Obstacle cleaning method, cleaning robot and computer readable storage medium

Abstract

The invention relates to an obstacle cleaning method, a cleaning robot and a computer readable storage medium. The method is applied to the cleaning robot, the cleaning robot comprises a chassis and a wet cleaning part connected with the chassis, and the method comprises the steps that obstacle information is recognized, when the height of an obstacle is larger than a first threshold value, an obstacle avoidance cleaning strategy is executed, and when the height of the obstacle is smaller than a second threshold value, a low obstacle cleaning strategy is executed; the obstacle avoidance cleaning strategy is to clean obstacles along the edges; according to the low obstacle cleaning strategy, the upper surface of the obstacle is kept clean by adjusting the lifting height of a chassis of the cleaning robot and / or the lifting height of a wet type cleaning piece. By adopting the method, the cleaning coverage rate and the cleaning effect are improved.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning robots, and in particular, to an obstacle cleaning method, a cleaning robot, and a computer-readable storage medium. Background Art

[0002] Cleaning robots can improve the environmental sanitation conditions while reducing the labor intensity. Therefore, with the continuous development of cleaning robot technology, cleaning robots are widely used.

[0003] In the traditional technology, during daily cleaning, a cleaning robot is driven by driving wheels, and then a dry cleaning part and a wet cleaning part arranged at the bottom of the cleaning robot are used to clean the ground. When encountering a low obstacle, the cleaning robot will actively avoid the obstacle and continue cleaning after bypassing the obstacle.

[0004] However, there is also a cleaning need for low obstacles (for example, floor sockets, door thresholds, skirting boards, etc.). In the traditional technology, the cleaning robot only performs obstacle avoidance processing on the obstacles, resulting in the current cleaning robot being unable to meet the cleaning needs of low obstacles. Summary of the Invention

[0005] Based on this, it is necessary to provide an obstacle cleaning method, a cleaning robot, and a computer-readable storage medium for the above technical problems.

[0006] In a first aspect, the present application provides an obstacle cleaning method, which is applied to a cleaning robot. The cleaning robot includes a chassis and a wet cleaning part connected to the chassis. The method includes:

[0007] Identifying obstacle information, and when the height of the obstacle is greater than a first threshold, executing an obstacle avoidance cleaning strategy; when the height of the obstacle is less than a second threshold, executing a low obstacle cleaning strategy;

[0008] The obstacle avoidance cleaning strategy is to clean along the edge of the obstacle;

[0009] The low obstacle cleaning strategy is to adjust the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning part to keep cleaning the upper surface of the obstacle.

[0010] In one embodiment, when the height of the obstacle is less than the second threshold and executing the low obstacle cleaning strategy, it further includes:

[0011] When the obstacle is in an edge position and the height of the obstacle is less than the second threshold, controlling the wet cleaning part to clean the upper surface of the obstacle at a cleaning position in an expanded state;

[0012] When the obstacle is in a non-edge position and the height of the obstacle is less than the second threshold, control the wet cleaning member to be in a retracted state or an extended state at a cleaning position to clean the upper surface of the obstacle.

[0013] In one embodiment, after executing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold, the method further includes:

[0014] By adjusting one or more of the pose relationship between the cleaning robot and the obstacle, the extended state of the wet cleaning member, the lifting height of the chassis of the cleaning robot, and the lifting height of the wet cleaning member, readjust the cleaning position of the wet cleaning member and continue to perform edge cleaning on the obstacle.

[0015] In one embodiment, the drive wheels of the cleaning robot are located inside the chassis, and when the wet cleaning member is in a retracted state, the wet cleaning member does not extend beyond the edge of the chassis; wherein,

[0016] When the wet cleaning member is at the maximum stroke of the extended state, the length by which the wet cleaning member extends beyond the edge of the chassis is the first effective length;

[0017] The distance from the outside of the drive wheel on the side of the cleaning robot close to the obstacle to the end of the wet cleaning member at the maximum stroke of the extended state is the second effective length;

[0018] The second effective length is greater than the first effective length.

[0019] In one embodiment, the execution of the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold includes:

[0020] When the height of the obstacle is less than the second threshold and the width is less than the first effective length, control the wet cleaning member to be in a cleaning position and maintain the wet cleaning member in an extended state;

[0021] Control the cleaning robot to travel along the edge of the obstacle;

[0022] During the process of driving the cleaning robot to move, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle.

[0023] In one embodiment, the execution of the low obstacle cleaning strategy when the height of the obstacle is less than the threshold includes:

[0024] When the height of the obstacle is less than the second threshold, the width is greater than the first effective length and less than the second effective length, control the wet cleaning member to be in a cleaning position and maintain the wet cleaning member in an extended state;

[0025] Control the outer side of the driving wheel on the side of the cleaning robot close to the obstacle to travel along the edge of the obstacle;

[0026] During the process of driving the cleaning robot to move, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle.

[0027] In one embodiment, when the height of the obstacle is less than the second threshold, the low-obstacle cleaning strategy is executed, including:

[0028] For the case where the obstacle is in a non-edge position, when the height of the obstacle is less than the second threshold and the width is greater than the second effective length, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in an expanded state;

[0029] Control the cleaning robot to travel along the left and right side edges of the obstacle respectively; the travel along the left and right side edges means that the contact process between the wet cleaning member and the edge of the obstacle is discontinuous;

[0030] During the process of driving the cleaning robot to move, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle.

[0031] In one embodiment, when the height of the obstacle is less than the second threshold, the low-obstacle cleaning strategy is executed, including:

[0032] For the case where the obstacle is in a non-edge position, when the height of the obstacle is less than the second threshold and the width is greater than the second effective length, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in an expanded state;

[0033] Control the cleaning robot to travel around the edge of the obstacle; the travel around the edge of the obstacle means that the wet cleaning member is in continuous contact with the edge of the obstacle;

[0034] During the process of driving the cleaning robot to move, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle.

[0035] In one embodiment, when the height of the obstacle is less than the second threshold, the low-obstacle cleaning strategy is executed, including:

[0036] When the height of the obstacle is less than the second threshold and the width is less than the length of the wet cleaning member, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in a retracted state; the length of the wet cleaning member is the straight-line distance between the left end and the right end when the wet cleaning member is in the retracted state;

[0037] Control the cleaning robot to straddle the upper surface of the obstacle, driving the wet cleaning member to clean the upper surface of the obstacle.

[0038] In one embodiment, controlling the wet cleaning member to be in a cleaning position includes at least one of the following steps:

[0039] Control the wet cleaning member to maintain a preset low cleaning state and lift the chassis of the cleaning robot so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned;

[0040] Control the chassis of the cleaning robot to maintain the initial state and lift the wet cleaning member so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned;

[0041] Control the chassis of the cleaning robot and the wet cleaning member to be lifted together so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned.

[0042] In one embodiment, during the process of driving the cleaning robot to move, driving the wet cleaning member in the cleaning position to clean the upper surface of the obstacle includes:

[0043] During the process of driving the cleaning robot to travel along one side of the obstacle, driving the wet cleaning member in the cleaning position to clean the upper surface of the obstacle; or,

[0044] During the process of driving the cleaning robot to travel back and forth along the obstacle, driving the wet cleaning member in the cleaning position to clean the upper surface of the obstacle at least once reciprocally.

[0045] In one embodiment, during the process of driving the cleaning robot to move, driving the wet cleaning member in the cleaning position to clean the upper surface of the obstacle includes:

[0046] During the process of the cleaning robot traveling along the obstacle, drive the rear end of the cleaning robot to deflect towards the obstacle and swing back away from the obstacle multiple times to clean the upper surface of the obstacle.

[0047] In one embodiment, the method further includes:

[0048] When the height of the obstacle is greater than the chassis lift height of the cleaning robot or the lift height of the wet cleaning member and less than the maximum height at which the cleaning robot climbs in an obstacle-crossing manner, control the drive wheels on the side of the cleaning robot close to the obstacle to climb to the upper surface of the obstacle in an obstacle-crossing manner;

[0049] At least control the drive wheel on the side of the cleaning robot away from the obstacle to drive the cleaning robot forward, and drive the wet cleaning member to perform a cleaning operation on the upper surface of the obstacle.

[0050] In one embodiment, when the height of the obstacle is less than the second threshold, the low-obstacle cleaning strategy is executed, including:

[0051] When the height of the obstacle is less than the second threshold, control the cleaning robot to travel at a first speed at a constant speed,

[0052] Or, control the cleaning robot to travel at a variable speed within a preset speed range and execute the low-obstacle cleaning strategy; the preset speed range is from zero to the first speed;

[0053] Wherein, the first speed is less than or equal to the traveling speed of the cleaning robot in the non-cleaning state.

[0054] In one embodiment, when the height of the obstacle is less than the second threshold, the low-obstacle cleaning strategy is executed, including:

[0055] When the height of the obstacle is less than the second threshold, control the cleaning robot to stop traveling, and control the wet cleaning member to be in the cleaning position so that the wet cleaning member continuously cleans the upper surface of the obstacle, and then control the cleaning robot to continue traveling.

[0056] In one embodiment, the vertical height of the upper surface of the obstacle from the ground is not fixed, and / or there are protrusions on the side of the obstacle. When the height of the obstacle is less than the second threshold, the low-obstacle cleaning strategy is executed, including:

[0057] Obtain the height range information of the upper surface of the obstacle;

[0058] According to the height range information, dynamically adjust the wet cleaning member of the cleaning robot to be in the cleaning position so that the wet cleaning member in the cleaning position cleans the upper surface of the obstacle; and / or,

[0059] Dynamically adjust the pose of the cleaning robot and / or the outward expansion length of the wet cleaning member to bypass the protruding part on the side of the obstacle, and then resume the cleaning operation on the upper surface of the obstacle.

[0060] In one embodiment, the method further includes:

[0061] Control the end face of the cleaning robot in contact with the obstacle, and then control the wet cleaning member of the cleaning robot to perform a lifting operation, and / or control the body of the cleaning robot to perform a reciprocating movement, so as to clean the end face of the obstacle.

[0062] In one embodiment, the first threshold is greater than or equal to the second threshold.

[0063] In a second aspect, the present application further provides a cleaning robot, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the method according to any one of the first aspect are implemented.

[0064] In a third aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0065] Identify obstacle information, and execute an obstacle avoidance cleaning strategy when the height of the obstacle is greater than the first threshold, and execute a low obstacle cleaning strategy when the height of the obstacle is less than the second threshold;

[0066] The obstacle avoidance cleaning strategy is to clean along the edge of the obstacle;

[0067] The low obstacle cleaning strategy is to adjust the lifting height of the chassis of the cleaning robot and / or the lifting height of the wet cleaning member to keep the upper surface of the obstacle clean.

[0068] In a fourth aspect, the present application further provides a computer program product, including a computer program. When the computer program is executed by a processor, the following steps are implemented:

[0069] Identify obstacle information, and execute an obstacle avoidance cleaning strategy when the height of the obstacle is greater than the first threshold, and execute a low obstacle cleaning strategy when the height of the obstacle is less than the second threshold;

[0070] The obstacle avoidance cleaning strategy is to clean along the edge of the obstacle;

[0071] The low obstacle cleaning strategy is to adjust the lifting height of the chassis of the cleaning robot and / or the lifting height of the wet cleaning member to keep the upper surface of the obstacle clean.

[0072] The above-mentioned obstacle cleaning method, cleaning robot and computer-readable storage medium identify obstacle information, execute an obstacle avoidance cleaning strategy when the height of the obstacle is greater than a first threshold, and execute a low obstacle cleaning strategy when the height of the obstacle is less than a second threshold, wherein the first threshold is greater than or equal to the second threshold; the obstacle avoidance cleaning strategy is to clean along the edge of the obstacle; the low obstacle cleaning strategy is to adjust the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning parts to keep the upper surface of the obstacle clean. By adopting this method, by distinguishing obstacles of different heights and adopting targeted cleaning strategies, deep cleaning of the upper surface of low obstacles can be achieved to avoid cleaning blind spots; at the same time, higher obstacles are bypassed or cleaned along the edges to ensure that there are no dead corners in the whole house, significantly improving the cleaning coverage and refinement. Strategies such as chassis lifting and height adjustment of wet cleaning parts designed for low obstacles can enable the cleaning robot to flexibly cope with complex terrain, reduce the risk of collision and jamming, and enhance environmental adaptability and operational stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments of the present application or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0074] Figure 1 is a top view of a cleaning robot according to an embodiment;

[0075] Figure 2 is a bottom view of a cleaning robot according to one embodiment;

[0076] Figure 3 is a top view of a cleaning robot according to an embodiment;

[0077] Figure 4 This is a schematic structural diagram of a wet cleaning module in one embodiment;

[0078] Figure 5 This is a schematic structural diagram of a wet cleaning module in one embodiment;

[0079] Figure 6 This is a schematic structural diagram of a screw drive mechanism in one embodiment;

[0080] Figure 7 This is a schematic structural diagram of a wet cleaning module in one embodiment;

[0081] Figure 8 This is a schematic structural diagram of a wet cleaning module in one embodiment;

[0082] Figure 9 is a schematic flowchart of an obstacle cleaning method in an embodiment;

[0083] Figure 10 is a schematic flowchart of steps for implementing a low obstacle cleaning strategy based on the position and height of an obstacle in an embodiment;

[0084] Figure 11 is a schematic flowchart of an edge cleaning step in an embodiment;

[0085] Figure 12 is a schematic diagram of a first effective length in an embodiment;

[0086] Figure 13 is a schematic diagram of a second effective length in an embodiment;

[0087] Figure 14 is a schematic flowchart of steps for implementing a low obstacle cleaning strategy in an embodiment;

[0088] Figure 15 is a schematic flowchart of steps for implementing a low obstacle cleaning strategy in an embodiment;

[0089] Figure 16 is a schematic flowchart of steps for implementing a low obstacle cleaning strategy in an embodiment;

[0090] Figure 17 is a schematic flowchart of steps for implementing a low obstacle cleaning strategy in an embodiment;

[0091] Figure 18 is a schematic flowchart of steps for implementing a low obstacle cleaning strategy in an embodiment;

[0092] Figure 19 is a schematic flowchart of steps for implementing a low obstacle cleaning strategy in an embodiment;

[0093] Figure 20 is a schematic flowchart of steps for implementing a low obstacle cleaning strategy when the height of an obstacle is higher than the chassis lift height or the wet cleaning member lift height and less than the maximum height at which the cleaning robot climbs in an over-obstacle manner in an embodiment;

[0094] Figure 21 is a schematic diagram of the traveling mode of a cleaning robot in an embodiment;

[0095] Figure 22 is a schematic diagram of the traveling mode of a cleaning robot in an embodiment;

[0096] Figure 23 is a schematic flowchart of steps for implementing a low obstacle cleaning strategy for a special-shaped obstacle in an embodiment;

[0097] Figure 24 It is a schematic diagram of a cleaning robot cleaning a special-shaped obstacle in an embodiment;

[0098] Figure 25 It is a schematic diagram of a cleaning robot cleaning the end face of an obstacle in an embodiment;

[0099] Figure 26 It is a schematic flow diagram of the steps of cleaning the end face of an obstacle in an embodiment.

