Methods, devices, and cleaning robots for controlling ramp obstacle crossing

Abstract

This disclosure provides a method, apparatus, and cleaning robot for controlling obstacle crossing on ramps. The method, upon detecting a ramp as an obstacle, obtains characteristic parameters of the ramp, including its geometric parameters and surface friction coefficient. Based on these characteristic parameters, it matches a corresponding level of obstacle crossing mode from a set of preset obstacle crossing modes. Each obstacle crossing mode includes power and speed parameters. The cleaning robot is then controlled to perform the obstacle crossing operation according to the power and speed parameters of the matched obstacle crossing mode. This disclosure improves obstacle crossing success rate and cleaning efficiency without increasing hardware costs.

Description

Technical Field

[0001] This disclosure relates to the technical field of cleaning robots, and more specifically, to a method, apparatus, medium, electronic equipment, and cleaning robot for controlling ramp crossing obstacles. Background Technology

[0002] Cleaning robots are widely used in home and commercial environments, achieving autonomous navigation and floor cleaning through integrated sensors and intelligent algorithms. Obstacle-crossing ability is a key indicator of product performance, enabling cleaning robots to traverse indoor obstacles such as carpets, thresholds, and mats, achieving continuous cleaning throughout the house and avoiding blind spots.

[0003] In related technologies, when a cleaning robot senses an obstacle, it does not determine whether it is a ramp. Instead, it determines whether it can be traversed based on the height and / or width of the obstacle. For traversable obstacles, it uses a fixed power output and speed configuration to perform the obstacle-traversing action; otherwise, it detours around the obstacle.

[0004] However, the obstacle crossing control strategies in related technologies are relatively simple, relying solely on a single parameter such as obstacle height for judgment and employing a fixed obstacle crossing mode. This results in a high failure rate for obstacle crossing and makes it prone to problems such as slipping or getting stuck. Summary of the Invention

[0005] The purpose of this disclosure is to provide a method, device, medium, electronic device, and cleaning robot for obstacle crossing control on ramps, solving the technical problem that existing obstacle crossing control strategies for cleaning robots lack adaptive capabilities and cannot intelligently adjust the obstacle crossing mode according to ramp characteristic parameters, resulting in a high failure rate. The specific solution is as follows:

[0006] According to specific embodiments of this disclosure, in a first aspect, this disclosure provides a ramp obstacle crossing control method for a cleaning robot, the method comprising:

[0007] When an obstacle is detected as a ramp, the characteristic parameters of the ramp are obtained, including the ramp's geometric parameters and the ramp's surface friction coefficient.

[0008] Based on the aforementioned feature parameters, an obstacle-crossing mode of corresponding level is matched from a plurality of preset obstacle-crossing modes; wherein, each obstacle-crossing mode includes a power parameter and a speed parameter;

[0009] The cleaning robot is controlled to perform obstacle-crossing operations according to the power and speed parameters of the matched obstacle-crossing mode.

[0010] In one possible implementation, the plurality of obstacle-crossing modes include a primary obstacle-crossing mode, an intermediate obstacle-crossing mode, and an advanced obstacle-crossing mode, wherein the power parameter of the advanced obstacle-crossing mode is greater than the power parameter of the intermediate obstacle-crossing mode, and / or the speed parameter of the advanced obstacle-crossing mode is greater than the speed parameter of the intermediate obstacle-crossing mode; the power parameter of the intermediate obstacle-crossing mode is greater than the power parameter of the primary obstacle-crossing mode, and / or the speed parameter of the intermediate obstacle-crossing mode is greater than the speed parameter of the primary obstacle-crossing mode.

[0011] In one possible implementation, matching an obstacle-crossing mode of a corresponding level from a preset plurality of obstacle-crossing modes based on the feature parameters includes:

[0012] Based on the aforementioned characteristic parameters, the power demand factor and slope factor for the cleaning robot to overcome obstacles are obtained; wherein, the power demand factor is the ratio of a preset friction coefficient threshold to the friction coefficient of the ramp surface, and the slope factor is the ratio of the slope of the ramp to a preset maximum climbable slope.

[0013] Based on the power demand factor and the slope factor, a corresponding level of obstacle crossing mode is matched from a set of preset obstacle crossing modes.

[0014] In one possible implementation, matching an obstacle-crossing mode of a corresponding level from a preset plurality of obstacle-crossing modes based on the power demand factor and the slope factor includes:

[0015] When the power demand factor is greater than 1 and the slope factor is greater than the preset slope factor threshold, the advanced obstacle crossing mode is matched.

[0016] When the power demand factor is greater than 1 and the slope factor is not greater than the preset slope factor threshold, or when the power demand factor is not greater than 1 and the slope factor is greater than the preset slope factor threshold, the intermediate obstacle crossing mode is matched.

[0017] When the power demand factor is less than 1 and the slope factor is less than a preset slope factor threshold, the primary obstacle crossing mode is matched.

[0018] In one possible implementation, the obstacle-crossing mode further includes a ramp contact angle, which is the angle formed between the direction of travel of the cleaning robot when it contacts the ramp and the edge line of the ramp, and is used to control the order in which the two drive wheels of the cleaning robot contact the ramp.

[0019] In one possible implementation, matching an obstacle-crossing mode of a corresponding level from a preset plurality of obstacle-crossing modes based on the feature parameters includes:

[0020] If obstacle crossing fails according to the currently matched obstacle crossing mode, switch to an obstacle crossing mode with an obstacle crossing capability no lower than the current obstacle crossing mode; or, adjust the climbing contact angle and then use the currently matched obstacle crossing mode to cross the obstacle; or, adjust the position point for entering the ramp.

[0021] In one possible implementation, when the obstacle crossing fails according to the currently matched obstacle crossing mode, the method further includes: controlling the cleaning robot to leave the ramp by a preset distance and reach a preset first position;

[0022] The cleaning robot is controlled to obtain the characteristic parameters of the ramp again at the first position.

[0023] In one possible implementation, the method further includes: when obstacle crossing fails using an advanced obstacle crossing mode, controlling the cleaning robot to perform at least one of the following operations:

[0024] The cleaning robot is controlled to send an obstacle-crossing failure message;

[0025] The cleaning robot is controlled to send an obstacle-crossing failure message through a terminal device;

[0026] Control the cleaning robot to perform obstacle avoidance operations;

[0027] Control the cleaning robot to raise its chassis and repeat the obstacle-crossing operation.

[0028] In one possible implementation, the method further includes:

[0029] Record the cumulative number of times the cleaning robot overcomes obstacles on the ramp;

[0030] When the cumulative number of times reaches a preset threshold, the cleaning robot is controlled to perform obstacle avoidance.

[0031] In one possible implementation, before matching the obstacle crossing mode of the corresponding level from a plurality of preset obstacle crossing modes, the method further includes:

[0032] When the slope geometry does not meet the preset obstacle-crossing conditions, the cleaning robot is controlled to perform obstacle avoidance operations.

[0033] In one possible implementation, the ramp geometry parameters include: slope, height, width, and length; the ramp geometry parameters do not meet preset obstacle-crossing conditions, including at least one of the following:

[0034] The slope is greater than a preset slope threshold;

[0035] The height is greater than a preset height threshold;

[0036] The width is less than a preset width threshold;

[0037] The length is less than a preset length threshold.

[0038] In one possible implementation, before matching the obstacle crossing mode of the corresponding level from a plurality of preset obstacle crossing modes, the method further includes:

[0039] Based on the wheel speed difference data of the driving wheels of the cleaning robot and / or the angular velocity data of the gyroscope, the positional relationship of the ramp relative to the current preset cleaning path is obtained;

[0040] When the positional relationship does not meet the preset positional relationship conditions, the cleaning robot is controlled to perform obstacle avoidance operation.

[0041] In one possible implementation, the method further includes:

[0042] Record obstacle-crossing data of the cleaning robot performing obstacle-crossing operations on the ramp, and generate an obstacle-crossing log of the ramp based on the obstacle-crossing data;

[0043] The obstacle crossing data includes at least one of the following: the obstacle crossing mode matched by the ramp, the obstacle crossing result corresponding to each obstacle crossing mode, and the cumulative number of times the ramp has been crossed.

[0044] In one possible implementation, obtaining the characteristic parameters of the ramp includes:

[0045] Obtain the point cloud data of the ramp, and obtain the three-dimensional contour data of the ramp based on the point cloud data;

[0046] The ramp geometry parameters are obtained based on the three-dimensional contour data.

[0047] In one possible implementation, obtaining the characteristic parameters of the ramp includes:

[0048] Obtain a depth map of the ramp and extract visual features of the ramp surface;

[0049] The surface friction coefficient of the ramp is obtained based on the visual characteristics.

