Obstacle cleaning method, cleaning robot and computer-readable storage medium

Abstract

The present application relates to an obstacle cleaning method, a cleaning robot, and a computer-readable storage medium. The method is applied to a cleaning robot comprising a chassis and a wet cleaning element connected to the chassis. The method comprises: identifying obstacle information; executing an obstacle avoidance cleaning strategy when the obstacle's height is greater than a first threshold; and executing a low-obstacle cleaning strategy when the obstacle's height is less than a second threshold; the obstacle avoidance cleaning strategy involves cleaning along the edge of the obstacle; and the low-obstacle cleaning strategy involves adjusting the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning element to maintain cleanliness of the upper surface of the obstacle. This method improves cleaning coverage and cleaning effectiveness.

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 environmental hygiene conditions while reducing labor. Therefore, with the continuous development of cleaning robot technology, cleaning robots are widely used.

[0003] Traditionally, cleaning robots are driven by drive wheels during daily cleaning, and the dry and wet cleaning elements on the bottom of the robot clean the floor. When encountering low obstacles, the robot will proactively avoid them and continue cleaning by circumventing them.

[0004] However, there is also a need to clean low obstacles (for example, ground sockets, door thresholds, skirting boards, etc.). In traditional technologies, cleaning robots can only avoid obstacles, resulting in the inability of current cleaning robots 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 to address 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 comprising a chassis and a wet cleaning member connected to the chassis, the method comprising:

[0007] 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;

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

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

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

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

[0012] When the obstacle is in a non-edge position and the height of the obstacle is less than a second threshold, the wet cleaning element is controlled to be in a retracted state or an expanded state 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 a second threshold, the method further includes:

[0014] By adjusting the posture relationship between the cleaning robot and the obstacle, the outward expansion state of the wet cleaning part, the lifting height of the cleaning robot chassis, the lifting height of the wet cleaning part or one or more of the above, the cleaning position of the wet cleaning part is readjusted to continue cleaning the obstacle along the edge.

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

[0016] When the wet cleaning member is in the maximum stroke of the outwardly expanded state, the length of the wet cleaning member extending beyond the edge of the chassis is the first effective length;

[0017] The distance between the outer side of the driving wheel of the cleaning robot on the side closest to the obstacle and the end of the wet cleaning element when the wet cleaning element is in the extended state and has the maximum stroke is the second effective length;

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

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

[0020] When the height of the obstacle is less than a second threshold and the width is less than a first effective length, controlling the wet cleaning element to be in a cleaning position and maintaining the wet cleaning element in an outwardly expanded state;

[0021] controlling the cleaning robot to move along the edge of the obstacle;

[0022] During the process of driving the cleaning robot to move, the wet cleaning member located at the cleaning position is driven to clean the upper surface of the obstacle.

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

[0024] When the height of the obstacle is less than a second threshold value and the width is greater than the first effective length and less than the second effective length, controlling the wet cleaning element to be in a cleaning position and maintaining the wet cleaning element in an outwardly expanded state;

[0025] Controlling the outer side of the driving wheel of the cleaning robot close to the obstacle to move along the edge of the obstacle;

[0026] During the process of driving the cleaning robot to move, the wet cleaning member located at the cleaning position is driven to clean the upper surface of the obstacle.

[0027] In one embodiment, executing the low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0028] In the case where the obstacle is located at a non-edge position, when the height of the obstacle is less than a second threshold value and the width is greater than a second effective length, the wet cleaning element is controlled to be in the cleaning position and maintained in an outwardly expanded state;

[0029] Controlling the cleaning robot to move along the left and right edges of the obstacle respectively; the left and right edge movement means that the wet cleaning element is in contact with the edge of the obstacle discontinuously;

[0030] During the process of driving the cleaning robot to move, the wet cleaning member located at the cleaning position is driven to clean the upper surface of the obstacle.

[0031] In one embodiment, executing the low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0032] In the case where the obstacle is located at a non-edge position, when the height of the obstacle is less than a second threshold value and the width is greater than a second effective length, the wet cleaning element is controlled to be in the cleaning position and maintained in an outwardly expanded state;

[0033] Controlling the cleaning robot to move around the edge of the obstacle; moving around the edge of the obstacle means that the wet cleaning element is in continuous contact with the edge of the obstacle;

[0034] During the process of driving the cleaning robot to move, the wet cleaning member located at the cleaning position is driven to clean the upper surface of the obstacle.

[0035] In one embodiment, executing the low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

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

[0037] The cleaning robot is controlled to cross the upper surface of the obstacle, and drives the wet cleaning member to clean the upper surface of the obstacle.

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

[0039] Controlling the wet cleaning element to maintain a preset low-position cleaning state and raising the cleaning robot chassis so that the wet cleaning element is at an effective cleaning height adapted to the surface to be cleaned;

[0040] Controlling the cleaning robot chassis to maintain an initial state and lifting the wet cleaning element so that the wet cleaning element is at an effective cleaning height adapted to the surface to be cleaned;

[0041] The cleaning robot chassis and the wet cleaning member are controlled 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, in 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] In the process of driving the cleaning robot to move unilaterally along the obstacle, the wet cleaning member in the cleaning position is driven to clean the upper surface of the obstacle; or

[0044] In the process of driving the cleaning robot to move back and forth along the obstacle, the wet cleaning member located at the cleaning position is driven to move back and forth at least once to clean the upper surface of the obstacle.

[0045] In one embodiment, in 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] When the cleaning robot moves along the obstacle, the rear end of the cleaning robot is driven to deflect toward the obstacle and swing back away from the obstacle multiple times, so as to clean the upper surface of the obstacle.

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

[0048] 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 element, and less than the maximum height that the cleaning robot can climb in an obstacle-crossing manner, controlling the driving wheel of the cleaning robot on the side close to the obstacle to climb to the upper surface of the obstacle in an obstacle-crossing manner;

[0049] At least the driving wheel on the side of the cleaning robot away from the obstacle is controlled 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, executing the low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

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

[0052] Alternatively, the cleaning robot is controlled to change speed within a preset speed range and execute the low obstacle cleaning strategy; the preset speed range is zero to a first speed;

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

[0054] In one embodiment, executing the low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0055] When the height of the obstacle is less than a second threshold, the cleaning robot is controlled to stop moving, and the wet cleaning element is controlled to be in a cleaning position so that the wet cleaning element continues to clean the upper surface of the obstacle, and then the cleaning robot is controlled to continue moving.

[0056] In one embodiment, the vertical height between the upper surface of the obstacle and the ground is not fixed, and / or there is a protrusion on the side of the obstacle, and when the height of the obstacle is less than a second threshold, executing the low obstacle cleaning strategy includes:

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

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

[0059] The posture of the cleaning robot and / or the outward extension length of the wet cleaning member are dynamically adjusted to bypass the raised portion on the side of the obstacle, and then the cleaning operation on the upper surface of the obstacle is resumed.

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

[0061] The cleaning robot is controlled to contact the end surface of the obstacle, and then the wet cleaning member of the cleaning robot is controlled to perform a lifting operation, and / or the body of the cleaning robot is controlled to perform a reciprocating motion, so as to clean the end surface 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 comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the methods described in the first aspect when executing the computer program.

[0064] In a third aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0065] 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;

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

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

[0068] In a fourth aspect, the present application further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the following steps:

[0069] 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;

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

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

[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 flow chart of an obstacle cleaning method in one embodiment;

[0083] Figure 10 This is a flowchart illustrating steps for executing a low obstacle cleaning strategy based on obstacle location and obstacle height in one embodiment;

[0084] Figure 11 1 is a schematic flow chart of an edge cleaning step in one embodiment;

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

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

[0087] Figure 14 is a flow chart illustrating steps for executing a low obstacle cleaning strategy in one embodiment;

[0088] Figure 15 is a flow chart illustrating steps for executing a low obstacle cleaning strategy in one embodiment;

[0089] Figure 16 is a flow chart illustrating steps for executing a low obstacle cleaning strategy in one embodiment;

[0090] Figure 17 is a flow chart illustrating steps for executing a low obstacle cleaning strategy in one embodiment;

[0091] Figure 18 is a flow chart illustrating steps for executing a low obstacle cleaning strategy in one embodiment;

[0092] Figure 19 is a flow chart illustrating steps for executing a low obstacle cleaning strategy in one embodiment;

[0093] Figure 20 This is a flowchart illustrating steps for executing a low obstacle cleaning strategy when the obstacle is higher than the chassis lifting height or the wet cleaning element lifting height and lower than the maximum height to which the cleaning robot can climb in an obstacle-crossing manner in one embodiment;

[0094] Figure 21 is a schematic diagram of a travel mode of a cleaning robot in one embodiment;

[0095] Figure 22 is a schematic diagram of a travel mode of a cleaning robot in one embodiment;

[0096] Figure 23 This is a flow chart of the steps of executing a low obstacle cleaning strategy for irregular-shaped obstacles in one embodiment;

[0097] Figure 24 is a schematic diagram of a cleaning robot cleaning an irregular obstacle in one embodiment;

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

[0099] Figure 26 1 is a flow chart of the step of cleaning the end face of an obstacle in one embodiment.

[0100] Explanation of reference numerals: 1. body; 101. front end; 102. rear end; 103. roller brush chamber; 104. dust box chamber; 105. extension opening; 201. driving wheel; 202. universal wheel; 301. side brush; 302. roller brush; 303. dust box; 304. rotary wet cleaning element; 305. cleaning element bracket; 3051. driving end; 3052. extension end; 3023. sewage collection box; 3024. fourth driving assembly; 30241. fourth driving motor; 3024 2. Fourth gearbox; 3025. Internal support bracket; 30251. Driving shaft; 30252. Driven shaft; 30261. Fifth drive motor; 30262. Fixed bracket; 30263. Moving bracket; 3027. Wiper; 3028. Water nozzle; 4. Guide rail; 401. First end; 402. Inclined section; 403. Second end; 404. Guide member; 5. Mounting plate; 501. Screw drive mechanism; 5011. Screw; 5012. Slider; 502. Avoidance chamber. DETAILED DESCRIPTION

[0101] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0102] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does 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 cannot be understood as a limitation on this application.

[0103] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0104] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0105] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0106] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0107] In an exemplary embodiment, Figures 1 to 8 As shown, a cleaning robot is provided, which can be a sweeping robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc. Figures 1-8 As shown, the cleaning robot may include a body 1, a walking system, a sensing system, a cleaning component, a control module, and the like.

[0108] The travel system is provided on the machine body 1 and is used to drive the machine body 1 to move autonomously on the work surface. Autonomous movement includes forward, backward, and turning. 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 of the machine body 1 perpendicular to its forward direction.

