Obstacle crossing method, cleaning equipment and computer readable storage medium

Abstract

The invention provides an obstacle crossing method, cleaning equipment and a computer readable storage medium, and relates to the technical field of cleaning. The method is applied to a controller of the cleaning equipment, the cleaning equipment comprises driving wheels, universal wheels, a chassis and a lifting mechanism, the chassis comprises a front end and a rear end, and the direction from the rear end to the front end is the advancing direction of the cleaning equipment. In the advancing direction, the universal wheels are located between the driving wheels and the front end of the chassis. The method comprises the following steps: controlling a lifting mechanism to lift the chassis to a first preset height in response to detecting that the front end of the chassis has a stridable obstacle; the driving wheels are controlled to retreat towards the rear end of the chassis for a preset distance at a first preset speed and then brake, so that the front end of the chassis tilts up due to inertia; and the walking state of the driving wheels is controlled according to the detected chassis posture. The method provided by the embodiment of the invention is simple, and the obstacle crossing ability can be improved under the condition that the structure of the cleaning equipment is not increased.

Description

Technical Field

[0001] The present disclosure relates to the field of cleaning technology, and in particular to an obstacle crossing method, a cleaning device and a computer-readable storage medium. Background Art

[0002] With the rapid development of smart home technology, automatic cleaning devices (such as sweeping robots) are widely used in home and commercial scenarios due to their autonomous cleaning capabilities.

[0003] Existing sweeping robots generally include driving wheels and universal wheels, wherein the universal wheels are installed at the front end of the sweeping robot to achieve flexible steering, and the driving wheels are located between the front end and the rear end of the sweeping robot to provide driving force.

[0004] However, the structure in which the universal wheel is located at the front end of the sweeping robot causes the center of gravity of the sweeping robot to move forward (the head is heavy and the tail is light). When crossing obstacles, it is easy for the front end to collide with obstacles due to insufficient height from the ground. Summary of the invention

[0005] The embodiments of the present disclosure provide an obstacle crossing method, a cleaning device and a computer-readable storage medium. The obstacle crossing method is used to solve the problem in the above-mentioned related technologies that a sweeping robot is prone to collide with an obstacle when crossing an obstacle due to insufficient height of the front end from the ground.

[0006] In order to achieve the above objectives, the embodiments of the present disclosure provide the following technical solutions:

[0007] A first aspect of an embodiment of the present disclosure provides an obstacle crossing method, which is applied to a controller of a cleaning device, wherein the cleaning device includes a driving wheel, a universal wheel, a chassis, and a lifting mechanism, wherein the chassis includes a front end and a rear end, and the direction from the rear end to the front end is the forward direction of the cleaning device;

[0008] In the forward direction, the universal wheel is located between the drive wheel and the front end of the chassis;

[0009] Methods include:

[0010] In response to detecting that there is a traversable obstacle at the front end of the chassis, controlling the lifting mechanism to lift the chassis to a first preset height;

[0011] Controlling the driving wheel to retreat to the rear end of the chassis by a preset distance at a first preset speed and then brake, so that the front end of the chassis tilts up due to inertia;

[0012] According to the detected chassis posture, the walking state of the driving wheels is controlled to cross the crossable obstacles.

[0013] The obstacle crossing method provided by the disclosed embodiment can lift the chassis and use inertia to tilt the front end of the cleaning device, thereby driving the universal wheels of the cleaning device to tilt, that is, the universal wheels are off the ground, which can facilitate the cleaning device to cross obstacles. Since the height of the front end of the cleaning device after tilting is greater than the height of the lifting mechanism lifting the chassis, the cleaning device can more effectively cross higher obstacles, thereby improving the adaptability of the cleaning device to the environment and terrain. By automatically detecting obstacles that can be crossed and adjusting the height and posture of the chassis without manual intervention, the autonomy and intelligence level of the cleaning device are improved.

[0014] This method can improve the passability of cleaning equipment without increasing the complexity of cleaning equipment by combining lifting and inertial motion, and is suitable for use in complex and changing environments. The automatic posture detection function helps prevent cleaning equipment from colliding with obstacles due to improper operation, and then overturning or damage, thereby improving the safety of operation. Through precise control and adjustment, unnecessary power consumption can be reduced and the energy efficiency of cleaning equipment can be improved. The automated obstacle crossing function can improve the automation performance of cleaning equipment.

[0015] In a possible implementation, controlling the lifting mechanism to lift the chassis to a first preset height includes:

[0016] According to the obtained preset obstacle crossing height, the lifting mechanism is controlled to lift the chassis to a first preset height; wherein,

[0017] When the chassis is lifted to a first preset height and the front end of the chassis is tilted, the distance from the front end of the chassis to the surface to be cleaned is greater than or equal to the preset obstacle crossing height.

[0018] By precisely controlling the lifting height of the chassis and ensuring that the front end of the chassis is at a sufficient distance from the surface to be cleaned when it is tilted, damage or overturning caused by contact with obstacles during the obstacle crossing process of the cleaning equipment can be avoided, thereby improving the safety of operation. During the cleaning process, being able to smoothly cross traversable obstacles (for example, thresholds, etc.) means that the cleaning equipment can perform cleaning tasks more continuously, reducing the time for pauses or re-planning paths due to obstacles, thereby improving cleaning efficiency, reducing missed areas, and reducing unnecessary repeated cleaning. By obtaining a preset obstacle crossing height and determining a first preset height based on the preset obstacle crossing height, the cleaning equipment can automatically adapt to obstacles of different heights, thereby improving the adaptability of the cleaning equipment, reducing the need for manual intervention, and improving the intelligence level of the cleaning equipment. In addition, by precisely controlling the movement of the chassis, unnecessary power consumption can be reduced, thereby improving the energy efficiency of the cleaning equipment.

[0019] In a possible implementation, the process of obtaining the preset obstacle clearance height includes:

[0020] According to the detected height of the surmountable obstacle, the preset obstacle surmounting height is determined; wherein,

[0021] The preset obstacle crossing height is higher than the height of the obstacle that can be crossed.

[0022] By setting the preset obstacle crossing height higher than the height of the traversable obstacle, sufficient height margin can be provided during the obstacle crossing process to ensure that the cleaning equipment can smoothly cross the traversable obstacle, prevent the cleaning equipment from accidentally contacting the traversable obstacle during the obstacle crossing process, reduce the risk of damaging the cleaning equipment or the traversable obstacle, improve the overall operation safety, and improve the obstacle crossing efficiency. In addition, the preset obstacle crossing height can be dynamically adjusted to adapt to traversable obstacles of different heights, which can enhance the adaptability of the cleaning equipment in diverse environments, reduce unnecessary power consumption, and improve the energy efficiency of the cleaning equipment.

