Climbing control method and device, electronic equipment, storage medium, program product and cleaning system

Abstract

The embodiment of the invention provides a climbing control method and device, electronic equipment, a storage medium, a program product and a cleaning system.The climbing control method comprises the steps that the cleaning equipment and a climbing accessory are controlled to be combined to form a combined body; and the combined body is controlled to execute the climbing action, so that the climbing accessory drives the cleaning equipment to pass through the specific obstacle. The method is used for expanding the application range and application scene of the cleaning equipment.

Description

Technical Field

[0001] This application relates to the field of smart home technology, and in particular to a climbing control method, device, electronic device, storage medium, program product and cleaning system. Background Technology

[0002] In recent years, intelligent cleaning equipment has gradually developed towards multi-functionality. However, common cleaning equipment often fails to achieve comprehensive cleaning of multiple work surfaces in complex indoor environments such as multi-story buildings due to the obstruction of stairs. During cleaning tasks, the equipment may be forced to stop due to encountering stairs. Typically, users of multi-story buildings need to place cleaning equipment on each floor to ensure effective cleaning of multiple work surfaces. This not only increases equipment costs for users but also severely restricts the widespread adoption of cleaning equipment.

[0003] In summary, the inability of cleaning equipment to automatically climb stairs greatly limits its applicability and application scenarios, and affects the user experience. Summary of the Invention

[0004] This application provides a climbing control method, device, electronic device, storage medium, program product, and cleaning system to enable cleaning equipment to successfully cross obstacles with significant height differences.

[0005] In a first aspect, embodiments of this application provide a climbing control method applied to a cleaning system. The cleaning system includes a cleaning device and a climbing attachment. The cleaning device is capable of automatically combining and separating from the climbing attachment. When the cleaning device needs to pass through a specific obstacle, the method includes:

[0006] The cleaning equipment and the crawling attachment are controlled to combine to form the assembly;

[0007] Control the assembly to perform a climbing motion, so as to use the crawling attachment to propel the cleaning equipment through the specific obstacle;

[0008] The specific obstacle refers to a staircase with multiple steps that connects the first working surface and the second working surface, wherein the first working surface is lower than the second working surface in the height direction; the assembly can move from the first working surface to the second working surface or from the second working surface to the first working surface by performing the climbing action.

[0009] In one possible implementation, the control of the cleaning device and the crawling attachment to form the assembly includes:

[0010] The cleaning device and the crawling attachment are controlled to move to the specific obstacle, and the cleaning device and the crawling attachment combine at the specific obstacle to form the assembly; or

[0011] The cleaning device and the crawling attachment are controlled to combine at a specific location to form the assembly.

[0012] In one possible implementation, the crawling attachment includes a support mechanism and a crawling mechanism, the support mechanism being disposed on the crawling mechanism, the support mechanism being used to support the cleaning equipment, and the crawling mechanism being used to drive the support mechanism to move.

[0013] In one possible implementation, the crawling mechanism includes a first crawling component and a second crawling component. Along a forward direction perpendicular to the crawling attachment, the support mechanism includes a first side and a second side. The first crawling component has at least one set on the first side and the second side respectively. Along the forward direction of the crawling attachment, the first crawling component includes a front end and a rear end, and the second crawling component has at least one rotatably connected to the front end and the rear end respectively.

[0014] In one possible implementation, when the assembly is located on the first working surface and the assembly needs to move from the first working surface to the second working surface by performing the climbing action, controlling the assembly to perform the climbing action to use the climbing attachment to propel the cleaning equipment through the specific obstacle includes:

[0015] The posture and position of the crawling attachment are adjusted on the first working surface so that the crawling mechanism contacts the surface of the specific obstacle;

[0016] The crawling mechanism drives the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface until the assembly moves to a position near the second working surface of the specific obstacle, so that the assembly passes through the specific obstacle;

[0017] At a location where the specific obstacle is close to the second working surface, the posture and position of the crawling attachment are adjusted so that the assembly moves onto the second working surface.

[0018] In one possible implementation, adjusting the posture and position of the crawling attachment on the first working surface to bring the crawling mechanism into contact with the surface of the specific obstacle includes:

[0019] The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component attaches to the surface of the first step of the particular obstacle;

[0020] The second crawling component at the rear end is driven to rotate relative to the first crawling component, so that the crawling mechanism flattens out;

[0021] The crawling mechanism drives the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface, so that the second crawling component at the front end contacts the corner of the second step of the specific obstacle;

[0022] Along the height direction, the first step is higher than the first working surface, and the second step is higher than the first step.

[0023] In one possible implementation, before the second crawling component driving the rear end rotates relative to the first crawling component to flatten the crawling mechanism, the method further includes:

[0024] Drive the crawling attachment toward the specific obstacle until the front end attaches to the surface of the first step.

[0025] In one possible implementation, before the crawling mechanism drives the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface, so that the second crawling component at the front end contacts the corner of the second step of the specific obstacle, the method further includes:

[0026] The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component at the front end aligns with the corner of the second step of the particular obstacle.

[0027] In one possible implementation, after the crawling mechanism drives the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface, so that the second crawling component at the front end contacts the corner of the second step of the specific obstacle, the method further includes:

[0028] The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the crawling mechanism flattens out.

[0029] In one possible implementation, before rotating the second crawling component of the front end relative to the first crawling component to allow the second crawling component to engage with the surface of a first step of the particular obstacle, the method further includes:

[0030] The second crawling component at the front end and the rear end is driven to rotate relative to the first crawling component, so as to support the support mechanism and the first crawling component using the second crawling component at the front end and the rear end, so that the support mechanism and the first crawling component are in a suspended state.

[0031] In one possible implementation, the second crawling component that drives the front end rotates relative to the first crawling component to engage with the surface of a first step of the particular obstacle, comprising:

[0032] The second crawling component at the front end of either side of the support mechanism is rotated relative to the first crawling component so that the second crawling component rests on the surface of the first step of the particular obstacle;

[0033] The second crawling component at the front end of the other side of the support mechanism is driven to rotate relative to the first crawling component, so that the second crawling component rests on the surface of the first step of the particular obstacle.

[0034] In one possible implementation, when the assembly moves to a position near the second working surface of the specific obstacle, the end of the second crawling component at the front end that is closer to the first crawling component is higher than the second working surface;

[0035] The step of adjusting the posture and position of the crawling attachment at a location near the specific obstacle on the second working surface, so that the assembly moves onto the second working surface, includes:

[0036] The second crawling component of the front end is driven to rotate relative to the first crawling component, so that the second crawling component of the front end overlaps the second working surface;

[0037] The second crawling component at the front end is driven by the crawling mechanism to move on the second working surface in a direction away from the specific obstacle until the rear end is above the second working surface.

[0038] In one possible implementation, the step of using the crawling mechanism to drive the second crawling component at the front end to move on the second working surface in a direction away from the specific obstacle until the rear end is above the second working surface further includes:

[0039] After the rear end is above the second working surface, the posture of the crawling attachment is adjusted so that the first crawling component fits into the second working surface.