[0050] In one possible implementation, the characteristic parameter further includes the material type of the ramp surface; obtaining the ramp surface friction coefficient based on the visual characteristics includes:

[0051] Based on the visual characteristics, determine the material type of the ramp surface;

[0052] The friction coefficient of the ramp surface is obtained based on the ramp surface material and the preset material-friction coefficient correspondence.

[0053] In one possible implementation, obtaining the characteristic parameters of the ramp includes:

[0054] When the distance between the cleaning robot and the ramp reaches a preset detection distance, the cleaning robot is controlled to move toward the ramp with preset detection drive parameters;

[0055] During the movement of the cleaning robot on the ramp, the wheel speed data and / or actual displacement data of the cleaning robot are acquired;

[0056] The coefficient of friction of the ramp surface is obtained based on the wheel speed data and / or actual displacement data.

[0057] In one possible implementation, the ramp is a structural component with an inclined surface for guiding the cleaning robot to move vertically up and down. The ramp has a continuous inclined surface from a first end to a second end, the height of the first end being lower than the height of the second end.

[0058] According to a specific embodiment of this disclosure, in a second aspect, this disclosure also provides a ramp obstacle crossing control device for a cleaning robot, the device comprising:

[0059] The feature parameter acquisition unit is configured to acquire feature parameters of the ramp when the obstacle is detected to be a ramp. The feature parameters include ramp geometric parameters and ramp surface friction coefficient.

[0060] An obstacle crossing mode matching unit is configured to match an obstacle crossing mode of a corresponding level from a plurality of preset obstacle crossing modes based on the feature parameters; wherein each obstacle crossing mode includes a power parameter and a speed parameter;

[0061] The obstacle-crossing operation execution unit is configured to control the cleaning robot to perform obstacle-crossing operations according to the power parameters and speed parameters of the matched obstacle-crossing mode.

[0062] According to a specific embodiment of this disclosure, in a third aspect, this disclosure also provides a cleaning robot, comprising:

[0063] The main body of the cleaning robot,

[0064] An obstacle-crossing control device is mounted on the main body of the cleaning robot;

[0065] When an obstacle is detected as a ramp, the characteristic parameters of the ramp are obtained, including the ramp's geometric parameters and the ramp's surface friction coefficient.

[0066] Based on the aforementioned feature parameters, an obstacle-crossing mode of corresponding level is matched from a plurality of preset obstacle-crossing modes; wherein, each obstacle-crossing mode includes a power parameter and a speed parameter;

[0067] The cleaning robot is controlled to perform obstacle-crossing operations according to the power and speed parameters of the matched obstacle-crossing mode.

[0068] According to specific embodiments of the present disclosure, in a fourth aspect, the present disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any of the preceding claims.

[0069] According to a specific embodiment of the present disclosure, in a fifth aspect, the present disclosure also provides an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to perform the method as described in any of the preceding claims.

[0070] Compared with the prior art, the above-described solutions of this disclosure have at least the following beneficial effects:

[0071] The ramp obstacle crossing control method, device, medium, electronic equipment, and cleaning robot provided in this application embodiment acquire ramp geometric parameters and ramp surface friction coefficients, and match the optimal combination of power and speed parameters from multiple preset obstacle crossing modes, thereby providing a precise obstacle crossing method for the cleaning robot. In this way, the cleaning robot can flexibly adjust its obstacle crossing strategy for different surface friction coefficients and geometric characteristics, meaning it can accurately adapt to any type of ramp obstacle, significantly enhancing its adaptability in diverse home environments. This not only significantly improves the obstacle crossing success rate and effectively reduces problems such as slipping and getting stuck on ramps, but also, with precise obstacle crossing mode matching, the obstacle crossing action is more stable and reliable, ensuring the ramp is incorporated into the cleaning robot's normal walking path (cleaning path) for normal cleaning, thereby reducing cleaning omissions, increasing the coverage and efficiency of a single cleaning session, ultimately significantly improving user satisfaction and reducing the need for manual intervention. Furthermore, this application achieves a significant improvement in obstacle-crossing capability through software algorithm optimization and data processing from the cleaning robot's built-in sensors, without the need for additional hardware structures or sensing modules, and without increasing the overall cost and energy consumption, thus providing an economical and efficient technical path for product upgrades. Attached Figure Description

[0072] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0073] Figure 1A schematic diagram illustrating one application scenario of the cleaning robot provided in this application;

[0074] Figure 2 Flowchart of the ramp obstacle crossing control method for the cleaning robot provided in this application Figure 1 ;

[0075] Figure 3 Flowchart of the ramp obstacle crossing control method for the cleaning robot provided in this application Figure 2 ;

[0076] Figure 4 A schematic diagram of the ramp for the ramp obstacle crossing control method of the cleaning robot provided in this application;

[0077] Figure 5 A schematic diagram of the ramp obstacle crossing control device for the cleaning robot provided in this application;

[0078] Figure 6 A schematic diagram of the electronic device structure provided in this application. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of this disclosure clearer, the disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0080] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of this disclosure. The singular forms “a,” “the,” and “the” as used in the embodiments of this disclosure and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0081] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0082] It should be understood that although the terms first, second, third, etc., may be used to describe embodiments of this disclosure, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of embodiments of this disclosure, and similarly, second may also be referred to as first.

[0083] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0084] Figure 1 This is a schematic diagram illustrating one application scenario of the cleaning robot provided in this application, such as... Figure 1 As shown, this application is specifically used in everyday household cleaning scenarios. In these scenarios, many users actively equip their cleaning robots with auxiliary ramps. These ramps aim to enhance the robot's obstacle-crossing ability and improve cleaning performance. The main functions of these ramps are as follows:

[0085] First, it solves the problem of height differences. For example, there are often height differences in places like doorways, carpet edges, and the junctions between tiles and wooden floors. Adding a ramp creates a smooth transition path for the cleaning robot, preventing it from being unable to pass due to large height differences, and thus allowing it to clean a wider area.

[0086] Secondly, it can improve the continuity of cleaning. For example, by placing ramps at obstacles that cleaning robots cannot directly pass through, the robots can move freely between rooms without being blocked by obstacles, preventing the cleaning area from being fragmented. In this way, continuous cleaning can be achieved throughout the house, and the number of times manual intervention is required can be reduced.

[0087] Third, it protects the cleaning robot. Compared to the cleaning robot directly colliding with or forcing its way through obstacles, the auxiliary ramp provides a buffer, reducing wear and tear on the robot's wheels, chassis, and other components, thus extending the equipment's lifespan.

[0088] Of course, in everyday home use scenarios (such as a user's home), there may be some ramp structures, which also fall under the category of ramp obstacles involved in the embodiments of this application.

[0089] Based on the above scenarios, it is clear that in existing technologies, cleaning robots only focus on the height and / or width of obstacles when designing their obstacle-crossing patterns, lacking specific obstacle-crossing methods for ramps. When faced with ramps, they are often equated with rectangular obstacles. The obstacle-crossing logic of cleaning robots based on rectangles will malfunction, leading to them being unable to pass or even colliding with the obstacle. This not only affects cleaning efficiency but may also damage the robot itself or the ramp. Furthermore, ramps do not conform to rectangular characteristics, leaving cleaning blind spots for the robot. For example, the robot may misidentify the ramp, or rely solely on the height and width of a rectangle without a standard for judging ramps. While it can pass a ramp that is slightly above the standard height but has a gentle slope, incorrectly choosing to bypass it will result in the ramp and surrounding area not being cleaned, significantly reducing the comprehensiveness of cleaning and affecting cleaning continuity.

[0090] Figure 2 Flowchart of the ramp obstacle crossing control method for the cleaning robot provided in this application Figure 1 ,like Figure 2 As shown, the method includes:

[0091] S201. When the obstacle is detected to be a ramp, obtain the characteristic parameters of the ramp, including the ramp geometric parameters and the ramp surface friction coefficient.

[0092] Understandably, a ramp is a structural component with an inclined surface used to guide the cleaning robot in vertical movement. The ramp has a continuous inclined surface from a first end to a second end, with the height of the first end being lower than the height of the second end. Preferably, the inclined surface may have track patterns to facilitate the movement of the cleaning robot.

[0093] S202. Based on the feature parameters, match the corresponding level of obstacle crossing mode from a set of preset obstacle crossing modes; wherein, each obstacle crossing mode includes power parameters and speed parameters;

[0094] Each obstacle-crossing mode adapts to different slope characteristics and environmental conditions through different combinations of power and speed parameters. Thus, at least one of the power and speed parameters differs for each obstacle-crossing mode, allowing for optimal drive strategies tailored to different slope characteristics. This avoids excessive power output, improves battery efficiency, and reduces equipment wear through reasonable power and speed control, thereby overcoming the limitations of traditional fixed-mode obstacle-crossing strategies.