[0023] In a possible implementation, the first preset height is a maximum height to which the lifting mechanism lifts the chassis.

[0024] By raising the chassis to the maximum height at one time through the lifting mechanism, the cleaning equipment can have the maximum crossing ability, which can simplify the logic of controlling the cleaning equipment, reduce the calculation and judgment of height adjustment, and improve the response speed and reliability of the cleaning equipment. Using the maximum height can reduce obstacle crossing failures caused by obstacle height measurement errors or environmental changes (such as uneven ground) and improve the success rate of obstacle crossing. Ensure that the cleaning equipment has sufficient height margin during the obstacle crossing process, reduce the risk of contact with obstacles, reduce the possibility of damage to the cleaning equipment or destruction of crossable obstacles, and reduce the wear and maintenance requirements of the cleaning equipment. By using the maximum height, the cleaning equipment can maintain consistent obstacle crossing performance in various environments, enhancing the stability and reliability of the cleaning equipment.

[0025] In a possible implementation, controlling the walking state of the driving wheels according to the detected chassis posture includes:

[0026] If the chassis posture is a non-crossable posture, the driving wheel is controlled to move backward at a first preset speed toward the rear end of the chassis for a preset distance and then brake;

[0027] If the chassis posture is a crossable posture, the driving wheel is controlled to move forward toward the front end of the chassis and cross the crossable obstacle.

[0028] By detecting the chassis posture, the cleaning equipment can automatically determine whether it can safely cross the obstacle, and then choose the appropriate action strategy, which can improve the autonomy and intelligence level of the cleaning equipment. If the chassis posture is not suitable for crossing the obstacle, the cleaning equipment will choose to retreat and readjust the posture. This strategy can increase the success rate of obstacle crossing and avoid failures caused by improper posture. Choosing to retreat and readjust the posture in an uncrossable posture can prevent the cleaning equipment from overturning or being damaged due to forced obstacle crossing, thereby improving the safety of operation.

[0029] In a possible implementation, the process of detecting the chassis posture includes:

[0030] Detecting a first height from the front end of the chassis to the surface to be cleaned and a second height from the rear end of the chassis to the surface to be cleaned;

[0031] If the first height is not greater than the second height, the chassis posture is a non-crossable posture;

[0032] If the first height is greater than the second height, the chassis posture is a straddleable posture.

[0033] By comparing the distance between the front and rear ends of the chassis, it is possible to quickly determine whether the posture of the cleaning equipment is suitable for crossing obstacles. This method is simple and easy to implement, does not require complex calculations or sensor configurations, and can simplify the structure and reduce costs. By ensuring that the front end of the chassis is higher than the rear end (i.e., the first height is greater than the second height) when it is in a crossable posture, the cleaning equipment can more easily cross obstacles and reduce the risk of getting stuck or failing. The cleaning equipment can automatically detect and judge the posture without human intervention, which improves the autonomy and intelligence level of the cleaning equipment.

[0034] In a possible implementation, controlling the driving wheel to move forward toward the front end of the chassis and cross the crossable obstacle includes:

[0035] The driving wheel is controlled to move forward toward the front end of the chassis at a second preset speed and cross the crossable obstacle; wherein,

[0036] The second preset speed is lower than the first preset speed.

[0037] By using a lower second preset speed during the obstacle crossing process, more precise control can be provided to prevent the front end of the chassis of the cleaning device from moving downward due to shaking during the forward movement, so as to ensure that the cleaning device can safely and smoothly cross the obstacle. In addition, the lower speed reduces the impact force when the cleaning device contacts the crossable obstacle, which can reduce the risk of damage to the cleaning device and the crossable obstacle and improve the durability of the cleaning device. By reducing the speed, the cleaning device is easier to control during the obstacle crossing process, which can reduce the risk of overturning or loss of control and enhance the safety of operation. The larger first preset speed can cause the front end of the chassis to generate greater inertia during braking to increase the probability of the front end of the chassis tilting.

[0038] In a possible implementation, the process of detecting that there is a surmountable obstacle at the front end of the chassis includes:

[0039] Acquire an environment map of the area to be cleaned, wherein the environment map includes first position information of obstacles that can be crossed;

[0040] According to the environmental map, obtaining second location information of the cleaning equipment;

[0041] It is determined whether there is a traversable obstacle at the front end of the chassis according to the first position information and the second position information.

[0042] By utilizing environmental maps, cleaning equipment can quickly identify and locate obstacles that can be crossed, improving detection efficiency and accuracy. By obtaining the location information of the cleaning equipment, the cleaning equipment can accurately determine the relative position between the equipment and the obstacle to ensure the accuracy of the decision. The pre-built environmental map reduces the reliance on real-time sensor data, reduces the computing burden of the cleaning equipment, and improves the response speed. With accurate location information and map data, cleaning equipment can better plan paths and actions, and improve the success rate of obstacle crossing. The environmental map provides a global perspective to help cleaning equipment optimize cleaning paths, reduce unnecessary movements and adjustments, and improve cleaning efficiency. By identifying obstacles in advance, cleaning equipment can better plan obstacle crossing actions and reduce equipment damage or safety hazards caused by accidental collisions. The environmental map can be updated dynamically, and the cleaning equipment can adapt to environmental changes, enhancing the equipment's adaptability in diverse environments.

[0043] In a possible implementation, the process of detecting that there is a surmountable obstacle at the front end of the chassis includes:

[0044] Get whether there is an obstacle within the preset range at the front of the chassis;

[0045] If there is an obstacle, detect the height of the obstacle;

[0046] If the height of the obstacle is greater than the first preset threshold and less than the second preset threshold, the obstacle is determined to be a traversable obstacle.

[0047] By setting a preset range at the front of the chassis, the cleaning equipment can focus resources and sensor accuracy on key areas for detection, improving the accuracy of obstacle detection. By directly measuring the height of the obstacle and comparing it with the preset threshold, the cleaning equipment can quickly determine whether the obstacle can be crossed and whether the chassis needs to be lifted before crossing. By ensuring that only obstacles with suitable heights are marked as crossable obstacles, the cleaning equipment can plan obstacle crossing actions more effectively, reduce unnecessary chassis lifting, and prevent the cleaning equipment from trying to cross obstacles that are too high, reducing the risk of overturning or damage to the cleaning equipment and improving the safety of operation.