[0100] Explanation of reference numerals: 1, body; 101, front end; 102, rear end; 103, roller brush chamber; 104, dust box chamber; 105, extending opening; 201, drive wheel; 202, universal wheel; 301, side brush; 302, roller brush; 303, dust box; 304, rotary wet cleaning member; 305, cleaning member bracket; 3051, drive end; 3052, extending end; 3023, sewage collection box; 3024, fourth drive assembly; 30241, fourth drive motor; 30242, fourth gear box; 3025, inner support bracket; 30251, driving shaft; 30252, driven shaft; 30261, fifth drive motor; 30262, fixed bracket; 30263, movable bracket; 3027, water scraping member; 3028, water spraying port; 4, guiding track; 401, first end; 402, inclined section; 403, second end; 404, guiding member; 5, mounting plate; 501, screw drive mechanism; 5011, screw; 5012, slider; 502, avoidance chamber. Detailed implementation manners

[0101] In order to make the objectives, technical solutions and advantages of the present application clearer and more understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0102] In the description of the present application, it should be understood that if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings. These are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0103] In addition, if the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0104] In this application, unless otherwise clearly defined and limited, if terms such as "installed", "connected", "linked", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0105] In this application, unless otherwise clearly defined and limited, if there is a description such as a first feature being "on" or "under" a second feature, the meaning can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath", and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0106] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right", and similar expressions used in this application are only for illustrative purposes and do not represent the only implementation.

[0107] In an exemplary embodiment, as Figures 1 to 8 shown, a cleaning robot is provided. The cleaning robot can be a sweeping robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc., as Figures 1 - 8 shown. The cleaning robot can include a body 1, a traveling system, a sensing system, a cleaning component, a control module, etc.

[0108] The traveling system is provided on the machine body 1 and is used to drive the machine body 1 to move self - movably on the working surface. The self - movable movement includes forward movement, backward movement, turning, etc. Along the forward direction of the machine body 1, the front end of the machine body 1 is the front end 101, and the rear end is the rear end 102. The width direction of the machine body 1 refers to the direction perpendicular to its forward direction.

[0109] The traveling system generally includes a first driving assembly and a set of driving wheels 201. Among them, the set of driving wheels 201 includes driving wheels 201 and universal wheels 202. The driving wheels 201 are rotatably provided at the bottom of the machine body 1. Two driving wheels 201 are provided oppositely along the width direction of the machine body 1, and the two driving wheels 201 are located between the front end 101 and the rear end 102 of the machine body 1. The universal wheels 202 are provided at the bottom of the machine body 1. The universal wheels 202 can be provided at the front end 101 of the machine body 1 or at the rear end 102 of the machine body 1. The universal wheels 202 are located on the perpendicular bisector of the connection line of the two driving wheels 201. During the forward movement, backward movement and turning of the machine body 1, the universal wheels 202 play a role in supporting and assisting turning.

[0110] The first driving assembly includes a first driving motor and a first gearbox. The first driving assembly is provided inside the machine body 1. There are two sets of the first driving assembly, and each set of the first driving assembly corresponds to each driving wheel 201 one by one. The output end of the first driving motor is connected to the input end of the first gearbox, and the output end of the first gearbox is connected to the driving wheel 201. The power of the first driving motor is transmitted to the driving wheel 201 through the first gearbox to drive the machine body 1 to move self - movably on the working surface.

[0111] When the traveling system needs to drive the machine body 1 to move forward or backward, the rotational speeds of the two first driving motors are the same, so that the rotational speeds of the two driving wheels 201 are the same. In this way, the machine body 1 can be driven to perform forward or backward actions. When the traveling system needs to drive the machine body 1 to turn, the rotational speeds of the two first driving motors are different, so that the rotational speeds of the two driving wheels 201 are different. Due to the rotational speed difference between the two driving wheels 201, this rotational speed difference causes the machine body 1 to generate a turning action. For example, along the forward direction of the machine body 1, when it is necessary to drive the machine body 1 to turn right, the rotational speed of the right - hand driving wheel 201 is controlled to be less than that of the left - hand driving wheel 201; when it is necessary to drive the machine body 1 to turn left, the rotational speed of the right - hand driving wheel 201 is controlled to be greater than that of the left - hand driving wheel 201.

[0112] The cleaning part includes a wet cleaning part with an expanded state and a contracted state. The dry cleaning part is used to perform cleaning work, mainly removing dust and debris on the ground by scraping and vacuuming; the wet cleaning part is used to perform mopping work, mainly wetting the wet cleaning part with water or a cleaning agent and removing stains and dust on the ground by mopping. [[ID=~13]]

[0113] The dry cleaning component includes a side brush 301, a rolling brush 302, a dust box 303 and a blower. A second driving component is provided in the body 1. The second driving component includes a second driving motor and a second gearbox. The output shaft of the second driving motor is connected to the input end of the second gearbox. The output end of the second gearbox extends out of the bottom surface of the body 1 and is connected to the side brush 301. The side brush 301 is rotatably provided at the bottom of the body 1 through the second driving component. The side brush 301 is provided at the front end 101 of the body 1. Moreover, during the rotation of the side brush 301, its outermost end can extend beyond the widest edge of the body 1. The widest edge of the body 1 refers to the edge of the body 1 corresponding to the part with the largest width of the body 1 along the direction perpendicular to the advancing direction of the body 1. A third driving component is provided in the body 1. The third driving component includes a third driving motor and a third gearbox. The output shaft of the third driving motor is connected to the input end of the third gearbox. A rolling brush cavity 103 is provided at the bottom of the body 1. The rolling brush cavity 103 is provided between two driving wheels 201. The side brush 301 is closer to the front end 101 of the body 1 than the rolling brush cavity 103 and the driving wheels 201. The output end of the third gearbox extends to the rolling brush cavity 103 and is connected to the rolling brush 302. The rolling brush 302 is rotatably provided in the rolling brush cavity 103 through the third driving component. One side of the rolling brush cavity 103 facing the ground is open. At least part of the side of the rolling brush 302 facing the ground exposes from the opening of the rolling brush cavity 103. The exposed part of the rolling brush 302 is used to clean the garbage on the ground. A dust suction port is provided on the inner side wall of the rolling brush cavity 103. A dust box cavity 104 is provided on the body 1. The dust box 303 is detachably installed in the dust box cavity 104. One side of the dust box 303 is provided with a dust inlet, and the other side is provided with an air outlet. The dust suction port of the rolling brush cavity 103 is communicated with the dust inlet of the dust box 303. The air outlet of the dust box 303 is communicated with the blower. The side brush 301 is closer to the front end 101 of the body 1 than the rolling brush 302. In this way, during the process of the cleaning robot cleaning the floor, the side brush 301 and the rolling brush 302 rotate simultaneously. The side brush 301 gathers the garbage towards the opening of the rolling brush cavity 103. A negative pressure is generated in the rolling brush cavity 103 under the action of the blower. The garbage gathered by the side brush 301 and the garbage near the opening of the rolling brush cavity 103 are sucked into the dust box 303 under the action of the above negative pressure to collect the garbage in the dust box 303.

[0114] In order to optimize the air flow transmission between the dust box 303 and the rolling brush cavity 103, along the advancing direction of the body 1, the dust box 303 and the rolling brush cavity 103 are arranged in a staggered manner. For example, along the advancing direction of the body 1, the dust box 303 is closer to the front end 101 of the body 1 than the rolling brush cavity 103; or along the advancing direction of the body 1, the dust box 303 is closer to the rear end 102 of the body 1 than the rolling brush cavity 103.

[0115] The wet cleaning member includes a rotary wet cleaning member 304, a cleaning member support 305, a sewage collection box 3023, a fourth drive assembly 3024, an inner support bracket 3025, and a fifth drive assembly.

[0116] The rotary wet cleaning member 304 is a caterpillar wet cleaning member or a drum wet cleaning member. Along the height direction, the projection of the rotary wet cleaning member 304 is rectangular. Along the height direction, the longitudinal section of the caterpillar wet cleaning member is in the shape of a long strip hole, and the longitudinal section of the rotary wet cleaning member 304 is in the shape of a round hole. The interior of the rotary wet cleaning member 304 is provided with a cavity, and the inner support bracket 3025 is arranged in the cavity of the rotary wet cleaning member 304 to tension the rotary wet cleaning member 304. One side in the length direction of the inner support bracket 3025 is rotatably connected to a driving shaft 30251, and the other side in the length direction of the inner support bracket 3025 is rotatably connected to a driven shaft 30252. The driving shaft 30251 and the driven shaft 30252 are parallel to each other, and moreover, the driving shaft 30251 and the driven shaft 30252 are both parallel to the width direction of the machine body 1. The rotary wet cleaning member 304 is tensioned outside the driving shaft 30251 and the driven shaft 30252.

[0117] The length direction of the cleaning member support 305 is perpendicular to or substantially perpendicular to the advancing direction of the machine body 1. One end in the length direction of the cleaning support 305 is a driving end 3051, and the other end is an extending end 3052. The cleaning support 305 is movably mounted on the machine body 1. A cleaning member mounting cavity is provided on the side of the cleaning member support 305 facing the ground, and the rotary wet cleaning member 304 is detachably mounted in the cleaning member mounting cavity. The rotary wet cleaning member 304 is arranged near the rear end 102 of the machine body 1. The rotary brush 302 and the two driving wheels 201 are located between the rotary wet cleaning member 304 and the side brush 301. The fourth drive assembly 3024 is mounted on the driving end 3051 of the cleaning support 305 and is used to drive the rotary wet cleaning member 304 to rotate. During the rotation process, the rotary wet cleaning member 304 cleans the ground. The fourth drive assembly 3024 includes a fourth drive motor 30241 and a fourth gearbox 30242. The fourth gearbox 30242 is connected to the driving end 3051 of the cleaning support 305. The fourth motor is connected to the fourth gearbox 30242. The output shaft of the fourth motor is connected to the input end of the fourth gearbox 30242. The output end of the fourth gearbox 30242 extends into the cleaning member mounting cavity and is connected to the driving shaft 30251 of the inner support bracket 3025. The fourth motor drives the driving shaft 30251 of the inner support bracket 3025 to rotate through the transmission of the fourth gearbox 30242, so as to make the rotary wet cleaning member 304 rotate.

[0118] During the rotation of the rotary wet cleaning member 304, the movement direction of the side facing the ground is from the rear end 102 of the body 1 towards the front end 101 of the body 1, and the movement direction of the side away from the ground is from the front end 101 of the body 1 towards the rear end 102 of the body 1. A sewage receiving cavity is provided on the inner side wall of the cleaning member installation cavity, and the sewage receiving cavity is arranged close to the rear end 102 of the body 1 within the cleaning member installation cavity. A wiper 3027 is fixed on the inner side wall of the cleaning member installation cavity. The wiper 3027 is arranged along the length direction of the cleaning member bracket 305. The wiper 3027 protrudes from the inner side wall of the installation cavity, and the wiper 3027 is arranged on the side of the sewage receiving cavity away from the front end 101 of the body 1.

[0119] A plurality of water spray nozzles 3028 are provided on the inner side wall of the cleaning member installation cavity. The plurality of water spray nozzles 3028 are distributed along the length direction of the cleaning member bracket 305. The plurality of water spray nozzles 3028 are arranged close to the front end 101 of the body 1 within the wet cleaning member installation cavity, and the water outlet of the water spray nozzle 3028 faces the rotary wet cleaning member 304. A clean water tank is fixed within the body 1, and clean water for cleaning the rotary wet cleaning member 304 is stored in the clean water tank. A clean water delivery pipeline is connected between the clean water tank and the water spray nozzles 3028, and a water pump is provided on the clean water delivery pipeline. The clean water in the clean water tank can be sprayed onto the rotary wet cleaning member 304 through the water pump to achieve self-cleaning of the rotary wet cleaning member 304.

[0120] In this way, during the process of the rotary wet cleaning member 304 cleaning the ground, the rotary wet cleaning member 304 is in a rotating state. After the rotary wet cleaning member 304 in the rotating state cleans the dirt on the ground, a dirty area is formed on the surface of the rotary wet cleaning member 304. This dirty area first passes through the plurality of water spray nozzles 3028, and the plurality of water spray nozzles 3028 spray clean water onto the rotary wet cleaning member 304 to clean the dirty area, forming sewage. Then the sewage passes through the wiper 3027, and the wiper 3027 scrapes the sewage during the rotation of the rotary wet cleaning member 304 to scrape the sewage into the sewage receiving cavity.

[0121] The sewage collection box 3023 is fixed to one end of the cleaning member support 305 away from the fourth drive assembly 3024, that is, the sewage collection box 3023 is arranged near the protruding end 3052 of the cleaning member support 305. The sewage collection box 3023 is arranged on the side of the cleaning member support 305 facing away from the rotary wet cleaning member 304. A sewage absorption pipeline is connected between the sewage collection box 3023 and the sewage holding cavity. The sewage collection box 3023 can absorb the sewage in the sewage holding cavity into the sewage collection box 3023 through the sewage absorption pipeline. The sewage collection box 3023 absorbs the sewage in the sewage holding cavity by the negative pressure principle. An air delivery pipe is connected to the sewage collection box 3023, and a negative pressure pump is arranged on the air delivery pipe. The negative pressure pump can pump the sewage collection box 3023 to a negative pressure state through the air delivery pipe. The sewage collection box 3023 in the negative pressure state can absorb the sewage in the sewage holding cavity into the sewage collection box 3023.