[0040] In one possible implementation, when the assembly is located on the second working surface and the assembly needs to move from the second working surface to the first working surface by performing the climbing action, controlling the assembly to perform the climbing action to use the crawling attachment to propel the cleaning equipment through the specific obstacle includes:

[0041] The posture and position of the crawling attachment are adjusted on the second working surface so that the crawling mechanism contacts the surface of the specific obstacle;

[0042] The crawling mechanism drives the assembly to move along the specific obstacle from the second working surface to the first working surface until the assembly moves to a position near the first working surface of the specific obstacle;

[0043] At a location where the specific obstacle is close to the first working surface, the posture and position of the crawling attachment are adjusted so that the assembly moves onto the first working surface.

[0044] In one possible implementation, adjusting the posture and position of the crawling attachment on the second working surface to bring the crawling mechanism into contact with the surface of the specific obstacle includes:

[0045] The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component at the front end contacts the corner of the third step of the specific obstacle;

[0046] The crawling mechanism drives the assembly to move along the extension direction of the specific obstacle from the second working surface to the first working surface, so that the second crawling component at the front end contacts the surface of the fourth step;

[0047] The second crawling component, which drives the front end and the rear end, to rotate relative to the first crawling component, so that the crawling mechanism flattens out;

[0048] The crawling mechanism drives the assembly to move along the extension direction of the specific obstacle from the second working surface to the first working surface, so that the second crawling component at the front end contacts the corner of the fourth step;

[0049] Along the height direction, the third step is lower than the second working surface, and the fourth step is lower than the third step.

[0050] In one possible implementation, the second crawling component driving the front end to rotate relative to the first crawling component, such that the second crawling component of the front end contacts the corner of the third step of the particular obstacle, includes:

[0051] The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component at the front end contacts the surface of the third step;

[0052] The crawling mechanism drives the assembly to move on the surface of the third step away from the second working surface until the second crawling component at the front end contacts the corner of the third step.

[0053] In one possible implementation, the second crawling component driving the front end to rotate relative to the first crawling component, so that the second crawling component of the front end contacts the surface of the third step, includes:

[0054] The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component at the front end is positioned above the surface of the third step;

[0055] The second crawling component at the rear end is driven to rotate relative to the first crawling component, so that the second crawling component at the rear end supports the support mechanism and the tail end of the first crawling component, thereby causing the second crawling component at the front end to contact the surface of the third step.

[0056] In one possible implementation, when the assembly moves to a position where the specific obstacle is close to the first working surface, the end of the second crawling component at the front end that is away from the first crawling component contacts the first working surface, and the second crawling component and / or the first crawling component at the rear end contacts the specific obstacle.

[0057] The step of adjusting the posture and position of the crawling attachment at a location near the specific obstacle on the first working surface, so that the assembly moves onto the first working surface, includes:

[0058] The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component at the front end fits against the first working surface, and the second crawling component at the rear end and the first crawling component are disengaged from the surface of the specific obstacle.

[0059] The second crawling component at the front end is driven by the crawling mechanism to move on the first working surface in a direction away from the specific obstacle.

[0060] In one possible implementation, during the climbing action, the first surface of the second climbing component contacts the surface of a specific obstacle, and the second surface of the second climbing component is correspondingly disposed to the first surface;

[0061] The method of driving the second crawling component at the front end to rotate relative to the first crawling component, so that the second crawling component at the front end fits against the first working surface, and so that the second crawling component at the rear end and the first crawling component disengage from the surface of the specific obstacle, includes:

[0062] The second crawling component of the front end is driven to rotate relative to the first crawling component, so that the first surface of the second crawling component of the front end is in contact with the first working surface;

[0063] Continue to drive the second crawling component of the front end to rotate relative to the first crawling component, so that the second surface of the second crawling component of the front end is in contact with the first working surface;

[0064] The first crawling component is driven to rotate relative to the second crawling component at the front end, so that the second crawling component at the rear end and the first crawling component detach from the surface of the specific obstacle.

[0065] In one possible implementation, when the first surface of the second crawling component at the front end is attached to the first working surface, the distance between the rotation center of the second crawling component at the front end and the specific obstacle is a first distance; the distance between the end of the second crawling component at the front end away from the front end and the rotation center of the second crawling component at the front end is a second distance.

[0066] Before continuing to drive the second crawling component of the front end to rotate relative to the first crawling component, so that the second surface of the second crawling component of the front end is in contact with the first working surface, the method further includes:

[0067] The second crawling component at the front end is driven by the crawling mechanism to move on the second working surface in a direction away from the specific obstacle, so that the first distance is greater than or equal to the second distance.

[0068] In one possible implementation, after the second crawling component at the front end is driven by the crawling mechanism to move on the first working surface in a direction away from the specific obstacle, the method further includes:

[0069] Adjust the posture of the crawling attachment so that the first crawling component fits into the first working surface.

[0070] In one possible implementation, before rotating the second crawling component of the front end relative to the first crawling component to make contact with the corner of the third step of the particular obstacle, the method further includes:

[0071] Adjust the posture and position of the crawling attachment so that the first crawling component contacts the second working surface.

[0072] In one possible implementation, as the crawling mechanism drives the assembly to move along the extension direction of the specific obstacle, the angle of the second crawling component relative to the first crawling component is adjusted in real time so that the second crawling component contacts the corner of the step of the corresponding specific obstacle.

[0073] In one possible implementation, the crawling mechanism further includes a first track and a second track;

[0074] The first track is wound around the first crawling component, and the first track can rotate on the first crawling component. The first crawling component achieves crawling through the first track.

[0075] The second track is wound around the second crawling assembly, and the second track can rotate on the second crawling assembly. The second crawling assembly crawls through the second track.

[0076] In one possible implementation, the cleaning system further includes a sensor system disposed on the cleaning device, or the crawling attachment and the cleaning device, the sensor system being used to acquire image information and / or three-dimensional information of obstacles. Before controlling the assembly to perform the climbing action, the method further includes:

[0077] The sensor system is used to identify image information and / or three-dimensional information of specific obstacles.

[0078] In one possible implementation, the cleaning equipment includes a body and a walking system, the walking system being located at the bottom of the body, the body having a first ground clearance and a second ground clearance, the first ground clearance being greater than the second ground clearance, and the bottom of the crawling attachment being provided with a clearance area.

[0079] Before and after controlling the assembly to perform the climbing action, the body is controlled to switch from the second ground clearance to the first ground clearance, so as to drive the crawling attachment to lift off the first working surface or the second working surface, and the assembly is moved by the walking system;

[0080] When the fuselage is at the first ground clearance, the walking system extends out of the avoidance zone and comes into contact with the first working surface or the second working surface.

[0081] In one possible implementation, controlling the assembly to perform a climbing motion, such that the crawling attachment propels the cleaning equipment over the specific obstacle, includes:

[0082] The machine body is controlled to switch from the first ground clearance to the second ground clearance, and the climbing action is performed using the crawling attachment.