[0095] S203. Control the cleaning robot to perform obstacle-crossing operations according to the power and speed parameters of the matched obstacle-crossing mode.

[0096] In this context, "obstacle crossing" refers to a cleaning robot traversing a ramp and performing its normal cleaning tasks. In specific scenarios, depending on the cleaning task, the robot can be controlled to clean the ramp or not.

[0097] In this embodiment, by acquiring the slope's geometric parameters and surface friction coefficient, the optimal combination of power and speed parameters is matched from multiple preset obstacle-crossing modes, thus providing a precise obstacle-crossing method for the cleaning robot. In this way, the cleaning robot can flexibly adjust its obstacle-crossing strategy for different surface friction coefficients and geometric characteristics, meaning it can accurately adapt to any slope obstacle, significantly enhancing its adaptability in diverse home environments. This not only significantly improves the obstacle-crossing success rate and effectively reduces problems such as slipping and getting stuck on slopes, but also, thanks to precise obstacle-crossing mode matching, the obstacle-crossing action is more stable and reliable, ensuring the slope is incorporated into the cleaning robot's normal walking path (cleaning path) for normal cleaning, thereby reducing cleaning omissions and repeated cleaning, increasing the coverage and efficiency of a single cleaning cycle, ultimately significantly improving user satisfaction and reducing the need for manual intervention. Furthermore, this embodiment achieves this through software algorithm optimization and data processing from the cleaning robot's built-in sensors, without adding new hardware structures or sensor modules. It achieves a significant improvement in obstacle-crossing capabilities without increasing overall machine cost or energy consumption, providing an economical and efficient technical path for product upgrades.

[0098] Figure 3 Flowchart of the ramp obstacle crossing control method for the cleaning robot provided in this application Figure 2 ,like Figure 3 As shown, the method includes:

[0099] S301. When the obstacle is detected to be a ramp, the characteristic parameters of the ramp are obtained. The characteristic parameters include the ramp geometric parameters and the ramp surface friction coefficient.

[0100] In some embodiments, obtaining the characteristic parameters (ramp geometry parameters) of the ramp may include:

[0101] Obtain the point cloud data of the ramp, and then obtain the three-dimensional contour data of the ramp based on the point cloud data;

[0102] Based on the three-dimensional contour data, the geometric parameters of the ramp are obtained.

[0103] Figure 4 A schematic diagram of the ramp for the ramp obstacle crossing control method of the cleaning robot provided in this application is shown below. Figure 4As shown, the ramp length L refers to the horizontal projected length of the ramp, which is the horizontal projected distance from the first end to the second end along the direction of inclination. The ramp width W refers to the lateral dimension perpendicular to the direction of inclination of the ramp. The ramp height H refers to the vertical height difference between the first end and the second end of the ramp. The ramp slope α (inclination angle) refers to the angle between the ramp surface and the horizontal plane.

[0104] For example, the point cloud data of a ramp can be acquired directly by LiDAR or based on a depth camera. LiDAR directly acquires the 3D point cloud data of the ramp by emitting a laser beam and measuring the reflection time. The depth camera acquires the depth information of the scene using technologies such as infrared structured light, time-of-flight (ToF), or binocular vision, generates a depth image, and then converts the depth image into point cloud data. Alternatively, the point cloud data can be obtained by fusing the point cloud data directly acquired by LiDAR with the point cloud data acquired by the depth camera.

[0105] In some embodiments, obtaining the characteristic parameters of the ramp (ramp surface friction coefficient) may include:

[0106] Obtain a depth map of the ramp and extract visual features of the ramp surface;

[0107] The surface friction coefficient of the ramp is obtained based on visual characteristics.

[0108] Visual features can include surface texture, color features, reflective properties, surface roughness, and other characteristic information.

[0109] Furthermore, the feature parameters also include the material type of the ramp surface; based on visual features, the ramp surface friction coefficient is obtained, including:

[0110] Determine the material type of the ramp surface based on visual characteristics;

[0111] The surface friction coefficient of the ramp is obtained based on the ramp surface material and the preset material-friction coefficient correspondence.

[0112] In this embodiment, the material type of the ramp surface is determined based on visual characteristics. By analyzing the extracted visual features, the ramp surface material is categorized into one of the preset material types, such as wood, polymer materials (plastics, rubber, etc.), metal materials (stainless steel, aluminum alloys, etc.), and composite materials. By incorporating a material-friction coefficient correspondence database into the obstacle-crossing control program of the cleaning robot, which contains typical friction coefficient ranges for various common materials, the corresponding friction coefficient is quickly obtained through material identification. This allows for rapid, non-contact acquisition of the ramp surface friction coefficient, providing a preliminary reference for subsequent obstacle-crossing mode selection.

[0113] In some embodiments, obtaining the characteristic parameters of the ramp (ramp surface friction coefficient) may include:

[0114] When the cleaning robot reaches the preset detection distance from the ramp, control the cleaning robot to move towards the ramp with preset detection drive parameters;

[0115] During the movement of the cleaning robot on the ramp, acquire the wheel speed data and / or actual displacement data of the cleaning robot;

[0116] The coefficient of friction of the ramp surface is obtained based on wheel speed data and / or actual displacement data.

[0117] In this embodiment, the preset detection distance can be set to 10-30 cm to ensure that the cleaning robot can safely approach the ramp. The preset detection drive parameters include low power output (e.g., 15-25% of rated power) and low-speed movement (e.g., 10-20% of rated speed). The cleaning robot's motion state is monitored in real time. For example, wheel speed sensors acquire the rotational speed information of each wheel, and inertial measurement units (IMUs), odometers, or visual odometers acquire the actual distance and speed of the cleaning robot. By comparing the theoretical displacement (calculated based on wheel speed) with the actual displacement, the tire slip ratio is calculated. Then, combined with parameters such as the cleaning robot's weight, ramp angle, and driving force, the ramp surface friction coefficient is calculated based on physical principles. This allows for a relatively accurate ramp surface friction coefficient, providing reliable data support for obstacle-crossing mode matching.

[0118] Understandably, in practical applications, the friction coefficient can be obtained using methods based on visual features (non-contact), or it can be obtained from the friction coefficient obtained from the contact between the cleaning robot and the ramp. Alternatively, the friction coefficients obtained through both methods can be combined to obtain the final friction coefficient value; for example, the friction coefficients obtained through weighted fusion of the two methods can be used to obtain the final friction coefficient value. Of course, if the difference between the friction coefficients obtained through the two methods is large (exceeding a preset threshold), the friction coefficient obtained from the contact between the cleaning robot and the ramp should be used as the final friction coefficient. This ensures both detection efficiency and data accuracy, providing reliable data support for the obstacle-crossing mode of the cleaning robot.

[0119] S302. Based on the characteristic parameters, match the corresponding level of obstacle crossing mode from a set of preset obstacle crossing modes; wherein, each obstacle crossing mode includes power parameters and speed parameters;

[0120] In some embodiments, the multiple obstacle-crossing modes include a primary obstacle-crossing mode, an intermediate obstacle-crossing mode, and an advanced obstacle-crossing mode, wherein the power parameter of the advanced obstacle-crossing mode is greater than the power parameter of the intermediate obstacle-crossing mode, and / or the speed parameter of the advanced obstacle-crossing mode is greater than the speed parameter of the intermediate obstacle-crossing mode; the power parameter of the intermediate obstacle-crossing mode is greater than the power parameter of the primary obstacle-crossing mode, and / or the speed parameter of the intermediate obstacle-crossing mode is greater than the speed parameter of the primary obstacle-crossing mode.

[0121] It is understandable that the advanced obstacle-crossing mode has a greater obstacle-crossing capability than the intermediate obstacle-crossing mode, and the intermediate obstacle-crossing mode has a greater obstacle-crossing capability than the basic obstacle-crossing mode.

[0122] In this embodiment, by dividing the obstacle-crossing mode into basic, intermediate, and advanced levels with increasing capabilities, the obstacle-crossing ability of the ramp and the cleaning robot can be intelligently matched. The basic mode is used for easy ramps to save energy, the intermediate mode is used for more difficult ones, and the advanced mode is used for the most difficult ones, reducing slippage and jamming, and improving the pass rate. Thus, there is no need to keep the high power on all the time, saving power and extending the battery life, reducing machine wear and extending the service life. Through the graded setting of obstacle-crossing modes, it can adapt to more types of ramps and will not easily bypass them, reducing cleaning dead spots.