[0048] In a possible implementation, the method further includes:

[0049] Identify floor stains and dynamic obstacles;

[0050] Control the walking state of the driving wheels according to ground stains and dynamic obstacles.

[0051] By identifying ground stains and by identifying dynamic obstacles (such as moving objects, people or pets), the equipment can adjust the path in real time to avoid collisions and improve the safety and flexibility of operation. Combining information on ground stains and dynamic obstacles, the cleaning equipment can optimize path planning, reduce unnecessary movement and repeated cleaning, and improve cleaning efficiency. By real-time monitoring and identifying dynamic obstacles, the equipment can operate safely in complex environments and reduce damage or safety hazards caused by accidental collisions. By optimizing the cleaning path and obstacle avoidance strategy, unnecessary energy consumption is reduced and the energy efficiency of the equipment is improved.

[0052] A second aspect of the embodiments of the present disclosure provides a cleaning device, including a controller, a driving wheel, a universal wheel, a chassis, and a lifting mechanism, wherein the chassis includes a front end and a rear end, and the direction from the rear end to the front end is the forward direction of the cleaning device;

[0053] In the forward direction, the universal wheel is located between the drive wheel and the front end of the chassis;

[0054] The controller is used to:

[0055] In response to detecting that there is a traversable obstacle at the front end of the chassis, controlling the lifting mechanism to lift the chassis to a first preset height;

[0056] Controlling the driving wheel to retreat to the rear end of the chassis by a preset distance at a first preset speed and then brake, so that the front end of the chassis tilts up due to inertia;

[0057] According to the detected chassis posture, the walking state of the driving wheels is controlled to cross the crossable obstacles.

[0058] A third aspect of an embodiment of the present disclosure provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute a method for crossing an obstacle as applied to the first aspect or any one of the optional aspects of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0060] Figure 1 A schematic diagram of the structure of a cleaning device provided in an embodiment of the present disclosure;

[0061] Figure 2 A schematic diagram of a cleaning device in an embodiment of the present disclosure after the chassis is lifted;

[0062] Figure 3 A flowchart of an obstacle crossing method provided by an embodiment of the present disclosure;

[0063] Figure 4 A schematic diagram of a state in which the front end of a chassis of a cleaning device provided by an embodiment of the present disclosure is tilted;

[0064] Figure 5 A flowchart of another obstacle crossing method provided by an embodiment of the present disclosure;

[0065] Figure 6 A flowchart of another obstacle crossing method provided in an embodiment of the present disclosure.

[0066] Description of reference numerals:

[0067] 100-cleaning equipment; 10-chassis; 11-front end;

[0068] 12-rear end; 20-driving wheel; 30-universal wheel;

[0069] 40-lifting mechanism; 41-first lifting mechanism; 42-second lifting mechanism;

[0070] 50-LiDAR; 60-Directional wheels;

[0071] 200-surface to be cleaned; 210-obstacles that can be crossed. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] With the rapid development of smart home technology, automatic cleaning devices (such as sweeping robots) are widely used in home and commercial scenarios due to their autonomous cleaning capabilities.

[0074] The embodiment of the present disclosure provides a cleaning device for performing a cleaning operation on a surface to be cleaned 200, and the surface to be cleaned 200 may include a plurality of traversable obstacles 210. The cleaning device is described below by taking a sweeping robot as an example.

[0075] like Figure 1 As shown, the sweeping robot may include a driving wheel 20, a universal wheel 30, a directional wheel 60, a chassis 10, and a lifting mechanism 40. The chassis 10 includes a front end 11 and a rear end 12. The direction from the rear end 12 of the chassis 10 to the front end 11 of the chassis 10 is the forward direction of the cleaning device 100. In the forward direction, the universal wheel 30 is located between the driving wheel 20 and the front end 11, that is, the universal wheel 30 is arranged close to the front end 11, the driving wheel 20 is located at the rear side of the universal wheel 30, and the driving wheel 20 is used to provide power for the sweeping robot to move forward and backward. The directional wheel 60 is located at the rear end 12 of the chassis.

[0076] It should be noted that the front end 11 and the rear end 12 of the chassis 10 are the front end and the rear end of the cleaning device 100 , that is, the front end and the rear end of the sweeping robot.

[0077] In the disclosed embodiment, the "front end 11" refers to the side that the sweeping robot first faces in the moving direction when it is in normal operation, and the "rear end 12" refers to the side opposite to the front end 11. The forward direction (as shown by arrow A) is the default direction of travel of the sweeping robot when performing a cleaning task, which is driven by the forward rotation (clockwise or counterclockwise, depending on the specific design) of the driving wheel 20, and the backward direction (as shown by arrow B) is the opposite direction of the forward direction, which can be triggered by the reverse rotation of the driving wheel 20 or the adjustment of the steering mechanism.

[0078] Continue to see Figure 1As shown, the laser radar 50 is generally close to the front end 11 of the sweeping robot, which is convenient for measuring the distance between the sweeping robot and surrounding objects. This enables the sweeping robot to perceive the three-dimensional structure of the surrounding environment and facilitates the sweeping robot to build a map of the room or the entire floor. The laser radar 50 can also help the robot identify the edges of walls, furniture, etc., ensure cleaning coverage, and avoid falling or getting stuck.

[0079] like Figure 1 As shown, the cleaning device 100 further includes a lifting mechanism 40, wherein the lifting mechanism 40 includes a first lifting mechanism 41 and a second lifting mechanism 42, the first lifting mechanism 41 can be located between the chassis 10 and the driving wheel 20, and the first lifting mechanism 41 can lift the chassis 10 relative to the driving wheel 20. The second lifting mechanism 42 can be located between the chassis 10 and the universal wheel 30, and the second lifting mechanism 42 can lift the chassis 10 relative to the universal wheel 30.

[0080] By providing the lifting mechanism 40 , the cleaning robot can easily cross obstacles, for example, cross slightly higher obstacles 210 such as thresholds.

[0081] Exemplarily, the first lifting mechanism 41 and the second lifting mechanism 42 may each include a base, a motor, a screw and a pressure block (not shown in the figure). The base of the first lifting mechanism 41 may be fixedly connected to the universal wheel 30, the screw is rotatably arranged on the base, the pressure block is drivingly connected to the screw, and the pressure block is fixedly connected to the chassis 10. When the motor drives the screw to rotate, the screw can drive the pressure block to move along the height direction of the cleaning device 100, thereby driving the chassis 10 fixedly connected to the pressure block to move along the height direction of the cleaning device 100.