[0122] An installation cavity for the cleaning member support 305 is provided at the bottom of the body 1. The cleaning member support 305 is movably installed in the installation cavity for the cleaning member support 305. A fifth drive assembly is connected between the body 1 and the cleaning member support 305. The fifth drive assembly is used to drive the cleaning member support 305 to perform four actions: lifting, lowering, extending, and retracting. Among them, the lifting action means that the cleaning member support 305 moves in the height direction; the lowering action means that the cleaning member support 305 moves downward in the height direction. When the cleaning member support 305 maintains the lowered state, the rotary wet cleaning member 304 performs the mopping operation; the extending action means that the protruding end 3052 of the cleaning member support 305 extends along the width direction of the body 1 to the edge of the body 1; the retracting action means that the protruding end 3052 of the cleaning member support 305 retracts from outside the edge of the body 1 to inside the edge of the body 1 along the width direction of the body 1. An extending opening 105 is provided at one end of the installation cavity for the cleaning member support 305 near the protruding end 3052 of the cleaning member support 305. During the extension of the cleaning member support 305, its moving direction is the direction from the drive end 3051 of the cleaning member support 305 to the protruding end 3052. The extending opening 105 is used to avoid the protruding end 3052 of the cleaning member support 305; during the retraction of the wet cleaning members, its moving direction is the direction from the protruding end 3052 of the cleaning member support 305 to the drive end 3051. The rotary wet cleaning member 304 is installed in the wet cleaning member installation cavity of the cleaning member support 305. Therefore, during the movement of the cleaning member support 305, the rotary wet cleaning member 304 will move along with the cleaning member support 305.

[0123] The fifth driving assembly includes a fifth driving motor 30261, a fixed bracket 30262, a movable bracket 30263, and a transmission assembly. The fixed bracket 30262 is fixed on the cleaning member bracket 305. The movable bracket 30263 is movably disposed on the fixed bracket 30262. The fifth driving motor 30261 is used to drive the transmission assembly to move. The transmission assembly acts on the fixed bracket 30262 to drive the fixed bracket 30262 to move relative to the movable bracket 30263. A guiding track 4 is provided on one of the movable bracket 30263 and the fixed bracket 30262, and a guiding member 404 is provided on the other of the movable bracket 30263 and the fixed bracket 30262. The guiding member 404 is in linkage cooperation with the guiding track 4 and is driven by the transmission assembly to drive the cleaning member bracket 305 to move.

[0124] Exemplarily, the guiding rail 4 is arranged on the fixed bracket 30262, and the guiding member 404 is fixed on the movable bracket 30263. The guiding rail 4 is a groove body formed on the fixed bracket 30262. The guiding rail 4 includes a first end 401, an inclined section 402, and a second end 403. Along the height direction of the machine body 1, the second end 403 is higher than the first end 401, that is, the distance between the second end 403 and the rotary wet cleaning member 304 is greater than the distance between the first end 401 and the rotary wet cleaning member 304. Along the width direction of the machine body 1, the second end 403 is closer to the extending end 3052 of the cleaning member bracket 305 than the first end 401. The inclined section 402 is arranged between the first end 401 and the second end 403, and the first end 401, the inclined section 402, and the second end 403 form a through groove body structure. An activity cavity is provided on the side of the fixed bracket 30262 facing away from the cleaning member bracket 305, and at least part of the movable bracket 30263 is arranged in the activity cavity. Along the width direction of the machine body 1, the size of the movable bracket 30263 is smaller than the size of the activity cavity, and the movable bracket 30263 can slide in the activity cavity along the width direction of the machine body 1. The guiding member 404 is a shaft rod, and the guiding member 404 is fixedly connected to the side wall of the movable bracket 30263 facing the guiding rail 4. One end of the guiding member 404 away from the movable bracket 30263 passes through the guiding rail 4, and the guiding member 404 is in sliding fit with the guiding rail 4, and the guiding member 404 can slide in the first end 401, the inclined section 402, and the second end 403. A mounting plate 5 is fixed in the machine body 1, and the mounting plate 5 is located above the movable bracket 30263. A screw rod driving mechanism 501 is provided on the side of the mounting plate 5 facing the movable bracket 30263, and an avoidance cavity is provided on the side of the mounting plate 5 facing the movable bracket 30263. The screw rod driving mechanism 501 includes a screw rod 5011 and a slider 5012, and both the screw rod 5011 and the slider 5012 are arranged in the avoidance cavity 502. The screw rod 5011 is arranged along the width direction of the machine body 1, and the screw rod 5011 is rotatably connected between two opposite side walls of the avoidance cavity 502. The fifth driving motor 30261 is fixed on the mounting plate 5, and the output shaft of the fifth driving motor 30261 is connected to the screw rod 5011. The slider 5012 is provided with a feed hole along the width direction of the machine body 1, and the screw rod 5011 passes through the feed hole, and the screw rod 5011 is in threaded fit with the feed hole. A limiting groove is provided on the inner side wall of the avoidance cavity 502 facing the cleaning member bracket 305, and a limiting protrusion is provided on the side of the slider 5012 facing away from the cleaning member bracket 305. The limiting protrusion slides in the limiting groove, and the cooperation of the limiting groove and the limiting protrusion has a limiting effect, avoiding the situation that the slider 5012 rotates with the screw rod 5011 during the rotation of the screw rod 5011. The slider 5012 is relatively fixed to the movable bracket 30263. During the process of the screw rod 5011 driving the slider 5012 to move, the slider 5012 can drive the movable bracket 30263 to move synchronously.

[0125] One side of the sewage collection box 3023 facing away from the fourth drive assembly 3024 does not exceed the end face of the protruding end 3052 of the cleaning part bracket 305, and the distance between one side of the sewage collection box 3023 facing away from the fourth drive assembly 3024 and the end face of the protruding end 3052 is equal to the maximum protruding distance of the cleaning part bracket 305.

[0126] In other embodiments, the distance between one side of the sewage collection box 3023 facing away from the fourth drive assembly 3024 and the end face of the protruding end 3052 is greater than the maximum protruding distance of the cleaning part bracket 305. In this case, the protruding opening 105 is used to avoid the protruding end 3052 of the cleaning part bracket 305. A first limiting portion is provided at the protruding opening 105, and a first mating portion is provided on one side of the sewage collection box 3023 facing away from the fourth drive assembly 3024. When the cleaning part bracket 305 protrudes to the maximum protruding distance, the first limiting portion and the first mating portion abut against each other to limit the further protrusion of the cleaning part bracket 305. A second limiting portion is provided at the end of the installation cavity of the cleaning part bracket 305 close to the drive end 3051 of the cleaning part bracket 305, and a second mating portion is provided on the side of the fourth drive assembly 3024 facing away from the sewage collection box 3023. When the cleaning part bracket 305 retracts to the retracted state, the second limiting portion and the second mating portion abut against each other to limit the further retraction of the cleaning part bracket 305. Among them, the first limiting portion and the first mating portion, the second limiting portion and the second mating portion can be the cooperation of a groove and a protrusion, or the cooperation of a surface and a surface, which is not limited herein.

[0127] In this way, the fifth drive motor 30261 drives the lead screw 5011 to rotate in the first direction, prompting the slider 5012 to move along the direction from the drive end 3051 to the extension end 3052 of the cleaning member bracket 305. The slider 5012 is relatively fixed to the moving bracket 30263. Therefore, the slider 5012 drives the moving bracket 30263 to move in the same direction from the drive end 3051 to the extension end 3052 of the cleaning member bracket 305. During the movement of the moving bracket 30263, the side wall portion of the guide member 404 near the extension end 3052 of the cleaning member bracket 305 pushes against the inner wall of the inclined section 402 near the extension end 3052 of the cleaning member bracket 305 to prompt the fixed bracket 30262 to move along the direction from the drive end 3051 to the extension end 3052 of the cleaning member bracket 305. Since the fixed bracket 30262 is fixedly connected to the cleaning member bracket 305, the movement of the fixed bracket 30262 causes the cleaning member bracket 305 to perform an extension action. When the cleaning member bracket 305 reaches the maximum extension distance and the first limiting portion and the first mating portion abut against each other, the cleaning member bracket 305 cannot extend further. When the fifth drive motor 30261 drives the lead screw 5011 to rotate in the first direction, the fixed bracket 30262 will move downward along the inclined direction of the inclined section 402, so that the cleaning member bracket 305 completes the lowering action in the extended state. In this state, the rotary wet cleaning member 304 is in the state of mopping the floor in the extended state.

[0128] The fifth drive motor 30261 drives the lead screw 5011 to rotate in the second direction, causing the slider 5012 to move along the direction pointing from the protruding end 3052 of the cleaning member bracket 305 to the drive end 3051. The slider 5012 is relatively fixed to the moving bracket 30263. Therefore, the slider 5012 drives the moving bracket 30263 to move along the same direction, i.e., from the protruding end 3052 of the cleaning member bracket 305 to the drive end 3051. During the movement of the moving bracket 30263, the side wall portion of the guiding member 404 close to the drive end 3051 of the cleaning member bracket 305 pushes against the inner wall of the inclined section 402 close to the drive end 3051 of the cleaning member bracket 305, so as to cause the fixed bracket 30262 to move along the direction pointing from the protruding end 3052 of the cleaning member bracket 305 to the drive end 3051. Since the fixed bracket 30262 is fixedly connected to the cleaning member bracket 305, the movement of the fixed bracket 30262 causes the cleaning member bracket 305 to perform a retraction action. When the cleaning member bracket 305 reaches the retracted state and the second limiting portion and the second mating portion abut against each other, the cleaning member bracket 305 cannot retract further. In this state, the rotary wet cleaning member 304 is in the state of mopping the floor in the retracted state. When the fifth drive motor 30261 drives the lead screw 5011 to rotate in the second direction, the fixed bracket 30262 will move upward along the inclined direction of the inclined section 402, so that the cleaning member bracket 305 completes the lifting action in the retracted state. In this state, the rotary wet cleaning member 304 is in the state of lifting and not working.

[0129] A spring is further provided between the transmission assembly and the cleaning member bracket 305. The elastic force of the spring acts on the rotary wet cleaning member 304 through the cleaning member bracket 305 to provide an upward pulling force for the rotary wet cleaning member 304. Exemplarily, the spring is located between the moving bracket 30263 and the cleaning member bracket 305. Along the height direction of the machine body 1, one end of the spring is connected to the fixed bracket 30262, and the other end is connected to the cleaning member bracket 305. When the rotary wet cleaning member 304 is not in contact with the ground, the spring is in a stretched state.

[0130] On the cleaning member bracket 305, the fourth drive assembly 3024 and the sewage collection tank 3023 are arranged at intervals, and the transmission assembly is located between the fourth drive assembly 3024 and the sewage collection tank 3023. In this way, the fourth drive assembly 3024 and the sewage collection tank 3023 are fixed to the cleaning member bracket 305 at the same time, improving the modularization of the wet cleaning member, facilitating later disassembly and maintenance, and facilitating the planning of the use of the internal space of the body 1. Secondly, during the operation of the cleaning robot, the sewage in the sewage collection tank 3023 will continuously increase, and the sewage collection tank 3023 containing sewage has a counterweight effect to prevent the gravity of the drive end 3051 of the cleaning member bracket 305 where the fourth drive assembly 3024 is installed from being too large, resulting in an imbalance in the gravity between the drive end 3051 and the protruding end 3052 of the cleaning member bracket 305, and improving the balance of the gravity in the length direction of the cleaning member bracket 305.

[0131] To improve the space utilization rate above the cleaning member bracket 305, along the length direction of the cleaning member bracket 305, the size ratio of the sewage collection tank 3023 to the wet cleaning member is 1 / 6 - 1 / 3. For example, the size ratio of the sewage collection tank 3023 in the length direction to the wet cleaning member in the length direction is 1 / 6, 1 / 5, 1 / 4, 1 / 3, etc.; along the width direction of the cleaning member bracket 305, the size ratio of the sewage collection tank 3023 to the wet cleaning member is 1 / 5 - 1. For example, the size ratio of the sewage collection tank 3023 to the wet cleaning member is 1 / 5, 1 / 4, 1 / 3, 1 / 2, 1, etc.; along the height direction of the cleaning member bracket 305, the size ratio of the sewage collection tank 3023 to the fourth drive assembly 3024 is 1 / 5 - 1. For example, the size ratio of the sewage collection tank 3023 to the fourth drive assembly 3024 is 1 / 5, 1 / 4, 1 / 3, 1 / 2, 1, etc.

[0132] During the process of controlling the rotary wet cleaning member 304 of the cleaning robot to rotate for mopping operations, there are usually two mopping scenarios. One is the edge-following scenario, and the other is the non-edge-following scenario. In the case of mopping in the edge-following scenario, the cleaning robot travels along the edge of an obstacle (such as a wall, table, chair, coffee table, etc.). During the travel, the protruding end 3052 of the cleaning member bracket 305 protrudes beyond the edge of the body 1 and abuts against the edge of the obstacle. The rotary wet cleaning member 304 will follow the cleaning member bracket 305 and protrude beyond the edge of the body 1, so that the end of the rotary wet cleaning member 304 away from the fourth drive assembly 3024 is close to the edge of the obstacle. The cleaning robot performs mopping operations in the edge-following scenario with the cleaning member bracket 305 lowered and extended. In the case of mopping in the non-edge-following scenario, generally, the cleaning member bracket 305 remains in the lowered state, and the protruding end 3052 of the cleaning member bracket 305 retracts to within the edge of the body 1. The cleaning robot performs mopping operations in the non-edge-following scenario with the cleaning member bracket 305 lowered and retracted. Of course, in special cases, the cleaning member bracket 305 will also drive the wet cleaning member to perform mopping operations in the non-edge-following scenario in a state of being lowered and expanded, such as for a relatively wide and low obstacle, that is, when the height of the obstacle is less than the second threshold and the width is greater than the second effective length.