[0109] The traveling system generally includes a first drive assembly and a set of drive wheels 201. The drive wheels 201 include a drive wheel 201 and a universal wheel 202. The drive wheels 201 are rotatably mounted on the bottom of the machine body 1. Two drive wheels 201 are positioned opposite each other along the width of the machine body 1, and the two drive wheels 201 are located between the front end 101 and the rear end 102 of the machine body 1. The universal wheel 202 is mounted on the bottom of the machine body 1. The universal wheel 202 can be located at the front end 101 or the rear end 102 of the machine body 1. The universal wheel 202 is located on the perpendicular midline connecting the two drive wheels 201. During forward, backward, and turning movements of the machine body 1, the universal wheel 202 provides support and assists in steering.

[0110] The first drive assembly includes a first drive motor and a first gear box. The first drive assembly is arranged in the body 1. The first drive assembly is provided with two groups. Each group of first drive assemblies corresponds one-to-one to each drive wheel 201. The output end of the first drive motor is connected to the input end of the first gear box, and the output end of the first gear box is connected to the drive wheel 201. The power of the first drive motor is transmitted to the drive wheel 201 through the first gear box to drive the body 1 to move on the working surface.

[0111] When the walking system needs to drive the machine body 1 forward or backward, the rotational speeds of the two first drive motors are the same, so that the rotational speeds of the two drive wheels 201 are the same, thus driving the machine body 1 forward or backward. When the walking system needs to drive the machine body 1 to turn, the rotational speeds of the two first drive motors are different, so that the rotational speeds of the two drive wheels 201 are different. Due to the rotational speed difference between the two drive wheels 201, the rotational speed difference causes the machine body 1 to turn. 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 drive wheel 201 is controlled to be lower than the rotational speed of the left drive wheel 201; when it is necessary to drive the machine body 1 to turn left, the rotational speed of the right drive wheel 201 is controlled to be higher than the rotational speed of the left drive wheel 201.

[0112] The cleaning parts include wet cleaning parts with expanded and retracted states. The dry cleaning parts are used to perform cleaning work, mainly removing dust and debris from the ground by scraping and vacuuming; the wet cleaning parts are used to perform mopping work, mainly using water or detergent to wet the wet cleaning parts, and removing stains and dust from the ground by mopping.

[0113] The dry cleaning component includes a side brush 301, a roller brush 302, a dust box 303, and a fan. A second drive assembly is provided within the housing 1. The second drive assembly includes a second drive motor and a second gearbox. The output shaft of the second drive motor is connected to the input of the second gearbox. The output of the second gearbox extends out of the bottom surface of the housing 1 and is connected to the side brush 301. The side brush 301 is rotatably mounted to the bottom of the housing 1 via the second drive assembly. The side brush 301 is located at the front end 101 of the housing 1. During rotation, the farthest end of the side brush 301 can extend beyond the widest edge of the housing 1. The widest edge of the housing 1 refers to the edge of the housing 1 corresponding to the widest portion of the housing 1, measured perpendicular to the forward direction of the housing 1. A third drive assembly is provided within the housing 1. The third drive assembly includes a third drive motor and a third gearbox. The output shaft of the third drive motor is connected to the input of the third gearbox. A roller brush chamber 103 is provided at the bottom of the machine body 1, located between the two drive wheels 201. The side brush 301 is closer to the front end 101 of the machine body 1 than the roller brush chamber 103 and the drive wheels 201. The output end of the third gearbox extends into the roller brush chamber 103 and is connected to a roller brush 302. The roller brush 302 is rotatably mounted within the roller brush chamber 103 via a third drive assembly. The side of the roller brush chamber 103 facing the ground is open, and at least a portion of the roller brush 302 facing the ground is exposed through the opening of the roller brush chamber 103. The exposed portion of the roller brush 302 is used to clean trash on the ground. A dust suction port is provided on the inner sidewall of the roller brush chamber 103. A dust box chamber 104 is provided on the body 1. A dust box 303 is detachably mounted within the dust box chamber 104. The dust box 303 has a dust inlet on one side and an exhaust port on the other. The dust suction port of the roller brush chamber 103 communicates with the dust inlet of the dust box 303, while the exhaust port of the dust box 303 communicates with the fan. The side brush 301 is located closer to the front end 101 of the body 1 than the roller brush 302. Thus, when the cleaning robot is sweeping, the side brush 301 and roller brush 302 rotate simultaneously. The side brush 301 gathers garbage toward the opening of the roller brush chamber 103. The fan generates negative pressure in the roller brush chamber 103. The garbage gathered by the side brush 301 and garbage near the opening of the roller brush chamber 103 are sucked into the dust box 303 under the action of this negative pressure, thereby collecting the garbage within the dust box 303.

[0114] In order to optimize the airflow transmission between the dust box 303 and the roller brush chamber 103, the dust box 303 and the roller brush chamber 103 are staggered along the forward direction of the body 1. For example, along the forward direction of the body 1, the dust box 303 is closer to the front end 101 of the body 1 than the roller brush chamber 103; or along the forward direction of the body 1, the dust box 303 is closer to the rear end 102 of the body 1 than the roller brush chamber 103.

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

[0116] Rotary wet cleaning element 304 is a crawler-type or drum-type wet cleaning element. Its vertical projection is rectangular. A crawler-type wet cleaning element has a longitudinal cross-section that resembles an elongated hole, while a rotary wet cleaning element 304 has a circular hole. Rotary wet cleaning element 304 is hollow within a cavity, and internal support brackets 3025 are positioned within the cavity to maintain tension within the rotary wet cleaning element 304. One side of the inner support bracket 3025 in the length direction is rotatably connected to the driving shaft 30251, and the other side of the inner support bracket 3025 in the length direction is rotatably connected to the driven shaft 30252. The driving shaft 30251 and the driven shaft 30252 are parallel to each other, and the driving shaft 30251 and the driven shaft 30252 are both parallel to the width direction of the body 1. The rotary wet cleaning element 304 is tensioned outside the driving shaft 30251 and the driven shaft 30252.

[0117] The length direction of the cleaning member bracket 305 is perpendicular or approximately perpendicular to the forward direction of the machine body 1. One end of the cleaning member bracket 305 in the length direction is a driving end 3051, and the other end is a protruding end 3052. The cleaning member bracket 305 is movably mounted on the machine body 1. A cleaning member mounting cavity is provided on the side of the cleaning member bracket 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 disposed near the rear end 102 of the machine body 1, with the roller brush 302 and two drive wheels 201 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 member bracket 305 and is used to drive the rotary wet cleaning member 304 to rotate. The rotary wet cleaning member 304 cleans the ground during rotation. The fourth drive assembly 3024 includes a fourth drive motor 30241 and a fourth gear box 30242. The fourth gear box 30242 is connected to the drive end 3051 of the cleaning bracket 305. The fourth motor is connected to the fourth gear box 30242. The output shaft of the fourth motor is connected to the input end of the fourth gear box 30242. The output end of the fourth gear box 30242 extends to the cleaning component 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 gear box 30242, so that the rotary wet cleaning component 304 rotates.

[0118] During rotation, the side of the rotary wet cleaning element 304 facing the ground moves in the direction from the rear end 102 of the body 1 to the front end 101 of the body 1, while the side facing away from the ground moves in the direction from the front end 101 of the body 1 to the rear end 102 of the body 1. A wastewater holding chamber is provided on the inner sidewall of the cleaning element mounting cavity. This chamber is located within the cavity near the rear end 102 of the body 1. A wiper 3027 is fixed to the inner sidewall of the cleaning element mounting cavity. The wiper 3027 is arranged along the length of the cleaning element bracket 305, protruding from the inner sidewall of the mounting cavity and located on the side of the wastewater holding chamber away from the front end 101 of the body 1.

[0119] Several water spray ports 3028 are provided on the inner sidewall of the cleaning element mounting cavity. These ports are distributed along the length of the cleaning element bracket 305 and are positioned within the wet cleaning element mounting cavity near the front end 101 of the machine body 1. The outlets of the water spray ports 3028 face the rotary wet cleaning element 304. A clean water tank is secured within the machine body 1 and stores clean water for cleaning the rotary wet cleaning element 304. A clean water delivery pipeline connects the clean water tank and the water spray ports 3028. A water pump is provided within the clean water delivery pipeline, which sprays clean water from the tank onto the rotary wet cleaning element 304, thereby self-cleaning the rotary wet cleaning element 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. The dirty area first passes through a plurality of water spray ports 3028, and the plurality of water spray ports 3028 spray clean water to the rotary wet cleaning member 304 to clean the dirty area and form sewage. Then the sewage passes through the wiper member 3027, and the wiper member 3027 scrapes the sewage during the rotation of the rotary wet cleaning member 304 to scrape the sewage away into the sewage holding chamber.

[0121] The sewage collection tank 3023 is fixed to the end of the cleaning member support 305 away from the fourth drive assembly 3024, specifically, located near the extended end 3052 of the cleaning member support 305. The sewage collection tank 3023 is located on the side of the cleaning member support 305 facing away from the rotary wet cleaning member 304. A sewage absorption pipeline connects the sewage collection tank 3023 to the sewage holding chamber, through which the sewage collection tank 3023 absorbs sewage from the sewage holding chamber. The sewage collection tank 3023 absorbs sewage from the sewage holding chamber using the principle of negative pressure. An air pipeline is connected to the sewage collection tank 3023, which is equipped with a negative pressure pump. The negative pressure pump, through the pipeline, pumps the sewage collection tank 3023 to a negative pressure state. Under negative pressure, the sewage collection tank 3023 absorbs sewage from the sewage holding chamber into the sewage collection tank 3023.

[0122] The bottom of the machine body 1 is provided with a mounting cavity for a cleaning member support 305. The cleaning member support 305 is movably mounted in the mounting cavity. A fifth drive assembly is connected between the machine 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: raising, lowering, extending, and retracting. The raising action refers to the vertical movement of the cleaning member support 305; the lowering action refers to the downward movement of the cleaning member support 305 in the vertical direction. When the cleaning member support 305 remains in the lowered state, the rotary wet cleaning member 304 performs a mopping operation; the extending action refers to the extending end 3052 of the cleaning member support 305 extending from the edge of the machine body 1 along the width direction of the machine body 1; and the retracting action refers to the extending end 3052 of the cleaning member support 305 retracting from the edge of the machine body 1 along the width direction of the machine body 1 to the edge of the machine body 1 along the width direction of the machine body 1. The mounting cavity for the cleaning member holder 305 has an extension opening 105 at one end near the protruding end 3052 of the cleaning member holder 305. When the cleaning member holder 305 is extended, its movement is directed from the driving end 3051 of the cleaning member holder 305 toward the protruding end 3052. The extension opening 105 is used to clear the protruding end 3052 of the cleaning member holder 305. When the wet cleaning member is retracted, its movement is directed from the protruding end 3052 of the cleaning member holder 305 toward the driving end 3051. The rotary wet cleaning member 304 is mounted within the mounting cavity of the cleaning member holder 305. Therefore, when the cleaning member holder 305 moves, the rotary wet cleaning member 304 follows the movement of the cleaning member holder 305.