[0083] Secondly, this application provides a climbing control device applied to a cleaning system. The cleaning system includes a cleaning device and a crawling attachment. The cleaning device and the crawling attachment can automatically combine and separate from the crawling attachment. When the cleaning device needs to pass through a specific obstacle, the cleaning device and the crawling attachment combine to form a combined body.

[0084] The device includes:

[0085] A control module is used to control the combination of the cleaning equipment and the crawling attachment to form the assembly.

[0086] A climbing module is used to control the assembly to perform climbing actions, so as to use the climbing attachment to propel the cleaning equipment through the specific obstacle;

[0087] The specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface. The first working surface is lower than the second working surface in the height direction. The assembly can move from the first working surface to the second working surface or from the second working surface to the first working surface by performing the climbing action.

[0088] Thirdly, embodiments of this application provide a cleaning system, including:

[0089] Cleaning equipment used to perform cleaning tasks;

[0090] A crawling attachment, which can be combined with the cleaning equipment to form a combination and enable the cleaning equipment to pass through specific obstacles.

[0091] Fourthly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0092] The memory stores computer-executed instructions;

[0093] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0094] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0095] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0096] The climbing control method, device, electronic device, storage medium, program product, and cleaning system provided in this application can be combined with additional climbing attachments to form a composite when the cleaning equipment needs to pass through a specific obstacle. This composite then passes through the obstacle with a significant height difference. This configuration physically separates the structure with traversing capabilities from the cleaning equipment, allowing the cleaning equipment to perform routine cleaning tasks based on a lighter hardware structure without adding additional hardware. When climbing a specific obstacle, it automatically combines the climbing hardware structure to perform the climbing action, thus enabling the cleaning equipment to have good automatic stair climbing capabilities. In multi-story buildings or complex indoor environments, the cleaning equipment can smoothly perform automated cleaning tasks on multiple work surfaces. This expands the applicability and application scenarios of the cleaning equipment while avoiding the addition of new structures and saving on equipment costs for automated cleaning of multi-story buildings. Attached Figure Description

[0097] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0098] Figure 1 A schematic diagram of the structure of a cleaning device and a crawling attachment provided in an embodiment of this application, housed within a base station;

[0099] Figure 2 This is a schematic diagram of the structure of a base station provided in one embodiment of this application;

[0100] Figure 3 This is a schematic diagram of the installation position of the cleaning equipment provided in one embodiment of this application, which includes a chassis and a walking system;

[0101] Figure 4This is a schematic diagram of the combined structure of the cleaning equipment and crawling attachment provided in one embodiment of this application;

[0102] Figure 5 This is a top view of the assembly formed by the cleaning device and the crawling attachment provided in one embodiment of this application;

[0103] Figure 6 This is a side view of an assembly formed by combining a cleaning device and a crawling attachment according to an embodiment of this application;

[0104] Figure 7 This is a bottom view of the assembly formed by the cleaning device and the crawling attachment provided in one embodiment of this application;

[0105] Figure 8 This is a three-dimensional schematic diagram of the overall structure of the crawling attachment provided in one embodiment of this application;

[0106] Figure 9 This is a side view of the overall structure of the crawling attachment provided in one embodiment of this application;

[0107] Figure 10 This is a schematic diagram of the crawling mechanism provided in one embodiment of this application;

[0108] Figure 11 This is a schematic diagram of the crawling mechanism provided in one embodiment of this application after removing the first track and the second track;

[0109] Figure 12 for Figure 11 A magnified view of a portion of region A in the middle;

[0110] Figure 13 This is a schematic diagram of a structure in one embodiment of the present application, showing a first crawling component connected to a second drive pulley;

[0111] Figure 14 This is a top view of the crawling mechanism provided in one embodiment of this application;

[0112] Figure 15 for Figure 14 Cross-sectional view along the BB direction;

[0113] Figure 16 This is a schematic diagram showing a snap-fit ​​structure between the cleaning device and the crawling attachment provided in one embodiment of this application;

[0114] Figure 17 for Figure 16 A magnified view of a portion of region C in the middle;

[0115] Figure 18 This is a schematic diagram of a cleaning device with a snap-fit ​​groove provided in one embodiment of this application;

[0116] Figure 19 for Figure 18 A magnified view of a portion of region E in the middle;

[0117] Figure 20 This is a schematic diagram of a crawling attachment with a snap-fit ​​block provided in one embodiment of this application;

[0118] Figure 21 for Figure 20 A magnified view of a portion of region D in the middle;

[0119] Figure 22 This is a schematic diagram of the structure of the crawling attachment provided in one embodiment of this application in a certain posture;

[0120] Figure 23 This is a schematic diagram of the crawling attachment provided in one embodiment of this application passing through a specific obstacle;

[0121] Figure 24 This is a schematic diagram illustrating another state of the crawling attachment provided in one embodiment of this application passing through a specific obstacle;

[0122] Figure 25 This is another schematic diagram of the crawling attachment provided in one embodiment of this application passing through a specific obstacle;

[0123] Figure 26 This is a flowchart illustrating a climbing control method provided in one embodiment of this application;

[0124] Figure 27 This is a flowchart illustrating the execution process of the assembly provided in one embodiment of the present application moving from the first working surface to the second working surface by performing a climbing action;

[0125] Figure 28 This is another schematic diagram of the process when the assembly provided in one embodiment of this application moves from the first working surface to the second working surface by performing a climbing action;

[0126] Figure 29 This is a schematic diagram of the process when the assembly provided in one embodiment of the present application moves from the second working surface to the first working surface by performing a climbing action;

[0127] Figure 30 This is another schematic diagram of the process when the assembly provided in one embodiment of this application moves from the second working surface to the first working surface by performing a climbing action;

[0128] Figure 31 This is a schematic diagram of the climbing control device provided in one embodiment of this application;

[0129] Figure 32This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application.

[0130] The attached figures are labeled as follows:

[0131] 100. Cleaning system;

[0132] 10. Base station; 11. Reception cavity; 111. Opening;

[0133] 20. Cleaning equipment; 201. Object placement area; 21. Wet cleaning components; 22. Chassis; 23. Walking system; 231. Drive wheels; 232. Casters; 24. Body; 25. Bumper guards;

[0134] 30. Crawling attachment; 301. Mounting through hole;

[0135] 31. First avoidance zone;

[0136] 32. Second avoidance zone;

[0137] 33. Supporting institutions;

[0138] 34. Crawling mechanism; 341. First crawling assembly; 3411. First track; 3412. First drive assembly; 3413. First drive pulley; 34131. Tooth; 34132. Shaft; 3414. First driven pulley; 3415. First bracket; 342. Second crawling assembly; 3421. Second track; 3422. Second drive pulley; 3423. Second driven pulley; 3424. Second bracket; 3425. Second drive assembly; 34251. Rotary output end; 34252. Drive element; 34253. Worm; 34254. Worm wheel; 3426. Connecting shaft; 3427. Slewing bearing; 3428. Connecting element;

[0139] 40. Composite;

[0140] 50. Snap-fit ​​structure;

[0141] 51. Snap-on slot;

[0142] 52. Snap-on block;

[0143] 60. Specific obstacles.