[0133] In the case of mopping in the edge-following scenario, limited by the width of the body 1, in order to make the rotary wet cleaning member 304 closer to the edge of the obstacle and improve the cleaning coverage, the maximum extension distance of the cleaning member bracket 305 is set to 30 mm - 50 mm. For example, the maximum extension distance of the cleaning member bracket 305 can be 30 mm, 35 mm, 40 mm, 45 mm, 50 mm, etc. Further, when the cleaning member bracket 305 is at the maximum extension distance, the minimum distance between the end face of the protruding end 3052 of the cleaning member bracket 305 and the body 1 is 5 mm - 15 mm. For example, the minimum distance between the end face of the protruding end 3052 of the cleaning member bracket 305 and the body 1 is 5 mm, 6 mm, 7 mm, 8 mm, 9 mm, 10 mm, 15 mm, etc.

[0134] The perception system may include one or more of an AI camera, a binocular camera, a trinocular camera, a line laser sensor, a surface laser sensor, a lidar, Dtof, Itof, and an ultrasonic sensor. Among them, the AI camera, binocular camera, and trinocular camera can be used to obtain image information of the environment where the cleaning robot is located. The binocular camera, trinocular camera, line laser sensor, surface laser sensor, lidar, Dtof, and Itof can be used to obtain distance information of obstacles in the environment where the cleaning robot is located. The ultrasonic sensor can be used to identify floor materials such as carpets, floors, and floor tiles. The control module is arranged in the body 1. After combining the image information, depth information, and floor material, the control module controls the cleaning robot to perform corresponding actions, including edge cleaning, obstacle crossing, cleaning mode selection, etc.

[0135] In an exemplary embodiment, as Figure 9 shown, a method for cleaning obstacles is provided. Taking this method applied to a cleaning robot as an example for illustration, the cleaning robot includes a chassis and a wet cleaning part connected to the chassis, and includes the following steps 902. Among them:

[0136] Step 902, identify obstacle information. When the height of the obstacle is greater than the first threshold, execute the obstacle avoidance cleaning strategy. When the height of the obstacle is less than the second threshold, execute the low obstacle cleaning strategy;

[0137] Among them, the obstacle avoidance cleaning strategy is to perform edge cleaning for the obstacle. The low obstacle cleaning strategy is to adjust the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning part to keep the upper surface of the obstacle clean.

[0138] It should be noted that the first threshold can be greater than the second threshold. For example, the first threshold is 3 cm and the second threshold is 2 cm. In specific implementation, other cleaning logics can also be set when the height of the obstacle is greater than 2 cm and less than 3 cm. In addition, the first threshold can be equal to the second threshold, for example, both are 3 cm. In this way, based on the judgment logic, either the obstacle avoidance cleaning strategy of the obstacle or the low obstacle cleaning strategy is executed.

[0139] In implementation, during the operation of the cleaning robot, various objects in the home environment are scanned through the built-in perception system (devices such as lidar, line laser sensor, surface laser sensor, or vision camera), and the shape, size, and position information of the obstacles in the cleaning area are captured in real time, and their height data is accurately measured. When it is detected that the height of the obstacle exceeds the pre-set threshold, the cleaning robot starts the obstacle avoidance cleaning strategy. For example, for obstacles such as refrigerators and walls that can be cleaned along the edge, the cleaning robot will slowly move close to its edge, and use the rotation of the side brush to sweep the dust in the corner into the dust suction port to achieve the edge cleaning of the obstacle and ensure that the whole house is cleaned without dead corners.

[0140] If the height of the detected obstacle is less than the threshold, the obstacle is a low obstacle. For example, door thresholds, skirting boards, floor sockets, etc. The cleaning robot will automatically switch to the low-obstacle cleaning strategy. Specifically, the cleaning robot drives the drive wheel set through the first drive motor in the walking system to flexibly adjust its pose relationship with the obstacle, such as getting close to the obstacle sideways, moving away from the obstacle, etc.; at the same time, the cleaning robot precisely controls the lifting height of the chassis according to the obstacle height to avoid the collision between the chassis of the cleaning robot and the obstacle. The lifting of the chassis of the cleaning robot can also drive the height adjustment of the wet cleaning part located on the chassis, and at the same time, the wet cleaning part can also be independently lifted and lowered to ensure that the cleaning part closely adheres to the upper surface of the obstacle; in addition, the cleaning robot can also control the wet cleaning part to expand or contract. For example, the wet cleaning part can be a tracked rag, and the tracked rag can cover a large area of the upper surface of the obstacle through states such as expansion or contraction, and then efficiently complete the cleaning task of the upper surface of the low obstacle through cleaning actions such as the rotation and friction of the tracked rag.

[0141] In the above obstacle cleaning method, by distinguishing obstacles of different heights and adopting targeted cleaning strategies, deep cleaning of the upper surface of low obstacles can be achieved, avoiding cleaning blind spots; at the same time, edge cleaning of higher obstacles is carried out to ensure that there are no dead corners in the whole house during cleaning, significantly improving the cleaning coverage rate and refinement degree. The strategies such as chassis lifting and wet cleaning part pose adjustment designed for low obstacles enable the cleaning robot to flexibly cope with complex terrains, reduce the risk of collision and jamming, and enhance the environmental adaptability and operation stability. Exemplarily, the height threshold of the obstacle can be 0.5 cm or 1 cm. Of course, the height threshold of the obstacle can also be set to other height parameters according to the obstacle-crossing height of the cleaning robot and the lifting height of the wet cleaning part. This embodiment does not limit this. Among them, edge cleaning refers to a cleaning mode of the sweeping robot, which can closely clean along obstacles such as walls to ensure that the dirt in the edge areas such as the corners of the obstacles is completely removed.

[0142] In an exemplary embodiment, as Figure 10 shown, after step 902, the method further includes:

[0143] Step 1001, when the obstacle is in the edge position and the height of the obstacle is less than the second threshold, control the wet cleaning part to clean the upper surface of the obstacle at the cleaning position in the expanded state.

[0144] In implementation, during the cleaning operation of the cleaning robot, in addition to formulating a cleaning strategy based on the height of obstacles in the cleaning area, the position of the obstacles can also be considered to comprehensively plan the cleaning plan to achieve a comprehensive cleaning of the area to be cleaned. Specifically, when the cleaning robot is operating, relying on the sensing system composed of sensing devices such as the built-in 3D structured light sensor and visual camera of the cleaning robot to continuously scan the surrounding environment, when an obstacle appears in the travel route of the cleaning robot, the cleaning robot can sense the position and height information of the obstacle in real time. If the obstacle is at the edge position and the height of the obstacle is less than the second threshold, for the low obstacle at the edge position, the cleaning robot controls the wet cleaning part to continuously maintain or intermittently maintain the cleaning position in the expanded state. During the process of the cleaning robot moving along the edge of the low obstacle, the wet cleaning part in the cleaning position can be driven to clean the upper surface of the low obstacle. Among them, an obstacle with a height less than the second threshold is called a low obstacle.

[0145] In this embodiment, when the obstacle is at the edge position and the height is less than the second threshold, controlling the wet cleaning part to clean it at the cleaning position in the expanded state can effectively expand the cleaning range, fill the cleaning blind area on the upper surface of the obstacle in the traditional cleaning mode, and ensure that the space corners can also be fully cleaned. The expanded state of the wet cleaning part can increase the contact area with the upper surface of the obstacle. With the action of the cleaning liquid, it can remove stubborn stains more efficiently and improve the cleaning effect.

[0146] For example, when it is detected that the obstacle is at the edge position such as the corner of the room or the wall, and its height is lower than the preset second threshold, the cleaning robot immediately starts a targeted cleaning program. Through precise path planning, the side of the body is close to the edge of the obstacle to ensure that the cleaning component can fully contact the upper surface of the obstacle; subsequently, the control module of the cleaning robot issues an instruction to drive the wet cleaning part to switch from the retracted state to the expanded state. For example, the expanded tracked rag covers the upper surface of the obstacle with a larger coverage area. During the slow movement of the cleaning robot along the edge, the tracked rag thoroughly removes dirt such as dust and stains on the obstacle through high-speed rotation and friction.

[0147] Optionally, dry cleaning parts such as the side brush and roller brush of the cleaning robot can also use strong suction to suck the garbage into the dust box to achieve efficient cleaning of the upper surface of the low obstacles along the edge, effectively avoiding the generation of cleaning blind areas.

[0148] Step 1002, when the obstacle is at a non-edge position and the height of the obstacle is less than the second threshold, control the wet cleaning part to clean the upper surface of the obstacle at the retracted state or the cleaning position in the expanded state.

[0149] In implementation, during the cleaning process, the cleaning robot uses a perception system composed of built-in 3D structured light sensors, vision cameras and other perception devices to perform real-time scanning and analysis of the whole-house environment, and accurately locate the spatial position and height parameters of obstacles. When it is detected that the obstacle is in a non-edge position (for example, in the center of the room), and the height of the obstacle is less than the second threshold, at this time, the cleaning robot can control the wet cleaning part to maintain the cleaning position in the retracted state or the expanded state, and clean the upper surface of the obstacle.

[0150] Among them, the non-edge position refers to a spatial position within the cleaning area where the obstacle maintains a certain distance from obvious boundary lines such as the room boundary, wall, and furniture edge, and is not in special boundary areas such as corners and narrow passages. For example, the obstacle is usually in the middle or internal open area of the cleaning space, does not have direct contact with any physical boundary, has no obvious boundary line constraint around it, and the space is relatively open, and the cleaning robot can freely pass on both sides of the obstacle in the non-edge position.

[0151] For example, for an obstacle located in a non-edge area such as the center of the room or a passage, and the height of the obstacle is less than the preset second threshold, the cleaning robot quickly activates the cleaning strategy for non-edge low obstacles. First, the cleaning robot plans a cleaning path through an algorithm and approaches the obstacle smoothly according to the cleaning path; then the control module of the cleaning robot issues an instruction to adjust the chassis height and / or the lifting angle of the tracked rag so that the tracked rag maintains the cleaning position in the retracted state. Then, the cleaning robot moves along the edge of the obstacle and ensures that the tracked rag in the cleaning position closely adheres to the upper surface of the obstacle. Then, the tracked rag in the retracted state effectively removes dirt such as dust on the obstacle through high-speed rotating friction and other methods, and collects the garbage with the help of a powerful dust suction system to achieve cleaning of the upper surface of the non-edge low obstacle. Or, for an obstacle in a non-edge area such as the center of the room, and the height of the obstacle is less than the preset second threshold, the cleaning robot plans a cleaning path through an algorithm and approaches the obstacle smoothly according to the cleaning path. Then, the control module of the cleaning robot issues an instruction to adjust the chassis height and / or the lifting angle of the tracked rag so that the tracked rag maintains the cleaning position in the expanded state. Then, the cleaning robot moves along the edge of the obstacle and ensures that the tracked rag in the cleaning position in the expanded state closely adheres to the upper surface of the obstacle to clean the upper surface of the obstacle.

[0152] Optionally, whether the obstacle is in an edge position or a non-edge position, during the process of the cleaning robot cleaning the upper surface of the obstacle, the cleaning robot can perform a single cleaning of the upper surface of the obstacle through a single movement, or it can move back and forth multiple times to drive the wet cleaning member to perform multiple cleanings on the upper surface of the obstacle. This application will describe these two cleaning methods in detail in the following embodiments and will not be repeated here.

[0153] In this embodiment, by accurately identifying the position and height of the obstacle and making differential responses, the cleaning efficiency and effect are significantly improved. When the obstacle is in an edge position and has a low height, the outer expansion state of the wet cleaning member is controlled to make full use of its larger coverage area to effectively remove the dirt on the upper surface of the edge obstacle; when the obstacle is in a non-edge position and has a low height, the inner contraction state of the wet cleaning member is controlled to clean the upper surface of the obstacle, which not only ensures the flexible operation of the cleaning robot in a complex home environment but also realizes a clean sweep of the whole house and improves the cleaning coverage rate.

[0154] In an exemplary embodiment, as Figure 11 shown, after step 902, the method further includes:

[0155] Step 1101, by adjusting one or more of the pose relationship between the cleaning robot and the obstacle, the outer expansion state of the wet cleaning member, the lifting height of the cleaning robot chassis, and the lifting height of the wet cleaning member, readjust the cleaning position of the wet cleaning member and continue to perform edge cleaning on the obstacle.

[0156] In implementation, for an obstacle with a height less than the second threshold, after the cleaning robot cleans the upper surface of the obstacle, it can turn back and continue to perform edge cleaning on the surrounding area of the obstacle to reduce the cleaning blind area. Therefore, the control module of the cleaning robot issues an instruction to control the cleaning robot to turn back, and when the cleaning robot approaches the edge position of the obstacle, dynamically adjusts any one or more of the pose of the cleaning robot, the outer expansion state of the wet cleaning member, the height of the cleaning robot chassis, and the height of the wet cleaning member, so that the fuselage can be close to the obstacle edge at an accurate angle and distance, ensuring that the cleaning path fits well with the contour of the obstacle, so that the cleaning robot moves along the obstacle edge and drives the wet cleaning member in the cleaning position to continue to perform edge cleaning on the obstacle through high-speed rotational friction in the outer expansion state. For example, by adjusting the pose relationship between the cleaning robot and the obstacle, adjusting the cleaning robot chassis to the initial state height, the wet cleaning member to the cleaning position height, and the wet cleaning member to the outer expansion state to perform edge cleaning on the obstacle edge, so as to ensure that both the upper surface and the edge of the obstacle can be cleaned.

[0157] It can be understood that the pose relationship between the cleaning robot and the obstacle includes, but is not limited to, the distance relationship, the angle relationship, the orientation relationship, etc. between the cleaning robot and the obstacle.

[0158] Optionally, during the process of the cleaning robot cleaning the edge position of the obstacle, the cleaning robot can twist its body in a "twist" manner to increase the cleaning area between the wet cleaning member and the edge of the obstacle, get closer to the edge of the obstacle, and clean the edge position of the obstacle to reduce the cleaning blind area.

[0159] In this embodiment, after cleaning the upper surface of the low obstacle, by controlling the pose of the cleaning robot and / or the expanded or contracted state of the wet cleaning member, the edge cleaning task of the obstacle is completed, ensuring that every detail of the home environment is clean and free of dead corners, improving the cleaning coverage rate, and thus enhancing the cleaning effect.