[0123] The fifth drive assembly includes a fifth drive motor 30261, a fixed bracket 30262, a movable bracket 30263, and a transmission assembly. The fixed bracket 30262 is fixed to the cleaning member bracket 305, and the movable bracket 30263 is movably mounted on the fixed bracket 30262. The fifth drive motor 30261 drives the transmission assembly, which acts on the fixed bracket 30262 to drive the fixed bracket 30262 relative to the movable bracket 30263. A guide rail 4 is provided on one of the movable bracket 30263 and the fixed bracket 30262, and a guide member 404 is provided on the other of the movable bracket 30263 and the fixed bracket 30262. The guide member 404 engages with the guide rail 4 to drive the cleaning member bracket 305 under the action of the transmission assembly.

[0124] Exemplarily, the guide track 4 is disposed on the fixed bracket 30262, and the guide member 404 is fixed to the movable bracket 30263. The guide track 4 is a slot body provided on the fixed bracket 30262 and includes a first end 401, an inclined section 402, and a second end 403. Along the height direction of the housing 1, the second end 403 is higher than the first end 401, i.e., 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 housing 1, the second end 403 is closer to the protruding end 3052 of the cleaning member bracket 305 than the first end 401. The inclined section 402 is disposed 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 continuous slot structure. A movable cavity is provided on the side of the fixed bracket 30262 facing away from the cleaning member bracket 305, and at least a portion of the movable bracket 30263 is disposed within the movable cavity. Along the width of the machine body 1, the dimensions of the movable bracket 30263 are smaller than those of the movable cavity, enabling the movable bracket 30263 to slide within the movable cavity along the width of the machine body 1. The guide member 404 is a shaft, fixedly connected to the side wall of the movable bracket 30263 facing the guide track 4. The end of the guide member 404 facing away from the movable bracket 30263 passes through the guide track 4, and the guide member 404 slides in engagement with the guide track 4, enabling the guide member 404 to slide within the first end 401, the inclined section 402, and the second end 403. A mounting plate 5 is fixed within the machine body 1 and is located above the movable bracket 30263. A screw drive mechanism 501 is provided on the side of the mounting plate 5 facing the movable bracket 30263. A relief is provided on the side of the mounting plate 5 facing the movable bracket 30263. The screw drive mechanism 501 includes a screw 5011 and a slider 5012, both of which are disposed within the relief cavity 502. The screw 5011 is arranged along the width of the machine body 1 and is rotatably connected between two opposing side walls of the relief cavity 502. A fifth drive motor 30261 is fixed to the mounting plate 5. The output shaft of the fifth drive motor 30261 is connected to the screw 5011. The slider 5012 has a feed hole extending across the width of the machine body 1. The screw 5011 passes through the feed hole and is threadedly engaged with the feed hole. A limiting groove is provided on the inner sidewall of the avoidance chamber 502 facing the cleaning member support 305. A limiting protrusion is provided on the side of the slider 5012 facing away from the cleaning member support 305. The limiting protrusion slides in the limiting groove. The cooperation between the limiting groove and the limiting protrusion has a limiting effect, preventing the slider 5012 from rotating along with the screw rod 5011 during the rotation of the screw rod 5011. The slider 5012 is relatively fixed to the movable support 30263. When the screw rod 5011 drives the slider 5012 to move, the slider 5012 can drive the movable support 30263 to move synchronously.

[0125] The side of the sewage receiving box 3023 facing away from the fourth drive assembly 3024 does not exceed the end face of the extended end 3052 of the cleaning component bracket 305, and the distance between the side of the sewage receiving box 3023 facing away from the fourth drive assembly 3024 and the end face of the extended end 3052 is equal to the maximum extended distance of the cleaning component bracket 305.

[0126] In other embodiments, the distance between the side of the sewage receiving tank 3023 facing away from the fourth drive assembly 3024 and the end surface of the extension end 3052 is greater than the maximum extension distance of the cleaning member holder 305. In this case, the extension opening 105 is used to avoid the extension end 3052 of the cleaning member holder 305. A first limiting portion is provided at the extension opening 105, and a first mating portion is provided on the side of the sewage receiving tank 3023 facing away from the fourth drive assembly 3024. When the cleaning member holder 305 is extended to its maximum extension distance, the first limiting portion and the first mating portion abut against each other to limit further extension of the cleaning member holder 305. A second limiting portion is provided at the end of the cleaning member holder 305 mounting cavity near the driving end 3051 of the cleaning member holder 305, and a second mating portion is provided on the side of the fourth drive assembly 3024 facing away from the sewage receiving tank 3023. When the cleaning member holder 305 is retracted to its retracted state, the second limiting portion and the second mating portion abut against each other to limit further retraction of the cleaning member holder 305. The first limiting portion and the first matching portion, the second limiting portion and the second matching portion may be a matching of a groove and a protrusion, or a matching of surfaces, which is not limited here.

[0127] Thus, the fifth drive motor 30261 drives the screw rod 5011 to rotate in the first direction, causing the slider 5012 to move in the direction from the driving end 3051 of the cleaning member holder 305 to the extended end 3052. The slider 5012 is relatively fixed to the movable bracket 30263, so the slider 5012 drives the movable bracket 30263 to move in the direction from the driving end 3051 of the cleaning member holder 305 to the extended end 3052. During the movement of the movable bracket 30263, the sidewall portion of the guide member 404 near the extended end 3052 of the cleaning member holder 305 pushes against the inner sidewall of the inclined section 402 near the extended end 3052 of the cleaning member holder 305, causing the fixed bracket 30262 to move in the direction from the driving end 3051 of the cleaning member holder 305 to the extended end 3052. Since the fixed bracket 30262 is fixedly connected to the cleaning member holder 305, the movement of the fixed bracket 30262 causes the cleaning member holder 305 to extend. When the cleaning member bracket 305 reaches the maximum extension distance, the first limiting portion and the first matching portion abut against each other, and the cleaning member bracket 305 cannot continue to extend. The fifth drive motor 30261 drives the screw rod 5011 to rotate in the first direction, and 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 descending 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 screw rod 5011 to rotate in the second direction, causing the slider 5012 to move in the direction from the protruding end 3052 of the cleaning member holder 305 to the driving end 3051. The slider 5012 is fixed relative to the movable bracket 30263, so the slider 5012 causes the movable bracket 30263 to move in the direction from the protruding end 3052 of the cleaning member holder 305 to the driving end 3051. During the movement of the movable bracket 30263, the side wall portion of the guide member 404 near the driving end 3051 of the cleaning member holder 305 pushes against the inner side wall of the inclined section 402 near the driving end 3051 of the cleaning member holder 305, causing the fixed bracket 30262 to move in the direction from the protruding end 3052 of the cleaning member holder 305 to the driving end 3051. Since the fixed bracket 30262 is fixedly connected to the cleaning member holder 305, the movement of the fixed bracket 30262 causes the cleaning member holder 305 to retract. When the cleaning member bracket 305 reaches the retracted state, the second limiting portion and the second engaging portion abut against each other, preventing the cleaning member bracket 305 from further retracting. In this state, the rotary wet cleaning member 304 is in a retracted state for mopping. The fifth drive motor 30261 drives the screw rod 5011 to rotate in the second direction, causing the fixed bracket 30262 to move upward along the inclination direction of the inclined section 402, thereby completing the lifting action of the cleaning member bracket 305 in the retracted state. In this state, the rotary wet cleaning member 304 is in an inactive state for lifting.

[0129] A spring is also provided between the transmission assembly and the cleaning member support 305. The spring's elastic force acts on the rotary wet cleaning member 304 through the cleaning member support 305, thereby providing an upward pulling force on the rotary wet cleaning member 304. For example, the spring is located between the movable support 30263 and the cleaning member support 305. Along the height direction of the machine body 1, one end of the spring is connected to the fixed support 30262, and the other end is connected to the cleaning member support 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 element support 305, the fourth drive assembly 3024 and the sewage storage tank 3023 are spaced apart, with the transmission assembly located between the fourth drive assembly 3024 and the sewage storage tank 3023. Thus, the fourth drive assembly 3024 and the sewage storage tank 3023 are simultaneously fixed to the cleaning element support 305, improving the modularity of the wet cleaning element, facilitating subsequent disassembly and maintenance, and facilitating the use of the internal space of the robot body 1. Furthermore, during operation, the sewage in the sewage storage tank 3023 will continuously accumulate. The sewage storage tank 3023 containing sewage acts as a counterweight, preventing excessive gravity from being applied to the drive end 3051 of the cleaning element support 305, where the fourth drive assembly 3024 is mounted, resulting in an imbalance of gravity between the drive end 3051 and the extension end 3052 of the cleaning element support 305. This improves the balance of gravity along the length of the cleaning element support 305.

[0131] In order to improve the space utilization above the cleaning member bracket 305, along the length direction of the cleaning member bracket 305, the size of the sewage receiving box 3023 and the size of the wet cleaning member are in a ratio of 1 / 6-1 / 3, for example, the size of the sewage receiving box 3023 in the length direction and the size of the wet cleaning member are in a ratio of 1 / 6, 1 / 5, 1 / 4, 1 / 3, etc.; along the width direction of the cleaning member bracket 305, the size of the sewage receiving box 3023 and the size of the wet cleaning member are in a ratio of 1 / 5-1, for example, the size of the sewage receiving box 3023 and the size of the wet cleaning member are in a ratio of 1 / 5, 1 / 4, 1 / 3, 1 / 2, 1, etc.; along the height direction of the cleaning member bracket 305, the size of the sewage receiving box 3023 and the size of the fourth driving assembly 3024 are in a ratio of 1 / 5-1, for example, the size of the sewage receiving box 3023 and the size of the fourth driving assembly 3024 are in a ratio of 1 / 5, 1 / 4, 1 / 3, 1 / 2, 1, etc.