[0144] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0145] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0146] The climbing control method provided in this application embodiment can be applied to, for example... Figure 1 The cleaning system 100 shown.

[0147] The cleaning system 100 is equipped with a crawling attachment 30, which can be combined with the cleaning device 20 to form a combination 40, enabling the cleaning device 20 to pass through specific obstacles 60. Therefore, the applicability and application scenarios of the cleaning device 20 can be expanded.

[0148] Base station 10 has a receiving cavity 11, which is disposed on the side wall of base station 10 and near the bottom of base station 10. One side of the receiving cavity 11 has an opening 111, and the opening 111 extends through the width direction of base station 10 (e.g., ...). Figure 2 The wall on one side (as shown by the X-axis) and the other side of the receiving cavity 11 extend along the width direction of the base station 10 into the interior of the base station 10. It should be noted that the base station 10 may also include conventional components found on existing base stations 10, such as an energy system, a negative pressure suction system, a sewage tank, and a clean water tank, which will not be described in detail here.

[0149] The aforementioned cleaning equipment 20 can autonomously move and complete cleaning tasks on a work surface within its working area without external human input or control. The working area can include indoor and outdoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc. Cleaning tasks can include sweeping (e.g., floor washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0150] Taking cleaning robots as an example, the aforementioned cleaning equipment 20 includes, but is not limited to: sweeping robots, floor scrubbing robots, sweeping and mopping robots, lawn mowing robots, snow removal robots, etc. The cleaning equipment 100 can clean using either a front-sweeping-then-mopping method or a separate sweeping-and-mopping method. The front-sweeping-then-mopping method allows sweeping and mopping simultaneously, improving cleaning efficiency. The separate sweeping-and-mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness.

[0151] To perform its cleaning function, the cleaning device 20 includes at least a body 24, cleaning components, a sensor system, and a controller. The cleaning components are mounted on the body 24 for cleaning the surface to be cleaned. Specifically, the cleaning components may include one or more of the following: side brushes, main brushes (or roller brushes), mop trays (or mop trays), etc.

[0152] The cleaning components described above can be circular, square, or other shapes (e.g., semi-circular, arc-shaped, triangular, or other irregular shapes). The circular shape facilitates rotating cleaning. The irregular shape allows for cleaning corner areas. The side brush gathers debris, directing it towards the center of the bottom of the cleaning device 20. The main brush sweeps debris from the bottom of the cleaning device 20, allowing it to enter the dust collection box through the suction port. The mop tray is used for wiping or mopping the floor.

[0153] To improve the cleaning effect of the cleaning equipment 20, the cleaning components typically have a wet cleaning function. Specifically, a mop is provided on the aforementioned mop tray. A water tank is provided on the cleaning equipment. Water in the water tank flows through holes to the mop, wetting it. The wet mop is then used for mopping the floor.

[0154] The main brush is located in the main brush chamber at the bottom of the body 24 of the cleaning device 20. The main brush chamber is connected to the dust suction channel of the cleaning device. Small debris such as dust and hair swept up by the main brush and / or side brushes will be sucked into the cleaning device through the main brush chamber.

[0155] Specifically, the shape of the aforementioned fuselage 24 can be circular, square, or other shapes. For example, one part of the fuselage can be circular, and another part can be square.

[0156] The aforementioned sensor system can be mounted on the fuselage 24. The sensor system can be, for example, an ultrasonic sensor, a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, an LDS sensor, a Dtof sensor, an Itof sensor, etc.

[0157] The controller described above may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions.

[0158] Please see Figure 4 The crawling attachment 30 can be combined with the cleaning equipment 20 to form a combination 40, enabling the cleaning equipment 20 to pass under a specific obstacle 60. The specific obstacle 60 can be a staircase. The structure of the crawling attachment 30 is not limited; for example, it can be a tracked crawling structure.

[0159] When the crawling attachment 30 is combined with the cleaning equipment 20, the tracked crawling structure can use the grip and support of its tracks to propel the cleaning equipment 20 smoothly up or over obstacles, especially when facing stairs. The crawling attachment 30 can also be a multi-wheel crawling structure. When the cleaning equipment 20 is combined with the multi-wheel crawling structure, the flexible adjustment and drive of the wheels allow it to travel smoothly over obstacles of different heights and shapes.

[0160] It should be noted that, under the condition that the combination requirements between the cleaning device 20 and the crawling attachment 30 are met, in one embodiment, the cleaning device 20 can automatically walk to the position of the crawling attachment 30 and automatically combine with the crawling attachment 30 to form a combination 40. In another embodiment, the cleaning device 20 can also combine with the crawling attachment 30 to form the combination 40 through manual intervention or intervention of other assembly devices.

[0161] To improve the automation level of the cleaning system 100, optionally in this embodiment, the cleaning device 20 can automatically move to the position of the crawling attachment 30 and automatically combine with the crawling attachment 30. Simultaneously, the cleaning device 20 can also automatically separate from the crawling attachment 30 through its operation, facilitating cleaning operations.

[0162] In one embodiment, the assembly 40 can enter the receiving cavity 11 through the opening 111. In another embodiment, the assembly 40 can exit the receiving cavity 11 through the opening 111. In this embodiment, the assembly 40 can both enter and exit the receiving cavity 11 through the opening 111.

[0163] In this embodiment, since the cleaning system 100 is equipped with a crawling attachment 30, the crawling attachment 30 can be combined with the cleaning device 20 to form a combination 40, enabling the cleaning device 20 to pass through specific obstacles 60. Therefore, the applicability and application scenarios of the cleaning device 20 can be expanded.

[0164] Meanwhile, since the assembly 40 can enter the housing cavity 11 through the opening 111, when the cleaning device 20 returns to the base station 10 after completing its cleaning task, the assembly 40 will also enter the housing cavity 11 through the opening 111, thus completing the storage of the cleaning device 20 and the crawling attachment 30 within the base station 10. This eliminates the need for additional storage space to house the crawling attachment 30, thereby reducing the overall storage space of the cleaning system 100.

[0165] In addition, since the assembly 40 can drive out of the housing cavity 11 through the opening 111 of the housing cavity 11, when the cleaning equipment 20 needs to perform a cleaning task, the assembly 40 can drive out of the housing cavity 11 through the opening 111 of the housing cavity 11.

[0166] With this configuration, when the cleaning device 20 receives a cleaning task, it does not need to travel to other locations to combine with the crawling attachment 30. The cleaning device 20 and the crawling attachment 30 can be quickly combined within the receiving cavity 11. Therefore, the response speed of the cleaning device 20 can be improved, which is beneficial to improving cleaning efficiency.

