Cleaning robot and control method thereof

Abstract

The invention discloses a cleaning robot and a control method thereof. The cleaning robot comprises a robot body and an obstacle crossing assembly, the obstacle crossing assembly comprises a rotating piece and a supporting piece, and the rotating piece is connected with the robot body; the supporting piece is connected with the rotating piece, and the rotating piece is used for rotating the supporting piece so that the supporting piece can be switched into a first state or a second state; when the supporting piece is in the first state, the distance between the robot body and the plane where the robot body is located is a first distance; when the supporting piece is in the second state, the supporting piece is used for supporting the robot body, the distance between the robot body and the plane where the robot body is located is a second distance, the supporting piece is used for moving the robot body to cross the target obstacle, and the first distance is smaller than the second distance. The supporting piece is rotated through the rotating piece, so that the supporting piece is switched into the first state or the second state, and in the second state, the supporting piece supports and moves the robot body to cross the target obstacle, so that the robot can autonomously complete obstacle crossing, manpower intervention is reduced, and the use convenience of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and more specifically, to a cleaning robot and a control method for the cleaning robot. Background Art

[0002] In related technologies, robots such as cleaning robots have low adaptability to the ground and cannot adapt to uneven roads, wade through water, or other complex roads. When encountering an obstacle that exceeds the ground clearance of the chassis, it is difficult to cross it and requires human intervention, making the robot inconvenient to use. Summary of the invention

[0003] Embodiments of the present application provide a cleaning robot and a method for controlling the cleaning robot.

[0004] An embodiment of the present application provides a cleaning robot, which includes a robot body and an obstacle crossing component, wherein the obstacle crossing component includes a rotating member and a supporting member, wherein the rotating member can be used to connect the robot body; the supporting member is connected to the rotating member, and the rotating member is used to rotate the supporting member so that the supporting member switches to a first state or a second state; when the supporting member is in the first state, the supporting member is away from the plane where the robot body is located, and the distance between the robot body and the plane where the robot body is located is a first distance; when the supporting member is in the second state, the supporting member contacts the plane where the robot body is located to support the robot body, and the distance between the robot body and the plane where the robot body is located is a second distance, and the supporting member can be used to move the robot body to cross a target obstacle, and the first distance is smaller than the second distance.

[0005] An embodiment of the present application provides a control method for a cleaning robot, wherein the cleaning robot comprises a robot body and an obstacle crossing component, wherein the obstacle crossing component comprises a rotating member and a supporting member, wherein the rotating member can be used to connect to the robot body; the supporting member is connected to the rotating member; the control method comprises: controlling the rotating member to rotate the supporting member so that the supporting member switches to a first state or a second state; when the supporting member is in the first state, the supporting member is away from the plane where the robot body is located, and the distance between the robot body and the plane where the robot body is located is a first distance; when the supporting member is in the second state, the supporting member contacts the plane where the robot body is located to support the robot body, and the distance between the robot body and the plane where the robot body is located is a second distance, and the supporting member can be used to move the robot body to cross a target obstacle, and the first distance is smaller than the second distance.

[0006] In the cleaning robot and the control method of the cleaning robot of the implementation mode of the present application, the support member is rotated by the rotating member to switch the support member to a first state or a second state. In the second state, the support member is used to support and move the robot body to cross the target obstacle, so that the robot can complete the obstacle crossing autonomously, reduce human intervention, and increase the convenience of using the robot.

[0007] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0009] Figure 1 is a schematic diagram of a cleaning robot according to an embodiment of the present application;

[0010] Figure 2 is a schematic diagram of a cleaning robot according to an embodiment of the present application;

[0011] Figure 3 is a schematic diagram of a cleaning robot according to an embodiment of the present application;

[0012] Figure 4 is a schematic diagram of a cleaning robot according to an embodiment of the present application;

[0013] Figure 5 is a schematic diagram of a cleaning robot according to an embodiment of the present application;

[0014] Figure 6 It is a schematic diagram of a control method according to an embodiment of the present application. DETAILED DESCRIPTION