[0132] When the cleaning robot controls the rotation of the rotary wet cleaning element 304 to perform mopping operations, there are generally two mopping scenarios: one is an edge-to-edge scenario, and the other is a non-edge-to-edge scenario. In the edge-to-edge scenario, the cleaning robot moves along the edge of an obstacle (such as a wall, table, chair, coffee table, etc.). During this movement, the extended end 3052 of the cleaning element bracket 305 extends out of the edge of the body 1 and abuts against the edge of the obstacle. The rotary wet cleaning element 304 follows the cleaning element bracket 305 as it extends out of the edge of the body 1, so that the end of the rotary wet cleaning element 304 away from the fourth drive assembly 3024 approaches the edge of the obstacle. The cleaning robot performs mopping operations in the edge-to-edge scenario with the cleaning element bracket 305 lowered and extended. When mopping the floor in non-edge scenarios, the cleaning member bracket 305 is generally maintained in a lowered state, and the protruding end 3052 of the cleaning member bracket 305 is retracted to the edge of the body 1. The cleaning robot performs mopping operations in non-edge scenarios with the cleaning member bracket 305 in the lowered and retracted state. Of course, in special circumstances, the cleaning member bracket 305 will also drive the wet cleaning member to be in a lowered and extended state to perform mopping operations in non-edge scenarios, such as a wider and low obstacle, that is, the height of the obstacle is less than the second threshold and the width is greater than the second effective length.

[0133] When mopping along edges, due to the width limitation of the machine body 1, in order to allow the rotary wet cleaning element 304 to be closer to the edge of the obstacle and improve cleaning coverage, the maximum extension distance of the cleaning element holder 305 is set to 30 mm to 50 mm. For example, the maximum extension distance of the cleaning element holder 305 can be 30 mm, 35 mm, 40 mm, 45 mm, 50 mm, etc. Furthermore, when the cleaning element holder 305 is at its maximum extension distance, the minimum distance between the end surface of the extended end 3052 of the cleaning element holder 305 and the machine body 1 is 5 mm to 15 mm. For example, the minimum distance between the end surface of the extended end 3052 of the cleaning element holder 305 and the machine 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, a Direction of View (Dtof), an Itof, and an ultrasonic sensor. The AI ​​camera, binocular camera, and trinocular camera may be used to obtain image information of the cleaning robot's environment; the binocular camera, trinocular camera, line laser sensor, surface laser sensor, lidar, Direction of View (Dtof), and Itof may be used to obtain distance information of obstacles in the cleaning robot's environment; and the ultrasonic sensor may be used to identify floor materials such as carpets, floorboards, and floor tiles. The control module is disposed within the body 1. The control module combines the image information, depth information, and floor material to control the cleaning robot to perform corresponding actions, including edge cleaning, obstacle traversal, and cleaning mode selection.

[0135] In an exemplary embodiment, Figure 9 As shown, an obstacle cleaning method is provided, which is described by taking the method applied to a cleaning robot as an example. The cleaning robot includes a chassis and a wet cleaning member 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 a first threshold, execute an obstacle avoidance cleaning strategy. When the height of the obstacle is less than a second threshold, execute a low obstacle cleaning strategy.

[0137] The obstacle avoidance cleaning strategy involves cleaning along the edges of obstacles. The low obstacle cleaning strategy involves adjusting the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning element 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 implementations, other cleaning logic can 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 or the low obstacle cleaning strategy is executed.

[0139] During operation, the cleaning robot uses its built-in perception system (such as lidar, line laser sensors, area laser sensors, or visual cameras) to scan various objects in the home environment, capturing the shape, size, and location of obstacles within the cleaning area in real time and accurately measuring their height. If the height of an obstacle exceeds a pre-set threshold, the cleaning robot initiates an obstacle avoidance cleaning strategy. For example, for obstacles that can be cleaned along the edges, such as refrigerators and walls, the cleaning robot will slowly move close to the edge, using the rotating side brush to sweep dust from corners into the suction port, effectively cleaning the edges of obstacles and ensuring a complete home cleaning.

[0140] If the height of the detected obstacle is less than a threshold, it is considered a low obstacle, such as a door sill, skirting board, or floor socket. The cleaning robot will automatically switch to a low-obstacle cleaning strategy. Specifically, the cleaning robot uses the first drive motor in the walking system to drive the drive wheel assembly to flexibly adjust its position relative to the obstacle, such as leaning closer to or away from the obstacle. At the same time, the cleaning robot precisely controls the height of the chassis according to the height of the obstacle to prevent the cleaning robot chassis from colliding with the obstacle. The lifting of the cleaning robot chassis can also drive the height adjustment of the wet cleaning components located on the chassis. The wet cleaning components can also be raised and lowered independently to ensure that the cleaning components are tightly attached to the upper surface of the obstacle. In addition, the cleaning robot can also control the expansion or retraction of the wet cleaning components. For example, the wet cleaning components can be a tracked mop. The tracked mop can expand or retract to cover a large area of ​​the upper surface of the obstacle. The cleaning task of cleaning the upper surface of the low obstacle is then efficiently completed through the cleaning action of the tracked mop, such as rotation and friction.

[0141] In the above-mentioned 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 to avoid cleaning blind spots; at the same time, cleaning along the edges of higher obstacles can be performed to ensure that there are no dead corners in the whole house, significantly improving the cleaning coverage and degree of refinement. Strategies such as chassis lifting and wet cleaning parts posture adjustment 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. For example, the height threshold of the obstacle can be 0.5cm or 1cm. 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 parts. This is not limited in this embodiment. Among them, edge cleaning refers to a cleaning mode of the sweeping robot that can clean close to obstacles such as walls to ensure that dirt in the edge areas of obstacles such as corners is completely removed.

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

[0143] Step 1001 : When an obstacle is located at an edge position and the height of the obstacle is less than a second threshold, the wet cleaning element is controlled to be in an outwardly expanded cleaning position to clean the upper surface of the obstacle.

[0144] In practice, 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 location of the obstacles can also be considered to comprehensively plan a cleaning plan to achieve comprehensive cleaning of the area to be cleaned. Specifically, when the cleaning robot is operating, it relies on the cleaning robot's built-in 3D structured light sensor, visual camera and other sensing devices to continuously scan the surrounding environment. When an obstacle appears in the cleaning robot's route, the cleaning robot perceives the obstacle's position and height information in real time. If the obstacle is in an edge position and the obstacle's height is less than the second threshold, then for low obstacles in the edge position, the cleaning robot controls the wet cleaning part to continuously maintain or intermittently maintain an outward-expanding cleaning position. When the cleaning robot moves along the edge of a low obstacle, it can drive the wet cleaning part in the cleaning position to clean the upper surface of the low obstacle. Among them, obstacles with a height less than the second threshold are called low obstacles.

[0145] In this embodiment, when an obstacle is located along an edge and its height is less than a second threshold, the wet cleaning element is controlled to clean it from its expanded cleaning position. This effectively expands the cleaning range, filling the blind spots on the upper surface of the obstacle in traditional cleaning modes and ensuring that even corners of the space are fully cleaned. The expanded position of the wet cleaning element increases the contact area with the upper surface of the obstacle. Combined with the action of the cleaning fluid, it can more effectively remove stubborn stains and enhance cleaning results.

[0146] For example, when an obstacle is detected at an edge such as a corner of a room or against a wall, and its height is lower than a preset second threshold, the cleaning robot immediately starts a targeted cleaning program. Through precise path planning, the side of the body is brought close to the edge of the obstacle to ensure that the cleaning components 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 parts to switch from a retracted state to an expanded state. For example, the expanded crawler mop covers the upper surface of the obstacle with its larger coverage area. During the slow movement of the cleaning robot along the edge, the crawler mop completely removes dust, dirt and other contaminants on the obstacle through high-speed rotation and friction.

[0147] Optionally, the cleaning robot's side brushes, roller brushes and other dry cleaning parts can also use strong suction to suck garbage into the dust box, achieving efficient cleaning of the upper surface of low obstacles along the edge, and effectively avoiding the creation of cleaning blind spots.

[0148] Step 1002 : When the obstacle is not located along the edge and the height of the obstacle is less than a second threshold, the wet cleaning element is controlled to be in a retracted or extended cleaning position to clean the upper surface of the obstacle.

[0149] During cleaning, the robot uses its built-in perception system, comprised of 3D structured light sensors, visual cameras, and other sensors, to scan and analyze the entire home environment in real time, accurately locating the spatial position and height parameters of obstacles. If an obstacle is detected off-edge (for example, in the center of the room) and its height is below a second threshold, the robot can control the wet cleaning element to maintain its retracted or extended cleaning position, cleaning the upper surface of the obstacle.

[0150] Non-edge locations refer to areas within the cleaning area where the obstacle is located at a certain distance from obvious boundaries such as room boundaries, walls, and furniture edges, and is not located in special boundary areas such as corners or narrow passages. For example, obstacles are often located in the middle of the cleaning space or in open areas within it, without direct contact with any physical boundaries. With no obvious boundary lines around them, the space is relatively open, allowing cleaning robots to pass freely on both sides of obstacles in non-edge locations.

[0151] For example, for obstacles located in non-edge areas such as the center of the room and passages, and the height of the obstacle is less than the preset second threshold, the cleaning robot quickly activates the non-edge low obstacle cleaning strategy. First, the cleaning robot plans a cleaning path through an algorithm and approaches the obstacle smoothly along 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 crawler mop to maintain the crawler mop in a retracted cleaning position. The cleaning robot then moves along the edge of the obstacle and ensures that the crawler mop in the cleaning position fits tightly against the upper surface of the obstacle. The retracted crawler mop then effectively removes dust and other dirt from the obstacle through high-speed rotation and friction, and collects the garbage with the help of a powerful vacuum system, thereby cleaning the upper surface of non-edge low obstacles. Alternatively, for an obstacle in a non-edge area, such as the center of a room, where the height of the obstacle is less than a preset second threshold, the cleaning robot will use an algorithm to plan a cleaning path and steadily approach the obstacle along this path. The cleaning robot's control module will then issue instructions to adjust the chassis height and / or the lifting angle of the crawler mop to maintain the crawler mop in an extended cleaning position. The cleaning robot will then move along the edge of the obstacle, ensuring that the crawler mop in the extended cleaning position is in close contact with the upper surface of the obstacle and cleans it.

[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, driving the wet cleaning element to clean the upper surface of the obstacle multiple times. This application will describe these two cleaning methods in detail in the following embodiments, and will not be repeated here.