[0167] It should be noted that when the cleaning device 20 needs to perform routine cleaning tasks, i.e., when there are no specific obstacles 60 in the path of the cleaning device 20, the cleaning device 20 can exit from the housing cavity 11 independently, while the crawling attachment 30 remains inside the housing cavity 11. Under this condition, the cleaning device 20 can enter and exit the housing cavity 11 normally and perform its cleaning tasks normally. At the same time, it avoids unnecessary exposure of the crawling attachment 30, reducing its wear and tear and the risk of accidental damage.

[0168] In other embodiments, the crawling attachment 30 may not be housed in the housing cavity 11 and may be freely placed in other areas outside the base station 10. The cleaning device 20 may form a combination 40 with the crawling attachment 30 in the placement area of ​​the crawling attachment 30.

[0169] In one embodiment of this application, a sensor system is provided on the cleaning device 20, or both the cleaning device 20 and the crawling attachment 30 are provided with sensor systems. The crawling attachment 30 is also provided with a walking control system. The walking control system is communicatively connected to the sensor system. The assembly 40 achieves autonomous walking function through the coordinated action of the sensor system and the walking control system.

[0170] The sensor system enables environmental perception and navigation during the movement of the cleaning equipment 20, allowing it to autonomously move along a planned path. The sensor system can take various forms, such as lidar, vision cameras, infrared sensors, and ultrasonic sensors. The movement control system of the crawling attachment 30 can include any system related to the movement control of the crawling attachment 30, such as a motor drive module, motion controller, and displacement sensing system.

[0171] In this embodiment, the communication connection between the walking control system and the sensor system specifically means that the walking control system can use the sensing signals generated by the sensor system to control the walking status of the crawling attachment 30, such as walking direction, walking distance, walking speed, etc.

[0172] In this embodiment, the assembly 40 can achieve autonomous walking by cooperating with the cleaning device 20, or the crawling attachment 30, and the sensor system on the cleaning device 20 and the walking control system of the crawling attachment 30. When only the sensor system is provided on the cleaning device 20, the walking control system of the crawling attachment 30 can cooperate with the sensor system on the cleaning device 20 to achieve autonomous walking. This configuration allows the crawling attachment 30 and the cleaning device 20 to share the same sensor system, eliminating the need for additional sensor systems on the crawling attachment 30, thus reducing the manufacturing cost of the crawling attachment 30. Simultaneously, this design can improve the reliability and stability of the overall control of the cleaning system 100, thereby reducing the impact of control errors between different sensor systems on the walking accuracy of the assembly 40.

[0173] When both the cleaning device 20 and the crawling attachment 30 are equipped with sensor systems, even if the crawling attachment 30 is not combined with the cleaning device 20, the walking control system of the crawling attachment 30 can still work in conjunction with its own sensor system to realize the autonomous walking function of the crawling attachment 30. This enables the automatic movement of the crawling attachment 30 and the disassembly and reassembly of the crawling attachment 30 and the cleaning device 20, thereby improving the flexibility and independence of the automatic control of the crawling attachment 30.

[0174] Please see Figure 18 In one embodiment of this application, the cleaning device 20 and the crawling attachment 30 are provided with a snap-fit ​​structure 50, through which the cleaning device 20 is combined with the crawling attachment 30. The snap-fit ​​structure 50 can have various structural forms. In one embodiment, the snap-fit ​​structure 50 is a mechanical snap-fit ​​structure. Specifically, the cleaning device 20 and the crawling attachment 30 are respectively provided with protrusions and grooves. When the two are close together, the protrusions can be embedded in the grooves to achieve quick snap-fit, thereby realizing the combination of the cleaning device 20 and the crawling attachment 30. In another embodiment, the snap-fit ​​structure 50 is an elastic snap-fit ​​member.

[0175] Specifically, the crawling attachment 30 is provided with elastic claws, and the cleaning device 20 is provided with corresponding slots. When the crawling attachment 30 approaches the cleaning device 20, the elastic claws can automatically extend into the slots and lock, realizing the combination of the cleaning device 20 and the crawling attachment 30. It should be noted that the number of locking structures 50 can be one or more, depending on the combination and fixing requirements between the cleaning device 20 and the crawling attachment 30. Optionally, in this embodiment, two locking structures 50 are provided, and the two locking structures 50 are respectively provided in the width direction of the crawling attachment 30 (e.g., ...). Figure 16 On both sides (as shown in the X1 direction), when the cleaning device 20 and the crawling attachment 30 are combined, the two snap-fit ​​structures 50 fix the cleaning device 20 on both sides of the width direction of the crawling attachment 30.

[0176] In this embodiment, the snap-fit ​​structure 50 can ensure that the cleaning device 20 and the crawling attachment 30 are tightly and fixedly connected after assembly, avoiding separation of the two due to vibration or external force during the operation of the assembly 40, thereby improving the stability of the assembly 40 when passing under specific obstacles 60.

[0177] Please see Figures 16 to 21 In one embodiment of this application, the snap-fit ​​structure 50 includes a snap-fit ​​groove 51 and a snap-fit ​​block 52 that can snap together. The snap-fit ​​groove 51 and the snap-fit ​​block 52 are respectively disposed on the inner side wall of the crawling attachment 30 and the circumferential side wall of the cleaning device 20. When the crawling attachment 30 is combined with the cleaning device 20, the snap-fit ​​block 52 can slide into the snap-fit ​​groove 51 and achieve positioning between the cleaning device 20 and the crawling attachment 30 in the height direction and circumferential direction. A bumper plate 25 is provided on the front side of the cleaning device 20, and the bumper plate 25 is elastically connected to the body 24.

[0178] Please see Figures 18 to 21 In this embodiment, the snap-fit ​​groove 51 is disposed on the circumferential sidewall of the cleaning device 20. Specifically, the opening of the snap-fit ​​groove 51 is located near the anti-collision plate 25. The snap-fit ​​block 52 is disposed on the inner side of the support mechanism 33, that is, on the side of the support mechanism 33 facing the cleaning device 20.

[0179] During the assembly of the crawling attachment 30 and the cleaning device 20, the anti-collision plate 25 of the cleaning device 20 first contacts the locking block 52. Under the abutment of the locking block 52, the anti-collision plate 25 moves towards the body 24 to expose the opening of the locking groove 51, facilitating the sliding of the locking block 52 into the locking groove 51. When the locking block 52 is inserted into the locking groove 51, along the height direction of the cleaning device 20, the upper and lower sidewalls of the locking groove 51 abut against the upper and lower sidewalls of the locking block 52, respectively. At least part of the circumferential sidewall of the locking groove 51 abuts against the circumferential sidewall of the locking block 52. Thus, after the locking block 52 is inserted into the locking groove 51, the cleaning device 20 can be positioned relative to the crawling attachment 30 in both the height and circumferential directions. In other embodiments, the locking block 52 may be disposed on the circumferential sidewall of the cleaning device 20, and the locking groove 51 may be disposed on the inner sidewall of the support mechanism 33.

