trapped scenario: both driven wheels have crossed the obstacle, but both driving wheels have not crossed the obstacle; The second trapped scenario: only one driven wheel passes over the obstacle, while the other driven wheel and the two driving wheels do not pass over the obstacle; The third trapped scenario: only one driving wheel does not cross the obstacle, while the other driving wheel and two driven wheels all cross the obstacle; The fourth trapped scenario: one driving wheel and one driven wheel pass over the obstacle, while the other driving wheel and the other driven wheel do not pass over the obstacle; The fifth trapped scenario: both driving wheels and both driven wheels fail to cross the obstacle.

5. The walking system of the cleaning robot according to claim 4, characterized in that: When the cleaning robot is in the first trapped scenario, it attempts to escape through any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five: Escape strategy 1-1: The controller controls the main driving mechanism to increase the torque of the two driving wheels and make the rotation direction of the two driving wheels the same as the forward direction of the cleaning robot; Escape strategy 1-2: The controller controls the main drive mechanism to increase the torque of the two driving wheels, and at the same time, the rotation direction of the two driving wheels forms a 60° oblique angle with the forward direction of the cleaning robot; Escape strategy 1-3: The controller controls the main drive mechanism to increase the torque of the two driving wheels, and at the same time, the rotation direction of the two driving wheels forms a 45° angle with the forward direction of the cleaning robot; Escape strategy 1-4: The controller controls the main drive mechanism to increase the torque of the two driving wheels, and at the same time, the rotation direction of the two driving wheels forms a -45° angle with the forward direction of the cleaning robot; Escape strategy 1-5: The controller controls the main drive mechanism to increase the torque of the two driving wheels and at the same time make the rotation direction of the two driving wheels form an angle of -60° with the forward direction of the cleaning robot.

6. The walking system of the cleaning robot according to claim 4, characterized in that: When the cleaning robot is in the second trapped scenario, it attempts to escape through any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five: Escape strategy 2-1: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is the same as the vertical direction of the obstacle; Escape strategy 2-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is at an angle of 60° to the vertical direction of the obstacle; Escape strategy 2-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is at a 45° angle to the vertical direction of the obstacle; Escape strategy 2-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two trapped driving wheels and the one trapped driven wheel increases at the same time, and at the same time, the rotation direction of the two trapped driving wheels and the one trapped driven wheel is at an angle of -45° to the vertical direction of the obstacle; Escape strategy 2-5: The controller controls the main drive mechanism and the slave drive mechanism to increase the torque of the two trapped driving wheels and the one trapped driven wheel at the same time, and at the same time, the rotation directions of the two trapped driving wheels and the one trapped driven wheel are at an angle of -60° to the vertical direction of the obstacle.

7. The walking system of the cleaning robot according to claim 4, characterized in that: When the cleaning robot is in the third trapped scenario, it attempts to escape through any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five: Escape strategy 3-1: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are the same as the vertical direction of the obstacle; Escape strategy 3-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at an angle of 60° to the vertical direction of the obstacle; Escape strategy 3-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at a 45° oblique angle to the vertical direction of the obstacle; Escape strategy 3-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are increased at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at an angle of -45° to the vertical direction of the obstacle; Escape strategy 3-5: The controller controls the main drive mechanism and the slave drive mechanism to increase the torque of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle at the same time, and at the same time, the rotation direction of the two driven wheels that pass the obstacle and the driven wheel that pass the obstacle are both at an angle of -60° to the vertical direction of the obstacle.

8. The walking system of the cleaning robot according to claim 4, characterized in that: When the cleaning robot is in the fourth trapped scenario, it attempts to escape through any one of the following five escape strategies, any combination of two, any combination of three, any combination of four, or the following five, until the cleaning robot escapes successfully: Escape strategy 4-1: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are the same as the vertical direction of the obstacle; Escape strategy 4-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are both at an angle of 60° to the vertical direction of the obstacle; Escape strategy 4-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes the obstacle and the driven wheel that passes the obstacle are both at a 45° oblique angle to the vertical direction of the obstacle; Escape strategy 4-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are both at an angle of -45° to the vertical direction of the obstacle; Escape strategy 4-5: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are increased at the same time, and at the same time, the rotation direction of the driven wheel that passes over the obstacle and the driven wheel that passes over the obstacle are both at an angle of -60° to the vertical direction of the obstacle.

9. The walking system of the cleaning robot according to claim 4, characterized in that: When the cleaning robot is in the fifth trapped scenario, it attempts to escape through any one of the following escape strategies, any combination of two, any combination of three, any combination of four, or the following five, until the cleaning robot escapes successfully: Escape strategy 5-1, the controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels is the same as the forward direction of the cleaning robot; Escape strategy 5-2: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels forms a 60° oblique angle with the forward direction of the cleaning robot; Escape strategy 5-3: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels is at a 45° angle to the forward direction of the cleaning robot; Escape strategy 5-4: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation direction of the two driven wheels and the two driven wheels forms an oblique angle of -45° with the forward direction of the cleaning robot; Escape strategy 5-5: The controller controls the main drive mechanism and the slave drive mechanism to work, so that the torque of the two driven wheels and the two driven wheels increases at the same time, and at the same time, the rotation directions of the two driven wheels and the two driven wheels form an angle of -60° with the forward direction of the cleaning robot.

10. The walking system of the cleaning robot according to claim 5, 6, 7, 8 or 9, characterized in that: In different trapped scenarios, if five escape strategies are selected at the same time for escape attempts, the execution priority order of the five escape strategies is from front to back, that is, escape strategy 1-1, escape strategy 1-2, escape strategy 1-3, escape strategy 1-4, escape strategy 1-5 are executed in sequence, or escape strategy 2-1, escape strategy 2-2, escape strategy 2-3, escape strategy 2-4, escape strategy 2-5 are executed in sequence; or escape strategy 3-1, escape strategy 3-2, escape strategy 3-3, escape strategy 3-4, escape strategy 3-5 are executed in sequence; or escape strategy 4-1, escape strategy 4-2, escape strategy 4-3, escape strategy 4-4, escape strategy 4-5 are executed in sequence; or escape strategy 5-1, escape strategy 5-2, escape strategy 5-3, escape strategy 5-4, escape strategy 5-5 are executed in sequence.

11. The walking system of the cleaning robot according to claim 10, characterized in that: Each escape strategy lasts for 25 to 35 seconds. If the vehicle is still trapped after all five escape strategies are executed, an alarm will be issued.

12. The walking system of the cleaning robot according to claim 3, characterized in that: A counterweight is arranged in the cleaning robot housing near the front side.

13. The walking system of the cleaning robot according to claim 3, characterized in that: The lower front side of the cleaning robot housing is configured as an inclined surface.

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