[0123] For example, this embodiment defines four driving modes, where obstacle crossing mode A is the primary obstacle crossing mode, obstacle crossing modes B and C are intermediate obstacle crossing modes, and obstacle crossing mode D is the advanced obstacle crossing mode. See Table 1 below:

[0124]

[0125] In Table 1, the power parameter 25% means that the cleaning robot's drive system operates at 25% of its maximum power output. For example, if the maximum power of the cleaning robot's drive motor is 100W, then the 25% power setting corresponds to an actual power output of 25W; if the maximum power is 80W, then the 25% power setting corresponds to a power output of 20W. Similarly, the speed parameter 25% means that the cleaning robot's drive system operates at 25% of its maximum speed output. x% is a relative output concept used to control the power and speed levels of the cleaning robot's drive motor.

[0126] In some embodiments, matching an obstacle crossing mode of a corresponding level from a preset plurality of obstacle crossing modes based on feature parameters may include:

[0127] Based on the characteristic parameters, the power demand factor and slope factor for the cleaning robot to overcome obstacles are obtained; where the power demand factor is the ratio of the preset friction coefficient threshold to the friction coefficient of the ramp surface, and the slope factor is the ratio of the slope of the ramp to the preset maximum climbable slope.

[0128] Based on the power demand factor and the slope factor, the corresponding level of obstacle crossing mode is matched from multiple preset obstacle crossing modes.

[0129] Understandably, the power demand factor indicates the degree of driving force required by the ramp for the cleaning robot; the lower the coefficient of friction, the larger the power demand factor, requiring higher power output. The slope factor indicates the difficulty of climbing the ramp; the steeper the slope, the larger the slope factor, requiring stronger driving power.

[0130] In this embodiment, the complex slope characteristics are transformed into calculable numerical parameters through two quantitative indicators: the power demand factor and the slope factor, thus providing a data basis for the obstacle crossing mode matching process.

[0131] In some embodiments, matching an obstacle crossing mode of a corresponding level from a preset plurality of obstacle crossing modes based on a power demand factor and a slope factor may include:

[0132] When the power demand factor is greater than 1 and the slope factor is greater than the preset slope factor threshold, the advanced obstacle crossing mode is matched.

[0133] When the power demand factor is greater than 1 and the slope factor is not greater than the preset slope factor threshold, or when the power demand factor is not greater than 1 and the slope factor is greater than the preset slope factor threshold, the intermediate obstacle crossing mode is matched.

[0134] When the power demand factor is less than 1 and the slope factor is less than the preset slope factor threshold, the primary obstacle crossing mode is matched.

[0135] In this embodiment, intelligent matching of obstacle-crossing modes is achieved by establishing a clear hierarchical matching logic. When the power demand factor is greater than 1 (insufficient friction) and the slope factor is greater than the threshold (steep slope), the advanced obstacle-crossing mode is automatically matched, providing maximum power and speed support. When only one of the two factors exceeds the threshold, the intermediate obstacle-crossing mode is matched to achieve a balanced configuration of power and speed. When both factors are small, the basic obstacle-crossing mode is matched, adopting a low-power, low-speed strategy. This hierarchical matching strategy ensures that the most suitable obstacle-crossing parameters can be selected in slope environments of varying difficulty. This avoids power waste in simple environments while guaranteeing obstacle-crossing capability in complex environments, achieving precise resource allocation and energy consumption optimization, and improving the obstacle-crossing success rate.

[0136] For example, calculate the power demand factor r = friction coefficient μ_threshold / friction coefficient μ_real and the slope factor f = α / αmax:

[0137] If the friction coefficient μ_real < friction coefficient μ_threshold (low friction) and f > 0.7, initially select obstacle crossing mode D;

[0138] If the friction coefficient μ_real < friction coefficient μ_threshold and f ≤ 0.7, initially select obstacle crossing mode C;

[0139] If the friction coefficient μ_real ≥ the friction coefficient μ_threshold and f > 0.7, initially select obstacle crossing mode B;

[0140] Otherwise, the initial obstacle-crossing mode A will be selected.

[0141] S303. Control the cleaning robot to perform obstacle-crossing operations according to the power and speed parameters of the matched obstacle-crossing mode.

[0142] The process involves converting power parameters from the matched obstacle-crossing mode into power output commands for the drive motors, and speed parameters into the target movement speed of the cleaning robot. This leads to the calculation of corresponding motor speed control commands, and the motor controller precisely adjusts the power distribution and speed synchronization of each drive wheel. During obstacle crossing, the robot's operating status is monitored in real time to ensure stable execution of the climbing action according to preset power and speed parameters until successfully traversing the ramp or detecting an obstacle-crossing failure signal. This precise parameter control ensures that the cleaning robot can perform obstacle-crossing operations with the most suitable drive mode for the characteristic parameters of the current ramp, improving the success rate of obstacle crossing.

[0143] S304. When the obstacle crossing fails according to the currently matched obstacle crossing mode, switch to an obstacle crossing mode with an obstacle crossing capability no lower than the current obstacle crossing mode; or, adjust the climbing contact angle and then use the currently matched obstacle crossing mode to cross the obstacle; or, adjust the position point of entering the ramp.

[0144] Among them, position point adjustment refers to changing the specific position of the cleaning robot when it comes into contact with the ramp, which can include lateral position and longitudinal position. The lateral position refers to the entry point of the robot in the width direction of the ramp; the longitudinal position refers to the contact point of the robot in the length direction of the ramp.

[0145] In some embodiments, the obstacle-crossing mode also includes a ramp contact angle, which is the angle formed between the direction of travel of the cleaning robot when it contacts the ramp and the edge line of the ramp, and is used to control the order in which the two drive wheels of the cleaning robot contact the ramp.

[0146] Cleaning robots typically feature a three-wheel configuration: two active drive wheels and one omnidirectional wheel. The two active drive wheels are located on the left and right sides of the robot, providing power for forward, backward, and turning. The omnidirectional wheel is usually located at the front of the robot, providing support and directional guidance. The ramp contact angle refers to the angle formed between the cleaning robot's direction of travel and the edge line of the ramp when it contacts the ramp. This angle controls the sequence in which the two active wheels contact the ramp, achieving optimal climbing posture and mechanical conditions.

[0147] Understandably, having a single active wheel make initial contact allows the cleaning robot to gradually adapt to the slope angle, reducing impact and vibration. The wheel that makes initial contact undertakes the main traction task, while the wheel that makes subsequent contact provides auxiliary support. This is suitable for standard slope environments and helps the cleaning robot climb the slope more easily.

[0148] In this embodiment, if the initial obstacle-crossing mode fails, a mode with equivalent or stronger capabilities is switched, or the force application method of the current mode is optimized by adjusting the angle, thus improving the obstacle-crossing success rate. Alternatively, precise position adjustments can further enhance the success rate. Different entry points affect the contact area and quality between the robot's tires and the ramp. Selecting a better entry point ensures maximum tire grip and stability. For example, the ramp surface may have localized unevenness, wear, or stains. By adjusting the entry point, these problematic areas can be avoided, and a location with better surface conditions can be chosen. Preferably, a low-cost angle adjustment strategy or entry point adjustment strategy is prioritized, and the high-power mode is only upgraded when necessary, achieving optimal energy consumption. The multiple obstacle-crossing design, through multiple safeguard mechanisms, minimizes the need for user intervention, improving the autonomy and reliability of the cleaning robot.

[0149] In some embodiments, when obstacle crossing fails according to the currently matched obstacle crossing pattern, the method further includes:

[0150] Control the cleaning robot to move away from the ramp at a preset distance and reach the preset first position.

[0151] The cleaning robot is controlled to obtain the characteristic parameters of the ramp again at the first position.

[0152] The preset first position refers to the minimum distance that the cleaning robot maintains from the edge of the ramp after leaving the ramp, such as 10-50 centimeters, to ensure that the robot is in a relatively safe and stable position.

[0153] In this embodiment, the cleaning robot is controlled to leave the ramp by a preset distance, avoiding safety risks such as jamming, overheating, or motor damage caused by the robot continuously attempting to clear obstacles at failed locations. By pausing for a preset time after leaving the ramp, the robot's sensors, motors, and control system are fully reset, clearing any erroneous states or abnormal data, creating favorable initial conditions for the next obstacle-crossing attempt. Simultaneously, at the preset first position, the cleaning robot can again obtain the ramp's characteristic parameters, which can be the ramp's feature information (such as acquired ramp image data or point cloud data), allowing for the development of a better obstacle-crossing strategy for the next attempt. For example, if the captured ramp image shows wear or deformation on one side, the entry position can be adjusted to the side with better condition. Another example is if water stains are detected on the ramp surface based on the ramp image, a relatively dry area can be selected as the entry point, avoiding slippery areas. Yet another example is if the point cloud data reveals that the ramp is uneven, a location with a smaller slope can be selected as the entry point.