[0082] Similarly, the base of the second lifting mechanism 42 can be fixedly connected to the driving wheel 20, the screw rod is rotatably arranged on the base, the pressing block is drivingly connected to the screw rod, and the pressing block is fixedly connected to the chassis 10. When the motor drives the screw rod to rotate, the screw rod can drive the pressing block to move along the height direction of the cleaning device 100, thereby driving the chassis 10 fixedly connected to the pressing block to move along the height direction of the cleaning device 100.

[0083] In some embodiments, the screw of the lifting mechanism 40 may be a ball screw. In addition, the lifting mechanism 40 may further include an encoder to achieve precise control of the lifting mechanism 40. In the embodiments of the present application, the specific structure of the lifting mechanism 40 is not further limited.

[0084] Of course, in some other embodiments, the lifting mechanism 40 may also be a lifting mechanism in the related art. In the embodiment of the present application, the specific structure of the lifting mechanism 40 is not further limited.

[0085] In the embodiment of the present disclosure, the specific structure of the lifting mechanism 40 is not further limited.

[0086] However, after the lifting mechanism 40 lifts the chassis 10, the universal wheel 30 is arranged at the front end 11 of the chassis 10, and some core components such as batteries and motors are concentrated in the middle and front part of the robot body, which causes the overall center of gravity to move forward. Although the chassis 10 is lifted, the universal wheel 30 is still in contact with the ground, making the robot body appear like this. Figure 2 As a result, the front end 11 of the sweeping robot easily collides with obstacles during the obstacle crossing process, which eventually leads to obstacle crossing failure.

[0087] In order to solve the above technical problems, the embodiments of the present disclosure provide an obstacle crossing method, a cleaning device and a computer-readable storage medium. The obstacle crossing method uses a lifting mechanism 40 to lift the chassis 10 to a certain height, controls the cleaning device 100 to retreat a certain distance and then brakes, and uses inertia to lift the front end 11 of the chassis, thereby separating the universal wheel 30 located at the front end 11 of the chassis from the ground, and can increase the distance between the front end 11 of the chassis and the ground, thereby reducing the collision with obstacles during the obstacle crossing process and improving the obstacle crossing capability.

[0088] Figure 3 A flowchart of an obstacle crossing method provided by an embodiment of the present disclosure. The method is executed by part or all of a cleaning device. The so-called part of the cleaning device may refer to a controller in the cleaning device. The obstacle crossing method is described below with the cleaning device as the execution subject.

[0089] like Figure 3 As shown, the method comprises the following steps:

[0090] S201: In response to detecting that there is a surmountable obstacle at the front end of the chassis, controlling the lifting mechanism to lift the chassis to a first preset height.

[0091] S201 may include: when there is a surmountable obstacle at the front end of the chassis, the cleaning device controls the lifting mechanism to lift the chassis to a first preset height.

[0092] It should be noted that “in response to detecting a surmountable obstacle at the front end of the chassis” may be the cleaning device detecting whether there is a surmountable obstacle at the front end of the chassis, or may be a signal received from other devices indicating that there is a surmountable obstacle at the front end of the chassis.

[0093] Since the embodiments of the present disclosure are aimed at obstacles that need to be lifted up before being crossed, the "crossable obstacles" in the embodiments of the present disclosure generally refer to obstacles with a certain height and within a height range, such as obstacles such as thresholds and low steps, excluding obstacles such as carpets and floor mats that can be crossed by increasing the driving force. For example, thresholds and low steps are generally about 10 mm to 20 mm in height.

[0094] Optionally, the process of detecting whether there is a surmountable obstacle at the front end of the chassis may include: the cleaning device detecting whether there is a surmountable obstacle at the front end of the chassis.

[0095] In a possible implementation, the cleaning device detecting whether there is a traversable obstacle at the front end of the chassis may include the following steps.

[0096] 2.1. The cleaning device obtains whether there is an obstacle within a preset range at the front end of the chassis. Exemplarily, whether there is an obstacle within 0.5 meters from the front end of the chassis is obtained. Among them, the space within 0.5 meters from the front end of the chassis is the preset range. Of course, in other embodiments, the preset range can also be a space within 1 meter, 0.8 meters, 0.6 meters, 0.4 meters, 0.2 meters, etc. from the front end of the chassis.

[0097] 2.2. If there is an obstacle, the cleaning device will detect the height of the obstacle.

[0098] 2.3. If the height of the obstacle is greater than the first preset threshold and less than the second preset threshold, the obstacle is determined to be a surmountable obstacle.

[0099] Optionally, the first preset threshold value may be greater than 5 mm, the second preset threshold value may be greater than 50 mm, etc. That is, the height range of the traversable obstacle in the embodiment of the present disclosure may be between 5 mm and 50 mm.

[0100] In the cleaning device of the disclosed embodiment, the lifting mechanism can lift the chassis by more than 20 mm, and the height of the front end of the cleaning device after tilting is not less than 50 mm. In the disclosed embodiment, the lifting height of the cleaning device chassis is not further limited and can be set according to the specific structure.

[0101] Of course, in other embodiments, there may be other restrictions on the height of the obstacle that can be crossed, which may be determined according to the volume of the specific cleaning equipment. For example, a relatively large cleaning equipment can cross a higher obstacle. In the disclosed embodiment, no further restrictions are made on the height of the obstacle that can be crossed.

[0102] By setting a preset range at the front of the chassis, the cleaning equipment can focus resources and sensor accuracy on key areas for detection, improving the accuracy of obstacle detection. By directly measuring the height of the obstacle and comparing it with the preset threshold, the cleaning equipment can quickly determine whether the obstacle can be crossed and whether the chassis needs to be lifted before crossing. By ensuring that only obstacles with suitable heights are marked as crossable obstacles, the cleaning equipment can plan obstacle crossing actions more effectively, reduce unnecessary chassis lifting, and prevent the cleaning equipment from trying to cross obstacles that are too high, reducing the risk of overturning or damage to the cleaning equipment and improving the safety of operation.

[0103] Exemplarily, the cleaning device may include a laser radar and / or a laser sensor, and may detect whether there is an obstacle within a preset range at the front end of the chassis through the laser radar and / or the laser sensor, and detect the height of the obstacle through the laser radar and / or the laser sensor. In the embodiments of the present disclosure, the specific components for detecting obstacles are not further limited.

[0104] It should be noted that the step of detecting whether there is a traversable obstacle at the front end of the chassis can be performed while the cleaning device is performing the cleaning operation, or can be performed before the cleaning device performs the cleaning operation, for example, during the process of building an environment map before the cleaning device performs the cleaning operation.