[0160] In an exemplary embodiment, for each component included in the cleaning robot and the relationship between the components, specifically, the drive wheels of the cleaning robot are located inside the chassis, and when the wet cleaning member is in a contracted state, the wet cleaning member does not extend beyond the edge of the chassis. On this basis, there are two corresponding effective lengths in the cleaning robot, specifically:

[0161] The first effective length: refers to the maximum stroke that the wet cleaning member can reach when it is in an expanded state, that is, the maximum length that the wet cleaning member extends beyond the edge of the chassis. As Figure 12 shown, the wet cleaning member 304 is in an expanded state. At this time, the maximum length that the wet cleaning member 304 extends beyond the edge of the chassis is the [[ID=I5]] Figure 12 distance shown as D1 in

[0162] The second effective length: refers to the straight-line distance from the outside of the drive wheel on the side of the cleaning robot close to the obstacle to the end of the wet cleaning member when it is in the maximum expanded state on this side, and this second effective length is greater than the first effective length. As Figure 13 shown, the cleaning robot moves forward in the forward direction, and the obstacle is on the side where the wet cleaning member 304 of the cleaning robot extends beyond the edge of the robot chassis in the expanded state. Then the second effective length is the straight-line distance from the outside of the drive wheel 201 on the side close to the obstacle to the end of the wet cleaning member when it is in the maximum expanded state, that is, the Figure 13 distance shown as D2 in

[0163] In the following description of specific cleaning scenarios in the embodiments, when referring to limiting conditions such as the first effective length and the second effective length, they will not be repeated.

[0164] In some of the following embodiments, according to the different positions of the obstacles, the heights of the obstacles, and the width information, the process of the cleaning robot executing the low obstacle strategy in different specific cleaning environments is given:

[0165] In an exemplary embodiment, as Figure 14 shown, the specific processing procedure of step 902 includes:

[0166] Step 1401, when the height of the obstacle is less than the threshold and the width is less than the first effective length, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in the expanded state.

[0167] In practice, the perception system carried by the cleaning robot uses perception devices such as lidar, vision cameras, and infrared sensors to continuously scan the working environment 360 degrees in all directions, and real-time obtains obstacle information, such as obstacle height information, width information, position information, etc. When the perception system of the cleaning robot detects that the obstacle is in the edge position, and the height of the obstacle is lower than the preset threshold, and its lateral width is less than the first effective length that the wet cleaning member extends beyond the chassis edge in the expanded state, the control module in the cleaning robot immediately starts the targeted cleaning program. Specifically, the cleaning robot first adjusts its own pose by the steering and movement of the driving wheels to make the side of the fuselage close to the obstacle; at the same time, the control module sends an instruction to drive the wet cleaning member to expand to the expanded state to ensure that the wet cleaning member fully covers the surface of the obstacle, so as to clean the upper surface of the obstacle.

[0168] In this way, when the height of the obstacle is less than the threshold and the width is less than the first effective length, controlling the wet cleaning member to be in the cleaning position and maintaining it in the expanded state can significantly improve the cleaning effect and efficiency. The wet cleaning member in the expanded state can effectively increase the contact area with the surface of the obstacle, make the cleaning coverage wider, and avoid the occurrence of cleaning blind spots.

[0169] Step 1402, control the cleaning robot to travel along the edge of the obstacle.

[0170] In practice, when the control module in the cleaning robot identifies the obstacle that needs to be cleaned along the edge, it controls the cleaning robot to travel along the edge of the obstacle. During the travel, the perception system continuously monitors the distance between the robot and the obstacle and feeds the data back to the control module in real time to ensure that the cleaning robot always maintains a fixed or approximately fixed distance along the edge during travel.

[0171] Step 1403, during the process of driving the cleaning robot to move, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle.

[0172] In implementation, during the process of driving the cleaning robot to move, the drive motor inside the wet cleaning part of the cleaning robot starts to run at high speed, driving the wet cleaning part to rotate at high speed for frictional cleaning. In cooperation with the cleaning solution evenly sprayed by the cleaning liquid spraying system, the dust and stains on the upper surface of the obstacle are cleaned. During the cleaning process, the robot will also use the sensing system to continuously monitor the fitting angle between the wet cleaning part and the surface of the obstacle, and dynamically adjust the cleaning intensity to ensure that the cleaning work is efficient, comprehensive, and without dead corners.

[0173] In this embodiment, for the low obstacles at the edge position, the wet cleaning part is maintained in the expanded state, which can make full use of its maximum coverage area to ensure the comprehensive cleaning of the upper surface of the obstacle and avoid cleaning dead corners caused by insufficient cleaning range; in cooperation with the edge movement of the cleaning robot, in-depth cleaning of the dirt on the surface of the obstacle is achieved.

[0174] In an exemplary embodiment, as Figure 15 shown, the specific processing process of step 902 includes:

[0175] Step 1501, when the height of the obstacle is less than the second threshold, the width is greater than the first effective length and less than the second effective length, control the wet cleaning part to be in the cleaning position and maintain the wet cleaning part in the expanded state.

[0176] In implementation, for the obstacles at the edge position, when the cleaning robot is operating, its sensing system determines that the height of the obstacle is lower than the preset second threshold, and its width is greater than the first effective length by which the maximum expansion stroke of the wet cleaning part exceeds the edge of the chassis and less than the second effective length from the outside of the driving wheel on the side of the cleaning robot close to the obstacle to the end of the maximum expansion stroke of the wet cleaning part. At this time, the control module of the cleaning robot responds quickly, drives the wet cleaning part to adjust to the cleaning position, and stably maintains it in the expanded state to maximize the cleaning coverage range.

[0177] Step 1502, control the outside of the driving wheel on the side of the cleaning robot close to the obstacle to travel along the edge of the obstacle.

[0178] In implementation, the cleaning robot precisely controls the rotational speed difference between the left and right driving wheels, so that the outside of the driving wheel on the side close to the obstacle travels along the edge of the obstacle at a constant speed and distance. During the travel, the sensing system continuously monitors the relative position between the robot and the obstacle. Once an offset occurs, the data is immediately fed back to the control module to adjust the travel posture in a timely manner.

[0179] Step 1503, during the process of driving the cleaning robot to move, drive the wet cleaning part in the cleaning position to clean the upper surface of the obstacle.

[0180] In implementation, during the process of driving the cleaning robot to move, the wet cleaning member in the expanded state starts efficient operation driven by the movement of the cleaning robot. Through the preset cleaning method of the wet cleaning member and the strong suction of the built-in dust suction system, dirt such as dust and debris on the upper surface of the obstacle is quickly peeled off and sucked into the dust box. In this way, whether it is a flat tabletop or a surface with fine grooves, the cleaning robot can ensure that the wet cleaning member fits tightly, achieving a full-range and dead-angle-free deep cleaning of the upper surface of the obstacle.

[0181] In this embodiment, when the height of the obstacle is relatively low and the width is within a specific range, the wet cleaning member is maintained in the expanded state, and the cleaning robot is controlled to travel along the outer edge of the driving wheel on the side close to the obstacle. This not only makes full use of the safety distance advantage of the second effective length to ensure the robot moves smoothly and prevents collisions, but also enables the expanded wet cleaning member to fit tightly against the surface of the obstacle, improving the cleaning efficiency and achieving deep cleaning of the obstacle.

[0182] In an exemplary embodiment, when the obstacle is in a non-edge position, for example, the obstacle is in the center of the room, the wet cleaning member of the wet cleaning member robot can be maintained in the cleaning position in the retracted state to clean the upper surface of the obstacle. At this time, if the width of the obstacle is relatively wide. For example, if the width of the obstacle is greater than the second effective length, this embodiment provides two cleaning methods for relatively wide obstacles, as follows:

[0183] Method 1, as Figure 16 shown, the specific processing process of step 902 includes:

[0184] Step 1601, for the case where the obstacle is in a non-edge position, when the height of the obstacle is less than the second threshold and the width is greater than the second effective length, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in the expanded state.

[0185] Step 1602, control the cleaning robot to travel along the left and right edges of the obstacle respectively.

[0186] Among them, traveling along the left and right edges means that the contact process between the wet cleaning member and the edge of the obstacle is discontinuous.

[0187] Step 1603, during the process of driving the cleaning robot to move, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle.

[0188] In practice, when the cleaning robot's onboard perception system detects an obstacle located off-edge, with a height below a preset second threshold and a width exceeding a second effective length from the outer side of the driving wheel on the side of the cleaning robot closest to the obstacle to the end of the wet cleaning element's maximum outward travel, the robot's control module rapidly activates a targeted cleaning strategy, sending control instructions to maintain the wet cleaning element in a retracted cleaning position, reducing the lateral dimensions of the cleaning element to avoid collision with the obstacle during movement. Subsequently, while the wet cleaning element remains in the retracted cleaning position, the robot cleans the wider obstacle by cleaning both sides of the obstacle. For example, the robot may first be controlled to move along the left edge of the obstacle, then be controlled to turn so that the wet cleaning element first leaves the obstacle and then moves along the right edge of the obstacle to re-engage the obstacle. In this way, by moving along both sides of the obstacle, the wet cleaning element in the cleaning position is driven to clean the upper surface of the wider obstacle, achieving complete cleaning of the entire upper surface of the obstacle.

[0189] The process in which the cleaning robot controls the wet cleaning element to clean the upper surface of the obstacle in a preset cleaning manner has been described in the above embodiment and will not be repeated here.

[0190] Optionally, during the process of cleaning the upper surface of the obstacle, the cleaning robot can drive the wet cleaning element to perform a single cleaning on one side of the upper surface of the obstacle through a single movement, or it can drive the wet cleaning element to perform multiple cleanings on one side of the upper surface of the obstacle through multiple reciprocating movements, thereby further improving the cleaning effect of the upper surface of the obstacle. The embodiments of the present application are not limited to this.

[0191] In this embodiment, the cleaning robot is controlled to move along the left and right edges of the obstacle in sequence, and can ensure that the upper surface of the obstacle is fully cleaned by relying on dual-path coverage, avoiding cleaning blind spots caused by insufficient single cleaning paths; during the movement, the retracted wet cleaning parts fit tightly to the surface of the obstacle, and combined with the preset cleaning method, can efficiently remove stubborn stains and dust, achieving refined and deep cleaning.

[0192] Method 2, such as Figure 17 As shown, the specific processing process of step 902 includes:

[0193] Step 1701 : For a case where the obstacle is located at a non-edge position, when the height of the obstacle is less than a second threshold and the width is greater than a second effective length, the wet cleaning element is controlled to be in a cleaning position and maintained in an outwardly extended state.

[0194] Step 1702: Control the cleaning robot to travel around the edge of the obstacle. Here, traveling around the edge of the obstacle means that the wet cleaning part is in continuous contact with the edge of the obstacle.

[0195] Step 1703: During the process of driving the cleaning robot to move, drive the wet cleaning part in the cleaning position to clean the upper surface of the obstacle.

[0196] In implementation, the perception system carried by the cleaning robot continuously performs an omni-directional scan of the working environment, and real-time obtains multi-dimensional data such as the spatial position, height, and width of the obstacle. When the perception system detects that the obstacle is in a non-edge area such as the center of the room or the aisle, and its height is lower than the preset second threshold, and the width exceeds the second effective length of the cleaning robot, that is, the obstacle is relatively wide, the control module immediately starts the response program. And send a control instruction to keep the wet cleaning part in the retracted cleaning position. Then, based on the three-dimensional model of the obstacle constructed by the perception system, the control module uses the path planning algorithm to generate the optimal travel route around the edge of the obstacle, and then adjusts its own pose through the precise differential rotation of the drive wheels and the coordinated cooperation of the chassis steering system, and slowly approaches the obstacle. Under the precise control of the control module, it moves stably along the path around the edge of the obstacle. And drive the wet cleaning part in the cleaning position and in the retracted state to enter the working mode synchronously. The control module dynamically adjusts the lifting height and tilt angle of the wet cleaning part according to the surface undulation data of the obstacle fed back by the perception system to ensure that the wet cleaning part closely fits the upper surface of the obstacle. The wet cleaning part cleans the upper surface of the obstacle through a preset cleaning method.

[0197] Optionally, during the process of the cleaning robot traveling around the edge of the obstacle and driving the wet cleaning part to clean the upper surface of the obstacle, in order to ensure that the wet cleaning part fully covers the upper surface of the obstacle and reduce the pose adjustment of the cleaning robot, it is possible to control the wet cleaning part not to leave the upper surface of the low obstacle during the process of traveling around the obstacle, reduce the pose adjustment operations such as the cleaning robot retreating and swinging back, and continuously clean the upper surface.

[0198] In this embodiment, for non-edge, large-size low obstacles, through the deep coordination of wet cleaning part state adjustment and path planning, the cleaning efficiency and safety are significantly improved. Keeping the wet cleaning part in the retracted state, controlling the cleaning robot to travel around the edge of the obstacle, combined with the real-time monitoring of the perception system and the dynamic adjustment of the path, can ensure that the wet cleaning part fully covers the upper surface of the obstacle and completely eliminate the cleaning blind area on the upper surface of the obstacle; improve the cleaning efficiency and cleaning effect in complex scenarios.

[0199] In an exemplary embodiment, as Figure 18 shown, the specific processing process of step 902 includes:

[0200] Step 1801: When the height of the obstacle is less than the second threshold and the width is less than the length of the wet cleaning member, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in the retracted state.

[0201] Herein, the length of the wet cleaning member is the straight-line distance between the left end and the right end when the wet cleaning member is maintained in the retracted state. As Figure 2 the total length of the wet cleaning member within the edge of the cleaning robot chassis from left to right in the retracted state as shown in the wet cleaning member 304.

[0202] In implementation, when the height of the obstacle is less than the second threshold and the width is less than the length of the wet cleaning member, the cleaning robot can clean the upper surface of the obstacle by striding over the low obstacle. Specifically, when the cleaning robot starts and detects that the height of the obstacle is lower than the preset second threshold and the width is less than the length of the wet cleaning member, the cleaning robot sends a control signal to drive the wet cleaning member to adjust from the initial position to the cleaning position. For example, it is adjusted to the low-position cleaning state to ensure that it can carry out the cleaning work normally. At the same time, the cleaning robot will maintain the retracted state of the wet cleaning member, effectively protecting the safe travel of the cleaning robot while ensuring the cleaning effect.

