Obstacle crossing methods, cleaning equipment, and computer-readable storage media

Abstract

This disclosure provides an obstacle-crossing method, a cleaning device, and a computer-readable storage medium, relating to the field of cleaning technology. The method is applied to a controller of a cleaning device, which includes drive wheels, casters, a chassis, and a lifting mechanism. The chassis includes a front end and a rear end, with the direction from the rear end to the front end being the forward direction of the cleaning device. In the forward direction, the casters are located between the drive wheels and the front end of the chassis. The method includes: in response to detecting an obstacle that can be crossed at the front end of the chassis, controlling the lifting mechanism to raise the chassis to a first preset height; controlling the drive wheels to move backward a preset distance towards the rear end of the chassis at a first preset speed and then braking, so that the front end of the chassis tilts due to inertia; and controlling the walking state of the drive wheels according to the detected chassis posture. The method provided by the embodiments of this disclosure is simple and can improve obstacle-crossing ability without increasing the structure of the cleaning device.

Description

Technical Field

[0001] This disclosure relates to the field of cleaning technology, and more particularly to an obstacle crossing method, cleaning equipment, and computer-readable storage medium. Background Technology

[0002] With the rapid development of smart home technology, automatic cleaning equipment (such as robotic vacuum cleaners) is widely used in home and commercial settings due to its autonomous cleaning capabilities.

[0003] Existing robotic vacuum cleaners typically include drive wheels and omnidirectional wheels. The omnidirectional wheels are mounted at the front of the robotic vacuum cleaner to enable flexible steering, while the drive wheels are located between the front and rear of the robotic vacuum cleaner to provide propulsion.

[0004] However, the omnidirectional wheels located at the front of the robot vacuum cleaner cause the robot vacuum cleaner's center of gravity to shift forward (head-heavy and tail-light), making it prone to colliding with obstacles when crossing them due to insufficient height of the front end off the ground. Summary of the Invention

[0005] This disclosure provides an obstacle-crossing method, a cleaning device, and a computer-readable storage medium. The obstacle-crossing method addresses the problem in the aforementioned related technologies where sweeping robots often collide with obstacles due to insufficient front-end height.

[0006] To achieve the above objectives, the present disclosure provides the following technical solutions:

[0007] The first aspect of this disclosure provides an obstacle crossing method applied to a controller of a cleaning device. The cleaning device includes drive wheels, casters, a chassis, and a lifting mechanism. 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 swivel wheels are located between the drive wheels and the front end of the chassis;

[0009] The methods include:

[0010] In response to the detection of an obstacle that can be crossed at the front of the chassis, the lifting mechanism is controlled to raise the chassis to a first preset height;

[0011] The drive wheels are controlled to move backward a preset distance towards the rear of the chassis at a first preset speed and then brake, so that the front of the chassis tilts up due to inertia;

[0012] Based on the detected chassis posture, the driving wheels are controlled to traverse traversable obstacles.

[0013] The obstacle-crossing method provided in this disclosure can lift the chassis and use inertia to tilt the front end of the cleaning equipment, thereby causing the omnidirectional wheels of the cleaning equipment to tilt and lift off the ground. This facilitates obstacle crossing. Furthermore, because the height of the tilted front end of the cleaning equipment is greater than the height the lifting mechanism raises the chassis, the cleaning equipment can more effectively cross higher obstacles, improving its adaptability to the environment and terrain. By automatically detecting traversable obstacles and adjusting the height and posture of the chassis, no manual intervention is required, enhancing the autonomy and intelligence level of the cleaning equipment.

[0014] This method, by combining lifting and inertial motion, improves maneuverability without increasing the complexity of the cleaning equipment, making it suitable for complex and variable environments. Automatic attitude detection helps prevent collisions with obstacles due to improper operation, thus avoiding tipping or damage and improving operational safety. Precise control and adjustment reduce unnecessary power consumption, improving the energy efficiency of the cleaning equipment. Automated obstacle-crossing capabilities enhance the automation performance of the cleaning equipment.

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

[0016] Based on the obtained preset obstacle-crossing height, the lifting mechanism is controlled to raise the chassis to a first preset height; wherein,

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

[0018] By precisely controlling the lifting height of the chassis, ensuring sufficient distance between the front end of the chassis and the surface to be cleaned when raised, damage or overturning of the cleaning equipment due to contact with obstacles during obstacle crossing can be avoided, improving operational safety. During cleaning, the ability to smoothly overcome traversable obstacles (such as thresholds) means the cleaning equipment can perform cleaning tasks more continuously, reducing the time spent on stopping or replanning the path due to obstacles, thereby improving cleaning efficiency, reducing missed areas, and minimizing unnecessary re-cleaning. By acquiring a preset obstacle crossing height and determining a first preset height based on it, the cleaning equipment can automatically adapt to obstacles of different heights, improving its adaptability and reducing the need for manual intervention, thus enhancing its intelligence level. Furthermore, precise control of the chassis movement reduces unnecessary power consumption, improving the energy efficiency of the cleaning equipment.

[0019] In one possible implementation, the process of obtaining the preset obstacle-crossing height includes:

[0020] Based on the height of the detected traversable obstacles, a preset obstacle-crossing height is determined; whereby,

[0021] The preset obstacle-crossing height is higher than the height of the obstacles 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 obstacle-crossing to ensure that the cleaning equipment can smoothly cross the obstacle. This prevents accidental contact between the cleaning equipment and the traversable obstacle during obstacle-crossing, reducing the risk of damage to the cleaning equipment or the traversable obstacle, improving overall operational safety, and increasing obstacle-crossing efficiency. Furthermore, this allows for dynamic adjustment of the preset obstacle-crossing height to adapt to traversable obstacles of different heights, enhancing the cleaning equipment's adaptability to diverse environments and reducing unnecessary power consumption, thus improving the energy efficiency of the cleaning equipment.