[0015] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0016] See also Figure 1 , Figure 2 and Figure 3, an embodiment of the present application provides a cleaning robot, the cleaning robot includes a robot body 100 and an obstacle crossing component, the obstacle crossing component includes a rotating member 10 and a supporting member 20, the rotating member 10 can be used to connect the robot body 100; the supporting member 20 is connected to the rotating member 10, and the rotating member 10 is used to rotate the supporting member 20, so that the supporting member 20 switches to a first state or a second state; when the supporting member 20 is in the first state, the supporting member 20 is away from the plane where the robot body 100 is located, and the distance between the robot body 100 and the plane where the robot body 100 is located is a first distance; when the supporting member 20 is in the second state, the supporting member 20 contacts the plane where the robot body 100 is located to support the robot body 100, and the distance between the robot body 100 and the plane is a second distance, and the supporting member 20 can be used to move the robot body 100 to cross the target obstacle, and the first distance is less than the second distance.

[0017] Specifically, the rotating member 10 includes a servo motor, the supporting member 20 includes a first end and a second end, and the output end of the servo motor is connected to the first end of the supporting member 20. When the supporting member 20 is in the first state, Figure 2 As shown, the rotating member 10 does not work, and the second end of the support member 20 is kept in contact with the fixed member 40. At this time, the distance between the robot body 100 and the plane is the first distance; when the support member 20 is in the second state, as shown Figure 3 As shown, the rotating member 10 can rotate the supporting member 20 so that the supporting member 20 rotates relative to the robot body 100. After the supporting member 20 rotates until the second end of the supporting member 20 contacts the plane where the robot body 100 is located, the supporting member 20 can support the robot body 100 so that the distance between the robot body 100 and the plane is a second distance.

[0018] In this way, the obstacle crossing component rotates the support member 20 through the rotating member 10, so that the support member 20 switches to a first state or a second state. In the second state, the support member 20 is used to support and move the robot body 100 to cross the target obstacle, so that the robot body 100 can complete the obstacle crossing, reduce human intervention, and increase the convenience of using the robot.

[0019] In some embodiments, the obstacle crossing assembly further includes a connecting member 30 , and the connecting member 30 is used to connect to the robot body 100 , and the rotating member 10 is fixed on the connecting member 30 .

[0020] Specifically, the connecting member 30 is used to fix the obstacle crossing assembly to the robot body 100, and the connecting member 30 is provided with a fixing hole, which is used to fix the connecting member 30 to the rotating member 10. The number of the fixing holes can be multiple, so as to change the fixing position of the rotating member 10 and the connecting member 30 according to actual needs.

[0021] In this way, the connecting member 30 fixedly connects the obstacle-crossing assembly rotating member 10 to the robot body 100 , and is used to fix the rotating member 10 .

[0022] In some embodiments, the connecting member 30 includes a fixing member 40 , and when the supporting member 20 is in the first state, the supporting member 20 abuts against the fixing member 40 .

[0023] Specifically, when the support member 20 is in the first state, the second end of the support member 20 abuts against the fixing member 40 of the connecting member 30. Figure 2 In one embodiment, the fixing member 40 is disposed at a middle position of the connecting member 30 on a side away from the robot body 100 , and the second end of the supporting member 20 abuts against the fixing member 40 .

[0024] In this way, it is possible to prevent the support member 20 from swinging in the first state, thereby preventing the robot body 100 from operating normally.

[0025] In some embodiments, when the support member 20 switches from the second state to the first state, the rotating member 10 rotates the support member 20 , and the support member 20 rotates relative to the connecting member 30 until the support member 20 rotates to abut against the fixing member 40 .

[0026] Specifically, when the support member 20 switches from the second state to the first state, the rotating member 10 rotates the corresponding support member 20, and the support member 20 rotates relative to the connecting member 30, so that the second end of the support member 20 leaves the plane where the robot body 100 is located and rotates to abut against the fixing member 40, so that the support member 20 abuts against the fixing member 40, and the support member 20 completes the switch from the second state to the first state. At this time, the distance between the robot body 100 and the plane is the first distance.

[0027] In this way, the position of the support member 20 can be changed by rotating the support member 20 through the rotating member 10, so as to switch the support member 20 from the second state to the first state, and store the support member 20 in the fixing member 40 to prevent the support member 20 from swinging in the first state and interfering with the operation of the robot body 100.