[0203] Step 1802: Control the cleaning robot to stride over the upper surface of the obstacle, driving the wet cleaning member to clean the upper surface of the obstacle.

[0204] In implementation, when the obstacle is not in the edge state, when the cleaning robot recognizes that the height of the obstacle is within the range that can be stridden over and the width does not exceed the cleaning coverage range of the cleaning robot body, the cleaning robot starts the crossing cleaning program, plans the optimal crossing path according to the three-dimensional data of the obstacle, and at the same time adjusts the power output of the wheel drive device to make the robot climb at a stable tilt angle to ensure the stability of the body center of gravity. During the crossing process, the wet cleaning member is accurately attached to the upper surface of the obstacle, and the crawler-type rag rotation function is synchronously started, combined with the continuous spraying of the cleaning liquid, to achieve deep cleaning. After the cleaning robot completely crosses, the cleaning robot can also perform edge cleaning on the edge of the obstacle by backing up.

[0205] In this embodiment, by setting the second threshold and the length of the wet cleaning member as the judgment basis, when the height and width of the obstacle meet the conditions, the cleaning robot can intelligently control the wet cleaning member to be in the cleaning position and maintain the retracted state, avoiding the collision between the wet cleaning member and the obstacle, protecting the cleaning robot from damage and ensuring the operation safety. At the same time, after confirming that the obstacle can be crossed, the cleaning robot automatically crosses the upper surface of the obstacle and drives the wet cleaning member to clean, making full use of the working performance of the wet cleaning member, realizing the effective cleaning of the surface of the obstacle in a complex environment, and greatly improving the cleaning coverage and cleaning efficiency.

[0206] In an exemplary embodiment, controlling the wet cleaning member to be in the cleaning position can be achieved by any of the following methods:

[0207] Method 1: Control the wet cleaning member to maintain the preset low-position cleaning state and lift the chassis of the cleaning robot so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned.

[0208] Method 2: Control the chassis of the cleaning robot to maintain the initial state and lift the wet cleaning member so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned.

[0209] Method 3: Control the chassis of the cleaning robot and the wet cleaning member to be lifted together so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned.

[0210] Among them, the preset low-position cleaning position is the mopping position corresponding to the wet cleaning member of the cleaning robot in the normal cleaning mode.

[0211] In implementation, during the cleaning operation of the cleaning robot, it is necessary to adjust the wet cleaning part to a suitable cleaning position for cleaning operations. For example, when the cleaning robot cleans the ground, the cleaning robot controls the wet cleaning part to be in a preset low cleaning position so that the wet cleaning part fits the ground, and drives the wet cleaning part to clean the ground during the movement of the cleaning robot. If the cleaning robot cleans the upper surface of a low obstacle, the control module of the cleaning robot controls the wet cleaning part to slowly lift to a certain high cleaning position, and this high cleaning position can closely fit the upper surface of the low obstacle. Thus, it realizes driving the wet cleaning part to clean the upper surface of the low obstacle during the movement of the cleaning robot. Specifically, the control module will flexibly select three height adjustment strategies according to the preset logic and real-time data: First, for the upper surface of a low obstacle with good flatness, the control module sends an instruction to keep the wet cleaning part in the preset low cleaning state, and at the same time drives the hydraulic or electric lifting mechanism under the chassis to smoothly lift. On the premise of avoiding collision of the wet cleaning part, the overall height of the machine is precisely adjusted so that the wet cleaning part closely fits the surface to be cleaned (i.e., the upper surface of the low obstacle); Second, if there are local protrusions or areas with small height changes on the surface to be cleaned, the control module keeps the initial state of the chassis unchanged and instead lifts the wet cleaning part to adaptively adjust it to the optimal cleaning height to ensure that the wet cleaning part maintains an appropriate pressure with the surface to be cleaned; Third, in the face of a low obstacle scenario with a large height difference, the control module synchronously controls the chassis and the wet cleaning part of the cleaning robot to lift together. The chassis and the wet cleaning part are synchronously lifted and lowered through a precise linkage mechanism, which not only ensures the continuous operation of the wet cleaning part but also maintains the stability of the whole machine until the wet cleaning part reaches the effective cleaning height adapted to the surface to be cleaned, realizing the cleaning of the upper surface of the low obstacle.

[0212] In an exemplary embodiment, during the process of driving the cleaning robot to move in steps 1403, 1503, 1603, and 1703, driving the wet cleaning part in the cleaning position to clean the upper surface of the obstacle, the specific processing process can be implemented in any of the following ways:

[0213] Method 1: During the process of driving the cleaning robot to travel along one side of the obstacle, drive the wet cleaning part in the cleaning position to clean the upper surface of the obstacle.

[0214] In implementation, after the cleaning robot receives the edge cleaning instruction, the mounted sensing system is immediately activated. The sensing system scans the obstacles in all directions and precisely constructs a three-dimensional contour model of the obstacles. When it is confirmed that the obstacles meet the single-side cleaning conditions, the control module quickly plans the optimal cleaning path and drives the cleaning robot to approach the obstacles. During the movement, the cleaning robot relies on the differential rotation of the driving wheels to make the outer side of the driving wheel on the side close to the obstacles approach the edge of the obstacles, and maintains single-side movement at a constant or approximately constant speed and spacing. At this time, the wet cleaning component in the cleaning position enters the working state synchronously. The wet cleaning component is adjusted to a cleaning position at an appropriate height and closely adheres to the upper surface of the obstacles to clean the upper surface of the obstacles. To ensure the cleaning effect, the cleaning robot can also achieve full cleaning of each area on the upper surface of the obstacles by controlling the traveling speed.

[0215] Optionally, the traveling speed during the single-side single-time cleaning of the cleaning robot is less than or equal to the traveling speed of the cleaning robot in the non-cleaning state. The purpose of the traveling speed being less than that in the non-cleaning state is to extend the cleaning time and improve the cleaning effect.

[0216] Method 2: During the process of driving the cleaning robot to travel back and forth along the obstacles, drive the wet cleaning component in the cleaning position to clean the upper surface of the obstacles at least once back and forth.

[0217] In implementation, the sensing system of the cleaning robot precisely maps the shape and size of the obstacles and transmits the data to the control module to generate a reciprocating cleaning path. When the driving wheels drive the robot to travel along one side edge of the obstacles for the first time, the wet cleaning component in the cleaning position cleans the upper surface of the obstacles. When the cleaning robot reaches the end point of the path (i.e., the end edge of the obstacles), the cleaning robot turns 180° by differential and starts to travel in the reverse direction. During the second edge movement, the wet cleaning component re-adjusts the working parameters to enhance the cleaning intensity. If there is more dirt on the surface of the obstacles, the control module will, according to the preset program or real-time monitoring data, instruct the cleaning robot to perform the third, fourth or even more reciprocating cleanings. Each time of reciprocation, the cleaning mode of the wet cleaning component will be dynamically adjusted. For example, by adjusting the contact pressure between the wet cleaning component and the surface of the obstacles and other methods, the upper surface of the obstacles can be comprehensively cleaned.

[0218] In this embodiment, through the dual-mode cooperation of "single-side traveling cleaning" and "reciprocating traveling cleaning", the adaptability and cleaning efficiency of the cleaning robot in different scenarios are significantly improved. The intelligent switching and complementarity of the two modes can not only ensure the high efficiency of daily cleaning, but also meet the refined requirements of complex cleaning scenarios, achieving the balance between cleaning efficiency and cleaning effect.

[0219] In an exemplary embodiment, such as Figure 19As shown, during the process of driving the cleaning robot to move in steps 1403, 1503, 1603, and 1703, the wet cleaning member at the cleaning position is driven to clean the upper surface of the obstacle. The specific processing process can also be achieved through the following methods:

[0220] Step 1901, during the process of the cleaning robot moving along the obstacle, drive the rear end of the cleaning robot to generate multiple deflections towards the obstacle and swings away from the obstacle to clean the upper surface of the obstacle.

[0221] In implementation, when the cleaning robot moves along the edge of the obstacle, its built-in control module and sensing system cooperate closely to achieve dynamic adjustment of the cleaning path. The sensing system monitors the contour and distance of the obstacle in real time and transmits the data to the control module. Based on the preset algorithm, the control module periodically sends instructions to the driving wheels and steering mechanism during the movement of the cleaning robot. When the cleaning robot moves forward, the control module controls the rear driving wheels to rotate alternately at different speeds, causing the rear end of the robot to deflect towards the obstacle, driving the wet cleaning member at the cleaning position to fit more closely to the edge and upper surface of the obstacle, and cleaning the upper surface of the obstacle through the preset cleaning method of the wet cleaning member; subsequently, the control module adjusts the rotation speed of the driving wheels to make the rear end of the robot swing away from the obstacle while keeping the wet cleaning member in a continuous working state. Repeating this process multiple times, through the rhythmic deflection and swing of the rear end, the cleaning robot can clean the upper surface of the obstacle comprehensively and without dead corners, ensuring the comprehensiveness and thoroughness of the cleaning effect.

[0222] In this embodiment, when moving along the obstacle, the periodic deflection action of the rear end of the cleaning robot can drive the wet cleaning member to actively fit the concave and convex areas of the edge and upper surface of the obstacle, enabling components such as cleaning brushes and suction ports to cover the cleaning blind spots more fully, especially achieving deep cleaning of dust and debris in narrow gaps and irregular corners; while the swing action ensures that the robot effectively avoids the risk of collision while operating closely, ensuring the safe operation of the equipment. This reciprocating dynamic cleaning mode can achieve efficient cleaning without multiple round trips, greatly saving cleaning time and equipment energy consumption, and can also adapt to obstacles of different shapes through flexible attitude adjustment, avoiding the decline in cleaning efficiency caused by repeated paths, providing a more intelligent, efficient, and safe cleaning solution for users.

[0223] In an exemplary embodiment, as Figure 20 shown, the method further includes:

[0224] Step 2001: When the height of the obstacle is greater than the lifting height of the chassis of the cleaning robot or the lifting height of the wet cleaning part, and less than the maximum height that the cleaning robot can climb in an obstacle-crossing manner, the driving wheel of the cleaning robot close to the obstacle side is controlled to climb to the upper surface of the obstacle in an obstacle-crossing manner.

[0225] In practice, the cleaning robot also includes obstacle-crossing wheels, which are connected to the body via an independent suspension system and can swing freely at multiple angles, ensuring that it can adapt to changes in terrain when encountering obstacles such as steps and thresholds. Thus, when the cleaning robot's perception system detects that the obstacle height is greater than the target height, the control module immediately initiates the obstacle-crossing program: the cleaning robot switches to obstacle-crossing mode. In obstacle-crossing mode, the control module sends instructions to the motors of the obstacle-crossing wheels and the drive wheels. The obstacle-crossing wheels first contact the surface of the obstacle. The dense anti-slip teeth on their surface provide strong grip. Combined with the high torque output of the motor, the drive wheels on the side closest to the obstacle climb upwards, and the chassis' hydraulic or electric lifting mechanism slowly lifts it. At the same time, the wet cleaning parts automatically switch to a retracted state to reduce obstacle resistance. During the climbing process, the perception system monitors the friction between the drive wheels and the obstacle surface, the robot's center of gravity offset, and other data in real time, and feeds this information back to the control module. The control module dynamically adjusts the drive wheel speed and chassis tilt angle to ensure that the cleaning robot remains balanced.

[0226] In step 2002 , at least the driving wheel of the cleaning robot on the side away from the obstacle is controlled to drive the cleaning robot forward, and drive the wet cleaning element to perform a cleaning operation on the upper surface of the obstacle.

[0227] During operation, once the driving wheel on one side of the cleaning robot successfully grasps the surface of the obstacle and gradually climbs upward until the entire robot reaches the upper surface of the obstacle, the cleaning robot immediately resumes normal operation mode and begins cleaning the upper surface of the obstacle with the single-sided wet cleaning element that has climbed to the upper surface of the obstacle. At the same time, the cleaning robot moves away from the driving wheel on the side of the obstacle and continues to drive the cleaning robot forward along the edge of the obstacle for a preset distance, thereby driving the wet cleaning element that has climbed to the upper surface of the obstacle to continue cleaning the upper surface of the obstacle.

[0228] In this embodiment, the cleaning strategy significantly improves the cleaning robot's ability to cope with complex scenarios and cleaning efficiency through the coordinated cooperation of intelligent obstacle crossing and unilateral drive cleaning.

[0229] In an exemplary embodiment, Figure 21 As shown, the method further includes:

[0230] Step 2101, when the height of the obstacle is less than the second threshold, control the cleaning robot to travel at a first speed uniformly, or control the cleaning robot to vary its speed within a preset speed range and execute the cleaning strategy for low obstacles.

[0231] Wherein, the preset speed range is from zero to the first speed.

[0232] Wherein, the first speed is less than or equal to the traveling speed of the cleaning robot in the non-cleaning state.

[0233] In implementation, for an obstacle with a height lower than the threshold, i.e., a low obstacle, the cleaning robot executes the cleaning strategy for low obstacles to clean the upper surface of the low obstacle. Specifically, the specific implementation process of the cleaning robot executing the cleaning strategy for low obstacles in different environments (different obstacle positions, widths, etc.) has been given in the above embodiments and will not be elaborated here. In this process, the cleaning robot increases the contact duration between the wet cleaning part and the low obstacle by setting a traveling mode with different traveling speeds, thereby improving the cleaning effect of the upper surface of the obstacle. Specifically, if the dust, dirt, etc. on the upper surface of the obstacle are evenly distributed, the control module will control the cleaning robot to travel uniformly at a constant first speed, thereby driving the wet cleaning part to clean the upper surface of the obstacle at the first speed, and the first speed is strictly controlled within the traveling speed of the cleaning robot in the non-cleaning state to ensure the contact duration between the wet cleaning part and the upper surface of the obstacle. If the dust, dirt, etc. on the upper surface of the obstacle are unevenly distributed, the control module will drive the cleaning robot to flexibly vary its speed within the preset speed range from zero to the first speed: for example, when approaching the area with dense dirt, the cleaning robot automatically reduces its speed to allow the wet cleaning part to have more time for in-depth cleaning; when cleaning a relatively clean area, the speed is appropriately increased to improve the cleaning efficiency.