[0180] By setting the snap-fit ​​block 52 and the snap-fit ​​slot 51, the snap-fit ​​block 52 can be slidably inserted into the snap-fit ​​slot 51, and positioning can be achieved simultaneously in the height direction and circumferential direction of the cleaning device 20. This effectively prevents the crawling attachment 30 from loosening or shifting during movement, and ensures a stable connection between the cleaning device 20 and the crawling attachment 30.

[0181] Please see Figure 4 and Figure 8In one embodiment, the crawling attachment 30 is provided with a first clearance area 31, through which the tail of the cleaning device 20 is exposed after the cleaning device 20 and the crawling attachment 30 are combined. The first clearance area 31 may be designed as a groove or notch, the shape and size of which match the interface area of ​​the tail of the cleaning device 20.

[0182] Optionally, in this embodiment, the crawling attachment 30 is positioned with an open end corresponding to the tail of the cleaning device 20, meaning the entire tail of the cleaning device 20 can be fully exposed. It should be noted that the exposure of the tail of the cleaning device 20 through the first clearance area 31 means that when the assembly 40 is located inside the receiving cavity 11, the charging port at the tail of the cleaning device 20 can be electrically connected to the power port inside the receiving cavity 11, and the clean water replenishment port can be connected to the clean water supply port inside the receiving cavity 11.

[0183] By setting a first clearance area 31 on the crawling attachment 30, and after the cleaning device 20 and the crawling attachment 30 are combined, the tail of the cleaning device 20 can be exposed through the first clearance area 31. This makes it convenient to realize that when the combined body 40 is located inside the receiving cavity 11, the charging interface at the tail of the cleaning device 20 can be electrically connected to the power interface in the receiving cavity 11, and the clean water replenishment interface can be connected to the clean water supply interface in the receiving cavity 11.

[0184] Meanwhile, this design also allows for more flexible combinations of the cleaning device 20 and the crawling attachment 30, with minimal impact on the structure and function of the crawling attachment 30. It should be noted that this application does not impose any restrictions on the structure of the charging port at the tail of the cleaning device 20, the water replenishment port, the power port within the interface receiving cavity 11, the water supply port, or the connection method between the corresponding ports.

[0185] Please see Figure 6 , Figure 7 and Figure 8 In one embodiment of this application, a second clearance area 32 is further provided at the bottom of the crawling attachment 30. The second clearance area 32 is capable of at least clearing the wet cleaning component 21 on the cleaning device 20. The cleaning device 20 is disposed above the crawling attachment 30, and the bottom of the crawling attachment 30 is located below the wet cleaning component 21. The position of the second clearance area 32 corresponds to the placement position of the wet cleaning component 21 on the crawling attachment 30 in the assembly 40 state. The shape and size of the second clearance area 32 are not limited, as long as it ensures that the wet cleaning component 21 can be completely exposed at the bottom of the crawling attachment 30.

[0186] By setting a second clearance zone 32 and enabling the second clearance zone 32 to avoid the wet cleaning component 21, the wet cleaning component 21 can be exposed at the bottom of the crawling attachment 30 after the assembly 40 enters the receiving cavity 11, so as to come into contact with the cleaning part of the cleaning tank (not shown in the figure) located below the crawling attachment 30, thereby enabling the wet cleaning component 21 to be cleaned in the cleaning tank.

[0187] Please see Figure 3 , Figure 6 and Figure 7 In one embodiment of this application, the cleaning device 20 is provided with a walking system 23 at its bottom. The walking system 23 may only include drive wheels 231, or it may include drive wheels 231 and casters 232. The cleaning device 20 also includes a chassis 22, which is movably mounted on the body 24 of the cleaning device 20, and the walking system 23 is mounted on the chassis 22. The chassis 22 has a raised state and a lowered state relative to the body 24. During the cleaning process, the lowered state is the original state of the cleaning device 20, and the bottom of the crawling attachment 30 is provided with a second avoidance zone 32.

[0188] It should be noted that when the cleaning equipment 20 is in the lowered state, the distance between the body of the cleaning equipment 20 and the working surface on which the cleaning equipment 20 is located meets the second ground clearance. When the cleaning equipment 20 is in the raised state, the distance between the body of the cleaning equipment 20 and the working surface on which the cleaning equipment 20 is located meets the first ground clearance. The first ground clearance is greater than the second ground clearance.

[0189] In the combined state 40, the crawling attachment 30 and the body 24 of the cleaning device 20 are locked together along the height direction of the cleaning device 20. The locking method can be the locking structure 50 in the above embodiment, or other locking structures can be provided, as long as it ensures that the body 24 of the cleaning device 20 can be fixed together with the crawling attachment 30 in the height direction.

[0190] When the chassis 22 is in the lowered state, the crawling attachment 30 is in contact with the working surface, meaning the walking system 23 is not in contact with the working surface. At this time, the operation of the crawling attachment 30 drives the assembly 40 to move independently. When the chassis 22 is in the raised state, the body 24 of the cleaning equipment 20 lifts the crawling attachment 30 away from the working surface, and the walking system 23 of the cleaning equipment 20 passes through the second avoidance zone 32 and contacts the working surface. At this time, the walking system 23 of the cleaning equipment 20 operates, driving the assembly 40 to move independently.

[0191] In one embodiment, the second clearance zone 32 only allows the dry cleaning component (roller brush) to be exposed at the bottom of the crawling attachment 30. This configuration allows the dry cleaning component to vacuum and clean the working surface after being exposed through the second clearance zone 32 during the movement of the assembly 40.

[0192] In another embodiment, the second clearance zone 32 can simultaneously allow both the wet cleaning component 21 and the dry cleaning component (roller brush) disposed at the bottom of the cleaning device 20 to be exposed on the bottom of the crawling attachment 30. This arrangement allows the wet cleaning component 21 to perform wet cleaning of the work surface after being exposed through the second clearance zone 32 during the movement of the assembly 40. Simultaneously, the dry cleaning component (roller brush) can perform vacuum cleaning of the work surface after being exposed through the second clearance zone 32.

[0193] In this embodiment, the cooperation between the lifting chassis 22 and the second avoidance zone 32 on the crawling attachment 30 enables the assembly 40 to intelligently switch between different walking modes. When the chassis 22 is raised, the crawling attachment 30 detaches from the working surface, and the walking system 23 (drive wheels 231, casters 232) of the cleaning equipment 20 contacts the ground through the second avoidance zone 32. This walking mode can fully utilize the steering advantages of the wheeled structure on flat ground. When the assembly 40 needs to overcome obstacles during its movement, by controlling the chassis 22 to lower, the crawling attachment 30 can contact the working surface, enabling the assembly 40 to pass under specific obstacles 60 during its movement.

[0194] This dual-mode intelligent switching design retains the obstacle-crossing capability of the crawling attachment 30 while solving the problem of inconvenient turning of the crawling attachment 30 on flat ground, thereby improving the terrain adaptability and operational flexibility of the assembly 40.