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

[0024] Raising the chassis to its maximum height in one go via a lifting mechanism allows the cleaning equipment to achieve maximum obstacle-crossing capability. This simplifies the control logic, reduces calculations and judgments related to height adjustments, and improves the equipment's response speed and reliability. Using the maximum height reduces obstacle-crossing failures caused by errors in obstacle height measurement or environmental changes (such as uneven ground), increasing the success rate. Ensuring sufficient height margin during obstacle crossing reduces the risk of contact with obstacles, minimizing the possibility of damage to the equipment or obstacles, and also reducing wear and maintenance requirements. By using the maximum height, the cleaning equipment can maintain consistent obstacle-crossing performance in various environments, enhancing its stability and reliability.

[0025] In one possible implementation, the driving state of the drive wheels is controlled based on the detected chassis attitude, including:

[0026] If the chassis posture is an uncrossable posture, then control the driving wheel's walking state to move backward a preset distance towards the rear of the chassis at a first preset speed and then brake.

[0027] If the chassis is in a traversable posture, then the driving wheels are controlled to move towards the front of the chassis and traverse traversable obstacles.

[0028] By detecting the chassis posture, the cleaning equipment can automatically determine whether it can safely traverse obstacles and thus select an appropriate action strategy, thereby improving the autonomy and intelligence of the cleaning equipment. If the chassis posture is not suitable for obstacle traversal, the cleaning equipment will choose to reverse and readjust its posture. This strategy increases the success rate of obstacle traversal and avoids failures caused by improper posture. Reversing and readjusting the posture when the obstacle is insurmountable prevents the cleaning equipment from tipping over or being damaged due to forced obstacle traversal, thus improving operational safety.

[0029] In one possible implementation, the process of detecting chassis attitude includes:

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

[0031] If the first height is not greater than the second height, then the chassis attitude is an uncrossable attitude;

[0032] If the first height is greater than the second height, then the chassis attitude is a traversable attitude.

[0033] By comparing the distances between the front and rear ends of the chassis, it's possible to quickly determine whether the cleaning equipment's posture is suitable for obstacle crossing. This method is simple and easy to implement, requiring no complex calculations or sensor configurations, thus simplifying the structure and reducing costs. 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) constitutes a traversable posture makes it easier for the cleaning equipment to cross obstacles, reducing the risk of getting stuck or failing. The cleaning equipment can automatically detect and determine its posture without human intervention, improving its autonomy and intelligence.

[0034] In one possible implementation, controlling the driving wheels' movement to move towards the front of the chassis and cross traversable obstacles includes:

[0035] The drive wheels are controlled to move towards the front of the chassis at a second preset speed and cross traversable obstacles; wherein,

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

[0037] By using a lower second preset speed during obstacle crossing, more precise control can be provided, preventing the front of the chassis from shifting downwards due to swaying during forward movement, thus ensuring the cleaning equipment can safely and smoothly cross obstacles. Additionally, the lower speed reduces the impact force when the cleaning equipment contacts the traversable obstacle, lowering the risk of damage to both the equipment and the obstacle, and improving the durability of the cleaning equipment. The reduced speed also makes the cleaning equipment easier to control during obstacle crossing, reducing the risk of tipping over or losing control and enhancing operational safety. Conversely, a higher first preset speed can generate greater inertia at the front of the chassis during braking, increasing the probability of the front of the chassis lifting up.

[0038] In one possible implementation, the process of detecting that there is an obstacle that can be crossed at the front end of the chassis includes:

[0039] Obtain an environmental map of the area to be cleaned, which includes first location information of obstacles that can be crossed;

[0040] Based on the environmental map, obtain the second location information of the cleaning equipment;

[0041] Based on the first and second position information, determine whether there are any obstacles that the front end of the chassis can cross.

[0042] By utilizing environmental maps, cleaning equipment can quickly identify and locate traversable obstacles, improving detection efficiency and accuracy. By acquiring the cleaning equipment's location information, it can accurately determine its relative position to obstacles, ensuring accurate decision-making. Pre-built environmental maps reduce reliance on real-time sensor data, lowering the computational burden on the cleaning equipment and improving response speed. With precise location information and map data, the cleaning equipment can better plan its paths and actions, increasing obstacle-crossing success rates. Environmental maps provide a global perspective, helping the cleaning equipment optimize cleaning paths, reducing unnecessary movements and adjustments, and improving cleaning efficiency. By identifying obstacles in advance, the cleaning equipment can better plan obstacle-crossing actions, reducing equipment damage or safety hazards caused by accidental collisions. Environmental maps can be dynamically updated, allowing the cleaning equipment to adapt to environmental changes and enhancing its adaptability in diverse environments.

[0043] In one possible implementation, the process of detecting that there is an obstacle that can be crossed at the front end of the chassis includes:

[0044] Check if there are any obstacles within a preset area at the front of the chassis;

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

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

[0047] By setting a preset range at the front of the chassis, the cleaning equipment can concentrate resources and sensor accuracy on key areas for detection, improving obstacle detection accuracy. By directly measuring the height of obstacles and comparing it to a preset threshold, the cleaning equipment can quickly determine whether an obstacle can be crossed and whether the chassis needs to be raised before crossing. By ensuring that only obstacles of suitable height are marked as crossable, the cleaning equipment can more effectively plan obstacle-crossing maneuvers, reducing unnecessary chassis raising and preventing the equipment from attempting to cross excessively high obstacles, thus lowering the risk of tipping over or damage and improving operational safety.

[0048] In one possible implementation, the method also includes:

[0049] Identify ground stains and dynamic obstacles;

[0050] Control the driving wheel's movement based on ground stains and dynamic obstacles.