[0234] Optionally, for the variable-speed traveling mode of the cleaning robot, the cleaning robot can also follow modes such as fast first and then slow, slow first and then fast, and gradual speed increase to control the speed of the cleaning robot within the preset speed range from zero to the first speed. The specific change rules of the variable-speed mode of the cleaning robot in the embodiments of the present application are not limited.

[0235] Optionally, in addition to the cleaning robot being able to control and adjust the traveling speed of the cleaning robot within the preset variable-speed range, the control module can also flexibly switch between the uniform-speed mode and the variable-speed mode for in-depth cleaning in a complex cleaning environment.

[0236] In this embodiment, moving forward at a constant first speed ensures stable contact between the wet cleaning member and the surface of the obstacle, guaranteeing cleaning intensity and coverage; while the variable-speed moving mode within the preset speed range enables precise adaptation to complex cleaning scenarios, achieving both deep cleaning and saving cleaning time, thereby optimizing the overall operation efficiency. By flexibly switching between the constant-speed and variable-speed modes, the cleaning efficiency and resource utilization rate are significantly improved.

[0237] In an exemplary embodiment, when the cleaning robot cleans the upper surface of the obstacle in step 2101 of the above embodiment, it can adopt a constant-speed moving mode or a variable-speed moving mode. In the variable-speed moving mode among these two modes, there is also a special case where the speed changes to 0, that is, during the cleaning operation, the cleaning robot drives the wet cleaning member in a "stop-and-go" mode for cleaning. Specifically, as Figure 22 shown, the specific processing procedure of this step 902 includes:

[0238] Step 2201, when the height of the obstacle is less than the second threshold, control the cleaning robot to stop moving forward, maintain the wet cleaning member at the cleaning position, so that the wet cleaning member continuously cleans the upper surface of the obstacle on the cleaning robot, and then control the cleaning robot to continue moving forward.

[0239] In implementation, for an obstacle with a height lower than the second threshold, if the obstacle needs to be deeply cleaned, control the cleaning robot to stop moving forward to extend the cleaning duration of the wet cleaning member at the same position, that is, comprehensively clean the upper surface of the obstacle in a "stop-and-go" manner.

[0240] In this embodiment, when a low obstacle is detected, control the cleaning robot to stop moving forward in time, maintain the wet cleaning member at the cleaning position and continue to operate, so that components such as the cleaning brush and the dust suction port can be long-term and stably attached to the upper surface of the obstacle to deeply clean stubborn stains and fine dust. Compared with cleaning in a moving state, the cleaning blind area is effectively reduced, and the cleaning coverage and cleanliness are improved; at the same time, when the robot is in a stationary state, the working parameters of the wet cleaning member can be flexibly adjusted according to the surface conditions of the obstacle to achieve refined cleaning, which not only ensures the cleaning effect but also reduces energy consumption.

[0241] In an exemplary embodiment, in addition to considering low obstacles with regular shapes, for complex cleaning scenarios, if the obstacle is an irregular-shaped obstacle, for example, the vertical height of the upper surface of the obstacle is not fixed and / or there are protrusions on the side of the obstacle, in the embodiments of the present application, the pose of the cleaning robot, the lifting height of the wet cleaning member, the expansion or contraction state of the wet cleaning member, etc. can also be adjusted to enable the cleaning robot to clean the irregular upper surface of the obstacle and accurately avoid obstacles on the side protrusions of the irregular-shaped obstacle. As Figure 23As shown, the specific processing process of step 902 includes:

[0242] Step 2301: Obtain the height range information of the upper surface of the obstacle.

[0243] In practice, for situations where the vertical height between the upper surface of the obstacle and the ground is not fixed, such as Figure 24 As shown, if the upper surface of the obstacle is gradually rising, the cleaning robot uses its perception system to scan and detect the upper surface of the obstacle, obtaining and acquiring the height range information of the upper surface of the obstacle. Specifically, the cleaning robot's perception system can accurately obtain the vertical distance data of each point on the upper surface of the obstacle and the ground by emitting laser beams, capturing reflected signals, and performing image recognition. For special cases where the upper surface height is not fixed, such as step-like objects that rise piece by piece or a gradually rising slope, the sensor continuously collects multi-point data to construct a continuous height change curve, which is then integrated to form complete height range information.

[0244] Step 2302: Dynamically adjust the wet cleaning element of the cleaning robot to a cleaning position based on the height range information, so that the wet cleaning element at the cleaning position cleans the upper surface of the obstacle.

[0245] During implementation, after receiving the height range information of the obstacle's upper surface, the cleaning robot's control module conducts an in-depth analysis of the height data contained in the height range information based on a built-in intelligent algorithm to calculate the optimal operating parameters for the wet cleaning element to perform the cleaning task. The control module then sends instructions to the wet cleaning element's drive mechanism, which, through precision components such as an electric telescopic rod and a hydraulic lifting device, adjusts the wet cleaning element to a cleaning position that adapts to the height variation of the obstacle's upper surface. Cleaning the obstacle's upper surface at this cleaning position occurs. Simultaneously, a sensing system detects the height variation of the obstacle's upper surface in real time, dynamically adjusting the height and angle of the wet cleaning element based on the height range information to ensure that the wet cleaning element always maintains the optimal contact distance and pressure with the obstacle's upper surface. Alternatively, if the obstacle's upper surface gradually descends, the application principles are similar to those for a gradually ascending obstacle, and this embodiment will not be further described. Whether facing a step-like obstacle that ascends piece by piece or a sloped object that descends piece by piece, the wet cleaning element can closely adhere to the surface and efficiently clean the obstacle's upper surface using a pre-set cleaning method, achieving comprehensive removal of stains and dust.

[0246] Step 2303: Dynamically adjust the posture of the cleaning robot and / or the outward extension length of the wet cleaning member to bypass the raised portion on the side of the obstacle, and then resume cleaning the upper surface of the obstacle.

[0247] In implementation, in the case where the side surface of the obstacle is uneven, for example, there are protruding parts on the side surface of the obstacle, during the cleaning process of the cleaning robot moving along the surface of the obstacle, the sensing system of the cleaning robot will continuously monitor the contour information of the side surface of the obstacle. Once a protruding part is detected on the side surface, the control module immediately activates the obstacle avoidance program. Based on the shape, size, and position of the protrusion, combined with the current pose of the cleaning robot and a complex path planning algorithm, an optimal detour plan is generated. In this way, based on this optimal detour plan, the control module controls the driving wheels of the cleaning robot to rotate at different speeds with differential speed, and cooperates with the chassis steering mechanism to precisely adjust the pose of the robot, enabling it to flexibly bypass the protruding part; and / or, according to the actual cleaning environment, send an instruction to the telescopic mechanism of the wet cleaning part to adjust the outward expansion length of the wet cleaning part in real time to avoid collision between the wet cleaning part and the protruding part. After the cleaning robot successfully bypasses the protrusion, the control module adjusts the pose of the cleaning robot again according to the height range information on the upper surface of the obstacle, enables it to return to the cleaning path, and controls the wet cleaning part to return to the normal outward expansion length, and continues to clean the upper surface of the obstacle to ensure that the entire cleaning process is coherent and efficient without leaving any cleaning blind spots.

[0248] In this embodiment, the position of the wet cleaning part is adaptively adjusted according to the height range information to ensure that the wet cleaning part is closely attached to the surface of the obstacle throughout the process, avoid cleaning blind spots caused by height changes, and achieve efficient cleaning of irregular surfaces. By flexibly controlling the pose of the robot and the outward expansion length of the wet cleaning part, it can not only skillfully bypass the protruding parts on the side surface, but also quickly resume the cleaning operation after obstacle avoidance, ensuring the coherence of the cleaning work.

[0249] In an exemplary embodiment, in addition to cleaning the upper surface of the cleaning robot, the end face of the obstacle can also be cleaned to reduce cleaning blind spots. Among them, the end face of the obstacle is the surface area that is perpendicular or approximately perpendicular to the ground (or the cleaning reference plane) at the starting and ending positions of the cleaning robot's travel path when the cleaning robot moves along the edge of the obstacle. As Figure 25 shown in (a) of the figure, the wet cleaning part of the cleaning robot contacts the end face of the obstacle, and then controls the wet cleaning part of the cleaning robot to perform a lifting operation, and / or controls the body of the cleaning robot to perform a reciprocating travel motion to clean the end face of the obstacle. Among them, the end face of the obstacle is the contact surface adjacent to the upper surface of the obstacle and is located at both ends in the forward direction of the cleaning robot. Then, after the cleaning of the end face of one end of the obstacle is completed, as Figure 25 shown in (b) of the figure, the cleaning robot further lifts the wet cleaning part and moves along the edge of the obstacle to clean the upper surface of the obstacle. Figure 25 (c) in the figure is the left view, Figure 25Among them, (c) shows the cleaning process of the cleaning robot on the upper surface of the obstacle, that is, the cleaning robot lifts the wet cleaning piece to fit the upper surface of the obstacle, and cleans the upper surface of the obstacle during the movement of the cleaning robot.

[0250] Specifically, as Figure 26 shown, the method further includes:

[0251] Step 2601, control the cleaning robot to contact the end face of the obstacle, and then control the wet cleaning piece of the cleaning robot to perform a lifting operation, and / or control the body of the cleaning robot to perform a reciprocating movement, so as to clean the end face of the obstacle.

[0252] In implementation, during the operation of the cleaning robot, when an obstacle is detected, the control module drives the cleaning robot to approach the obstacle at a precise angle and speed according to the preset path planning algorithm until the wet cleaning piece of the cleaning robot forms a stable contact with the end face of the obstacle, and the movement of the cleaning robot stops. And, after forming a stable contact, the control module of the cleaning robot immediately starts the cleaning operation program. By controlling the lifting operation of the wet cleaning piece, the wet cleaning piece is driven to clean the end face of the obstacle, or, the body of the cleaning robot reciprocates, driving the wet cleaning piece to clean the end face of the obstacle.

[0253] For example, when the cleaning robot is operating in a room, its carried sensing system scans the environment in real time. When a target obstacle is suddenly detected, the track-type rag on the side of the cleaning robot gently touches the vertical end face of the table leg, and after sensing a stable contact force through the pressure sensor, the driving wheel immediately stops rotating, and the movement of the cleaning robot stops. Then, the cleaning robot raises or lowers the wet cleaning piece according to the height of the end face of the obstacle to clean the entire end face. For example, the track-type rag is lowered by 2 cm to closely fit the bottom area of the end face, and the track-type rag rotates at a high speed of 800 revolutions per minute for cleaning. At the same time, with the strong suction of the built-in dust suction port, the dust and hair attached to the bottom of the end face are sucked into the dust box. Subsequently, the control module commands the body of the cleaning robot to move back and forth at a speed of 5 cm per second. Through the adjustment of the body pose, that is, in the way of "twisting" the body of the cleaning robot, the side brush is driven to repeatedly wipe and clean the end face of the obstacle. When encountering stubborn stains, the traveling speed will be automatically reduced and the cleaning duration will be increased until every part of the end face of the table leg is cleaned, demonstrating the high-efficiency cleaning ability for the end face of complex obstacles.

[0254] In this embodiment, the cleaning robot is controlled to precisely contact the end face of the obstacle, ensuring that an effective action point is established between the wet cleaning member and the end face. Then, through the lifting operation of the wet cleaning member and / or the reciprocating movement of the body, the dust, stains, etc. on the end face of the obstacle are deeply cleaned, which not only ensures the comprehensiveness and thoroughness of the cleaning effect, but also improves the applicability of the cleaning robot in a complex home environment, reduces the need for manual intervention, and brings an efficient and intelligent cleaning experience to users.

[0255] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown in the direction of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless clearly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or steps in other steps.

[0256] Based on the same inventive concept, an embodiment of the present application also provides an obstacle cleaning device for implementing the above-mentioned obstacle cleaning method. The solution provided by this device to solve the problem is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the following obstacle cleaning devices can refer to the limitations on the obstacle cleaning method in the above text, and will not be repeated here.

[0257] In an exemplary embodiment, an obstacle cleaning device is provided, including: an execution module, where:

[0258] The execution module is used to identify obstacle information, and execute an obstacle avoidance cleaning strategy when the height of the obstacle is greater than the first threshold, and execute a low obstacle cleaning strategy when the height of the obstacle is less than the second threshold;

[0259] Among them, the obstacle avoidance cleaning strategy is to avoid the obstacle and detour or clean along the edge;

[0260] The low obstacle cleaning strategy is to adjust the lifting height of the chassis of the cleaning robot and / or the lifting height of the wet cleaning member to maintain the cleaning of the upper surface of the obstacle.

[0261] In one of the embodiments, the execution module is specifically used to control the wet cleaning member to clean the upper surface of the obstacle at a cleaning position in an expanded state when the obstacle is in an edge position and the height of the obstacle is less than the second threshold;

[0262] When the obstacle is in a non-edge position and the height of the obstacle is less than the second threshold, control the wet cleaning member to be in a retracted state or an extended state to clean the upper surface of the obstacle at the cleaning position.

[0263] In one embodiment, the execution module is specifically configured to re-adjust the cleaning position of the wet cleaning member by adjusting one or more of the pose relationship between the cleaning robot and the obstacle, the extended state of the wet cleaning member, the lifting height of the chassis of the cleaning robot, and the lifting height of the wet cleaning member, and continue to perform edge cleaning on the obstacle.

[0264] In one embodiment, the drive wheels of the cleaning robot are located inside the chassis, and when the wet cleaning member is in a retracted state, the wet cleaning member does not extend beyond the edge of the chassis; wherein,

[0265] When the wet cleaning member is at the maximum stroke of the extended state, the length by which the wet cleaning member extends beyond the edge of the chassis is the first effective length;

[0266] The distance from the outside of the drive wheel on the side of the cleaning robot close to the obstacle to the end of the wet cleaning member at the maximum stroke of the extended state is the second effective length;

[0267] The second effective length is greater than the first effective length.