[0105] Optionally, when the cleaning device constructs the environment map, it detects traversable obstacles and records the locations of the traversable obstacles, so that the cleaning device can directly perform obstacle traversal operations at the locations when performing cleaning operations.

[0106] When detecting traversable obstacles during the process of building an environment map, the following steps may be specifically included:

[0107] 3.1. Obtain an environment map of the area to be cleaned, wherein the environment map includes first position information of obstacles that can be crossed.

[0108] Exemplarily, when constructing the environment map, the position information of the traversable obstacle is recorded, so that the environment map includes the position information of the traversable obstacle, that is, the first position information.

[0109] 3.2. According to the environmental map, obtain the second location information of the cleaning equipment.

[0110] 3.3. Determine whether there is a surmountable obstacle at the front end of the chassis based on the first position information and the second position information. For example, when the second position is relatively close to the first position (for example, the straight-line distance between the first position and the second position is within 20 centimeters), the cleaning device can prepare to perform an obstacle surmounting operation.

[0111] By utilizing environmental maps, cleaning equipment can quickly identify and locate obstacles that can be crossed, improving detection efficiency and accuracy. By obtaining the location information of the cleaning equipment, the cleaning equipment can accurately determine the relative position between the equipment and the obstacles to ensure the accuracy of the decision. The pre-built environmental map reduces the reliance on real-time sensor data, reduces the computing burden of the cleaning equipment, and improves the response speed.

[0112] With accurate location information and map data, cleaning equipment can better plan paths and actions, improving the success rate of overcoming obstacles. Environmental maps provide a global perspective to help cleaning equipment optimize cleaning paths, reduce unnecessary movements and adjustments, and improve cleaning efficiency. By identifying obstacles in advance, cleaning equipment can better plan obstacle-crossing actions and reduce equipment damage or safety hazards caused by accidental collisions. Environmental maps can be updated dynamically, allowing cleaning equipment to adapt to environmental changes, enhancing the equipment's ability to adapt to diverse environments.

[0113] In the disclosed embodiment, the specific steps for detecting whether there is a traversable obstacle at the front end of the chassis are not further limited.

[0114] When the cleaning device is performing a cleaning operation, if the cleaning device detects that there is an obstacle that needs to be crossed at the front end of the cleaning device, the lifting mechanism can be controlled to lift the chassis to a first preset height.

[0115] Optionally, before controlling the lifting mechanism to lift the chassis to the first preset height, the method may further include obtaining a preset obstacle crossing height. Determine the first preset height according to the preset obstacle crossing height. Control the lifting mechanism to lift the chassis to the first preset height. Wherein, when the chassis is lifted to the first preset height, if the front end of the chassis tilts up, the height from the front end of the chassis to the surface to be cleaned is greater than or equal to the preset obstacle crossing height. In other words, when the chassis is lifted to the first preset height, if the front end of the chassis tilts up, the traversable obstacle located at the front end of the chassis can be crossed.

[0116] By precisely controlling the lifting height of the chassis and ensuring that the front end of the chassis is at a sufficient distance from the surface to be cleaned when it is tilted, damage or overturning caused by contact with obstacles during the obstacle crossing process of the cleaning equipment can be avoided, thereby improving the safety of operation. During the cleaning process, being able to smoothly cross traversable obstacles (for example, thresholds, etc.) means that the cleaning equipment can perform cleaning tasks more continuously, reducing the time for pauses or re-planning paths due to obstacles, thereby improving cleaning efficiency, reducing missed areas, and reducing unnecessary repeated cleaning. By obtaining a preset obstacle crossing height and determining a first preset height based on the preset obstacle crossing height, the cleaning equipment can automatically adapt to obstacles of different heights, thereby improving the adaptability of the cleaning equipment, reducing the need for manual intervention, and improving the intelligence level of the cleaning equipment. In addition, by precisely controlling the movement of the chassis, unnecessary power consumption can be reduced, thereby improving the energy efficiency of the cleaning equipment.

[0117] In a possible implementation, the process of the cleaning device obtaining the preset obstacle clearance height may include:

[0118] The cleaning device detects the height of the obstacle that can be crossed. According to the height of the obstacle that can be crossed, a preset obstacle crossing height is determined. The preset obstacle crossing height is higher than the height of the obstacle that can be crossed.

[0119] Optionally, the cleaning device is provided with a laser radar, a radar sensor or a distance sensor, and the height of the obstacle crossed can be detected by the laser radar, the radar sensor or the distance sensor. In the embodiment of the present disclosure, the specific component for detecting the height of the obstacle crossed is not further limited.

[0120] It should be noted that the preset obstacle crossing height can be obtained while detecting whether there is a surmountable obstacle at the front end of the chassis, or it can be obtained when a surmountable obstacle is encountered during the cleaning operation.

[0121] By setting the preset obstacle crossing height higher than the height of the traversable obstacle, sufficient height margin can be provided during the obstacle crossing process to ensure that the cleaning equipment can smoothly cross the traversable obstacle, prevent the cleaning equipment from accidentally contacting the traversable obstacle during the obstacle crossing process, reduce the risk of damaging the cleaning equipment or the traversable obstacle, improve the overall operation safety, and improve the obstacle crossing efficiency. In addition, the preset obstacle crossing height can be dynamically adjusted to adapt to traversable obstacles of different heights, which can enhance the adaptability of the cleaning equipment in diverse environments, reduce unnecessary power consumption, and improve the energy efficiency of the cleaning equipment.

[0122] Optionally, the first preset height can be the maximum height to which the lifting mechanism can lift the chassis. That is, when the cleaning device is performing a cleaning operation and encounters a traversable obstacle (e.g., a threshold), the cleaning device directly controls the lifting mechanism to lift the chassis to the maximum height in preparation for traversing the obstacle.

[0123] By raising the chassis to the maximum height at one time through the lifting mechanism, the cleaning equipment can have the maximum crossing ability, which can simplify the logic of controlling the cleaning equipment, reduce the calculation and judgment of height adjustment, and improve the response speed and reliability of the cleaning equipment. Using the maximum height can reduce obstacle crossing failures caused by obstacle height measurement errors or environmental changes (such as uneven ground) and improve the success rate of obstacle crossing. Ensure that the cleaning equipment has sufficient height margin during the obstacle crossing process, reduce the risk of contact with obstacles, reduce the possibility of damage to the cleaning equipment or destruction of crossable obstacles, and reduce the wear and maintenance requirements of the cleaning equipment. By using the maximum height, the cleaning equipment can maintain consistent obstacle crossing performance in various environments, enhancing the stability and reliability of the cleaning equipment.