[0051] By recognizing floor stains and dynamic obstacles (such as moving objects, people, or pets), the equipment can adjust its path in real time to avoid collisions, improving operational safety and flexibility. Combining information on floor stains and dynamic obstacles, the cleaning equipment can optimize path planning, reducing unnecessary movement and repetitive cleaning, and improving cleaning efficiency. By monitoring and recognizing dynamic obstacles in real time, the equipment can operate safely in complex environments, reducing damage or safety hazards caused by accidental collisions. Optimizing cleaning paths and obstacle avoidance strategies reduces unnecessary energy consumption, improving the equipment's energy efficiency.

[0052] A second aspect of this disclosure provides a cleaning device, including a controller, drive wheels, casters, a chassis, and a lifting mechanism. 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 swivel wheels are located between the drive wheels and the front end of the chassis;

[0054] The controller is used for:

[0055] In response to the detection of an obstacle that can be crossed at the front of the chassis, the lifting mechanism is controlled to raise the chassis to a first preset height;

[0056] The drive wheels are controlled to move backward a preset distance towards the rear of the chassis at a first preset speed and then brake, so that the front of the chassis tilts up due to inertia;

[0057] Based on the detected chassis posture, the driving wheels are controlled to traverse traversable obstacles.

[0058] A third aspect of this disclosure provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform an obstacle crossing method as described in the first aspect or an alternative to the first aspect. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0061] Figure 2 This is a schematic diagram showing the state of a cleaning equipment chassis after being raised, according to an embodiment of this disclosure.

[0062] Figure 3 A flowchart of an obstacle crossing method provided in this disclosure embodiment;

[0063] Figure 4 A schematic diagram showing the front end of the chassis of a cleaning device in an embodiment of this disclosure tilted upwards;

[0064] Figure 5 A flowchart of another obstacle crossing method provided in this disclosure embodiment;

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

[0066] Explanation of reference numerals in the attached figures:

[0067] 100 - Cleaning equipment; 10 - Chassis; 11 - Front end;

[0068] 12 - Rear end; 20 - Drive wheel; 30 - Swivel wheel;

[0069] 40 - Lifting mechanism; 41 - First lifting mechanism; 42 - Second lifting mechanism;

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

[0071] 200 - Surface to be cleaned; 210 - Can cross obstacles. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] With the rapid development of smart home technology, automatic cleaning equipment (such as robotic vacuum cleaners) is widely used in home and commercial settings due to its autonomous cleaning capabilities.

[0074] This disclosure provides a cleaning device for performing cleaning operations on a surface 200 to be cleaned, which may include multiple traversable obstacles 210. The following description uses a robotic vacuum cleaner as an example of this cleaning device.

[0075] like Figure 1 As shown, the robotic vacuum cleaner may include drive wheels 20, omnidirectional wheels 30, directional wheels 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 omnidirectional wheels 30 are located between the drive wheels 20 and the front end 11, that is, the omnidirectional wheels 30 are set close to the front end 11. The drive wheels 20 are located behind the omnidirectional wheels 30 and are used to provide the power for the robotic vacuum cleaner to move forward and backward. The directional wheels 60 are 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 rear end of the cleaning device 100, that is, the front end and rear end of the robot vacuum cleaner.

[0077] In this embodiment, "front end 11" refers to the side that the robot vacuum cleaner faces in the direction of movement during normal operation, and "rear end 12" is the side opposite to the front end 11. The forward direction (as shown by arrow A) is the default direction of movement when the robot vacuum cleaner performs cleaning tasks, which is driven by the forward rotation of the drive wheel 20 (clockwise or counterclockwise, depending on the specific design). 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 drive wheel 20 or by the steering mechanism.

[0078] See also Figure 1As shown, the LiDAR 50 is typically positioned close to the front end 11 of the robotic vacuum cleaner to facilitate measuring the distance between the robot and surrounding objects. This allows the robotic vacuum cleaner to perceive the three-dimensional structure of its surroundings, enabling it to build a map of the room or entire floor. The LiDAR 50 can also help the robot identify the edges of walls, furniture, etc., ensuring cleaning coverage and preventing it from falling or getting stuck.

[0079] like Figure 1 As shown, the cleaning equipment 100 also includes a lifting mechanism 40, which comprises 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 drive wheels 20, and can lift the chassis 10 relative to the drive wheels 20. The second lifting mechanism 42 can be located between the chassis 10 and the casters 30, and can lift the chassis 10 relative to the casters 30.

[0080] By setting up a lifting mechanism 40, the robot vacuum cleaner can easily overcome obstacles, such as thresholds or other slightly higher obstacles 210.

[0081] For example, both the first lifting mechanism 41 and the second lifting mechanism 42 may include a base, a motor, a lead screw, and a pressure block (not shown in the figure). The base of the first lifting mechanism 41 may be fixedly connected to the caster wheel 30, the lead screw is rotatably mounted on the base, the pressure block is driven by the lead screw, and the pressure block is fixedly connected to the chassis 10. When the motor drives the lead screw to rotate, the lead screw can drive the pressure block to move along the height direction of the cleaning equipment 100, thereby causing the chassis 10, which is fixedly connected to the pressure block, to move along the height direction of the cleaning equipment 100.

[0082] Similarly, the base of the second lifting mechanism 42 can be fixedly connected to the drive wheel 20, the lead screw is rotatably mounted on the base, the pressure block is driven and connected to the lead screw, and the pressure block is fixedly connected to the chassis 10. When the motor drives the lead screw to rotate, the lead screw can drive the pressure block to move along the height direction of the cleaning equipment 100, thereby driving the chassis 10, which is fixedly connected to the pressure block, to move along the height direction of the cleaning equipment 100.