[0028] In some embodiments, when the support member 20 switches from the first state to the second state, the rotating member 10 is used to rotate the corresponding support member 20, and the support member 20 rotates relative to the robot body 100 so that after the support member 20 contacts the plane where the robot body 100 is located, the support member 20 supports the robot body 100 so that the distance between the robot body 100 and the plane where the robot body 100 is located is the second distance.

[0029] Specifically, see Figure 3When the support member 20 switches from the first state to the second state, the rotating member 10 is used to rotate the corresponding support member 20, and the support member 20 rotates relative to the robot body 100, so that the second end of the support member 20 rotates from the fixing member 40 of the connecting member 30 to contact the plane where the robot body 100 is located. After that, the support member 20 can support the robot body 100, so that the distance between the robot body 100 and the plane where the robot body 100 is located is the second distance.

[0030] In this way, the position of the support member 20 can be changed by rotating the support member 20 through the rotating member 10 to switch the support member 20 from the first state to the second state, so that the support member 20 can support and move the robot body 100 .

[0031] In some embodiments, the second distance is greater than the height of the target obstacle.

[0032] Specifically, the second distance is greater than the first distance, and the second distance is greater than the height of the target obstacle, that is, the distance between the point farthest from the target obstacle and the plane, so that the support member 20 can support the robot body 100 to cross the target obstacle in the second state and avoid collision with the target obstacle.

[0033] Thus, when the support member 20 is in the second state, the distance between the robot body 100 and the plane where the robot body 100 is located is a second distance, and the second distance is greater than the height of the target obstacle, so that the support member 20 can support and move the robot body 100 across the target obstacle.

[0034] In other embodiments, the obstacle crossing component can use actions such as jumping to drive the robot body 100 to cross the target obstacle, and the second distance can be less than the height of the target obstacle.

[0035] In some embodiments, the obstacle surmounting assembly includes a plurality of obstacle surmounting assemblies, and the plurality of obstacle surmounting assemblies can be used to jointly support the robot body 100 .

[0036] Specifically, see Figure 4 In one embodiment, the obstacle crossing components include two, and the two obstacle crossing components can be used to jointly support the robot body 100. The two obstacle crossing components are axially symmetrically arranged on the robot body 100, so that when the support member 20 is in the second state, the support member 20 can support the robot body 100 and maintain balance.

[0037] In this way, a plurality of obstacle-crossing components are provided to jointly support the robot body 100 , so that the balance of the robot body 100 can be better maintained when the support member 20 supports the robot body 100 .

[0038] In some embodiments, each obstacle crossing assembly includes a connecting member 30, two rotating members 10 and two supporting members 20. The connecting member 30 is used to connect the robot body 100. The two rotating members 10 are fixed on the connecting member 30 and are used to rotate the corresponding supporting members 20. The supporting members 20 rotate relative to the connecting member 30 so that the supporting members 20 switch to the first state or the second state.

[0039] Specifically, see Figure 4 The connecting member 30 is used to connect and fix the obstacle surmounting assembly to the robot body 100. Each rotating member 10 is connected to a corresponding support member 20. The rotating member 10 is fixed on the connecting member 30 and can rotate the corresponding support member 20, so that the support member 20 rotates relative to the connecting member 30 to switch the first state or the second state of the support member 20. In one embodiment, the fixing member 40 is arranged at the middle position of the connecting member 30 away from the robot body 100. The two rotating members 10 are respectively arranged on both sides of the fixing member 40 on the connecting member 30. When the support member 20 switches from the second state to the first state, the two rotating members 10 of the obstacle surmounting assembly are relatively reversed to drive the corresponding support member 20 to be relatively reversed, so that the second end of the support member 20 leaves the plane where the robot body 100 is located and rotates to contact the fixing member 40.

[0040] In this way, the two rotating members 10 on the obstacle crossing assembly rotate the corresponding supporting members 20, so that the supporting members 20 are switched to the first state or the second state.

[0041] In some embodiments, the obstacle surmounting assembly includes two support members 20, and when the support member 20 is in the second state, the support members 20 of the two obstacle surmounting assemblies move in a diagonal gait.