[0124] S202, controlling the driving wheel to retreat toward the rear end of the chassis by a preset distance at a first preset speed and then braking, so that the front end of the chassis tilts up due to inertia.

[0125] S202 may include: the cleaning device controls the driving wheel to retreat toward the rear end of the chassis by a preset distance at a first preset speed and then brakes, so that the front end of the chassis tilts up due to inertia.

[0126] It should be noted that "braking" means that the cleaning device reduces its speed to zero and stops moving in a very short time (for example, the very short time can be less than or equal to 0.1 seconds, 0.2 seconds, 0.3 seconds, 0.4 seconds, 0.5 seconds). Since the acceleration generated during braking is relatively large in the opposite direction of the driving direction, the front end of the cleaning device will have a large inertia, which can cause the front end of the cleaning device to tilt up, so that the universal wheels of the cleaning device are separated from the ground, thereby facilitating obstacle crossing.

[0127] Optionally, the first preset speed may be greater than the running speed of the cleaning device when performing the cleaning operation, so that the front end of the cleaning device can obtain a larger inertial force when braking, thereby "throwing up" the front end of the cleaning device. Figure 4 shown.

[0128] It should be noted that when the front end of the cleaning device is thrown up, the rotation axis of the cleaning device can be located at the position where the line connecting the contact points of the two driving wheels and the ground is located. In other words, the posture of the entire cleaning device relative to the ground (the surface to be cleaned) has changed, while the position of the chassis relative to the driving wheels and the universal wheels has not changed. Figure 2 The posture in Figure 4 The posture in.

[0129] In some embodiments, the first preset speed can be determined by obtaining the center of gravity position of the cleaning device, the distance from the center of gravity to the driving wheel, and the weight of the cleaning device, so as to ensure that after braking from the first preset speed, the inertia of the front end of the chassis is sufficient to "throw up" the front end of the chassis.

[0130] Of course, in some other embodiments, it is also possible to directly move backward at a preset speed to try whether the front end of the chassis can be "swung up" after braking. If the front end of the cleaning device is not swung up after braking, the backward speed is increased until the front end of the cleaning device can be swung up after braking.

[0131] It should be noted that after the cleaning device has retreated to a preset distance, it suddenly brakes and uses inertia to lift the front end of the cleaning device to increase the height of the front end from the ground. The "preset distance" is measured empirically and has a distance threshold. The preset distance needs to be greater than the threshold to ensure that the cleaning device can accumulate enough kinetic energy to allow the front end to be lifted due to inertia after braking.

[0132] In addition, the height at which the front end of the chassis is lifted is fixed, because the rear end of the cleaning device is provided with directional wheels. When the front end is lifted to a certain height, the directional wheels will contact the ground. At this time, the inclination angle of the cleaning device is fixed, and the front end of the cleaning device cannot continue to be lifted.

[0133] S203: Control the walking state of the driving wheels according to the detected chassis posture to cross over the crossable obstacle.

[0134] S203 may include: the cleaning device controls the walking state of the driving wheels according to the detected chassis posture to cross the crossable obstacle.

[0135] The following is a detailed description of step S203.

[0136] Exemplarily, the cleaning device may include a gyroscope and an accelerometer, through which the posture of the cleaning device can be detected in real time to ensure the accuracy of the front end tilting action. After the front end of the cleaning device is tilted, the lifting mechanism can be adjusted according to actual needs to adjust the posture of the cleaning device. By detecting the posture of the cleaning device in real time, it is determined whether the cleaning device presents the required posture and determines the next operation. For example, if the lifting fails, then retreat and brake.

[0137] The obstacle crossing method provided by the disclosed embodiment can lift the chassis and use inertia to tilt the front end of the cleaning device, thereby driving the universal wheels of the cleaning device to tilt, that is, the universal wheels are off the ground, which can facilitate the cleaning device to cross obstacles. Since the height of the front end of the cleaning device after tilting is greater than the height of the lifting mechanism lifting the chassis, the cleaning device can more effectively cross higher obstacles, thereby improving the adaptability of the cleaning device to the environment and terrain. By automatically detecting obstacles that can be crossed and adjusting the height and posture of the chassis without manual intervention, the autonomy and intelligence level of the cleaning device are improved.

[0138] The obstacle crossing method in the disclosed embodiment can improve the passability without increasing the complexity of the cleaning equipment by combining lifting and inertial motion, and is suitable for use in complex and changeable environments. The automatic posture detection function helps prevent the cleaning equipment from colliding with obstacles due to improper operation, thereby preventing problems such as overturning or damage, thereby improving the safety of operation. Through precise control and adjustment, unnecessary power consumption can be reduced and the energy efficiency of the cleaning equipment can be improved. The automated obstacle crossing function can improve the automation level of the cleaning equipment.

[0139] Figure 5 A flowchart of another obstacle crossing method provided by an embodiment of the present disclosure. Figure 5 As shown, the method includes:

[0140] S301: In response to detecting that there is a surmountable obstacle at the front end of the chassis, controlling the lifting mechanism to lift the chassis to a first preset height.

[0141] S302, controlling the driving wheel to retreat toward the rear end of the chassis by a preset distance at a first preset speed and then braking, so that the front end of the chassis tilts up due to inertia.

[0142] Among them, the implementation method of step S301-step S302 is the same as the implementation method of step S201-step S202, which will not be repeated here.

[0143] S303, detecting a first height from the front end of the chassis to the surface to be cleaned and a second height from the rear end of the chassis to the surface to be cleaned. The first height and the second height are heights in the thickness direction of the cleaning device.

[0144] S304: If the first height is not greater than the second height, the chassis posture is a non-crossable posture.

[0145] S305: If the first height is greater than the second height, the chassis posture is a straddleable posture.

[0146] S306: If the chassis posture is a non-crossable posture, the driving wheel is controlled to move backward toward the rear end of the chassis at a first preset speed for a preset distance and then brake.

[0147] S307: If the chassis posture is a crossable posture, the driving wheel is controlled to move forward toward the front end of the chassis and cross the crossable obstacle.

[0148] That is, if the first height is not greater than the second height, the driving wheel is controlled to move backwards to the rear end of the chassis by a preset distance at a first preset speed and then brake. If the first height is greater than the second height, the driving wheel is controlled to move forward to the front end of the chassis and cross the crossable obstacle.

[0149] S303 may include: the cleaning device detects a first height from the front end of the chassis to the surface to be cleaned and a second height from the rear end of the chassis to the surface to be cleaned.