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

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

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

[0086] However, after the lifting mechanism 40 raises the chassis 10, because the omnidirectional wheels 30 are located at the front end 11 of the chassis 10, and other core components such as the battery and motor are concentrated in the front part of the robot vacuum cleaner, the overall center of gravity shifts forward. Although the chassis 10 is raised, the omnidirectional wheels 30 remain in contact with the ground, causing the robot vacuum cleaner to appear as... Figure 2 The posture shown in the image indicates that the front end 11 of the robot vacuum cleaner is prone to colliding with obstacles during obstacle-crossing, ultimately leading to obstacle-crossing failure.

[0087] To address the aforementioned technical problems, this disclosure provides an obstacle crossing method, a cleaning device, and a computer-readable storage medium. The obstacle crossing method involves raising the chassis 10 to a certain height using a lifting mechanism 40, then controlling the cleaning device 100 to retreat a certain distance and brake. Inertia causes the front end 11 of the chassis to tilt upwards, thereby separating the caster wheels 30 located at the front end 11 of the chassis from the ground. This increases the distance between the front end 11 of the chassis and the ground, reducing collisions with obstacles during obstacle crossing and improving obstacle crossing capability.

[0088] Figure 3 This is a flowchart illustrating an obstacle-crossing method provided in an embodiment of this disclosure. The method is executed by part or all of a cleaning device. "Part" of the cleaning device may refer to a controller within the cleaning device. The obstacle-crossing method will now be described using the cleaning device as the executing entity.

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

[0090] S201. In response to detecting an obstacle that can be crossed at the front of the chassis, the lifting mechanism is controlled to raise the chassis to a first preset height.

[0091] S201 may include: when there is an obstacle that can be crossed at the front of the chassis, the cleaning equipment controls the lifting mechanism to raise the chassis to a first preset height.

[0092] It should be noted that "responding to the detection of an obstacle that can be crossed at the front of the chassis" can refer to the cleaning equipment detecting whether there is an obstacle that can be crossed at the front of the chassis, or it can refer to a signal received from other devices that there is an obstacle that can be crossed at the front of the chassis.

[0093] Since this disclosure addresses obstacles that require lifting the chassis to cross, the term "crossable obstacle" in this disclosure typically refers to an obstacle with a certain height within a certain range, such as a threshold or low step, excluding obstacles like carpets or floor mats that can be crossed by increasing driving force. For example, thresholds and low steps are typically about 10-20 millimeters high.

[0094] Optionally, the process of detecting whether there are obstacles that can be crossed at the front of the chassis may include: cleaning equipment detecting whether there are obstacles that can be crossed at the front of the chassis.

[0095] In one possible implementation, the cleaning equipment's detection of whether there is a crossable obstacle at the front of the chassis may include the following steps.

[0096] 2.1 The cleaning equipment determines whether there are obstacles within a preset range at the front end of the chassis. For example, it determines whether there are obstacles within 0.5 meters of the front end of the chassis. The space within 0.5 meters of the front end of the chassis is the preset range. Of course, in other embodiments, the preset range can also be the space within 1 meter, 0.8 meters, 0.6 meters, 0.4 meters, 0.2 meters, etc., of the front end of the chassis.

[0097] 2.2 If there are obstacles, the cleaning equipment will detect the height of the obstacles.

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

[0099] Optionally, the first preset threshold can be greater than 5 mm, and the second preset threshold can be greater than 50 mm, etc. That is to say, the height range of the obstacle that can be crossed in this embodiment of the present disclosure can be between 5 mm and 50 mm.

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

[0101] Of course, in other embodiments, the height of the obstacle that can be crossed may be further limited, which can be determined according to the size of the specific cleaning equipment. For example, a larger cleaning equipment can cross higher obstacles. In the embodiments of this disclosure, the height of the obstacle that can be crossed is not further limited.

[0102] By setting a preset range at the front of the chassis, the cleaning equipment can concentrate resources and sensor accuracy on key areas for detection, improving obstacle detection accuracy. By directly measuring the height of obstacles and comparing it to a preset threshold, the cleaning equipment can quickly determine whether an obstacle can be crossed and whether the chassis needs to be raised before crossing. By ensuring that only obstacles of suitable height are marked as crossable, the cleaning equipment can more effectively plan obstacle-crossing maneuvers, reducing unnecessary chassis raising and preventing the equipment from attempting to cross excessively high obstacles, thus lowering the risk of tipping over or damage and improving operational safety.

[0103] For example, the cleaning device may include a lidar and / or a laser sensor, which can detect whether there are obstacles within a preset range at the front end of the chassis, and detect the height of the obstacles. In this embodiment, the specific components for obstacle detection are not further limited.

[0104] It should be noted that the step of detecting whether there are obstacles that the front of the chassis can cross can be performed simultaneously with the cleaning equipment during the cleaning operation. Alternatively, the detection can be carried out before the cleaning operation, for example, during the process of building an environmental map before the cleaning equipment performs the cleaning operation.

[0105] Optionally, when the cleaning equipment builds an environmental map, it detects traversable obstacles and records their locations, so that the cleaning equipment can directly perform obstacle-crossing operations at those locations when performing cleaning operations.

[0106] When detecting traversable obstacles during the construction of an environment map, the specific steps may include the following:

[0107] 3.1 Obtain an environmental map of the area to be cleaned, including first location information of obstacles that can be crossed.

[0108] For example, when constructing an environment map, the location information of traversable obstacles is recorded, so that the environment map includes the location information of traversable obstacles, which is the first location information.

[0109] 3.2 Obtain the second location information of the cleaning equipment based on the environmental map.

[0110] 3.3. Based on the first and second position information, determine whether there are any obstacles that the front end of the chassis can cross. For example, when the second position is relatively close to the first position (e.g., the straight-line distance between the first and second positions is within 20 centimeters), the cleaning equipment can prepare to perform an obstacle crossing operation.