[0042] Specifically, see Figure 4 , the two obstacle surmounting components are respectively the first obstacle surmounting component and the second obstacle surmounting component, the first obstacle surmounting component comprises the first connecting member 31, the first supporting member 21, the second supporting member 22, the first rotating member 11 and the second rotating member 12; the second obstacle surmounting component comprises the second connecting member 32, the third supporting member 23, the fourth supporting member 24, the third rotating member 13 and the fourth rotating member 14. In one embodiment, the first obstacle surmounting component and the second obstacle surmounting component are symmetrically arranged, the first connecting member 31 connects the first obstacle surmounting component with the robot body 100, the second connecting member 32 connects the second obstacle surmounting component with the robot body 100; the first rotating member 11 connects the first supporting member 21, the second rotating member 12 connects the third supporting member 22, and so on, the fourth rotating member 14 connects the fourth supporting member 24; the first rotating member 11 and the third rotating member 13 are symmetrically arranged, the second rotating member 12 and the fourth rotating member 14 are symmetrically arranged, that is, the first supporting member 21 and the fourth supporting member 24 are two diagonal supporting members, and the second supporting member 22 and the third supporting member 23 are two diagonal supporting members 20.

[0043] When the support member 20 is in the second state, the support member 20 supports the robot body 100 so that the robot body 100 is away from the plane, and at the same time, the support member 20 moves the robot body 100 through a diagonal gait. That is, the two diagonal support members 20 are in the same state during the movement, and both rotate or support the robot body 100, such as the first support member 21 and the third support member 23 rotate at the same time or are used to support the robot body 100 at the same time. The two groups of diagonal support members 20 alternately complete the rotation and support to move the robot body 100 and cross the target obstacle to ensure the balance and stability of the robot body 100. In other embodiments, the support member of the obstacle crossing assembly can also move through other gaits.

[0044] In this way, the support member 20 of the obstacle crossing assembly moves through a diagonal gait, ensuring the balance and stability of the robot body 100 during the movement.

[0045] See also Figure 5 In some embodiments, the obstacle crossing component includes a suction member 50, and the suction member 50 is used to suction the plane where the robot body 100 is located.

[0046] Specifically, the adsorption member 50 is connected to the second end of the support member 20, and the adsorption member 50 includes a suction cup. In one embodiment, the cleaning robot is a window cleaning robot, and the window cleaning robot includes a vacuum component. When the window cleaning robot is working, the robot body 100 is adsorbed on the window surface through the vacuum component. When the window cleaning robot encounters a target obstacle such as a window frame, the rotating member 10 of the obstacle crossing component can rotate the support member 20, so that the support member 20 rotates to contact the window surface, and the adsorption member 50 on the support member 20 is adsorbed on the window surface, replacing the vacuum component to adsorb the robot body 100. At the same time, the support member 20 moves in a diagonal gait to enable the robot body 100 to cross the target obstacle. In some embodiments, the cleaning robot also includes an installation area, and the installation area is used to install the obstacle crossing component.

[0047] Specifically, the connecting piece 30 of the obstacle crossing component is connected to the installation area of ​​the cleaning robot, so that the obstacle crossing component is installed in the installation area of ​​the cleaning robot. In this way, the obstacle crossing component can support and move the cleaning robot to cross obstacles.

[0048] In some embodiments, the robot body 100 includes a cleaning component, which is used to clean the plane where the cleaning robot is located.

[0049] Specifically, the cleaning robot includes a sweeping robot, a mopping robot, and a window cleaning robot. This embodiment is described using the cleaning robot as a sweeping robot. The cleaning component is used to clean the plane where the robot body 100 is located. Generally, brushing and vacuuming are used to absorb debris on the plane where the robot body 100 is located into the dust box of the robot body 100, thereby completing the cleaning function. The cleaning component of the sweeping robot can collect debris on the plane where the robot body 100 is located by suction, that is, the distance between the robot body 100 and the plane is within a preset range, which is conducive to the cleaning work of the sweeping robot, and the first distance is within the preset range. When an obstacle with a height greater than the first distance appears on the forward route of the cleaning robot, the obstacle crossing component can support and move the cleaning robot across the obstacle.

[0050] In this way, the cleaning robot can clean the plane where the cleaning robot is located, and the obstacle crossing component can support and move the cleaning robot to cross obstacles with a height greater than the first distance.