[0153] This embodiment significantly improves cleaning efficiency and effectiveness by accurately identifying and responding to obstacles at their location and height. When the obstacle is located along an edge and at a relatively low height, the wet cleaning element is controlled to expand outward, fully utilizing its larger coverage area to effectively remove dirt from the upper surface of the edge obstacle. When the obstacle is located away from an edge and at a relatively low height, the wet cleaning element is controlled to retract inward, cleaning the upper surface of the obstacle. This not only ensures the robot's flexible operation in complex home environments, but also ensures full-house cleaning without blind spots, improving cleaning coverage.

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

[0155] Step 1101, by adjusting one or more of the posture relationship between the cleaning robot and the obstacle, the outward expansion state of the wet cleaning part, the lifting height of the cleaning robot chassis, and the lifting height of the wet cleaning part, the cleaning position of the wet cleaning part is readjusted to continue cleaning the obstacle along the edge.

[0156] During implementation, for obstacles with a height less than a second threshold, the cleaning robot can, after cleaning the upper surface of the obstacle, turn back and continue cleaning the surrounding area of ​​the obstacle along the edge, thereby reducing blind spots. Therefore, the control module of the cleaning robot issues a command to control the cleaning robot to turn back, and when the cleaning robot approaches the edge of the obstacle, dynamically adjusts any one or more of the cleaning robot's posture, the outward expansion state of the wet cleaning unit, the height of the cleaning robot chassis, and the height of the wet cleaning unit, so that the robot can approach the edge of the obstacle at a precise angle and distance, ensuring that the cleaning path is highly consistent with the obstacle contour, so that the cleaning robot can travel along the edge of the obstacle, driving the wet cleaning unit in the cleaning position to continue cleaning the edge of the obstacle through high-speed rotation and friction in the outward expansion state. For example, by adjusting the posture relationship between the cleaning robot and the obstacle, adjusting the cleaning robot chassis to the initial state height, the wet cleaning unit to the cleaning position height, and the wet cleaning unit to the outward expansion state to clean the edge of the obstacle along the edge, thereby ensuring that both the upper surface and the edge of the obstacle are cleaned.

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

[0158] Optionally, when the cleaning robot is cleaning the edge of an obstacle, the cleaning robot can twist its body by "twisting" to increase the cleaning area between the wet cleaning part and the edge of the obstacle, get closer to the edge of the obstacle, clean the edge of the obstacle, and reduce cleaning blind spots.

[0159] In this embodiment, after cleaning the upper surface of a low obstacle, the task of cleaning the edges of the obstacle is completed by controlling the posture of the cleaning robot and / or the expansion or retraction state of the wet cleaning parts, ensuring that every detail of the home environment is clean without dead corners, improving the cleaning coverage rate, and thereby improving the cleaning effect.

[0160] In an exemplary embodiment, regarding the various components of the cleaning robot and the relationships between them, specifically, the driving wheels of the cleaning robot are located within the chassis, and when the wet cleaning elements are in the retracted state, the wet cleaning elements do not extend beyond the edge of the chassis. Based on this, 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 element can reach when it is in the expanded state, that is, the maximum length of the wet cleaning element beyond the edge of the chassis. Figure 12 As shown, the wet cleaning member 304 is in an outwardly expanded state. At this time, the maximum length of the wet cleaning member 304 beyond the edge of the chassis is Figure 12 The distance shown in D1 is given in .

[0162] The second effective length refers to the straight-line distance from the outer side of the driving wheel of the cleaning robot on the side close to the obstacle to the end of the wet cleaning element on that side when it is in the maximum travel state of the outward expansion state, and the second effective length is greater than the first effective length. Figure 13 As shown, the cleaning robot moves in the forward direction, and the obstacle extends out of one side of the edge of the robot chassis when the wet cleaning part 304 of the cleaning robot is in the expanded state. The second effective length is the straight-line distance from the outer side of the driving wheel 201 on the side close to the obstacle to the end of the wet cleaning part when it is in the expanded state with the maximum stroke, that is, Figure 13 The distance shown by D2 in .

[0163] In the following embodiments that describe specific cleaning scenarios, when it comes to limiting conditions such as the first effective length and the second effective length, they will not be repeated.

[0164] In the following embodiments, the process of executing the low obstacle strategy of the cleaning robot in different cleaning environments is described based on the location, height, and width of the obstacle.

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

[0166] Step 1401 : When the height of the obstacle is less than a threshold and the width is less than a first effective length, the wet cleaning element is controlled to be in a cleaning position and maintained in an outwardly extended state.

[0167] During implementation, the perception system onboard the cleaning robot continuously scans the working environment 360 degrees in all directions through perception devices such as lidar, visual cameras, and infrared sensors, obtaining real-time obstacle information, such as obstacle height, width, and location information. When the perception system of the cleaning robot detects that an obstacle is located along the edge, and the height of the obstacle is lower than a preset threshold, and its lateral width is less than the first effective length of the wet cleaning parts extending beyond the edge of the chassis in the expanded state, the control module in the cleaning robot immediately initiates a targeted cleaning program. Specifically, the cleaning robot first adjusts its posture by steering and moving the drive wheels, bringing the side of the body close to the obstacle; at the same time, the control module sends a command to drive the wet cleaning parts to expand to the expanded state, ensuring that the wet cleaning parts fully cover the surface of the obstacle so as to clean the upper surface of the obstacle.

[0168] Thus, when the height of an obstacle is less than a threshold and the width is less than the first effective length, the wet cleaning element is controlled to be in the cleaning position and maintained in an outwardly expanded state, which can significantly improve the cleaning effect and efficiency. The wet cleaning element in the outwardly expanded state can effectively increase the contact area with the obstacle surface, providing a wider cleaning coverage area and avoiding blind spots.

[0169] Step 1402: Control the cleaning robot to move along the edge of the obstacle.

[0170] In practice, when the control module in the cleaning robot identifies an obstacle requiring edge cleaning, it controls the cleaning robot to move along the edge of the obstacle. During this movement, the perception system continuously monitors the distance between the robot and the obstacle and feeds this data back to the control module in real time, ensuring that the cleaning robot always maintains a fixed or approximately fixed distance along the edge.

[0171] Step 1403 : While driving the cleaning robot to move, the wet cleaning member at the cleaning position is driven to clean the upper surface of the obstacle.

[0172] During operation, the robot's wet cleaning unit's drive motor begins to spin at high speed, driving the unit to perform high-speed friction cleaning. This, combined with the evenly distributed cleaning solution from the cleaning liquid spray system, removes dust and stains from the surface of obstacles. During the cleaning process, the robot also uses its sensor system to monitor the contact angle between the wet cleaning unit and the obstacle surface in real time, dynamically adjusting the cleaning force to ensure efficient and comprehensive cleaning without leaving any blind spots.

[0173] In this embodiment, for low obstacles along the edge, the wet cleaning element is maintained in an expanded state, which can fully utilize its maximum coverage area to ensure comprehensive cleaning of the upper surface of the obstacle and avoid cleaning dead corners caused by insufficient cleaning range; in conjunction with the cleaning robot's movement along the edge, deep cleaning of dirt on the surface of the obstacle can be achieved.

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

[0175] Step 1501 : When the height of the obstacle is less than the second threshold value and the width is greater than the first effective length and less than the second effective length, the wet cleaning element is controlled to be in the cleaning position and maintained in the expanded state.

[0176] During implementation, for obstacles located along the edge, when the cleaning robot is operating, its perception 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 of the maximum outward extension stroke of the wet cleaning part beyond the edge of the chassis, and less than the second effective length from the outside of the driving wheel of the cleaning robot close to the obstacle to the end of the maximum outward extension 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 outward extension state, thereby maximizing the cleaning coverage range.

[0177] Step 1502: Control the outer side of the driving wheel of the cleaning robot close to the obstacle to move along the edge of the obstacle.

[0178] In practice, the cleaning robot precisely controls the speed difference between its left and right drive wheels, ensuring the outer wheel closest to the obstacle follows the edge of the obstacle at a constant speed and distance. During this process, the perception system continuously monitors the robot's relative position to the obstacle, and immediately feeds this data back to the control module if any deviation occurs, enabling timely adjustments to the robot's movement.

[0179] Step 1503 : While driving the cleaning robot to move, the wet cleaning element at the cleaning position is driven to clean the upper surface of the obstacle.

[0180] During operation, the robot's movement drives the wet cleaning elements, which are in their expanded position, to begin their efficient operation. The wet cleaning elements' preset cleaning patterns, combined with the powerful suction of the built-in vacuum system, rapidly remove dust, debris, and other contaminants from the surface of obstacles and draw them into the dust bin. This ensures a tight fit for the wet cleaning elements, whether on a flat surface or one with subtle grooves, ensuring a thorough, all-around, and complete cleaning of the upper surface of the obstacle.

[0181] In this embodiment, when the height of the obstacle is low and the width is within a specific range, the wet cleaning element is maintained in an expanded state, and the cleaning robot is controlled to move along the edge of the outer side of the driving wheel close to the obstacle side. This not only fully utilizes the safety distance advantage of the second effective length to ensure that the robot moves smoothly and prevents collisions, but also enables the expanded wet cleaning element to fit closely to the surface of the obstacle, thereby improving cleaning efficiency and achieving deep cleaning of the obstacle.

[0182] In an exemplary embodiment, when an obstacle is not located along an edge, for example, in the center of a room, the wet cleaning element of the wet cleaning element robot can be maintained in a retracted cleaning position to clean the upper surface of the obstacle. In this case, if the obstacle is relatively wide, for example, the obstacle width is greater than the second effective length, this embodiment provides two cleaning methods for relatively wide obstacles, as follows:

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

[0184] Step 1601 : For a situation 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.

[0185] Step 1602: Control the cleaning robot to move along the left and right edges of the obstacle respectively.

[0186] The left and right edge movement refers to a discontinuous process in which the wet cleaning element contacts the edge of the obstacle.

[0187] Step 1603 : While driving the cleaning robot to move, the wet cleaning element at the cleaning position is driven 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 move around the edge of the obstacle, wherein moving around the edge of the obstacle means that the wet cleaning element is in continuous contact with the edge of the obstacle.

[0195] Step 1703 : While driving the cleaning robot to move, the wet cleaning member at the cleaning position is driven to clean the upper surface of the obstacle.