[0111] By utilizing environmental maps, cleaning equipment can quickly identify and locate traversable obstacles, improving detection efficiency and accuracy. By acquiring the cleaning equipment's location information, it can accurately determine its relative position to obstacles, ensuring accurate decision-making. Pre-built environmental maps reduce reliance on real-time sensor data, lowering the computational burden on the cleaning equipment and improving response speed.

[0112] With precise location information and map data, cleaning equipment can better plan its paths and actions, improving the success rate of obstacle crossing. Environmental maps provide a global perspective, helping cleaning equipment optimize its cleaning path, reducing unnecessary movement and adjustments, and improving cleaning efficiency. By identifying obstacles in advance, cleaning equipment can better plan its obstacle-crossing actions, reducing equipment damage or safety hazards caused by accidental collisions. Environmental maps can be dynamically updated, allowing cleaning equipment to adapt to environmental changes and enhancing its adaptability in diverse environments.

[0113] In this embodiment of the disclosure, the specific steps for detecting whether there are obstacles that can be crossed at the front end of the chassis are not further limited.

[0114] When the cleaning equipment is performing cleaning operations, if the cleaning equipment detects that there is an obstacle that needs to be crossed at its front end, it can control the lifting mechanism to raise the chassis to the first preset height.

[0115] Optionally, before controlling the lifting mechanism to raise the chassis to the first preset height, the process may further include obtaining a preset obstacle-crossing height. Based on the preset obstacle-crossing height, a first preset height is determined. The lifting mechanism is then controlled to raise the chassis to the first preset height. Wherein, when the chassis is raised to the first preset height, if the front end of the chassis is tilted upwards, 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. That is, when the chassis is raised to the first preset height, if the front end of the chassis is tilted upwards, it can cross traversable obstacles located at the front end of the chassis.

[0116] By precisely controlling the lifting height of the chassis, ensuring sufficient distance between the front end of the chassis and the surface to be cleaned when raised, damage or overturning of the cleaning equipment due to contact with obstacles during obstacle crossing can be avoided, improving operational safety. During cleaning, the ability to smoothly overcome traversable obstacles (such as thresholds) means the cleaning equipment can perform cleaning tasks more continuously, reducing the time spent on stopping or replanning the path due to obstacles, thereby improving cleaning efficiency, reducing missed areas, and minimizing unnecessary re-cleaning. By acquiring a preset obstacle crossing height and determining a first preset height based on it, the cleaning equipment can automatically adapt to obstacles of different heights, improving its adaptability and reducing the need for manual intervention, thus enhancing its intelligence level. Furthermore, precise control of the chassis movement reduces unnecessary power consumption, improving the energy efficiency of the cleaning equipment.

[0117] In one possible implementation, the process by which the cleaning device obtains a preset obstacle-crossing height may include:

[0118] The cleaning equipment detects the height of obstacles that can be crossed. Based on the height of the obstacles that can be crossed, a preset obstacle-crossing height is determined. This preset obstacle-crossing height is higher than the height of the obstacles that can be crossed.

[0119] Optionally, the cleaning equipment is equipped with a lidar, radar sensor, or distance sensor, which can detect the height of obstacles. In this embodiment, the specific component for detecting the height of obstacles is not further limited.

[0120] It should be noted that the preset obstacle clearance height can be obtained while detecting whether there are any obstacles that can be crossed at the front of the chassis, or it can be obtained when encountering obstacles during cleaning operations.

[0121] By setting the preset obstacle-crossing height higher than the height of the traversable obstacle, sufficient height margin can be provided during obstacle-crossing to ensure that the cleaning equipment can smoothly cross the obstacle. This prevents accidental contact between the cleaning equipment and the traversable obstacle during obstacle-crossing, reducing the risk of damage to the cleaning equipment or the traversable obstacle, improving overall operational safety, and increasing obstacle-crossing efficiency. Furthermore, this allows for dynamic adjustment of the preset obstacle-crossing height to adapt to traversable obstacles of different heights, enhancing the cleaning equipment's adaptability to diverse environments and reducing unnecessary power consumption, thus improving the energy efficiency of the cleaning equipment.

[0122] Optionally, the first preset height can be the maximum height at which the lifting mechanism raises the chassis. That is, when the cleaning equipment encounters an obstacle that can be crossed (e.g., a threshold) while performing cleaning operations, the cleaning equipment directly controls the lifting mechanism to raise the chassis to its maximum height in preparation for crossing the obstacle.

[0123] Raising the chassis to its maximum height in one go via a lifting mechanism allows the cleaning equipment to achieve maximum obstacle-crossing capability. This simplifies the control logic, reduces calculations and judgments related to height adjustments, and improves the equipment's response speed and reliability. Using the maximum height reduces obstacle-crossing failures caused by errors in obstacle height measurement or environmental changes (such as uneven ground), increasing the success rate. Ensuring sufficient height margin during obstacle crossing reduces the risk of contact with obstacles, minimizing the possibility of damage to the equipment or obstacles, and also reducing wear and maintenance requirements. By using the maximum height, the cleaning equipment can maintain consistent obstacle-crossing performance in various environments, enhancing its stability and reliability.

[0124] S202, control the drive wheel to move backward a preset distance towards the rear of the chassis at a first preset speed and then brake, so that the front end of the chassis tilts up due to inertia.

[0125] S202 may include: the cleaning equipment controlling the drive wheel to move backward a preset distance towards the rear of the chassis at a first preset speed and then braking, so that the front end of the chassis tilts up due to inertia.

[0126] It should be noted that "braking" refers to the cleaning equipment reducing its speed to zero and stopping in an extremely short time (e.g., less than or equal to 0.1 seconds, 0.2 seconds, 0.3 seconds, 0.4 seconds, or 0.5 seconds). Because the acceleration generated during braking is significant and occurs in the opposite direction of travel, the front end of the cleaning equipment gains considerable inertia. This allows the front end of the cleaning equipment to lift up, separating the casters from the ground and facilitating obstacle crossing.