[0154] S305. When the advanced obstacle-crossing mode fails to overcome an obstacle, control the cleaning robot to perform at least one of the following operations:

[0155] Control the cleaning robot to send an obstacle-crossing failure message;

[0156] The cleaning robot is controlled to send an obstacle-crossing failure message through a terminal device;

[0157] Control the cleaning robot to perform obstacle avoidance operations;

[0158] Control the cleaning robot to raise its chassis and repeat the obstacle-crossing operation.

[0159] If the advanced obstacle-crossing mode (highest power and speed configuration) still fails to overcome an obstacle, it indicates that the ramp exceeds the cleaning robot's normal obstacle-crossing capability. Multiple emergency procedures can be initiated. These procedures can be selectively executed or all can be executed simultaneously. Procedure 1: Control the cleaning robot to issue an obstacle-crossing failure message locally via buzzer, LED indicator, or voice prompt to promptly inform the user of the current status. Procedure 2: Control the cleaning robot to send an obstacle-crossing failure notification to the user's mobile app or other terminal devices via WiFi, Bluetooth, or other communication methods. This notification may include detailed information such as the location and reason for the failure. Procedure 3: Control the cleaning robot to perform obstacle avoidance, replan the cleaning path, bypass the insurmountable ramp, and continue cleaning other areas. Alternatively, Procedure 4: If the cleaning robot has a chassis lift function, control the cleaning robot to raise its chassis to the preset obstacle-crossing height using the chassis lifting mechanism, increasing ground clearance before attempting the obstacle-crossing operation again. When the cleaning robot's chassis is raised, it cannot perform cleaning tasks on the ground.

[0160] In this embodiment, when the advanced obstacle-avoidance mode still fails, multiple emergency handling solutions are provided, ranging from information notification to physical adjustment. Timely user notifications optimize the user experience, and intelligent obstacle avoidance ensures the continuity of cleaning tasks, thereby ensuring that the cleaning robot can provide stable and reliable services in various complex environments.

[0161] S306. Record the cumulative number of times the cleaning robot overcomes obstacles on the ramp;

[0162] When the cumulative number of attempts reaches a preset threshold, the cleaning robot is controlled to perform obstacle avoidance.

[0163] In this embodiment, the number of times the cleaning robot attempts to overcome an obstacle on a ramp is recorded in real time, including all successful and failed attempts, establishing a complete obstacle-crossing statistics. When the cumulative number of obstacle-crossing attempts reaches a preset threshold (e.g., 5 times, 10 times, etc.), a protection mechanism is automatically triggered, stopping further attempts to overcome the obstacle. The cleaning robot is then controlled to replan its path, bypassing the ramp to continue cleaning tasks in other areas, avoiding repeated failed attempts at the same location. This optimizes both cleaning effectiveness and energy consumption management.

[0164] In some embodiments, before matching an obstacle crossing mode of a corresponding level from a plurality of preset obstacle crossing modes, the method further includes:

[0165] When the slope geometry does not meet the preset obstacle-crossing conditions, the cleaning robot is controlled to perform obstacle avoidance operations.

[0166] The obstacle avoidance operation involves acquiring a real-time environmental map, calculating the optimal alternative path around the ramp, and updating the navigation path to avoid insurmountable ramps. Specifically, the robot is controlled to perform turning or backward maneuvers, deviating from the current direction towards the ramp and maintaining a safe distance from obstacles. It then moves along the replanned path, prioritizing alternative routes that reach the target area; if no alternative path exists, it skips that area and continues cleaning other reachable areas. Insurmountable ramp areas are marked as "unreachable areas," the reasons for the obstacle avoidance decisions are recorded, and the environmental map is updated for future cleaning tasks.

[0167] In this embodiment, obstacle avoidance is performed when the ramp geometry does not meet the preset obstacle-crossing conditions. By identifying obstacles beyond the robot's capabilities in advance and replanning the path, obviously unsuccessful obstacle-crossing attempts are avoided, preventing the waste of battery power, time, and computing resources. This effectively protects critical components such as motors and transmission systems from abnormal wear, extending the equipment's lifespan, while ensuring the cleaning robot can complete cleaning work in other accessible areas, maximizing cleaning coverage. By reducing the robot's prolonged stay and repeated attempts in difficult locations, abnormal noise and user annoyance are avoided, improving the user experience.

[0168] In some embodiments, the ramp geometry parameters include: slope, height, width, and length; the ramp geometry parameters do not meet the preset obstacle crossing conditions, including at least one of the following:

[0169] The slope is greater than the preset slope threshold;

[0170] The height is greater than the preset height threshold;

[0171] The width is less than the preset width threshold;

[0172] The length is less than the preset length threshold.

[0173] In this embodiment, by pre-screening the slope's geometric parameters before obstacle-crossing pattern matching, if the slope is too steep, too high, too narrow, or too short, and the geometric conditions do not meet the preset obstacle-crossing conditions, obstacle avoidance is performed directly without attempting to cross the obstacle. This effectively avoids obviously unsuccessful obstacle-crossing attempts, preventing unnecessary battery consumption, equipment wear and tear, and wasted time. Simultaneously, by identifying obstacles beyond the cleaning robot's physical capabilities in advance, the risk of obstacle-crossing failure is reduced, improving the reliability and safety of obstacle-crossing. Furthermore, the cleaning path planning is optimized, enabling the cleaning robot to more quickly bypass insurmountable obstacles and focus on cleaning accessible areas, improving overall cleaning efficiency and user experience.

[0174] In some embodiments, before matching an obstacle crossing mode of a corresponding level from a plurality of preset obstacle crossing modes, the method further includes:

[0175] Based on the wheel speed difference data of the cleaning robot's drive wheels and / or gyroscope angular velocity data, the positional relationship of the ramp relative to the current preset cleaning path is obtained;

[0176] When the positional relationship does not meet the preset positional relationship conditions, the cleaning robot is controlled to perform obstacle avoidance operations.

[0177] In this embodiment, by analyzing the wheel speed difference data of the cleaning robot's drive wheels and the gyroscope angular velocity data, the positional relationship of the ramp relative to the current preset cleaning path can be determined. When the positional relationship does not meet the preset conditions, obstacle avoidance is directly executed. This position prediction mechanism effectively avoids the risk of the cleaning robot forcibly crossing obstacles in unfavorable positions, preventing obstacle crossing failures caused by improper approach angles, deviation from the path center, or poor posture. Through real-time sensor data analysis, positional deviations that may lead to obstacle crossing difficulties can be identified in advance, avoiding unnecessary obstacle crossing attempts and related battery consumption and equipment wear. In addition, accurate determination of the positional relationship provides the cleaning robot with an opportunity to readjust its approach path or choose a detour strategy, ensuring the continuity and efficiency of the cleaning task.

[0178] In some embodiments, the ramp obstacle crossing control method for the cleaning robot further includes: recording obstacle crossing data of the cleaning robot performing obstacle crossing operations on the ramp, and generating an obstacle crossing log of the ramp based on the obstacle crossing data;

[0179] The obstacle crossing data includes at least one of the following: obstacle crossing modes matched with ramps, obstacle crossing results corresponding to each obstacle crossing mode, and the cumulative number of obstacle crossings on ramps.

[0180] In this embodiment, by recording obstacle-crossing data such as the obstacle-crossing patterns matched to the ramp, the obstacle-crossing results corresponding to each pattern, and the cumulative number of obstacle-crossing attempts, and generating an obstacle-crossing log for the ramp, a complete obstacle-crossing experience database can be established. Based on the analysis of the obstacle-crossing experience database, obstacle-crossing patterns with better historical performance can be prioritized to improve the success rate of subsequent obstacle crossings. Simultaneously, the obstacle-crossing log provides data support for fault diagnosis, equipment maintenance, and algorithm improvement, enhancing the intelligence level and long-term reliability of the cleaning robot.

[0181] In one application scenario, S302, matching the corresponding level of obstacle crossing mode from multiple preset obstacle crossing modes based on feature parameters, may also include:

[0182] Search the obstacle crossing experience database to find historical obstacle crossing records that are similar to the characteristic parameters of the ramp;

[0183] When a similar historical obstacle-crossing record is found and the historical obstacle-crossing result is successful, the successful obstacle-crossing pattern corresponding to the historical record is determined as the initial obstacle-crossing pattern.

[0184] When no similar historical obstacle crossing records are found or the historical obstacle crossing results are failed, the initial obstacle crossing mode is determined based on the power demand factor and the slope factor.

[0185] Figure 5 This is a structural schematic diagram of the ramp obstacle crossing control device for the cleaning robot provided in this application, as shown below. Figure 5 As shown, the device includes:

[0186] The feature parameter acquisition unit 501 is configured to acquire the feature parameters of the ramp when the obstacle is detected to be a ramp. The feature parameters include the ramp geometric parameters and the ramp surface friction coefficient.