[0196] During implementation, the robot's onboard perception system continuously scans the operating environment in all directions, acquiring multi-dimensional data such as the obstacle's spatial position, height, and width in real time. When the perception system detects an obstacle in a non-edge area, such as the center of a room or an aisle, and its height is below a preset second threshold and its width exceeds the robot's second effective length (i.e., the obstacle is relatively wide), the control module immediately initiates a response program and sends a control command to maintain the wet cleaning unit in a retracted cleaning position. Based on the three-dimensional obstacle model constructed by the perception system, the control module applies a path planning algorithm to generate an optimal path around the obstacle's edge. Then, through precise differential rotation of the drive wheels and coordinated with the chassis steering system, the robot adjusts its position and slowly approaches the obstacle. Under the precise control of the control module, the robot steadily moves along the path around the obstacle's edge, simultaneously driving the retracted wet cleaning unit in its cleaning position to enter operational mode. Based on surface undulation data from the perception system, the control module dynamically adjusts the wet cleaning unit's lift height and tilt angle to ensure a tight fit against the obstacle's upper surface. The wet cleaning element cleans the upper surface of the obstacle using a preset cleaning method.

[0197] Optionally, when the cleaning robot moves around the edge of the obstacle and drives the wet cleaning parts to clean the upper surface of the obstacle, in order to ensure that the wet cleaning parts fully cover the upper surface of the obstacle and reduce the posture adjustment of the cleaning robot, the wet cleaning parts can be controlled not to leave the upper surface of the low obstacle during the process of moving around the obstacle, thereby reducing the posture adjustment operations of the cleaning robot such as retreating and swinging back, and continuing to clean the upper surface.

[0198] This embodiment significantly improves cleaning efficiency and safety for large, low obstacles that are not along edges. By deeply synergizing wet cleaning element state adjustment with path planning, the robot is guided around the edge of the obstacle while maintaining the wet cleaning element in a retracted position. Combined with real-time monitoring by the perception system and dynamic path adjustment, this ensures that the wet cleaning element fully covers the upper surface of the obstacle, completely eliminating blind spots on the upper surface and improving cleaning efficiency and effectiveness in complex scenarios.

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

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

[0201] The length of the wet cleaning element is the straight line distance between the left end and the right end of the wet cleaning element when the wet cleaning element is in a retracted state. Figure 2 The wet cleaning element 304 shown in FIG. 1 is the total length of the wet cleaning element from left to right within the edge of the cleaning robot chassis in the retracted state.

[0202] In practice, when the height of an obstacle is less than a second threshold and its width is less than the length of the wet cleaning element, the cleaning robot can clean the upper surface of the obstacle by stepping over it. Specifically, when the cleaning robot is activated and detects that the obstacle's height is less than the pre-set second threshold and its width is less than the length of the wet cleaning element, it will issue a control signal to drive the wet cleaning element from its initial position to a cleaning position, for example, to a low cleaning position, to ensure that it can perform its cleaning work properly. At the same time, the cleaning robot will maintain the wet cleaning element in a retracted position, effectively protecting the robot's safe movement while ensuring effective cleaning results.

[0203] Step 1802 : Control the cleaning robot to cross the upper surface of the obstacle, and drive the wet cleaning element to clean the upper surface of the obstacle.

[0204] In practice, when an obstacle is not along its edge, if the cleaning robot recognizes that the obstacle's height is within its traversable range and its width does not exceed the robot's cleaning coverage, it initiates the traversal cleaning program. Based on the obstacle's three-dimensional data, it plans the optimal traversal path and adjusts the power output of its wheeled drive system, allowing the robot to climb at a steady incline angle to ensure a stable center of gravity. During the traversal process, the wet cleaning element is precisely placed on the obstacle's upper surface, and the tracked wipe's rotation function is simultaneously activated, coupled with the continuous spraying of cleaning fluid to achieve a deep clean. After the cleaning robot has completely traversed the obstacle, it can also reverse and perform traversal cleaning along the edge of the obstacle.

[0205] In this embodiment, by setting a second threshold and the length of the wet cleaning element as a basis for judgment, when the height and width of the obstacle meet the requirements, the cleaning robot can intelligently control the wet cleaning element to maintain a retracted cleaning position, preventing collisions between the wet cleaning element and the obstacle. This protects the cleaning robot from damage and ensures operational safety. Furthermore, after confirming that the obstacle is traversable, the cleaning robot automatically steps over the upper surface of the obstacle and drives the wet cleaning element to continue cleaning. This fully utilizes the working performance of the wet cleaning element, effectively cleaning the surfaces of obstacles in complex environments, and significantly improving cleaning coverage and efficiency.

[0206] In an exemplary embodiment, controlling the wet cleaning element to be in the cleaning position may be achieved in any of the following ways:

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

[0209] Method three: controlling 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 cleaning position is the mopping position corresponding to the wet cleaning part of the cleaning robot in the normal cleaning mode.

[0211] In practice, when the cleaning robot is performing a cleaning operation, the wet cleaning element needs to be adjusted to a suitable cleaning position to perform the cleaning operation. For example, when the cleaning robot is cleaning the floor, the cleaning robot controls the wet cleaning element to be in a preset low cleaning position so that the wet cleaning element fits the floor, and drives the wet cleaning element to clean the floor as the cleaning robot moves. If the cleaning robot is cleaning the upper surface of a low obstacle, the control module of the cleaning robot controls the wet cleaning element to be gradually raised to a certain high cleaning position, and the high cleaning position can fit tightly with the upper surface of the low obstacle, thereby driving the wet cleaning element to clean the upper surface of the low obstacle as the cleaning robot moves. Specifically, the control module will flexibly select three height adjustment strategies based on preset logic and real-time data: First, for the upper surface of a low obstacle with good flatness, the control module sends a command to keep the wet cleaning piece in the preset low-position cleaning state, and at the same time drives the hydraulic or electric lifting mechanism under the chassis to lift smoothly. Under the premise of avoiding collision of the wet cleaning piece, the height of the whole machine is accurately adjusted so that the wet cleaning piece fits tightly to the surface to be cleaned (i.e., the upper surface of the low obstacle); Second, if there is a local protrusion or an area with small height change on the surface to be cleaned, the control module keeps The initial state of the chassis remains unchanged, and the wet cleaning parts are lifted instead, so that they are adaptively adjusted to the optimal cleaning height, ensuring that the wet cleaning parts maintain appropriate pressure with the surface to be cleaned; thirdly, when facing low obstacles with large height differences, the control module synchronously controls the chassis and wet cleaning parts of the cleaning robot to lift up in coordination. The chassis and wet cleaning parts are raised and lowered synchronously through a precise linkage mechanism, which not only ensures the continuous operation of the wet cleaning parts, but also maintains the stability of the entire machine until the wet cleaning parts reach the effective cleaning height adapted to the surface to be cleaned, thereby cleaning the upper surface of the low obstacle.

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

[0213] Method 1: When the cleaning robot is driven to move unilaterally along the obstacle, the wet cleaning element in the cleaning position is driven to clean the upper surface of the obstacle.

[0214] During implementation, after receiving the edge cleaning instruction, the cleaning robot's onboard perception system is immediately activated, and the perception system performs a full-scale scan of the obstacle, accurately constructing a three-dimensional contour model of the obstacle. After confirming that the obstacle meets the conditions for unilateral cleaning, the control module quickly plans the optimal cleaning path and drives the cleaning robot to approach the obstacle. During the movement, the cleaning robot relies on the differential rotation of the drive wheels to make the outer side of the drive wheel close to the obstacle side close to the edge of the obstacle, maintaining unilateral movement at a constant or approximately constant speed and spacing. At this time, the wet cleaning parts in the cleaning position synchronously enter the working state. The wet cleaning parts are adjusted to the cleaning position at an appropriate height to fit closely to the upper surface of the obstacle and clean the upper surface of the obstacle. To ensure the cleaning effect, the cleaning robot can also fully clean every area on the upper surface of the obstacle by controlling the travel speed.

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

[0216] Method 2: When the cleaning robot is driven to move back and forth along the obstacle, the wet cleaning element in the cleaning position is driven to move back and forth at least once to clean the upper surface of the obstacle.

[0217] During implementation, the cleaning robot's perception system accurately maps the shape and size of the obstacle and transmits the data to the control module to generate a reciprocating cleaning path. When the drive wheel drives the robot along the edge of one side of the obstacle for the first time, the wet cleaning element in the cleaning position cleans the upper surface of the obstacle. When the cleaning robot reaches the end of the path (i.e., the end edge of the obstacle), the cleaning robot turns 180 degrees through differential speed and begins to move in the opposite direction. During the second movement along the edge, the wet cleaning element readjusts its working parameters to enhance the cleaning power. If the surface of the obstacle is heavily contaminated, the control module will instruct the cleaning robot to perform a third, fourth, or even more reciprocating cleaning according to the preset program or real-time monitoring data. With each reciprocating movement, the cleaning mode of the wet cleaning element will be dynamically adjusted, for example, by adjusting the contact pressure between the wet cleaning element and the obstacle surface, so as to achieve a comprehensive cleaning of the upper surface of the obstacle.

[0218] In this embodiment, the dual-mode collaboration of "unilateral cleaning" and "reciprocating cleaning" significantly improves the cleaning robot's adaptability and cleaning efficiency in different scenarios. The intelligent switching and complementary nature of these two modes ensures efficient daily cleaning while meeting the refined needs of complex cleaning scenarios, achieving a balance between cleaning efficiency and effectiveness.

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

[0220] Step 1901 : When the cleaning robot moves along an obstacle, the rear end of the cleaning robot is driven to deflect toward the obstacle and swing back away from the obstacle multiple times to clean the upper surface of the obstacle.

[0221] During implementation, when the cleaning robot moves along the edge of an obstacle, its built-in control module works closely with the perception system to achieve dynamic adjustment of the cleaning path. The perception system monitors the outline and distance of the obstacle as it passes by and transmits the data to the control module. Based on a preset algorithm, the control module periodically sends instructions to the drive wheels and steering mechanism during the movement of the cleaning robot. When the cleaning robot moves forward, the control module controls the rear drive wheels to rotate at different speeds alternately, causing the rear end of the robot to deflect toward the obstacle, driving the wet cleaning parts in the cleaning position to fit more closely to the edge and upper surface of the obstacle, and clean the upper surface of the obstacle through the preset cleaning method of the wet cleaning parts; then, the control module adjusts the speed of the drive wheels to make the rear end of the robot swing back away from the obstacle, while keeping the wet cleaning parts in continuous operation. This process is repeated many times. Through the rhythmic deflection and swing back of the rear end, the cleaning robot can clean the upper surface of the obstacle in all directions and without blind spots, ensuring the comprehensiveness and thoroughness of the cleaning effect.