[0195] Please see Figure 5 and Figure 8 In one embodiment of this application, the crawling attachment 30 includes a support mechanism 33 and a crawling mechanism 34. The support mechanism 33 is disposed on the crawling mechanism 34 and is used to support the cleaning equipment 20. The crawling mechanism 34 is used to move on the working surface. The structure of the crawling mechanism 34 can be a tracked crawling mechanism, a multi-wheel crawling mechanism, etc. The position of the crawling mechanism 34 relative to the support mechanism 33 is not limited; for example, it can be disposed on both sides of the support mechanism 33 or below the support mechanism 33. The number of crawling mechanisms 34 is also not limited; for example, there can be two sets or one set, as long as the cleaning equipment 20 can pass under the specific obstacle 60.

[0196] In this embodiment, by separating the support mechanism 33 and the crawling mechanism 34, a modular functional design for the crawling mechanism 34 can be achieved. This design allows the support mechanism 33 and the crawling mechanism 34 to be independently designed and optimized according to their respective functional requirements. The support mechanism 33 can focus on providing stable support, ensuring that the cleaning device 20 does not tip over or shake when traversing complex terrain or obstacles. The crawling mechanism 34, on the other hand, can focus on achieving efficient walking and obstacle-crossing capabilities, enabling the assembly 40 to easily handle various complex terrains. This independent design approach further enhances the product's design flexibility, allowing it to better meet the usage needs of different scenarios.

[0197] Please see Figure 5 and Figure 8 In one embodiment of this application, along the forward direction perpendicular to the crawling attachment, the support structure 33 is provided with a first side and a second side. At least one set of first crawling components 341 is provided on the first and second sides respectively. Along the forward direction of the crawling attachment 30, the first crawling component 341 includes a front end and a rear end, and at least one second crawling component 342 is rotatably connected to the front end and the rear end respectively. For example, one set of crawling mechanisms 34 is provided on the first side and another set on the second side, with the support mechanism 33 located between the two sets of crawling mechanisms 34.

[0198] As an example, the two sets of crawling mechanisms 34 can also be spaced apart at the bottom of the support mechanism 33.

[0199] Optionally, in this embodiment, the two sets of crawling mechanisms 34 are respectively disposed on the first side and the second side of the support mechanism 33. This can increase the spacing between the two sets of crawling mechanisms 34, thereby helping to form a better stable support for the support mechanism 33.

[0200] In this embodiment, by placing the support mechanism 33 between the two sets of crawling mechanisms 34, the crawling mechanisms 34 on both sides can provide relatively stable and reliable support for the support mechanism 33, thereby improving the support stability of the support mechanism 33 for the cleaning equipment 20. This arrangement can improve the stability of the assembly 40 when passing over a specific obstacle 60, reducing the risk of the cleaning equipment 20 tilting or shaking.

[0201] Please see Figure 8 In one embodiment of this application, the crawling mechanism 34 includes a first crawling component 341 and a second crawling component 342, the second crawling component 342 being rotatably connected to the first crawling component 341 along its length (e.g., ...). Figure 8One end (as shown in the Y1 axis direction). The rotational connection between the first crawling component 341 and the second crawling component 342 is not limited. For example, it can be a rotational connection through a shaft hole or a rotational connection through a slewing bearing. The specific rotational connection method needs to be determined according to the specific structure between the second crawling component 342 and the first crawling component 341.

[0202] By setting up a first crawling component 341 and a second crawling component 342, and rotatably connecting the second crawling component 342 to one end of the first crawling component 341 along its length, the crawling mechanism 34 is better able to adapt to various complex terrains.

[0203] For example, such as Figure 23 As shown, when encountering tall obstacles (such as stairs), the second crawling component 342 can rotate to adjust its angle, working in conjunction with the first crawling component 341 to provide stronger obstacle-crossing capability. Simultaneously, the rotating connection design of the second crawling component 342 makes the crawling attachment 30 more flexible when turning. Compared to a single crawling component, this dual-component structure achieves a smaller turning radius, especially in confined spaces or scenarios requiring frequent turning, allowing the crawling attachment 30 to adjust its direction more flexibly.

[0204] Please see Figure 8 In one embodiment of this application, two second crawling components 342 are provided, one of which is rotatably connected to the front end of the first crawling component 341, and the other is rotatably connected to the rear end of the first crawling component 341. The two second crawling components 342 may be symmetrically arranged at the front end and rear end of the first crawling component 341, or they may be asymmetrically arranged.

[0205] Optionally, in this embodiment, two second crawling components 342 are symmetrically arranged at the front and rear ends of the first crawling component 341, and along the width direction of the support mechanism 33, both second crawling components 342 are arranged on the side of the first crawling component 341 away from the support mechanism 33, that is, on the outside of the first crawling component 341. This arrangement allows the two second crawling components 342 to provide more uniform support force at both ends of the first crawling component 341, making the operation of the crawling attachment 30 more stable.

[0206] By rotatably connecting a second crawling component 342 to each end of the first crawling component 341, the two second crawling components 342 provide dual-point support at both ends of the first crawling component 341 along its length during operation. Compared to the single-point support of a single crawling component, the dual-point support significantly improves the stability of the crawling mechanism 34 when traversing a specific obstacle 60 (stairs), such as... Figure 24 and Figure 25As shown. Meanwhile, the independent rotation design of the two second crawling components 342 makes the crawling mechanism 34 more flexible when turning. Compared to a single crawling component, this structure can achieve a smaller turning radius, especially in narrow spaces or scenarios requiring frequent turning, where the crawling attachment 30 can adjust its direction more flexibly.

[0207] Please see Figure 10 In one embodiment of this application, the first crawling component 341 includes a first track 3411, and the first crawling component 341 performs crawling action through contact between the first track 3411 and the working surface. The second crawling component 342 includes a second track 3421, and the second crawling component performs crawling action through contact between the second track 3421 and the working surface.

[0208] The first track 3411 and the second track 3421 can have the same width and length, or they can have different widths and lengths, depending on the structural dimensions of the first crawling assembly 341 and the second crawling assembly 342. In one embodiment, the first track 3411 and the second track 3421 can be driven by independent motors. In another embodiment, the first track 3411 and the second track 3421 can also work together through a synchronous drive system, that is, a single motor can simultaneously drive the first track 3411 and the second track 3421 to run synchronously. This design ensures that the first track 3411 and the second track 3421 can always maintain a consistent speed and direction during movement, improving the stability of the crawling mechanism 34.

[0209] Because of the large contact area between the tracks and the working surface, both the first track 3411 and the second track 3421 achieve a large supporting contact area when in contact with the working surface, thus enabling the crawling attachment 30 to have better operational stability during crawling. Compared with wheeled crawling structures, tracked crawling structures can better distribute pressure on uneven working surfaces, reducing the risk of slippage or overturning, thereby ensuring smooth operation in complex environments. Furthermore, the continuous movement of the first track 3411 and the second track 3421 maintains stable power output, avoiding power interruption or sudden speed changes, enabling the crawling attachment 30 to complete passage tasks more efficiently and improving passage efficiency.