[0187] The obstacle crossing mode matching unit 502 is configured to match an obstacle crossing mode of a corresponding level from a plurality of preset obstacle crossing modes based on feature parameters; wherein each obstacle crossing mode includes power parameters and speed parameters;

[0188] The obstacle crossing operation execution unit 503 is configured to control the cleaning robot to perform obstacle crossing operations according to the power parameters and speed parameters of the matched obstacle crossing mode.

[0189] In one possible implementation, the obstacle crossing pattern matching unit 502 is further configured to obtain the power demand factor and slope factor for the cleaning robot to cross obstacles based on the feature parameters; wherein, the power demand factor is the ratio of a preset friction coefficient threshold to the friction coefficient of the ramp surface, and the slope factor is the ratio of the slope of the ramp to a preset maximum climbable slope; and based on the power demand factor and slope factor, the corresponding level of obstacle crossing mode is matched from a plurality of preset obstacle crossing modes.

[0190] In one possible implementation, the obstacle crossing mode matching unit 502 is also used to match an advanced obstacle crossing mode when the power demand factor is greater than 1 and the slope factor is greater than a preset slope factor threshold.

[0191] When the power demand factor is greater than 1 and the slope factor is not greater than the preset slope factor threshold, or when the power demand factor is not greater than 1 and the slope factor is greater than the preset slope factor threshold, the intermediate obstacle crossing mode is matched.

[0192] When the power demand factor is less than 1 and the slope factor is less than the preset slope factor threshold, the primary obstacle crossing mode is matched.

[0193] In one possible implementation, when obstacle crossing fails according to the currently matched obstacle crossing mode, the obstacle crossing mode matching unit 502 is further used to replace the obstacle crossing mode with one whose obstacle crossing capability is not lower than that of the current obstacle crossing mode; or, after adjusting the climbing contact angle, the currently matched obstacle crossing mode is used to cross the obstacle; or, the position point for entering the ramp is adjusted.

[0194] In one possible implementation, when obstacle crossing fails according to the currently matched obstacle crossing mode, the obstacle crossing operation execution unit 503 is further configured to control the cleaning robot to leave the ramp by a preset distance and reach a preset first position; and control the cleaning robot to obtain the characteristic parameters of the ramp again at the first position.

[0195] In one possible implementation, the obstacle-crossing operation execution unit 503 is further configured to control the cleaning robot to perform at least one of the following operations when obstacle crossing fails using the advanced obstacle-crossing mode:

[0196] Control the cleaning robot to send an obstacle-crossing failure message;

[0197] The cleaning robot is controlled to send an obstacle-crossing failure message through a terminal device;

[0198] Control the cleaning robot to perform obstacle avoidance operations;

[0199] Control the cleaning robot to raise its chassis and repeat the obstacle-crossing operation.

[0200] In one possible implementation, the obstacle-crossing operation execution unit 503 is also used to record the cumulative number of times the cleaning robot crosses the ramp; when the cumulative number reaches a preset threshold, the cleaning robot is controlled to perform an obstacle avoidance operation.

[0201] In one possible implementation, before matching the corresponding level of obstacle crossing mode from a plurality of preset obstacle crossing modes, the obstacle crossing mode matching unit 502 is also used to control the cleaning robot to perform obstacle avoidance operation when the ramp geometry does not meet the preset obstacle crossing conditions.

[0202] In one possible implementation, before matching the corresponding level of obstacle crossing mode from a plurality of preset obstacle crossing modes, the obstacle crossing mode matching unit 502 is further configured to obtain the positional relationship of the ramp relative to the current preset cleaning path based on the wheel speed difference data of the driving wheels of the cleaning robot and / or the angular velocity data of the gyroscope; when the positional relationship does not meet the preset positional relationship conditions, the cleaning robot is controlled to perform an obstacle avoidance operation.

[0203] In one possible implementation, the obstacle crossing operation execution unit 503 is further configured to record obstacle crossing data of the cleaning robot performing obstacle crossing operations on the ramp, and generate an obstacle crossing log of the ramp based on the obstacle crossing data; wherein, the obstacle crossing data includes at least one of the following: obstacle crossing mode matched to the ramp, obstacle crossing result corresponding to each obstacle crossing mode, and cumulative number of times the ramp is crossed.

[0204] In one possible implementation, the feature parameter acquisition unit 501 is used to acquire point cloud data of the ramp, obtain three-dimensional contour data of the ramp based on the point cloud data, and obtain the geometric parameters of the ramp based on the three-dimensional contour data.

[0205] In one possible implementation, the feature parameter acquisition unit 501 is used to acquire a depth map of the ramp and extract visual features of the ramp surface; based on the visual features, the friction coefficient of the ramp surface is obtained.

[0206] In one possible implementation, the feature parameters also include the material type of the ramp surface; the feature parameter obtaining unit 501 is used to determine the material type of the ramp surface based on visual features; and to obtain the ramp surface friction coefficient based on the ramp surface material and a preset material-friction coefficient correspondence.

[0207] In one possible implementation, the feature parameter acquisition unit 501 is used to control the cleaning robot to move toward the ramp with preset detection drive parameters when the distance between the cleaning robot and the ramp reaches a preset detection distance; during the movement of the cleaning robot on the ramp, it acquires the wheel speed data and / or actual displacement data of the cleaning robot; and obtains the surface friction coefficient of the ramp based on the wheel speed data and / or actual displacement data.

[0208] The ramp obstacle crossing control device for the cleaning robot provided in this embodiment can execute the method provided in the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0209] This disclosure provides a cleaning robot, including:

[0210] The main body of the cleaning robot,

[0211] The obstacle crossing control device is installed on the main body of the cleaning robot;

[0212] When an obstacle is detected as a ramp, the characteristic parameters of the ramp are obtained, including the ramp's geometric parameters and the ramp's surface friction coefficient.

[0213] Based on the feature parameters, the corresponding level of obstacle crossing mode is matched from a set of preset obstacle crossing modes; where each obstacle crossing mode includes power parameters and speed parameters.

[0214] The cleaning robot is controlled to perform obstacle-crossing operations according to the power and speed parameters of the matched obstacle-crossing mode.

[0215] The cleaning robot provided in this embodiment can execute the methods provided in the above-described method embodiments. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0216] Figure 6 The schematic diagram of the electronic device structure provided in this application is as follows: Figure 6 As shown, the electronic device includes: at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by a processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method steps of the above embodiment.

[0217] This disclosure provides a non-volatile computer storage medium storing computer-executable instructions that can perform the method steps described in the above embodiments.

[0218] The following is for reference. Figure 6 The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of the present disclosure. Terminal devices in embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0219] like Figure 6 As shown, the electronic device may include a processing unit (e.g., a central processing unit, a graphics processor, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 608 into a random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the electronic device. The processing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0220] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows electronic devices to exchange data via wireless or wired communication with other devices. Although Figure 6 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0221] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 609, or installed from a storage device 608, or installed from a ROM 602. When the computer program is executed by the processing device 601, it performs the functions defined in the methods of embodiments of this disclosure.

[0222] Of course, the embodiments of the ramp obstacle crossing control method and the ramp obstacle crossing control device of the cleaning robot in this application are also applicable to non-ramp obstacles. That is to say, this application also provides an obstacle crossing control method for a cleaning robot, including:

[0223] When an obstacle is detected, the characteristic parameters of the obstacle are obtained, including the geometric parameters and surface friction coefficient of the obstacle.

[0224] Based on the feature parameters, the corresponding level of obstacle crossing mode is matched from a set of preset obstacle crossing modes; where each obstacle crossing mode includes power parameters and speed parameters.

[0225] The cleaning robot is controlled to perform obstacle-crossing operations according to the power and speed parameters of the matched obstacle-crossing mode.

[0226] Furthermore, the multiple obstacle-crossing modes include a primary obstacle-crossing mode, an intermediate obstacle-crossing mode, and an advanced obstacle-crossing mode. The power parameter of the advanced obstacle-crossing mode is greater than that of the intermediate obstacle-crossing mode, and / or the speed parameter of the advanced obstacle-crossing mode is greater than that of the intermediate obstacle-crossing mode; the power parameter of the intermediate obstacle-crossing mode is greater than that of the primary obstacle-crossing mode, and / or the speed parameter of the intermediate obstacle-crossing mode is greater than that of the primary obstacle-crossing mode.

[0227] Furthermore, based on the feature parameters, a corresponding level of obstacle-crossing mode is matched from a set of preset obstacle-crossing modes, including:

[0228] Based on the characteristic parameters, the power demand factor and height factor for the cleaning robot to overcome obstacles are obtained; where the power demand factor is the ratio of the preset friction coefficient threshold to the friction coefficient of the obstacle surface, and the height factor is the ratio of the height of the obstacle to the preset maximum climbable height.