[0222] In this embodiment, when navigating an obstacle, the periodic deflection of the rear end of the cleaning robot drives the wet cleaning element to actively conform to the edge of the obstacle and the concave and convex areas on the upper surface, allowing the cleaning brush, suction port, and other components to more fully cover blind spots, especially for deep cleaning of dust and debris in narrow gaps and irregular corners. The swing-back action ensures that the robot can operate in close proximity while effectively avoiding collision risks, ensuring safe operation of the equipment. This reciprocating dynamic cleaning mode not only achieves efficient cleaning without multiple round trips, significantly saving cleaning time and equipment energy consumption, but also adapts to obstacles of different shapes through flexible posture adjustment, avoiding the loss of cleaning efficiency caused by repeated paths, providing users with a more intelligent, efficient, and safe cleaning solution.

[0223] In an exemplary embodiment, Figure 20 As 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, the cleaning robot is controlled to move at a uniform speed of the first speed, or the cleaning robot is controlled to move at a variable speed within a preset speed range and execute a low obstacle cleaning strategy.

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

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

[0233] During implementation, for obstacles whose height is below a threshold, i.e., low obstacles, the cleaning robot executes a low obstacle cleaning strategy to clean the upper surface of the low obstacle. Specifically, the above-described embodiments describe the specific implementation process for the cleaning robot to execute the low obstacle cleaning strategy under different environments (e.g., different obstacle locations and widths), and will not be repeated here. During this process, the cleaning robot increases the contact time between the wet cleaning element and the low obstacle by setting travel modes with different travel speeds, thereby improving the cleaning effect on the upper surface of the obstacle. Specifically, if dust, dirt, etc. are evenly distributed on the upper surface of the obstacle, the control module will control the cleaning robot to travel at a constant first speed, thereby driving the wet cleaning element to clean the upper surface of the obstacle at the first speed. This first speed is strictly controlled within the travel speed of the cleaning robot in its non-cleaning state to ensure that the wet cleaning element maintains contact time with the upper surface of the obstacle. If the dust, dirt, etc. on the surface of the obstacle are unevenly distributed, the control module will drive the cleaning robot to flexibly change speed within the preset speed range from zero to the first speed: for example, when approaching an area with dense dirt, the cleaning robot will automatically reduce its speed to allow the wet cleaning parts to have more time for deep cleaning; when cleaning relatively clean areas, the speed will be appropriately increased to improve cleaning efficiency.

[0234] Optionally, for the speed changing mode of the cleaning robot, the cleaning robot can also follow modes such as fast first then slow, slow first then fast, and gradual speed, and control the speed of the cleaning robot within a preset speed range of zero to the first speed. The embodiment of the present application does not limit the specific changing rules of the speed changing mode of the cleaning robot.

[0235] Optionally, in addition to the cleaning robot being able to control and adjust the travel speed of the cleaning robot within a preset speed range, the control module can also flexibly switch between uniform speed mode and variable speed mode to perform deep cleaning in complex cleaning environments.

[0236] In this embodiment, the first constant speed ensures that the wet cleaning element maintains stable contact with the obstacle surface, ensuring cleaning power and coverage. The variable speed mode within a preset speed range precisely adapts to complex cleaning scenarios, achieving deep cleaning while saving cleaning time and optimizing overall efficiency. By flexibly switching between constant and variable speed modes, cleaning efficiency and resource utilization are significantly improved.

[0237] In an exemplary embodiment, the cleaning robot provided in step 2101 of the above embodiment can use a constant speed travel mode or a variable speed travel mode when cleaning the upper surface of an obstacle. The variable speed travel mode of these two modes also includes a special case where the speed change is 0, that is, the cleaning robot uses a "stop-and-go" mode to drive the wet cleaning element to clean during the cleaning operation. Specifically, Figure 22 As shown, the specific processing process of step 902 includes:

[0238] Step 2201: When the height of the obstacle is less than the second threshold, the cleaning robot is controlled to stop moving, and the wet cleaning element is maintained in the cleaning position so that the wet cleaning element can continuously clean the upper surface of the obstacle, and then the cleaning robot is controlled to continue moving.

[0239] During implementation, for obstacles whose height is lower than the second threshold, if the obstacle needs deep cleaning, the cleaning robot is controlled to stop moving and extend the cleaning time of the wet cleaning part at the same position, that is, the upper surface of the obstacle is fully cleaned by a "stop-and-go" method.

[0240] In this embodiment, when a low obstacle is detected, the cleaning robot is controlled to stop moving in time, and the wet cleaning parts are maintained in the cleaning position and continue to operate, so that the cleaning brush, dust suction port and other components can be stably attached to the upper surface of the obstacle for a long time, and deep cleaning of stubborn stains and fine dust is performed. Compared with cleaning in a moving state, it effectively reduces cleaning blind spots and improves cleaning coverage and cleanliness. At the same time, when the robot is stationary, the working parameters of the wet cleaning parts 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 obstacle, for example, the vertical height between the upper surface of the obstacle and the ground is not fixed, and / or there are protrusions on the side of the obstacle, the embodiment of the present application can also adjust the posture of the cleaning robot, the lifting height of the wet cleaning parts, the expansion or retraction state of the wet cleaning parts, etc., so that the cleaning robot can clean the irregular upper surface of the obstacle and accurately avoid the protrusions on the side of the irregular obstacle. 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] During implementation, if the side of the obstacle is uneven, for example, there is a raised area on the side of the obstacle, the cleaning robot's perception system will continuously monitor the contour information of the side of the obstacle while the cleaning robot moves along the surface of the obstacle to clean. Once a raised area is detected on the side, the control module immediately starts the obstacle avoidance program, and generates an optimal detour plan based on the shape, size and position of the raised area, combined with the current position of the cleaning robot and a complex path planning algorithm. 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, cooperates with the chassis steering mechanism, and accurately adjusts the robot's position so that it can flexibly bypass the raised area; and / or, according to the actual cleaning environment, sends instructions to the telescopic mechanism of the wet cleaning part to adjust the outward extension length of the wet cleaning part in real time to avoid collision between the wet cleaning part and the raised area. When the cleaning robot successfully bypasses the protrusion, the control module adjusts the cleaning robot's posture again based on the height range information of the upper surface of the obstacle, so that it returns to the cleaning path, and controls the wet cleaning part to restore to its normal outward expansion length, and continues to clean the upper surface of the obstacle, ensuring that the entire cleaning process is consistent and efficient, with no blind spots left behind.

[0248] In this embodiment, the position of the wet cleaning piece is adaptively adjusted based on the height range information to ensure that the wet cleaning piece is in close contact with the surface of the obstacle throughout the entire process, avoiding cleaning blind spots caused by height changes, and achieving efficient cleaning of irregular surfaces. By flexibly controlling the robot's posture and the outward extension length of the wet cleaning piece, it can cleverly bypass the raised parts on the side and quickly resume the cleaning operation after avoiding the obstacle, ensuring the continuity of the cleaning work.

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

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

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

[0252] During operation, when the cleaning robot detects an obstacle, the control module, based on a preset path planning algorithm, drives the cleaning robot toward the obstacle at a precise angle and speed until the robot's wet cleaning element forms stable contact with the end face of the obstacle, at which point the robot's movement ceases. Furthermore, after stable contact is established, the cleaning robot's control module immediately initiates the cleaning operation. Alternatively, the robot's body reciprocates, driving the wet cleaning element to clean the end face of the obstacle.

[0253] For example, when a cleaning robot is operating in a room, its onboard perception system scans the environment in real time. If it suddenly detects a target obstacle, the crawler mop on the side of the cleaning robot gently touches the vertical end surface of the table leg. After sensing stable contact force through the pressure sensor, the drive wheel immediately stops rotating, and the cleaning robot stops moving. The cleaning robot then raises or lowers the wet cleaning element according to the height of the obstacle end surface to clean the entire end surface. For example, the crawler mop is lowered 2 cm to make it fit tightly against the bottom area of ​​the end surface. The crawler mop rotates at a high speed of 800 revolutions per minute to clean, and the strong suction of the built-in suction port simultaneously sucks dust and hair attached to the bottom of the end surface into the dust box. Subsequently, the control module instructs the cleaning robot's body to move back and forth at a speed of 5 cm per second. By adjusting the body's posture, that is, by "twisting" the cleaning robot's body, it drives the side brush to repeatedly wipe and clean the end face of the obstacle. When encountering stubborn stains, it will automatically reduce the travel speed and increase the cleaning time until every part of the table leg end face is cleaned, demonstrating its efficient cleaning ability for complex obstacle ends.

[0254] In this embodiment, the cleaning robot is controlled to precisely contact the end face of the obstacle, ensuring that the wet cleaning element establishes an effective point of action with the end face, and then through the lifting operation of the wet cleaning element and / or the reciprocating motion 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 complex home environments, reduces the need for manual intervention, and brings users an efficient and intelligent cleaning experience.

[0255] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

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

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

[0258] An execution module, configured to 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;

[0259] Among them, the obstacle avoidance cleaning strategy is to avoid obstacles and go around them or clean along the edges;

[0260] The low obstacle cleaning strategy is to keep the upper surface of the obstacle clean by adjusting the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning parts.

[0261] In one embodiment, the execution module is specifically configured to control the wet cleaning element to be in an outwardly expanded cleaning position to clean the upper surface of the obstacle when the obstacle is at an edge position and the height of the obstacle is less than a second threshold;

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

[0263] In one embodiment, the execution module is specifically used to readjust the cleaning position of the wet cleaning part and continue to clean the obstacle along the edge by adjusting one or more of the posture relationship between the cleaning robot and the obstacle, the outward expansion state of the wet cleaning part, the lifting height of the cleaning robot chassis, and the lifting height of the wet cleaning part.

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

[0265] When the wet cleaning member is at its maximum stroke in the outwardly expanded state, the length of the wet cleaning member extending beyond the edge of the chassis is the first effective length;

[0266] The distance from the outer side of the driving wheel of the cleaning robot on the side closest to the obstacle to the end of the wet cleaning element when it is in the maximum stroke in the outward expansion 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 control the wet cleaning element to be in the cleaning position and maintain the wet cleaning element in the expanded state when the height of the obstacle is less than a second threshold and the width is less than a first effective length;

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

[0270] In the process of driving the cleaning robot to move, the wet cleaning element at the cleaning position is driven to clean the upper surface of the obstacle.

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

[0272] Controlling the outer side of the driving wheel of the cleaning robot close to the obstacle to move along the edge of the obstacle;

[0273] In the process of driving the cleaning robot to move, the wet cleaning element at the cleaning position is driven to clean the upper surface of the obstacle.

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

[0275] Control the cleaning robot to move along the left and right edges of the obstacle respectively; moving along the left and right edges means that the wet cleaning element does not make continuous contact with the edge of the obstacle;

[0276] In the process of driving the cleaning robot to move, the wet cleaning element at the cleaning position is driven to clean the upper surface of the obstacle.