[0150] Exemplarily, the cleaning device may detect the first height and the second height through a gyroscope, or detect the first height and the second height through a distance sensor, thereby obtaining the posture of the chassis.

[0151] It should be noted that the "crossable posture" refers to a posture that can cross obstacles, which may include a posture when the front end of the cleaning device is tilted (such as Figure 4 The "non-crossable posture" refers to a posture in which an obstacle cannot be crossed, and may include a posture in which the rear end of the cleaning device is tilted (such as Figure 2 shown).

[0152] Of course, in other embodiments, the "crossable posture" can also be other states, for example, the state where the front end of the cleaning device is tilted and the universal wheel is retracted is a crossable posture, and other postures are non-crossable postures. In the embodiments of the present application, the specific postures of the crossable posture and the non-crossable posture are not further limited.

[0153] By comparing the distance between the front and rear ends of the chassis, it is possible to quickly determine whether the posture of the cleaning equipment is suitable for crossing obstacles. This method is simple and easy to implement, does not require complex calculations or sensor configurations, and can simplify the structure and reduce costs. By ensuring that the front end of the chassis is higher than the rear end (i.e., the first height is greater than the second height) when it is in a crossable posture, the cleaning equipment can more easily cross obstacles and reduce the risk of getting stuck or failing. The cleaning equipment can automatically detect and judge the posture without human intervention, which improves the autonomy and intelligence level of the cleaning equipment.

[0154] Step S306 may include: if the chassis posture is a non-crossable posture, the cleaning device controls the driving wheel to retreat a preset distance toward the rear end of the chassis at a first preset speed and then brakes.

[0155] Step S307 may include: if the chassis posture is a crossable posture, the cleaning device controls the driving wheels to move toward the front end of the chassis and cross the crossable obstacle.

[0156] By detecting the chassis posture, the cleaning equipment can automatically determine whether it can safely cross the obstacle, and then choose the appropriate action strategy, which can improve the autonomy and intelligence level of the cleaning equipment. If the chassis posture is not suitable for crossing the obstacle, the cleaning equipment will choose to retreat and readjust the posture. This strategy can increase the success rate of obstacle crossing and avoid failures caused by improper posture. Choosing to retreat and readjust the posture in an uncrossable posture can prevent the cleaning equipment from overturning or being damaged due to forced obstacle crossing, thereby improving the safety of operation.

[0157] In a possible implementation, controlling the driving wheel to move toward the front end of the chassis and cross the crossable obstacle may include: the cleaning device controls the driving wheel to move toward the front end of the chassis and cross the crossable obstacle at a second preset speed, wherein the second preset speed is less than the first preset speed.

[0158] By using the lower second preset speed during the obstacle crossing process, more precise control can be provided to prevent the front end of the chassis of the cleaning device from moving downward due to shaking during the forward movement, thereby ensuring that the cleaning device can cross the obstacle safely and smoothly.

[0159] In addition, the lower speed reduces the impact force when the cleaning device contacts the traversable obstacle, which can reduce the risk of damage to the cleaning device and the traversable obstacle and improve the durability of the cleaning device. By reducing the speed, the cleaning device is easier to control during the obstacle crossing process, which can reduce the risk of overturning or loss of control and enhance the safety of operation. The larger first preset speed can generate greater inertia at the front end of the chassis during braking to increase the probability of the front end of the chassis tilting.

[0160] In a possible implementation, when the cleaning device encounters an obstacle during the cleaning operation, the cleaning device detects whether the obstacle can be crossed by lifting the chassis. If it can be crossed, the preset crossing height for crossing the obstacle is obtained, and the lifting mechanism is controlled to lift the chassis to a first preset height. The cleaning device controls the driving wheel to retreat at a first preset speed for a preset distance and then brake, so that the front end of the cleaning device is tilted. The cleaning device detects the posture of the chassis of the cleaning device in real time. After the front end of the cleaning device is successfully tilted, the cleaning device controls the driving wheel to move forward at a second preset speed and cross the traversable obstacle.

[0161] In another possible implementation, the cleaning device constructs an environmental map before performing the cleaning operation, identifies the height of obstacles that can be crossed during the process of constructing the environmental map, and records the position of obstacles that can be crossed. When the cleaning device performs the cleaning operation, when it reaches the position where the obstacle can be crossed, the cleaning device controls the lifting mechanism to lift the chassis to a first preset height. The cleaning device controls the drive wheel to retreat a preset distance at a first preset speed and then brake, so that the front end of the cleaning device is tilted. The cleaning device detects the posture of the chassis of the cleaning device in real time. After the front end of the cleaning device is successfully tilted, the cleaning device controls the drive wheel to move forward at a second preset speed and cross the obstacle that can be crossed.

[0162] Figure 6 A flowchart of another obstacle crossing method provided by an embodiment of the present disclosure. Figure 6 As shown, the method comprises the following steps:

[0163] S401: In response to detecting that there is a surmountable obstacle at the front end of the chassis, controlling the lifting mechanism to lift the chassis to a first preset height.

[0164] S402, controlling the driving wheel to retreat toward the rear end of the chassis by a preset distance at a first preset speed and then braking, so that the front end of the chassis tilts up due to inertia.

[0165] S403, detecting a first height from the front end of the chassis to the surface to be cleaned and a second height from the rear end of the chassis to the surface to be cleaned.

[0166] S404: If the first height is not greater than the second height, the chassis posture is a non-crossable posture.

[0167] S405: If the first height is greater than the second height, the chassis posture is a straddleable posture.

[0168] S406: If the chassis posture is a non-crossable posture, the driving wheel is controlled to move backward toward the rear end of the chassis at a first preset speed for a preset distance and then brake.

[0169] S407: If the chassis posture is a crossable posture, control the driving wheel to move forward toward the front end of the chassis and cross the crossable obstacle.

[0170] Among them, the implementation method of step S401 to step S407 is the same as the implementation method of step S301 to step S307, which will not be repeated here.

[0171] S408: Detect and identify ground stains and dynamic obstacles.

[0172] S409: Control the walking state of the driving wheels according to the ground stains and dynamic obstacles.

[0173] Optionally, the cleaning device includes an image acquisition device, such as a camera. The image acquisition device can be used to identify ground stains and dynamic obstacles (such as pets) to assist in adjusting the obstacle-crossing action of the cleaning device.