[0127] Optionally, the first preset speed can be greater than the operating speed of the cleaning equipment during cleaning operations. This ensures that the front end of the cleaning equipment acquires a larger inertial force when braking, thereby "swinging" the front end of the cleaning equipment up, such as... Figure 4 As shown.

[0128] It should be noted that when the front end of the cleaning equipment is swung up, the axis of rotation of the cleaning equipment can be located at the position of the line connecting the two drive wheels and the contact points with the ground. In other words, the posture of the entire cleaning equipment relative to the ground (the surface to be cleaned) changes, while the position of the chassis relative to the drive wheels and casters remains unchanged. After the front end of the cleaning equipment is swung up, the entire cleaning equipment... Figure 2 The posture in the middle became Figure 4 The posture in the middle.

[0129] In some embodiments, a first preset speed can be determined by acquiring the center of gravity position of the cleaning device, the distance from the center of gravity to the drive wheel, and the weight of the cleaning device. This ensures that after braking from the first preset speed, the inertia of the front end of the chassis is sufficient to "swing" the front end of the chassis.

[0130] Of course, in some other embodiments, the vehicle can also reverse at a preset speed to test whether the front end of the chassis can be "swinged up" after braking. If the front end of the cleaning equipment is not swung up after braking, the reverse speed is increased until the front end of the cleaning equipment can be swung up after braking.

[0131] It should be noted that after the cleaning equipment reverses to a preset distance, it suddenly brakes, using inertia to swing the front end of the equipment up, increasing its height off the ground. The "preset distance" is empirically measured and has a threshold value. The preset distance needs to be greater than this threshold to ensure that the cleaning equipment can accumulate enough kinetic energy to allow the front end to rise due to inertia after braking.

[0132] In addition, the height at which the front end of the chassis is raised is fixed because the rear end of the cleaning equipment is equipped with directional wheels. Once the front end is raised to a certain height, the directional wheels will contact the ground. At this point, the tilt angle of the cleaning equipment is fixed, and the front end of the cleaning equipment cannot be raised further.

[0133] S203. Based on the detected chassis posture, control the walking state of the drive wheels to cross traversable obstacles.

[0134] S203 may include: the cleaning device controlling the walking state of the drive wheels according to the detected chassis posture, so as to cross the crossable obstacle.

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

[0136] For example, the cleaning equipment may include a gyroscope and an accelerometer. These devices can detect the cleaning equipment's attitude in real time, ensuring the accuracy of the tilting motion at the front end. After the front end of the cleaning equipment tilts, the lifting mechanism can be adjusted according to actual needs, thereby adjusting the cleaning equipment's attitude. By detecting the cleaning equipment's attitude in real time, it is determined whether the cleaning equipment is in the required position, prompting a decision to proceed with the next step. For example, if the lifting fails, the equipment can be reversed and then braked.

[0137] The obstacle-crossing method provided in this disclosure can lift the chassis and use inertia to tilt the front end of the cleaning equipment, thereby causing the omnidirectional wheels of the cleaning equipment to tilt and lift off the ground. This facilitates obstacle crossing. Furthermore, because the height of the tilted front end of the cleaning equipment is greater than the height the lifting mechanism raises the chassis, the cleaning equipment can more effectively cross higher obstacles, improving its adaptability to the environment and terrain. By automatically detecting traversable obstacles and adjusting the height and posture of the chassis, no manual intervention is required, enhancing the autonomy and intelligence level of the cleaning equipment.

[0138] The obstacle-crossing method in this embodiment combines lifting and inertial motion to improve maneuverability without increasing the complexity of the cleaning equipment, making it suitable for complex and variable environments. Automatic attitude detection helps prevent collisions with obstacles due to improper operation, thus preventing overturning or damage and improving operational safety. Precise control and adjustment reduce unnecessary power consumption and improve the energy efficiency of the cleaning equipment. Automated obstacle-crossing capabilities enhance the automation level of the cleaning equipment.

[0139] Figure 5 A flowchart illustrating another obstacle-crossing method provided in this disclosure. Figure 5 As shown, the method includes:

[0140] S301. In response to detecting an obstacle that can be crossed at the front of the chassis, the lifting mechanism is controlled to raise the chassis to a first preset height.

[0141] S302, Control the drive wheel to move backward a preset distance towards the rear of the chassis at a first preset speed and then brake, so that the front of the chassis tilts up due to inertia.

[0142] The implementation methods of steps S301-S302 are the same as those of steps S201-S202, and will not be described in detail here.

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

[0144] S304. If the first height is not greater than the second height, then the chassis attitude is an uncrossable attitude.

[0145] S305. If the first height is greater than the second height, the chassis attitude is a traversable attitude.

[0146] S306. If the chassis posture is an uncrossable posture, then control the driving wheel's walking state to move backward a preset distance towards the rear of the chassis at a first preset speed and then brake.

[0147] S307. If the chassis posture is a traversable posture, then control the driving wheel's walking state to move towards the front of the chassis and traverse traversable obstacles.

[0148] In other words, if the first height is not greater than the second height, the drive wheels are controlled to move backward a preset distance towards the rear of the chassis at a first preset speed before braking. If the first height is greater than the second height, the drive wheels are controlled to move forward towards the front of the chassis and cross over traversable obstacles.

[0149] S303 may include: a first height from the front end of the cleaning equipment 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] For example, the cleaning device can detect the first and second heights using a gyroscope or a distance sensor to obtain the attitude of the chassis.