[0229] Based on the power demand factor and altitude factor, the corresponding level of obstacle crossing mode is matched from multiple preset obstacle crossing modes.

[0230] Furthermore, based on the power demand factor and altitude factor, a corresponding level of obstacle-crossing mode is matched from multiple preset obstacle-crossing modes, including:

[0231] When the power demand factor is greater than 1 and the altitude factor is greater than the preset altitude factor threshold, the advanced obstacle crossing mode is matched.

[0232] When the power demand factor is greater than 1 and the height factor is not greater than the preset height factor threshold, or when the power demand factor is not greater than 1 and the height factor is greater than the preset height factor threshold, the intermediate obstacle crossing mode is matched.

[0233] When the power demand factor is less than 1 and the height factor is less than the preset height factor threshold, the primary obstacle crossing mode is matched.

[0234] Furthermore, the obstacle-crossing mode also includes an obstacle-crossing contact angle, which is the angle formed between the direction of travel of the cleaning robot when it comes into contact with an obstacle and the edge line of the obstacle. It is used to control the order in which the two drive wheels of the cleaning robot come into contact with the obstacle.

[0235] Furthermore, based on the feature parameters, a corresponding level of obstacle-crossing mode is matched from a set of preset obstacle-crossing modes, including:

[0236] If obstacle crossing fails based on the currently matched obstacle crossing mode, switch to an obstacle crossing mode with an obstacle crossing capability no lower than the current obstacle crossing mode; or, adjust the obstacle crossing contact angle and then use the currently matched obstacle crossing mode to cross the obstacle; or, adjust the entry point on the ramp.

[0237] Furthermore, when obstacle crossing fails based on the currently matched obstacle crossing pattern, the following also applies:

[0238] Control the cleaning robot to move away from the obstacle at a preset distance and reach the preset first position;

[0239] The cleaning robot is controlled to obtain the characteristic parameters of the obstacle again at the first position.

[0240] Furthermore, the method also includes:

[0241] When the advanced obstacle-crossing mode fails to overcome an obstacle, the cleaning robot shall perform at least one of the following operations:

[0242] Control the cleaning robot to send an obstacle-crossing failure message;

[0243] The cleaning robot is controlled to send an obstacle-crossing failure message through a terminal device;

[0244] Control the cleaning robot to perform obstacle avoidance operations;

[0245] Control the cleaning robot to raise its chassis and repeat the obstacle-crossing operation.

[0246] Furthermore, the method also includes:

[0247] Record the cumulative number of times the cleaning robot overcomes obstacles;

[0248] When the cumulative number of attempts reaches a preset threshold, the cleaning robot is controlled to perform obstacle avoidance.

[0249] Furthermore, before matching the corresponding level of obstacle crossing mode from a set of preset obstacle crossing modes, the process also includes:

[0250] When the geometric parameters do not meet the preset obstacle-crossing conditions, the cleaning robot is controlled to perform obstacle avoidance operations.

[0251] Furthermore, the geometric parameters include at least one of the following: slope, height, width, and length; if the geometric parameters do not meet the preset obstacle-crossing conditions, at least one of the following applies:

[0252] The slope is greater than the preset slope threshold;

[0253] The height is greater than the preset height threshold;

[0254] The width is less than the preset width threshold;

[0255] The length is less than the preset length threshold.

[0256] Furthermore, before matching the corresponding level of obstacle crossing mode from a set of preset obstacle crossing modes, the process also includes:

[0257] Based on the wheel speed difference data of the cleaning robot's drive wheels and / or gyroscope angular velocity data, the positional relationship of the ramp relative to the current preset cleaning path is obtained;

[0258] When the positional relationship does not meet the preset positional relationship conditions, the cleaning robot is controlled to perform obstacle avoidance operations.

[0259] Furthermore, the method also includes:

[0260] Record obstacle-crossing data of the cleaning robot when it performs obstacle-crossing operations on the ramp, and generate obstacle-crossing logs for the ramp based on the obstacle-crossing data;

[0261] The obstacle crossing data includes at least one of the following: obstacle crossing modes matched with ramps, obstacle crossing results corresponding to each obstacle crossing mode, and the cumulative number of obstacle crossings on ramps.

[0262] Furthermore, the characteristic parameters of the ramp are obtained, including:

[0263] Obtain the point cloud data of the ramp, and then obtain the three-dimensional contour data of the ramp based on the point cloud data;

[0264] Geometric parameters are obtained based on the 3D contour data.

[0265] Furthermore, the characteristic parameters of the ramp are obtained, including:

[0266] Obtain a depth map of the ramp and extract visual features of the ramp surface;

[0267] The surface friction coefficient is obtained based on visual characteristics.

[0268] Furthermore, the feature parameters also include the material type of the obstacle surface; based on visual features, the friction coefficient of the obstacle surface is obtained, including:

[0269] Determine the material type of the obstacle surface based on visual characteristics;

[0270] The surface friction coefficient of the obstacle is obtained based on the surface material of the obstacle and the preset material-friction coefficient correspondence.

[0271] Furthermore, the characteristic parameters of the obstacle are obtained, including:

[0272] When the cleaning robot reaches the preset detection distance from the obstacle, the robot is controlled to move toward the obstacle with preset detection drive parameters.

[0273] During the movement of the cleaning robot over obstacles, acquire the wheel speed data and / or actual displacement data of the cleaning robot;

[0274] The coefficient of friction of the obstacle surface is obtained based on wheel speed data and / or actual displacement data.

[0275] Furthermore, the obstacle can be a ramp obstacle or a non-ramp obstacle. The ramp obstacle is a structural component with an inclined surface, used to guide the cleaning robot to climb vertically. The obstacle has a continuous inclined surface from a first end to a second end, with the height of the first end being lower than the height of the second end.

[0276] In another embodiment, this application also provides a ramp obstacle crossing control device for a cleaning robot, which may include:

[0277] The feature parameter acquisition unit is configured to acquire the feature parameters of the obstacle when an obstacle is detected. The feature parameters include the geometric parameters and surface friction coefficient of the obstacle.

[0278] The obstacle crossing mode matching unit is configured to match an obstacle crossing mode of a corresponding level from a plurality of preset obstacle crossing modes based on feature parameters; wherein each obstacle crossing mode includes power parameters and speed parameters;

[0279] The obstacle-crossing operation execution unit is configured to control the cleaning robot to perform obstacle-crossing operations according to the power and speed parameters of the matched obstacle-crossing mode.

[0280] In yet another embodiment, this application also provides a cleaning robot, comprising:

[0281] The main body of the cleaning robot,

[0282] The obstacle crossing control device is installed on the main body of the cleaning robot;

[0283] When an obstacle is detected, the characteristic parameters of the obstacle are obtained, including the geometric parameters and surface friction coefficient of the obstacle.

[0284] Based on the feature parameters, the corresponding level of obstacle crossing mode is matched from a set of preset obstacle crossing modes; where each obstacle crossing mode includes power parameters and speed parameters.

[0285] The cleaning robot is controlled to perform obstacle-crossing operations according to the power and speed parameters of the matched obstacle-crossing mode.

[0286] In another embodiment, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the obstacle-crossing control method for a cleaning robot as described above.

[0287] In yet another embodiment, this application also provides an electronic device, including:

[0288] One or more processors;

[0289] A storage device for storing one or more programs, which, when executed by one or more processors, enable the one or more processors to implement an obstacle-crossing control method for a cleaning robot as described above.

[0290] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0291] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0292] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0293] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0294] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

Claims

1. A method for controlling ramp obstacle crossing of a cleaning robot, characterized in that, The method includes: When an obstacle is detected as a ramp, the characteristic parameters of the ramp are obtained, including the ramp's geometric parameters and the ramp's surface friction coefficient. Based on the aforementioned feature parameters, an obstacle-crossing mode of corresponding level is matched from a plurality of preset obstacle-crossing modes; wherein, each obstacle-crossing mode includes a power parameter and a speed parameter; The cleaning robot is controlled to perform obstacle-crossing operations according to the power and speed parameters of the matched obstacle-crossing mode; The multiple obstacle-crossing modes include a primary obstacle-crossing mode, an intermediate obstacle-crossing mode, and an advanced obstacle-crossing mode. The power parameter of the advanced obstacle-crossing mode is greater than that of the intermediate obstacle-crossing mode, and / or the speed parameter of the advanced obstacle-crossing mode is greater than that of the intermediate obstacle-crossing mode; the power parameter of the intermediate obstacle-crossing mode is greater than that of the primary obstacle-crossing mode, and / or the speed parameter of the intermediate obstacle-crossing mode is greater than that of the primary obstacle-crossing mode.