[0268] In one embodiment, the execution module is specifically configured to, when the height of the obstacle is less than the second threshold and the width is less than the first effective length, control the wet cleaning member to be at the cleaning position and maintain the wet cleaning member in the extended state;

[0269] Control the cleaning robot to travel along the edge of the obstacle;

[0270] During the process of driving the cleaning robot to move, drive the wet cleaning member at the cleaning position to clean the upper surface of the obstacle.

[0271] In one embodiment, the execution module is specifically configured to, when the height of the obstacle is less than the second threshold, the width is greater than the first effective length and less than the second effective length, control the wet cleaning member to be at the cleaning position and maintain the wet cleaning member in the extended state;

[0272] Control the outside of the drive wheel on the side of the cleaning robot close to the obstacle to travel along the edge of the obstacle;

[0273] During the process of driving the cleaning robot to move, drive the wet cleaning member at the cleaning position to clean the upper surface of the obstacle.

[0274] In one embodiment, the execution module is specifically configured to, for the case where the obstacle is in a non-edge position, when the height of the obstacle is less than the second threshold and the width is greater than the second effective length, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in the expanded state;

[0275] Control the cleaning robot to travel along the left and right edges of the obstacle respectively; traveling along the left and right edges means that the contact process between the wet cleaning member and the edge of the obstacle is discontinuous;

[0276] During the process of driving the cleaning robot to move, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle.

[0277] In one embodiment, the execution module is specifically configured to, for the case where the obstacle is in a non-edge position, when the height of the obstacle is less than the second threshold and the width is greater than the second effective length, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in the expanded state;

[0278] Control the cleaning robot to travel around the edge of the obstacle; traveling around the edge of the obstacle means that the wet cleaning member is in continuous contact with the edge of the obstacle;

[0279] During the process of driving the cleaning robot to move, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle.

[0280] In one embodiment, the execution module is specifically configured to, when the height of the obstacle is less than the second threshold and the width is less than the length of the wet cleaning member, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in the retracted state; the length of the wet cleaning member is the straight-line distance between the left end and the right end when the wet cleaning member is maintained in the retracted state;

[0281] Control the cleaning robot to straddle the upper surface of the obstacle and drive the wet cleaning member to clean the upper surface of the obstacle.

[0282] In one embodiment, the execution module is specifically configured to control the wet cleaning member to maintain the preset low cleaning state and lift the chassis of the cleaning robot so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned;

[0283] Control the chassis of the cleaning robot to maintain the initial state and lift the wet cleaning member so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned;

[0284] Control the chassis of the cleaning robot and the wet cleaning member to be lifted together so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned.

[0285] In one embodiment, the execution module is specifically configured to drive the wet cleaning member at the cleaning position to clean the upper surface of the obstacle during the process of driving the cleaning robot to travel along one side of the obstacle; or,

[0286] During the process of driving the cleaning robot to reciprocate along the obstacle, drive the wet cleaning member at the cleaning position to clean the upper surface of the obstacle at least once reciprocally.

[0287] In one embodiment, the execution module is specifically configured to drive the rear end of the cleaning robot to generate multiple deflections towards the obstacle and swings away from the obstacle during the process of the cleaning robot traveling along the obstacle, so as to clean the upper surface of the obstacle.

[0288] In one embodiment, the obstacle cleaning device further includes:

[0289] The first control module is configured to, when the height of the obstacle is greater than the chassis lifting height of the cleaning robot or the lifting height of the wet cleaning member and less than the maximum height for the cleaning robot to climb over the obstacle in an over-obstacle manner, control the driving wheel on the side of the cleaning robot close to the obstacle to climb to the upper surface of the obstacle in an over-obstacle manner;

[0290] The cleaning module is configured to at least control the driving wheel on the side of the cleaning robot away from the obstacle to drive the cleaning robot forward and drive the wet cleaning member to perform the cleaning operation on the upper surface of the obstacle.

[0291] In one embodiment, the execution module is specifically configured to, when the height of the obstacle is less than the second threshold, control the cleaning robot to travel at a first speed uniformly,

[0292] or control the cleaning robot to travel at a variable speed within a preset speed range and execute a low-obstacle cleaning strategy; the preset speed range is from zero to the first speed;

[0293] wherein the first speed is less than or equal to the traveling speed of the cleaning robot in a non-cleaning state.

[0294] In one embodiment, the execution module is specifically configured to, when the height of the obstacle is less than the second threshold, control the cleaning robot to stop traveling, maintain the wet cleaning member at the cleaning position, so that the wet cleaning member continues to clean the upper surface of the obstacle on the cleaning robot, and then control the cleaning robot to continue traveling.

[0295] In one embodiment, the vertical height of the upper surface of the obstacle from the ground is not fixed, and / or there are protrusions on the side of the obstacle. The execution module is specifically configured to obtain the height range information of the upper surface of the obstacle;

[0296] According to the height range information, control the wet cleaning part of the cleaning robot to be in the cleaning position, so that the wet cleaning part in the cleaning position cleans the upper surface of the obstacle; and / or,

[0297] Control the pose of the cleaning robot and / or the outward expansion length of the wet cleaning part to bypass the convex part on the side of the obstacle, and then resume the cleaning operation on the upper surface of the obstacle.

[0298] In one embodiment, the obstacle cleaning device further includes:

[0299] A second control module, configured to control the cleaning robot to contact the end face of the obstacle, and then control the wet cleaning part of the cleaning robot to perform a lifting operation, and / or control the body of the cleaning robot to perform a reciprocating movement, so as to clean the end face of the obstacle.

[0300] In one embodiment, the first threshold is greater than or equal to the second threshold.

[0301] Each module in the above obstacle cleaning device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0302] The above embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

[0303] Those skilled in the art can understand that all or part of the processes of implementing the above method embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. Among them, the storage medium can be a magnetic disk, an optical disc, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD), etc. The storage medium can also include a combination of the above types of memories.

[0304] Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application may include at least one of relational databases and non-relational databases. Non-relational databases may include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in this application may be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0305] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope recorded in this application.

[0306] The above-described embodiments merely represent several implementation manners of this application. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the patent scope of this application. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of this application should be subject to the appended claims.

Claims

1. A method for cleaning obstacles, characterized in that, The method is applied to a cleaning robot, which includes a chassis and a wet cleaning component connected to the chassis. The method includes: Identifying obstacle information, and when the height of the obstacle is greater than a first threshold, implementing an obstacle avoidance cleaning strategy; when the height of the obstacle is less than a second threshold, implementing a low obstacle cleaning strategy; The obstacle avoidance cleaning strategy is to clean along the edge of the obstacle; The low obstacle cleaning strategy is to adjust the lifting height of the chassis of the cleaning robot and / or the lifting height of the wet cleaning component to keep the upper surface of the obstacle clean.

2. The method according to claim 1, characterized in that The step of implementing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold further includes: When the obstacle is in an edge position and the height of the obstacle is less than the second threshold, controlling the wet cleaning component to clean the upper surface of the obstacle at a cleaning position in the expanded state; When the obstacle is in a non-edge position and the height of the obstacle is less than the second threshold, controlling the wet cleaning component to clean the upper surface of the obstacle at a cleaning position in the retracted state or the expanded state; 3. The method according to claim 1 or 2, characterized in that, After implementing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold, the method further includes: Readjusting the cleaning position of the wet cleaning component by adjusting one or more of the pose relationship between the cleaning robot and the obstacle, the expanded state of the wet cleaning component, the lifting height of the chassis of the cleaning robot, and the lifting height of the wet cleaning component, and continuing to clean along the edge of the obstacle; 4. The method according to claim 2, characterized in that, The driving wheels of the cleaning robot are located inside the chassis, and when the wet cleaning component is in the retracted state, the wet cleaning component does not extend beyond the edge of the chassis; wherein, When the wet cleaning component is in the maximum stroke of the expanded state, the length by which the wet cleaning component extends beyond the edge of the chassis is a first effective length; The distance from the outside of the driving wheel on the side of the cleaning robot close to the obstacle to the end of the wet cleaning component when it is in the maximum stroke of the expanded state is a second effective length; The second effective length is greater than the first effective length.

5. The method according to claim 4, wherein The step of implementing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold includes: When the height of the obstacle is less than the second threshold and the width is less than the first effective length, controlling the wet cleaning component to be in the cleaning position and maintaining the wet cleaning component in the expanded state; Controlling the cleaning robot to travel along the edge of the obstacle; During the process of driving the cleaning robot to move, driving the wet cleaning component in the cleaning position to clean the upper surface of the obstacle.

6. The method according to claim 4, characterized in that, The step of implementing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold includes: When the height of the obstacle is less than the second threshold, the width is greater than the first effective length and less than the second effective length, controlling the wet cleaning component to be in the cleaning position and maintaining the wet cleaning component in the expanded state; Controlling the outside of the driving wheel on the side of the cleaning robot close to the obstacle to travel along the edge of the obstacle; During the process of driving the cleaning robot to move, driving the wet cleaning component in the cleaning position to clean the upper surface of the obstacle.

7. The method according to claim 4, wherein When the height of the obstacle is less than the second threshold, execute the low obstacle cleaning strategy, including: For the case where the obstacle is in a non-edge position, when the height of the obstacle is less than the second threshold and the width is greater than the second effective length, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in an expanded state; Control the cleaning robot to travel along the left and right edges of the obstacle respectively. The travel along the left and right edges means that the contact process between the wet cleaning member and the edge of the obstacle is discontinuous; During the process of driving the cleaning robot to move, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle.

8. The method according to claim 4, characterized in that, When the height of the obstacle is less than the second threshold, execute the low obstacle cleaning strategy, including: For the case where the obstacle is in a non-edge position, when the height of the obstacle is less than the second threshold and the width is greater than the second effective length, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in an expanded state; Control the cleaning robot to travel around the edge of the obstacle. The travel around the edge of the obstacle means that the wet cleaning member is in continuous contact with the edge of the obstacle; During the process of driving the cleaning robot to move, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle.

9. The method according to claim 4, wherein When the height of the obstacle is less than the second threshold, execute the low obstacle cleaning strategy, including: When the height of the obstacle is less than the second threshold and the width is less than the length of the wet cleaning member, control the wet cleaning member to be in the cleaning position and maintain the wet cleaning member in a retracted state; the length of the wet cleaning member is the straight-line distance between the left end and the right end when the wet cleaning member is in the retracted state; Control the cleaning robot to cross the upper surface of the obstacle and drive the wet cleaning member to clean the upper surface of the obstacle.

10. The method according to any one of claims 2 or 4 to 9, characterized in that The control of the wet cleaning member to be in the cleaning position includes at least one of the following steps: Control the wet cleaning member to maintain a preset low cleaning state and lift the chassis of the cleaning robot so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned; Control the chassis of the cleaning robot to maintain the initial state and lift the wet cleaning member so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned; Control the chassis of the cleaning robot and the wet cleaning member to be lifted together so that the wet cleaning member is at an effective cleaning height adapted to the surface to be cleaned.

11. The method according to any one of claims 5 to 8, characterized in that During the process of driving the cleaning robot to move, driving the wet cleaning member in the cleaning position to clean the upper surface of the obstacle includes: During the process of driving the cleaning robot to travel along one side of the obstacle, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle; or, During the process of driving the cleaning robot to travel back and forth along the obstacle, drive the wet cleaning member in the cleaning position to clean the upper surface of the obstacle at least once back and forth.

12. The method according to any one of claims 5 to 8, characterized in that During the process of driving the cleaning robot to move, driving the wet cleaning member at the cleaning position to clean the upper surface of the obstacle, including: During the process of the cleaning robot traveling along the obstacle, driving the rear end of the cleaning robot to generate multiple deflections towards the obstacle and swings away from the obstacle, so as to clean the upper surface of the obstacle.

13. The method according to claim 1, wherein The method further includes: When the height of the obstacle is greater than the chassis lifting height of the cleaning robot or the lifting height of the wet cleaning member and less than the maximum height that the cleaning robot climbs in an obstacle-crossing manner, controlling the driving wheel on the side of the cleaning robot close to the obstacle to climb to the upper surface of the obstacle in an obstacle-crossing manner; At least controlling the driving wheel on the side of the cleaning robot away from the obstacle to drive the cleaning robot to move forward and driving the wet cleaning member to perform a cleaning operation on the upper surface of the obstacle.

14. The method according to claim 1, characterized in that, The implementation of the low-obstacle cleaning strategy when the height of the obstacle is less than the second threshold includes: When the height of the obstacle is less than the second threshold, controlling the cleaning robot to travel at a first speed uniformly, Or, controlling the cleaning robot to travel at a variable speed within a preset speed range and implementing the low-obstacle cleaning strategy; the preset speed range is from zero to the first speed; Wherein, the first speed is less than or equal to the traveling speed of the cleaning robot in a non-cleaning state.

15. The method according to claim 1, wherein The implementation of the low-obstacle cleaning strategy when the height of the obstacle is less than the second threshold includes: When the height of the obstacle is less than the second threshold, controlling the cleaning robot to stop traveling and controlling the wet cleaning member to be in the cleaning position so that the wet cleaning member continuously cleans the upper surface of the obstacle, and then controlling the cleaning robot to continue traveling.

16. The method according to claim 1, characterized in that, The vertical height of the upper surface of the obstacle from the ground is not fixed, and / or there are protrusions on the side of the obstacle. The implementation of the low-obstacle cleaning strategy when the height of the obstacle is less than the second threshold includes: Obtaining the height range information of the upper surface of the obstacle; According to the height range information, dynamically adjusting the wet cleaning member of the cleaning robot to be in the cleaning position so that the wet cleaning member in the cleaning position cleans the upper surface of the obstacle; and / or, Dynamically adjusting the pose of the cleaning robot and / or the outward expansion length of the wet cleaning member to bypass the protruding part on the side of the obstacle, and then resuming the cleaning operation on the upper surface of the obstacle.

17. The method according to claim 1, wherein The method further includes: Controlling the cleaning robot to contact the end face of the obstacle, and then controlling the wet cleaning member of the cleaning robot to perform a lifting operation and / or controlling the fuselage of the cleaning robot to perform a reciprocating traveling movement so as to clean the end face of the obstacle.

18. The method according to claim 1, wherein The first threshold is greater than or equal to the second threshold.

19. A cleaning robot, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 18.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 18.

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