[0151] It should be noted that "crossable posture" refers to a posture that allows the device to cross obstacles, which can include the posture when the front end of the cleaning equipment is tilted up (e.g., ...). Figure 4 (As shown). "Uncrossable posture" refers to a posture that cannot cross an obstacle, which can include a posture where the rear end of the cleaning equipment is tilted up (e.g., ...). Figure 2 (As 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 raised and the casters are retracted is a crossable posture, and other postures are non-crossable postures. In the embodiments of this application, the specific postures of the crossable and non-crossable postures are not further limited.

[0153] By comparing the distances between the front and rear ends of the chassis, it's possible to quickly determine whether the cleaning equipment's posture is suitable for obstacle crossing. This method is simple and easy to implement, requiring no complex calculations or sensor configurations, thus simplifying the structure and reducing costs. 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) constitutes a traversable posture makes it easier for the cleaning equipment to cross obstacles, reducing the risk of getting stuck or failing. The cleaning equipment can automatically detect and determine its posture without human intervention, improving its autonomy and intelligence.

[0154] Step S306 may include: if the chassis posture is an uncrossable posture, the cleaning equipment controls the drive wheel to move backward a preset distance towards the rear of the chassis at a first preset speed and then brakes.

[0155] Step S307 may include: if the chassis is in a traversable posture, the cleaning device controls the drive wheels to move towards the front of the chassis and traverse the traversable obstacle.

[0156] By detecting the chassis posture, the cleaning equipment can automatically determine whether it can safely traverse obstacles and thus select an appropriate action strategy, thereby improving the autonomy and intelligence of the cleaning equipment. If the chassis posture is not suitable for obstacle traversal, the cleaning equipment will choose to reverse and readjust its posture. This strategy increases the success rate of obstacle traversal and avoids failures caused by improper posture. Reversing and readjusting the posture when the obstacle is insurmountable prevents the cleaning equipment from tipping over or being damaged due to forced obstacle traversal, thus improving operational safety.

[0157] In one possible implementation, controlling the drive wheels to move forward toward the front of the chassis and cross an traversable obstacle can include: the cleaning device controlling the drive wheels to move forward toward the front of the chassis and cross the traversable obstacle at a second preset speed. The second preset speed is less than a first preset speed.

[0158] By using a lower second preset speed during obstacle crossing, more precise control can be provided, preventing the front of the chassis from moving downwards due to shaking during the forward movement of the cleaning equipment, thus ensuring that the cleaning equipment can safely and smoothly cross obstacles.

[0159] Furthermore, lower speeds reduce the impact force when the cleaning equipment comes into contact with traversable obstacles, thus lowering the risk of damage to both the equipment and the obstacles and improving the equipment's durability. Lower speeds also make the cleaning equipment easier to control during obstacle crossing, reducing the risk of tipping over or losing control and enhancing operational safety. Conversely, a larger initial preset speed can generate greater inertia at the front of the chassis during braking, increasing the probability of the front of the chassis lifting off the ground.

[0160] In one possible implementation, when the cleaning equipment encounters an obstacle during cleaning operations, it detects whether the obstacle can be crossed by raising its chassis. If it can be crossed, it obtains a preset crossing height and controls the lifting mechanism to raise the chassis to a first preset height. The cleaning equipment then controls the drive wheels to reverse a preset distance at a first preset speed and brake, causing the front end of the cleaning equipment to tilt upwards. The cleaning equipment continuously monitors the chassis posture. After the front end of the cleaning equipment successfully tilts upwards, it controls the drive wheels to move forward at a second preset speed and cross the crossable obstacle.

[0161] In another possible implementation, the cleaning equipment constructs an environmental map before performing the cleaning operation. During the map construction process, it identifies the height of traversable obstacles and records their locations. When the cleaning equipment reaches the location of a traversable obstacle during the cleaning operation, it controls a lifting mechanism to raise the chassis to a first preset height. The cleaning equipment then controls the drive wheels to reverse a preset distance at a first preset speed and brake, causing the front end of the cleaning equipment to tilt upwards. The cleaning equipment continuously monitors the chassis posture. After the front end of the cleaning equipment successfully tilts upwards, it controls the drive wheels to move forward at a second preset speed and traverse the traversable obstacle.

[0162] Figure 6 A flowchart illustrating another obstacle-crossing method provided in this disclosure. Figure 6 As shown, the method includes the following steps:

[0163] S401. In response to detecting an obstacle that can be crossed at the front of the chassis, control the lifting mechanism to raise the chassis to a first preset height.

[0164] S402, Control the drive wheel to move backward a preset distance towards the rear of the chassis at a first preset speed and then brake, so that the front of the chassis tilts up due to inertia.

[0165] S403. Detect the first height from the front end of the chassis to the surface to be cleaned and the 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, then the chassis attitude is an uncrossable attitude.

[0167] S405. If the first height is greater than the second height, then the chassis attitude is a traversable attitude.

[0168] S406. If the chassis posture is an uncrossable posture, then control the driving wheel's walking state to move backward a preset distance towards the rear of the chassis at a first preset speed and then brake.

[0169] S407. If the chassis posture is a traversable posture, then control the driving wheel's walking state to move towards the front of the chassis and traverse traversable obstacles.

[0170] The implementation methods of steps S401-S407 are the same as those of steps S301-S307, and will not be described in detail here.

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

[0172] S409. Control the driving wheel's movement based on ground stains and dynamic obstacles.

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

[0174] In one possible implementation, step S409 can specifically involve: when the ground has stains, the system can bypass the stained area; when the ground has dynamic obstacles, the system can bypass the dynamic obstacles. When the chassis is in a traversable posture, the drive wheels are controlled to move towards the front of the chassis and cross the traversable obstacle. When the chassis is in a non-traversable posture, the drive wheels are controlled to move backward a preset distance towards the rear of the chassis at a first preset speed and then brake.