2. The method according to claim 1, characterized in that, The step of matching a corresponding level of obstacle-crossing mode from a preset set of multiple obstacle-crossing modes based on the feature parameters includes: Based on the aforementioned characteristic parameters, the power demand factor and slope factor for the cleaning robot to overcome obstacles are obtained; wherein, the power demand factor is the ratio of a preset friction coefficient threshold to the friction coefficient of the ramp surface, and the slope factor is the ratio of the slope of the ramp to a preset maximum climbable slope. Based on the power demand factor and the slope factor, a corresponding level of obstacle crossing mode is matched from a set of preset obstacle crossing modes.

3. The method according to claim 2, characterized in that, The step of matching an obstacle-crossing mode of a corresponding level from a preset set of obstacle-crossing modes based on the power demand factor and the slope factor includes: When the power demand factor is greater than 1 and the slope factor is greater than the preset slope factor threshold, the advanced obstacle crossing mode is matched. When the power demand factor is greater than 1 and the slope factor is not greater than the preset slope factor threshold, or when the power demand factor is not greater than 1 and the slope factor is greater than the preset slope factor threshold, the intermediate obstacle crossing mode is matched. When the power demand factor is less than 1 and the slope factor is less than a preset slope factor threshold, the primary obstacle crossing mode is matched.

4. The method according to claim 1, characterized in that, The obstacle-crossing mode also includes a ramp contact angle, which is the angle formed between the direction of travel of the cleaning robot when it contacts the ramp and the edge line of the ramp. It is used to control the order in which the two drive wheels of the cleaning robot contact the ramp.

5. The method according to claim 4, characterized in that, The step of matching a corresponding level of obstacle-crossing mode from a preset set of multiple obstacle-crossing modes based on the feature parameters includes: If obstacle crossing fails according to the currently matched obstacle crossing mode, switch to an obstacle crossing mode with an obstacle crossing capability no lower than the current obstacle crossing mode; or, adjust the climbing contact angle and then use the currently matched obstacle crossing mode to cross the obstacle; or, adjust the position point for entering the ramp.

6. The method according to claim 4, characterized in that, When obstacle crossing fails based on the currently matched obstacle crossing pattern, the following also applies: Control the cleaning robot to move a preset distance away from the ramp and reach a preset first position; The cleaning robot is controlled to obtain the characteristic parameters of the ramp again at the first position.

7. The method according to claim 5, characterized in that, The method further includes: When the advanced obstacle-crossing mode fails to overcome an obstacle, the cleaning robot is controlled to perform at least one of the following operations: The cleaning robot is controlled to send an obstacle-crossing failure message; The cleaning robot is controlled to send an obstacle-crossing failure message through a terminal device; Control the cleaning robot to perform obstacle avoidance operations; Control the cleaning robot to raise its chassis and repeat the obstacle-crossing operation.

8. The method according to claim 5, characterized in that, The method further includes: Record the cumulative number of times the cleaning robot overcomes obstacles on the ramp; When the cumulative number of times reaches a preset threshold, the cleaning robot is controlled to perform obstacle avoidance.

9. The method according to claim 1, characterized in that, Before matching the corresponding level of obstacle crossing mode from a set of preset obstacle crossing modes, the process further includes: When the slope geometry does not meet the preset obstacle-crossing conditions, the cleaning robot is controlled to perform obstacle avoidance operations.

10. The method according to claim 9, characterized in that, The ramp geometry parameters include: slope, height, width, and length; the ramp geometry parameters do not meet the preset obstacle-crossing conditions, including at least one of the following: The slope is greater than a preset slope threshold; The height is greater than a preset height threshold; The width is less than a preset width threshold; The length is less than a preset length threshold.

11. The method according to claim 1, characterized in that, Before matching the corresponding level of obstacle crossing mode from a set of preset obstacle crossing modes, the process further includes: Based on the wheel speed difference data of the driving wheels of the cleaning robot and / or the angular velocity data of the gyroscope, the positional relationship of the ramp relative to the current preset cleaning path is obtained; When the positional relationship does not meet the preset positional relationship conditions, the cleaning robot is controlled to perform obstacle avoidance operation.

12. The method according to claim 1, characterized in that, The method further includes: Record obstacle-crossing data of the cleaning robot performing obstacle-crossing operations on the ramp, and generate an obstacle-crossing log of the ramp based on the obstacle-crossing data; The obstacle crossing data includes at least one of the following: the obstacle crossing mode matched by the ramp, the obstacle crossing result corresponding to each obstacle crossing mode, and the cumulative number of times the ramp has been crossed.

13. The method according to claim 1, characterized in that, The process of obtaining the characteristic parameters of the ramp includes: Obtain the point cloud data of the ramp, and obtain the three-dimensional contour data of the ramp based on the point cloud data; The ramp geometry parameters are obtained based on the three-dimensional contour data.

14. The method according to claim 1, characterized in that, The process of obtaining the characteristic parameters of the ramp includes: Obtain a depth map of the ramp and extract visual features of the ramp surface; The surface friction coefficient of the ramp is obtained based on the visual characteristics.

15. The method according to claim 14, characterized in that, The feature parameters also include the material type of the ramp surface; obtaining the ramp surface friction coefficient based on the visual features includes: Based on the visual characteristics, determine the material type of the ramp surface; The friction coefficient of the ramp surface is obtained based on the ramp surface material and the preset material-friction coefficient correspondence.

16. The method according to claim 1, characterized in that, The process of obtaining the characteristic parameters of the ramp includes: When the distance between the cleaning robot and the ramp reaches a preset detection distance, the cleaning robot is controlled to move toward the ramp with preset detection drive parameters; During the movement of the cleaning robot on the ramp, the wheel speed data and / or actual displacement data of the cleaning robot are acquired; The coefficient of friction of the ramp surface is obtained based on the wheel speed data and / or actual displacement data.

17. The method according to any one of claims 1 to 16, characterized in that, The ramp is a structural component with an inclined surface, used to guide the cleaning robot to climb vertically. The ramp has a continuous inclined surface from a first end to a second end, with the height of the first end being lower than the height of the second end.

18. A ramp obstacle crossing control device for a cleaning robot, characterized in that, The device includes: The feature parameter acquisition unit is configured to acquire feature parameters of the ramp when the obstacle is detected to be a ramp. The feature parameters include ramp geometric parameters and ramp surface friction coefficient. An obstacle crossing mode matching unit is configured to match an obstacle crossing mode of a corresponding level from a plurality of preset obstacle crossing modes based on the feature parameters; wherein each obstacle crossing mode includes a power parameter and a speed parameter; The obstacle-crossing operation execution unit is configured to control the cleaning robot to perform obstacle-crossing operations according to the power parameters and speed parameters of the matched obstacle-crossing mode; The multiple obstacle-crossing modes include a primary obstacle-crossing mode, an intermediate obstacle-crossing mode, and an advanced obstacle-crossing mode. The power parameter of the advanced obstacle-crossing mode is greater than that of the intermediate obstacle-crossing mode, and / or the speed parameter of the advanced obstacle-crossing mode is greater than that of the intermediate obstacle-crossing mode; the power parameter of the intermediate obstacle-crossing mode is greater than that of the primary obstacle-crossing mode, and / or the speed parameter of the intermediate obstacle-crossing mode is greater than that of the primary obstacle-crossing mode.

19. A cleaning robot, characterized in that, include: The main body of the cleaning robot, An obstacle-crossing control device is mounted on the main body of the cleaning robot; When an obstacle is detected as a ramp, the characteristic parameters of the ramp are obtained, including the ramp's geometric parameters and the ramp's surface friction coefficient. Based on the aforementioned feature parameters, an obstacle-crossing mode of corresponding level is matched from a plurality of preset obstacle-crossing modes; wherein, each obstacle-crossing mode includes a power parameter and a speed parameter; The cleaning robot is controlled to perform obstacle-crossing operations according to the power and speed parameters of the matched obstacle-crossing mode; The multiple obstacle-crossing modes include a primary obstacle-crossing mode, an intermediate obstacle-crossing mode, and an advanced obstacle-crossing mode. The power parameter of the advanced obstacle-crossing mode is greater than that of the intermediate obstacle-crossing mode, and / or the speed parameter of the advanced obstacle-crossing mode is greater than that of the intermediate obstacle-crossing mode; the power parameter of the intermediate obstacle-crossing mode is greater than that of the primary obstacle-crossing mode, and / or the speed parameter of the intermediate obstacle-crossing mode is greater than that of the primary obstacle-crossing mode.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 17.

21. An electronic device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the method as described in any one of claims 1 to 17.

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