[0051] In some embodiments, the robot body 100 also includes a detection component, a processing component and a moving component. The detection component is used to detect target obstacles on the forward route of the cleaning robot; the processing component is used to compare preset obstacles and target obstacles and control the cleaning robot; and the moving component is used to move the robot body 100 when the cleaning robot is not in obstacle crossing mode.

[0052] Specifically, the movement mode of the mobile component includes wheeled movement. When the cleaning robot is in the obstacle crossing mode, the robot body 100 is moved by the obstacle crossing component; when the cleaning robot is not in the obstacle crossing mode, the robot body 100 is moved by the mobile component. In one embodiment, during the operation of the cleaning robot, the mobile component moves the robot body 100 to work, the detection component detects the appearance of a target obstacle on the forward route, and the processing component compares the target obstacle with the preset obstacle. If the comparison result shows that the target obstacle is consistent with the preset obstacle, the processing component controls the cleaning robot to enter the obstacle crossing mode, and the support member 20 of the obstacle crossing component switches to the second state, and the rotating member 10 rotates the support member 20 so that the support member 20 supports the robot body 100 and moves to cross the target obstacle.

[0053] In this way, the cleaning robot detects and compares the target obstacle with the preset obstacle through the detection component and the processing component, and moves the robot body 100 when it is not in the obstacle crossing mode through the moving component.

[0054] In some embodiments, the cleaning robot switches the working mode according to the comparison result between the preset obstacle and the target obstacle. The working modes include obstacle crossing mode and obstacle avoidance mode. The obstacle crossing mode is to control the cleaning robot to cross the target obstacle. When the cleaning robot is in the obstacle crossing mode, the support member 20 is in the second state; the obstacle avoidance mode is to control the cleaning robot to bypass the target obstacle. When the cleaning robot is not in the obstacle crossing mode, the support member 20 is in the first state.

[0055] Specifically, the preset obstacle can be pre-set before the cleaning robot starts working. The cleaning robot switches the working mode according to the comparison result between the target obstacle and the preset obstacle. When the cleaning robot enters the obstacle crossing mode, the support member 20 of the obstacle crossing component is in the second state, and the support member 20 supports and moves the cleaning robot to cross the target obstacle; when the cleaning robot enters the obstacle avoidance mode, the support member 20 of the obstacle crossing component is in the first state, and the support member 20 is stored in the fixing member 40 of the connecting member 30 to avoid interfering with the normal operation of the cleaning robot.

[0056] In this way, the cleaning robot switches its working mode by comparing the preset obstacle and the target obstacle, and at the same time switches the obstacle crossing component to the second state or the first state, so that when the cleaning robot is in the obstacle crossing mode, the obstacle crossing component can support and move the robot body 100 to cross the obstacle, so that the robot can complete the obstacle crossing autonomously, reduce human intervention, and increase the convenience of using the robot; when the cleaning robot is in the obstacle avoidance mode, the support member 20 of the obstacle crossing component is stored in the fixing member 40 to avoid affecting the normal operation of the cleaning robot.

[0057] In some embodiments, when the target obstacle is consistent with the preset obstacle, the cleaning robot enters the obstacle crossing mode; when the target obstacle is inconsistent with the preset obstacle, the cleaning robot enters the obstacle avoidance mode.

[0058] Specifically, the cleaning robot switches its working mode according to the comparison result between the target obstacle and the preset obstacle. When the preset obstacle and the target obstacle are consistent, the cleaning robot enters the obstacle crossing mode, and the support member 20 of the obstacle crossing component switches to the second state. The support member 20 supports and moves the cleaning robot to cross the target obstacle. When the target obstacle is inconsistent with the preset obstacle, the cleaning robot enters the obstacle avoidance mode, and controls the cleaning robot to bypass the target obstacle. At the same time, the support member 20 of the obstacle crossing component is in the first state, and the support member 20 is stored in the fixing member 40 of the connecting member 30 to avoid interfering with the normal operation of the cleaning robot.

[0059] In one embodiment, the target obstacle on the cleaning robot's forward route is consistent with the preset obstacle, and the cleaning robot enters the obstacle crossing mode. The rotating member 10 of the obstacle crossing component rotates the support member 20, and rotates the second end of the support member 20 from the fixed member to the plane where the robot itself is located, so that the support member 20 supports the robot body 100 and moves through a diagonal gait, supporting and moving the robot body 100 to complete the crossing of the target obstacle.