[0175] By recognizing floor stains and dynamic obstacles (such as moving objects, people, or pets), the equipment can adjust its path in real time to avoid collisions, improving operational safety and flexibility. Combining information on floor stains and dynamic obstacles, the cleaning equipment can optimize path planning, reducing unnecessary movement and repetitive cleaning, and improving cleaning efficiency. By monitoring and recognizing dynamic obstacles in real time, the equipment can operate safely in complex environments, reducing damage or safety hazards caused by accidental collisions. Optimizing cleaning paths and obstacle avoidance strategies reduces unnecessary energy consumption, improving the equipment's energy efficiency.

[0176] This disclosure provides a cleaning device, such as... Figure 1 As shown, the cleaning equipment includes a controller, drive wheels, casters, a chassis, and a lifting mechanism. The chassis includes a front end and a rear end, with the direction from the rear end to the front end defining the forward direction of the cleaning equipment. In the forward direction, the casters are located between the drive wheels and the front end of the chassis. The controller is used to: detect whether there is an obstacle that can be crossed at the front end of the chassis; when there is an obstacle, control the lifting mechanism to raise the chassis to a first preset height; control the drive wheels to move backward a preset distance towards the rear end of the chassis at a first preset speed and then brake, causing the front end of the chassis to tilt due to inertia; detect the chassis posture and control the walking state of the drive wheels based on the chassis posture.

[0177] This disclosure also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a controller, are used to implement any of the obstacle crossing methods described above.

[0178] In the description of this disclosure, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0179] In the embodiments provided in this disclosure, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

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

[0181] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0182] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0183] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method of obstacle crossing, characterized by, A controller for a cleaning device, the cleaning device including drive wheels, casters, chassis and lifting mechanism, the chassis including front end and rear end, the direction from the rear end to the front end being the forward direction of the cleaning device; In the forward direction, the omnidirectional wheel is located between the drive wheel and the front end of the chassis; The lifting mechanism includes a first lifting mechanism and a second lifting mechanism. The first lifting mechanism is located between the chassis and the drive wheel and is used to lift the chassis relative to the drive wheel. The second lifting mechanism is located between the chassis and the caster wheel and is used to lift the chassis relative to the caster wheel. The method includes: In response to detecting an obstacle that can be crossed at the front end of the chassis, the first lifting mechanism and the second lifting mechanism are controlled to raise the chassis to a first preset height; The drive wheel is controlled to move backward a preset distance towards the rear of the chassis at a first preset speed and then braked, so that the front end of the chassis tilts up due to inertia; Based on the detected chassis posture, the driving state of the drive wheels is controlled to cross the crossable obstacle.

2. The method of claim 1, wherein, The control of the lifting mechanism to raise the chassis to a first preset height includes: Based on the obtained preset obstacle-crossing height, the lifting mechanism is controlled to raise the chassis to a first preset height; wherein, When the chassis is raised to the first preset height and the front end of the chassis is tilted up, 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-crossing height includes: The preset obstacle-crossing height is determined based on the detected height of the traversable obstacle; wherein, The preset obstacle-crossing height is higher than the height of the obstacle that can be crossed.

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

5. The obstacle crossing method according to any one of claims 1-4, characterized in that, The step of controlling the walking state of the drive wheels based on the detected chassis posture includes: If the chassis posture is an uncrossable posture, then the driving wheel is controlled to move backward a preset distance towards the rear of the chassis at a first preset speed and then brake. If the chassis is in a traversable posture, then the driving wheels are controlled to move towards the front of the chassis and traverse the traversable obstacle.

6. The obstacle crossing method according to claim 5, characterized in that, The process of detecting the chassis attitude includes: The first height from the front end of the chassis to the surface to be cleaned and the second height from the rear end of the chassis to the surface to be cleaned are detected. If the first height is not greater than the second height, then the chassis attitude is an uncrossable attitude; If the first height is greater than the second height, then the chassis posture is a traversable posture.

7. The obstacle crossing method according to claim 5, characterized in that, The control of the drive wheels to move towards the front of the chassis and cross the traversable obstacle includes: The drive wheels are controlled to move towards the front end of the chassis at a second preset speed and cross the traversable obstacle; wherein, The second preset speed is less than the first preset speed.

8. The obstacle crossing method according to any one of claims 1-4, characterized in that, The process of detecting that the front end of the chassis has an obstacle that can be crossed includes: Obtain an environmental map of the area to be cleaned, wherein the environmental map includes first location information that can be crossed by obstacles; Based on the environmental map, obtain the second location information of the cleaning equipment; Based on the first location information and the second location information, determine whether there is an obstacle that the front end of the chassis can cross.

9. The obstacle crossing method according to any one of claims 1-4, characterized in that, The process of detecting that the front end of the chassis has an obstacle that can be crossed includes: To determine whether there are obstacles within a preset range at the front end of the chassis; If the obstacle exists, the height of the obstacle is detected; If the height of the obstacle is greater than a first preset threshold and less than a second preset threshold, then the obstacle is determined to be a traversable obstacle.

10. The obstacle crossing method according to any one of claims 1-4, characterized in that, The method further includes: Identify ground stains and dynamic obstacles; The driving state of the drive wheels is controlled based on ground stains and dynamic obstacles.

11. A cleaning device, characterized in that, It includes a controller, drive wheels, casters, a chassis, and a lifting mechanism. 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 equipment. In the forward direction, the omnidirectional wheel is located between the drive wheel and the front end of the chassis; The controller is used for: In response to detecting an obstacle that can be crossed at the front end of the chassis, the lifting mechanism is controlled to raise the chassis to a first preset height; The drive wheel is controlled to move backward a preset distance towards the rear of the chassis at a first preset speed and then braked, so that the front end of the chassis tilts up due to inertia; Based on the detected chassis posture, the driving state of the drive wheels 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, when executed by a controller, are used to implement the obstacle crossing method as described in any one of claims 1 to 10.

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