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

[0278] Controlling the cleaning robot to move around the edge of the obstacle; moving around the edge of the obstacle means that the wet cleaning element is in continuous contact with the edge of the obstacle;

[0279] In the process of driving the cleaning robot to move, the wet cleaning element at the cleaning position is driven to clean the upper surface of the obstacle.

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

[0281] The cleaning robot is controlled to cross the upper surface of the obstacle and drive the wet cleaning element to clean the upper surface of the obstacle.

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

[0283] Controlling the cleaning robot chassis to maintain an initial state and lifting the wet cleaning element so that the wet cleaning element is at an effective cleaning height adapted to the surface to be cleaned;

[0284] The cleaning robot chassis and the wet cleaning member are controlled 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 element in the cleaning position to clean the upper surface of the obstacle while driving the cleaning robot to move unilaterally along the obstacle; or

[0286] In the process of driving the cleaning robot to move back and forth along the obstacle, the wet cleaning member at the cleaning position is driven to move back and forth at least once to clean the upper surface of the obstacle.

[0287] In one embodiment, the execution module is specifically configured to drive the rear end of the cleaning robot to deflect toward the obstacle and swing back away from the obstacle multiple times while the cleaning robot is moving along the obstacle, so as to clean the upper surface of the obstacle.

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

[0289] The first control module is configured to control the driving wheels of the cleaning robot on the side closest to the obstacle to climb to the upper surface of the obstacle in an obstacle-crossing manner when the height of the obstacle is greater than the lifting height of the cleaning robot's chassis or the lifting height of the wet cleaning element, but less than the maximum height that the cleaning robot can climb in an obstacle-crossing manner;

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

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

[0292] Alternatively, the cleaning robot is controlled to change speed within a preset speed range and execute a low obstacle cleaning strategy; the preset speed range is zero to a first speed;

[0293] 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 used to control the cleaning robot to stop moving when the height of the obstacle is less than a second threshold value, maintain the wet cleaning element in a cleaning position, so that the wet cleaning element continues to clean the upper surface of the obstacle while the cleaning robot is cleaning, and then control the cleaning robot to continue moving.

[0295] In one embodiment, the vertical height between the upper surface of the obstacle and the ground is not fixed, and / or there is a protrusion on the side of the obstacle, and the execution module is specifically used to obtain the height range information of the upper surface of the obstacle;

[0296] Controlling the wet cleaning element of the cleaning robot to be in a cleaning position according to the height range information, so that the wet cleaning element in the cleaning position cleans the upper surface of the obstacle; and / or,

[0297] The cleaning robot's posture and / or the outward extension length of the wet cleaning member are controlled to bypass the raised portion on the side of the obstacle, and then the cleaning operation on the upper surface of the obstacle is resumed.

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

[0299] The second control module is used 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 lifting operations, and / or control the body of the cleaning robot to perform reciprocating motion 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-mentioned obstacle cleaning device can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the corresponding operations of each of the above modules.

[0302] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

[0303] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented 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 embodiments of the above-mentioned methods. The storage medium can be a magnetic disk, an optical disk, 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-mentioned types of memory.

[0304] Any reference to memory, database, or other media used in the embodiments provided herein 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 storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic 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 may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic units, data processing logic units based on quantum computing, artificial intelligence (AI) processors, and the like.

[0305] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, 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, they should be considered to be within the scope of this application.

[0306] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. An obstacle cleaning method, characterized in that: The method is applied to a cleaning robot comprising a chassis and a wet cleaning member connected to the chassis, and the method comprises: 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; The obstacle avoidance cleaning strategy is to clean along the edge of the obstacle; The low obstacle cleaning strategy is to keep the upper surface of the obstacle clean by adjusting the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning member.

2. The method according to claim 1, characterized in that The step of executing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold value further includes: When the obstacle is at an edge position and the height of the obstacle is less than a second threshold, controlling the wet cleaning element to be in an outwardly expanded cleaning position to clean the upper surface of the obstacle; When the obstacle is in a non-edge position and the height of the obstacle is less than a second threshold, the wet cleaning element is controlled to be in a retracted state or an expanded state to clean the upper surface of the obstacle.

3. The method according to claim 1 or 2, characterized in that After executing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold, the method further includes: By adjusting one or more of the posture relationship between the cleaning robot and the obstacle, the outward expansion state of the wet cleaning part, the lifting height of the cleaning robot chassis, and the lifting height of the wet cleaning part, the cleaning position of the wet cleaning part is readjusted and the obstacle continues to be cleaned along the edge.

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 element is in the retracted state, the wet cleaning element does not extend beyond the edge of the chassis; wherein, When the wet cleaning member is in the maximum stroke of the outwardly expanded state, the length of the wet cleaning member extending beyond the edge of the chassis is the first effective length; The distance between the outer side of the driving wheel of the cleaning robot on the side closest to the obstacle and the end of the wet cleaning element when the wet cleaning element is in the extended state and has the maximum stroke is the second effective length; The second effective length is greater than the first effective length.

5. The method according to claim 4, characterized in that The executing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold comprises: When the height of the obstacle is less than a second threshold and the width is less than a first effective length, controlling the wet cleaning element to be in a cleaning position and maintaining the wet cleaning element in an outwardly expanded state; controlling the cleaning robot to move along the edge of the obstacle; During the process of driving the cleaning robot to move, the wet cleaning member located at the cleaning position is driven to clean the upper surface of the obstacle.

6. The method according to claim 4, characterized in that The executing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold comprises: When the height of the obstacle is less than a second threshold value and the width is greater than the first effective length and less than the second effective length, controlling the wet cleaning element to be in a cleaning position and maintaining the wet cleaning element in an outwardly expanded state; Controlling the outer side of the driving wheel of the cleaning robot close to the obstacle to move along the edge of the obstacle; During the process of driving the cleaning robot to move, the wet cleaning member located at the cleaning position is driven to clean the upper surface of the obstacle.

7. The method according to claim 4, characterized in that The executing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold comprises: In the case where the obstacle is located at a non-edge position, when the height of the obstacle is less than a second threshold value and the width is greater than a second effective length, the wet cleaning element is controlled to be in the cleaning position and maintained in an outwardly expanded state; Controlling the cleaning robot to move along the left and right edges of the obstacle respectively, wherein the left and right edge movement means that the wet cleaning element contacts the edge of the obstacle discontinuously; During the process of driving the cleaning robot to move, the wet cleaning member located at the cleaning position is driven to clean the upper surface of the obstacle.

8. The method according to claim 4, characterized in that The executing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold comprises: In the case where the obstacle is located at a non-edge position, when the height of the obstacle is less than a second threshold value and the width is greater than a second effective length, the wet cleaning element is controlled to be in the cleaning position and maintained in an outwardly expanded state; Controlling the cleaning robot to move around the edge of the obstacle, wherein moving around the edge of the obstacle means that the wet cleaning element is in continuous contact with the edge of the obstacle; During the process of driving the cleaning robot to move, the wet cleaning member located at the cleaning position is driven to clean the upper surface of the obstacle.

9. The method according to claim 4, characterized in that The executing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold comprises: When the height of the obstacle is less than a second threshold and the width is less than the length of the wet cleaning member, the wet cleaning member is controlled to be in the cleaning position and maintained in a retracted state; the length of the wet cleaning member is the straight-line distance between the left end and the right end of the wet cleaning member when maintained in the retracted state; The cleaning robot is controlled to cross the upper surface of the obstacle, and drives the wet cleaning member to clean the upper surface of the obstacle.

10. The method according to claim 2 or any one of claims 4 to 9, characterized in that The controlling the wet cleaning element to be in the cleaning position comprises at least one of the following steps: Controlling the wet cleaning element to maintain a preset low-position cleaning state and raising the cleaning robot chassis so that the wet cleaning element is at an effective cleaning height adapted to the surface to be cleaned; Controlling the cleaning robot chassis to maintain an initial state and lifting the wet cleaning element so that the wet cleaning element is at an effective cleaning height adapted to the surface to be cleaned; The cleaning robot chassis and the wet cleaning member are controlled 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 The method of driving the cleaning robot to move so as to drive the wet cleaning member at the cleaning position to clean the upper surface of the obstacle includes: In the process of driving the cleaning robot to move unilaterally along the obstacle, the wet cleaning member in the cleaning position is driven to clean the upper surface of the obstacle; or In the process of driving the cleaning robot to move back and forth along the obstacle, the wet cleaning member located at the cleaning position is driven to move back and forth at least once to clean the upper surface of the obstacle.

12. The method according to any one of claims 5 to 8, characterized in that The method of driving the cleaning robot to move so as to drive the wet cleaning member at the cleaning position to clean the upper surface of the obstacle includes: When the cleaning robot moves along the obstacle, the rear end of the cleaning robot is driven to deflect toward the obstacle and swing back away from the obstacle multiple times, so as to clean the upper surface of the obstacle.

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

14. The method according to claim 1, wherein The executing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold comprises: When the height of the obstacle is less than a second threshold, the cleaning robot is controlled to move at a first constant speed. Alternatively, the cleaning robot is controlled to change speed within a preset speed range and execute the low obstacle cleaning strategy; the preset speed range is zero to a 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 executing the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold comprises: When the height of the obstacle is less than a second threshold, the cleaning robot is controlled to stop moving, and the wet cleaning element is controlled to be in a cleaning position so that the wet cleaning element continues to clean the upper surface of the obstacle, and then the cleaning robot is controlled to continue moving.

16. The method according to claim 1, wherein The vertical height between the upper surface of the obstacle and the ground is not fixed, and / or there is a protrusion on the side of the obstacle, and when the height of the obstacle is less than the second threshold, the low obstacle cleaning strategy is executed, including: Obtaining height range information of the upper surface of the obstacle; Dynamically adjust the wet cleaning member of the cleaning robot to a cleaning position according to the height range information, so that the wet cleaning member in the cleaning position cleans the upper surface of the obstacle; and / or, The posture of the cleaning robot and / or the outward extension length of the wet cleaning member are dynamically adjusted to bypass the raised portion on the side of the obstacle, and then the cleaning operation on the upper surface of the obstacle is resumed.

17. The method according to claim 1, wherein The method further comprises: The cleaning robot is controlled to contact the end surface of the obstacle, and then the wet cleaning member of the cleaning robot is controlled to perform a lifting operation, and / or the body of the cleaning robot is controlled to perform a reciprocating motion, so as to clean the end surface 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, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 18 are implemented.

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

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