[0060] In this way, the cleaning robot switches its working mode by comparing the preset obstacle and the target obstacle. When the target obstacle is consistent with the preset obstacle, the cleaning robot enters the obstacle crossing mode and controls the cleaning robot to cross the target obstacle; when the target obstacle is inconsistent with the preset obstacle, the cleaning robot enters the obstacle avoidance mode and controls the cleaning robot to bypass the target obstacle.

[0061] See also Figure 6 The embodiment of the present application provides a control method for a cleaning robot. The cleaning robot includes an obstacle crossing component of a robot body, the obstacle crossing component includes a rotating member 10 and a supporting member 20, the rotating member 10 can be used to connect the robot body 100; the supporting member 20 is connected to the rotating member 10; the control method includes:

[0062] 01: Control the rotating member 10 to rotate the supporting member 20 so that the supporting member 20 switches to the first state or the second state; when the supporting member 20 is in the first state, the distance between the robot body 100 and the plane where the robot body 100 is located can be a first distance; when the supporting member 20 is in the second state, the supporting member 20 can be used to support the robot body 100 so that the distance between the robot body 100 and the plane where the robot body 100 is located is a second distance, and the supporting member 20 can be used to move the robot body 100 to cross the target obstacle, and the first distance is smaller than the second distance.

[0063] The explanation of the cleaning robot in the above embodiment is applicable to the control method of this embodiment and will not be repeated here.

[0064] In this way, the control method rotates the support member 20 through the rotating member 10 of the obstacle crossing component, so that the support member 20 switches to a first state or a second state. In the second state, the support member 20 is used to support and move the robot body 100 to cross the target obstacle, so that the robot can complete the obstacle crossing autonomously, reduce human intervention, and increase the convenience of using the robot.

[0065] In some embodiments, the control method of the cleaning robot further includes:

[0066] 02: Detect target obstacles;

[0067] 03: Compare the preset obstacles with the target obstacles;

[0068] 04: When the target obstacle is consistent with the preset obstacle, the cleaning robot is controlled to enter the obstacle crossing mode, and the support member 20 is determined to be in the second state. The obstacle crossing mode is to control the cleaning robot to cross the target obstacle;

[0069] 05: When the target obstacle is inconsistent with the preset obstacle, the cleaning robot is controlled to enter the obstacle avoidance mode, and the support member 20 is determined to be in the first state. The obstacle avoidance mode is to control the cleaning robot to bypass the target obstacle.

[0070] Specifically, before the cleaning robot starts working, preset obstacles within the working range are pre-set; during the operation of the cleaning robot, a target obstacle is detected on the robot's forward path, and the target obstacle is compared with the preset obstacle; if the target obstacle is consistent with the target obstacle, the cleaning robot enters the obstacle crossing mode, and the support member 20 of the obstacle crossing component is switched to the second state, and the support member 20 supports and moves the robot body to cross the target obstacle; when the target obstacle is inconsistent with the preset obstacle, the cleaning robot enters the obstacle avoidance mode, and the robot body is controlled to bypass the target obstacle. At the same time, the support member 20 of the obstacle crossing component is in the first state, and the support member 20 contacts the fixing member 40 of the connecting member 30 to avoid interfering with the normal operation of the cleaning robot.

[0071] In this way, by comparing the preset obstacle and the target obstacle, the obstacle crossing component is switched to the second state or the first state, so that when the support member 20 is in the second state, the obstacle crossing component can support and move the robot body 100 to cross the obstacle, so that the cleaning robot can complete the obstacle crossing autonomously, reduce human intervention, and increase the ease of use of the cleaning robot; when the support member 20 is in the first state, the support member 20 of the obstacle crossing component is stored in the fixing member 40 to avoid affecting the normal operation of the cleaning robot.

[0072] In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. In addition, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without contradiction.