[0174] In a possible implementation, step S409 may specifically include: when there is a stain on the ground, the stain area may be bypassed; when there is a dynamic obstacle on the ground, the dynamic obstacle may be bypassed. When the chassis posture is a crossable posture, the driving wheel is controlled to move forward toward the front end of the chassis and cross the crossable obstacle. When the chassis posture is a non-crossable posture, the driving wheel is controlled to retreat to the rear end of the chassis at a first preset speed for a preset distance and then brake.

[0175] By identifying ground stains and by identifying dynamic obstacles (such as moving objects, people or pets), the equipment can adjust the path in real time to avoid collisions and improve the safety and flexibility of operation. Combining information on ground stains and dynamic obstacles, the cleaning equipment can optimize path planning, reduce unnecessary movement and repeated cleaning, and improve cleaning efficiency. By real-time monitoring and identifying dynamic obstacles, the equipment can operate safely in complex environments and reduce damage or safety hazards caused by accidental collisions. By optimizing the cleaning path and obstacle avoidance strategy, unnecessary energy consumption is reduced and the energy efficiency of the equipment is improved.

[0176] The present disclosure provides a cleaning device. Figure 1 As shown, the cleaning device includes a controller, a driving wheel, a universal wheel, a chassis and a lifting mechanism. The chassis includes a front end and a rear end. The direction from the rear end of the chassis to the front end of the chassis is the forward direction of the cleaning device. In the forward direction, the universal wheel is located between the driving wheel and the front end of the chassis. The controller is used to: detect whether there is a traversable obstacle at the front end of the chassis. When there is a traversable obstacle at the front end of the chassis, control the lifting mechanism to lift the chassis to a first preset height. Control the driving wheel to retreat a preset distance toward the rear end of the chassis at a first preset speed and then brake, so that the front end of the chassis is tilted due to inertia. Detect the posture of the chassis, and control the walking state of the driving wheel according to the posture of the chassis.

[0177] The embodiment of the present disclosure further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a controller, they are used to implement any of the above-mentioned obstacle crossing methods.

[0178] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present disclosure.

[0179] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0180] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0181] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0182] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0183] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An obstacle crossing method, characterized in that: A controller applied to a cleaning device, wherein the cleaning device comprises a driving wheel, a universal wheel, a chassis and a lifting mechanism, wherein the chassis comprises a front end and a rear end, and the direction from the rear end to the front end is the forward direction of the cleaning device; In the forward direction, the universal wheel is located between the driving wheel and the front end of the chassis; The method comprises: In response to detecting that there is a traversable obstacle at the front end of the chassis, controlling the lifting mechanism to lift the chassis to a first preset height; Controlling the driving wheel to retreat to the rear end of the chassis by a preset distance at a first preset speed and then brake, so that the front end of the chassis tilts up due to inertia; According to the detected chassis posture, the walking state of the driving wheel is controlled to cross the crossable obstacle.

2. The obstacle crossing method according to claim 1, characterized in that: The step of controlling the lifting mechanism to lift the chassis to a first preset height includes: According to the obtained preset obstacle crossing height, the lifting mechanism is controlled to lift the chassis to a first preset height; wherein, When the chassis is lifted to the first preset height and the front end of the chassis is tilted, the distance from the front end of the chassis to the surface to be cleaned is greater than or equal to the preset obstacle crossing height.

3. The obstacle crossing method according to claim 2, characterized in that: The process of obtaining the preset obstacle clearance height includes: The preset obstacle crossing height is determined according to the detected height of the surmountable obstacle; wherein, The preset obstacle crossing height is higher than the height of the surmountable obstacle.

4. The obstacle crossing method according to claim 1, characterized in that: The first preset height is the maximum height to which the lifting mechanism lifts the chassis.

5. The obstacle crossing method according to any one of claims 1 to 4, characterized in that: The step of controlling the walking state of the driving wheel according to the detected chassis posture includes: If the chassis is in a non-crossable posture, the driving wheel is controlled to move backward at a first preset speed toward the rear end of the chassis for a preset distance and then brake; If the chassis posture is a crossable posture, the driving wheel is controlled to move forward toward the front end of the chassis and cross the crossable obstacle.

6. The obstacle crossing method according to claim 5, characterized in that: The process of detecting the chassis posture includes: Detecting a first height from the front end of the chassis to the surface to be cleaned and a second height from the rear end of the chassis to the surface to be cleaned; If the first height is not greater than the second height, the chassis posture is a non-crossable posture; If the first height is greater than the second height, the chassis posture is a straddleable posture.

7. The obstacle crossing method according to claim 5, characterized in that: The step of controlling the driving wheel to move forward toward the front end of the chassis and cross the crossable obstacle comprises: Controlling the driving wheel to move forward toward the front end of the chassis at a second preset speed and to cross the crossable obstacle; wherein, The second preset speed is lower than the first preset speed.

8. The obstacle crossing method according to any one of claims 1 to 4, characterized in that: The process of detecting that there is a surmountable obstacle at the front end of the chassis includes: Acquire an environment map of the area to be cleaned, wherein the environment map includes first position information of obstacles that can be crossed; According to the environmental map, obtaining second location information of the cleaning device; It is determined whether there is a traversable obstacle at the front end of the chassis according to the first position information and the second position information.

9. The obstacle crossing method according to any one of claims 1 to 4, characterized in that: The process of detecting that there is a surmountable obstacle at the front end of the chassis includes: Determine whether there is an obstacle within a preset range at the front end of the chassis; If there is the obstacle, detecting the height of the obstacle; If the height of the obstacle is greater than a first preset threshold and less than a second preset threshold, the obstacle is determined to be a traversable obstacle.

10. The obstacle crossing method according to any one of claims 1 to 4, characterized in that: The method further comprises: Identify floor stains and dynamic obstacles; The walking state of the driving wheel is controlled according to ground stains and dynamic obstacles.

11. A cleaning device, characterized in that: It includes a controller, a driving wheel, a universal wheel, a chassis and a lifting mechanism, wherein the chassis includes a front end and a rear end, and the direction from the rear end to the front end is the forward direction of the cleaning device; In the forward direction, the universal wheel is located between the driving wheel and the front end of the chassis; The controller is used to: In response to detecting that there is a traversable obstacle at the front end of the chassis, controlling the lifting mechanism to lift the chassis to a first preset height; Controlling the driving wheel to retreat to the rear end of the chassis by a preset distance at a first preset speed and then brake, so that the front end of the chassis tilts up due to inertia; According to the detected chassis posture, the walking state of the driving wheel is controlled to cross the crossable obstacle.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the obstacle crossing method according to any one of claims 1 to 10 when executed by the controller.

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