[0073] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0074] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0075] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A cleaning robot, characterized in that: The cleaning robot comprises a robot body and an obstacle crossing component, wherein the obstacle crossing component comprises: A rotating member, wherein the rotating member can be used to connect the robot body; A support member, the support member is connected to the rotating member, and the rotating member is used to rotate the support member so that the support member switches to a first state or a second state; When the support member is in the first state, the support member is away from the plane where the robot body is located, and the distance between the robot body and the plane where the robot body is located is a first distance; When the support member is in the second state, the support member contacts the plane where the robot body is located to support the robot body, the distance between the robot body and the plane where the robot body is located is a second distance, and the support member can be used to move the robot body to cross the target obstacle, and the first distance is smaller than the second distance.

2. The cleaning robot according to claim 1, characterized in that: The obstacle crossing component also includes: A connecting piece, wherein the connecting piece is used to connect the robot body, and the rotating piece is fixed on the connecting piece.

3. The cleaning robot according to claim 2, characterized in that: The connecting piece comprises: A fixing member, wherein when the supporting member is in the first state, the supporting member abuts against the fixing member.

4. The cleaning robot according to claim 3, characterized in that: When the support member switches from the second state to the first state, the rotating member rotates the support member, and the support member rotates relative to the connecting member until the support member rotates to abut against the fixing member.

5. The cleaning robot according to claim 1, characterized in that: When the support member switches from the first state to the second state, the rotating member is used to rotate the corresponding support member, and the support member rotates relative to the robot body so that after the support member contacts the plane where the robot body is located, the support member supports the robot body so that the distance between the robot body and the plane where the robot body is located is the second distance.

6. The cleaning robot according to claim 1, characterized in that: The second distance is greater than the height of the target obstacle.

7. The cleaning robot according to claim 1, characterized in that: The obstacle surmounting components include a plurality of components, and the plurality of obstacle surmounting components can be used to jointly support the robot body.

8. The cleaning robot according to claim 7, characterized in that: Each obstacle crossing component includes a connecting member, two rotating members and two supporting members, the connecting member is used to connect the robot body, the two rotating members are fixed on the connecting member and are used to rotate the corresponding supporting members, and the supporting members rotate relative to the connecting member so that the supporting members switch to the first state or the second state.

9. The cleaning robot according to claim 8, characterized in that: The obstacle surmounting components include two, and when the support members are in the second state, the support members of the two obstacle surmounting components move in a diagonal gait.

10. The cleaning robot according to claim 1, characterized in that: The obstacle crossing component also includes: A suction piece is used to suction the robot body onto the plane where the robot body is located.

11. The cleaning robot according to claim 1, characterized in that: The robot body comprises: A mounting piece is used to mount the obstacle crossing component.

12. The cleaning robot according to claim 1, characterized in that: The robot body also includes a cleaning component, and the cleaning component is used to clean the plane where the cleaning robot is located.

13. The cleaning robot according to claim 12, characterized in that: The robot body also includes: A detection component, the detection component is used to detect the target obstacle on the forward route of the cleaning robot; A processing component, the processing component is used to compare the preset obstacle with the target obstacle and control the cleaning robot; A moving component is used to move the robot body when the cleaning robot is working normally.

14. A control method for a cleaning robot, characterized in that: The cleaning robot comprises a robot body and an obstacle surmounting component, wherein the obstacle surmounting component comprises a rotating member and a supporting member, wherein the rotating member can be used to connect the robot body; and the supporting member is used to connect the rotating member. The control method comprises: Controlling the rotating member to rotate the supporting member so that the supporting member switches to a first state or a second state; When the support member is in the first state, the support member is away from the plane where the robot body is located, and the distance between the robot body and the plane where the robot body is located is a first distance; When the support member is in the second state, the support member contacts the plane where the robot body is located to support the robot body, the distance between the robot body and the plane where the robot body is located is a second distance, and the support member can be used to move the robot body to cross the target obstacle, and the first distance is smaller than the second distance.

15. The control method of the cleaning robot according to claim 14, characterized in that: The control method further comprises: detecting the target obstacle; comparing the pre-determined obstacle with the target obstacle; When the target obstacle is consistent with the preset obstacle, controlling the cleaning robot to enter an obstacle crossing mode, and determining that the support member is in the second state, the obstacle crossing mode is to control the cleaning robot to cross the target obstacle; When the target obstacle is inconsistent with the preset obstacle, the cleaning robot is controlled to enter an obstacle avoidance mode, and the support member is determined to be in the first state. The obstacle avoidance mode is to control the cleaning robot to bypass the target obstacle.

Images