[0210] In one embodiment of this application, the first crawling assembly 341 includes a first driving pulley 3413 and a first driven pulley 3414, and the first track 3411 is tensioned to the first driving pulley 3413 and the first driven pulley 3414. The second crawling assembly 342 includes a second driving pulley 3422 and a second driven pulley 3423, and the second track 3421 is tensioned to the second driving pulley 3422 and the second driven pulley 3423. The second driving pulley 3422 is coaxially and fixedly connected to either the first driven pulley 3414 or the first driving pulley 3413.

[0211] Specifically, on the side near the first driving pulley 3413, the second driving pulley 3422 is coaxially and fixedly connected to the first driving pulley 3413. On the side near the first driven pulley 3414, the second driving pulley 3422 is coaxially and fixedly connected to the first driven pulley 3414. The fixed connection method is not limited; for example, it can be a tight-fit connection between a shaft and a hole, or a key connection, etc. The crawling mechanism 34 also includes a first drive assembly 3412, which is disposed on the first crawling assembly 341 and drives the first driving pulley 3413 to rotate. The first drive assembly 3412 can be a motor, which can be directly connected to the first driving pulley 3413. The motor can also be connected to the first driving pulley 3413 through a gearbox or other transmission components. Optionally, in this embodiment, the first drive assembly 3412 is a motor.

[0212] The first drive assembly 3412 operates, driving the first drive pulley 3413 to rotate. The rotation of the first drive pulley 3413 drives the second drive pulley 3422, which is fixedly connected to it, to rotate, and simultaneously drives the first track 3411 to rotate. The rotation of the second drive pulley 3422 drives the corresponding second track 3421 to rotate. The rotation of the first track 3411 drives the first driven pulley 3414 to rotate, and the rotation of the first driven pulley 3414 drives the second drive pulley 3422, which is fixedly connected to it, to rotate, and thus drives the corresponding second track 3421 to rotate.

[0213] By coaxially and fixedly connecting the second driving pulley 3422 with the first driven pulley 3414 or the first driving pulley 3413, the first drive assembly 3412 can operate, thereby simultaneously enabling the operation of the first track 3411 and the second track 3421.

[0214] This design reduces the number of drive components, lowers the complexity of the crawler mechanism 34 design, and consequently reduces the manufacturing cost of the crawler attachment 30. It also improves the structural compactness of the crawler mechanism 34. Furthermore, it enables synchronous rotation of the first track 3411 and the second track 3421, ensuring consistency in their speed and direction of movement. This avoids operational swaying or instability caused by inconsistent track speeds, thereby improving the operating efficiency and stability of the crawler attachment 30.

[0215] Please see Figure 10 and Figure 11 In one embodiment of this application, the first crawling assembly 341 includes a first driving pulley 3413 and a first driven pulley 3414, and the first track 3411 is tensioned to the first driving pulley 3413 and the first driven pulley 3414. The second crawling assembly 342 includes a second driving pulley 3422 and a second driven pulley 3423, and the second track 3421 is tensioned to the second driving pulley 3422 and the second driven pulley 3423. The second driving pulley 3422 is coaxially and fixedly connected to either the first driven pulley 3414 or the first driving pulley 3413.

[0216] Specifically, on the side near the first driving pulley 3413, the second driven pulley 3423 is coaxially and fixedly connected to the first driving pulley 3413. On the side near the first driven pulley 3414, the second driven pulley 3423 is coaxially and fixedly connected to the first driven pulley 3414. The crawling attachment 30 also includes a first drive assembly 3412, which is disposed on the second crawling assembly 342 and drives the second driven pulley 3423 to rotate.

[0217] It should be noted that there is only one first drive assembly 3412. The first drive assembly 3412 can drive the second driven pulley 3423 near the end of the first driving pulley 3413 to rotate, or it can drive the second driven pulley 3423 near the end of the first driven pulley 3414 to rotate. Further details can be found in the following documentation. Figure 8 In one embodiment, the first drive component 3412 is disposed inside the second crawling component 342. This reduces the space occupied on the outer side of the crawling attachment 30 in the width direction, which is beneficial to the compact design of the crawling attachment 30 structure.

[0218] The first drive assembly 3412 operates, driving the second driven pulley 3423 at the corresponding position to rotate. The rotation of the second driven pulley 3423 drives the corresponding second track 3421 to rotate, the rotation of the second track 3421 drives the second drive pulley 3422 to rotate, the second drive pulley 3422 drives the first drive pulley 3413 fixedly connected to it to rotate, and thus drives the first track 3411 to rotate. The rotation of the first track 3411 drives the first driven pulley 3414 to rotate, the rotation of the first driven pulley 3414 drives the second drive pulley 3422 fixedly connected to it to rotate, and thus drives the corresponding second track 3421 to rotate.

[0219] By coaxially and fixedly connecting the second driving pulley 3422 to the first driven pulley 3414 or the first driving pulley 3413, the first drive assembly 3412 can simultaneously drive the first track 3411 and the second track 3421. This arrangement reduces the number of drive assemblies, lowers the complexity of the crawling mechanism 34 design, and thus reduces the manufacturing cost of the crawling attachment 30, while also improving the structural compactness of the crawling mechanism 34.

[0220] On the other hand, it also achieves synchronous rotation of the first track 3411 and the second track 3421, ensuring consistency in their movement speed and direction, and avoiding operational swaying or instability caused by inconsistent track speeds, thereby improving the operating efficiency and stability of the crawling attachment 30. Furthermore, since the first drive assembly 3412 is located on the second crawling assembly 342, this arrangement reduces the installation space occupied by the first drive assembly 3412 on the first crawling assembly 341, which is beneficial for the compact design of the first crawling assembly 341.

[0221] Please see Figure 10 and Figure 11 In one embodiment of this application, the first crawling assembly 341 further includes a first bracket 3415, a first driving pulley 3413 rotatably connected to one end of the first bracket 3415, and a first driven pulley 3414 rotatably connected to the other end of the first bracket 3415. The length direction of the first bracket 3415 is consistent with the tensioning direction of the first track 3411. To improve the stability of the tensioning of the first track 3411, multiple support structures may also be provided on the first bracket 3415, with the multiple support structures spaced apart between the first driving pulley 3413 and the second driven pulley 3423. The support structures may be support rollers, support wheels, etc.

[0222] The second crawling assembly 342 also includes a second bracket 3424, with a second driving pulley 3422 rotatably connected to one end of the second bracket 3424 and a second driven pulley 3423 rotatably connected to the other end of the second bracket 3424. The length direction of the second bracket 3424 is consistent with the tensioning direction of the second track 3421. To improve the stability of the tensioning of the second track 3421, multiple support structures can also be provided on the second bracket 3424, with the multiple support structures spaced apart between the second driving pulley 3422 and the second driven pulley 3423. The support structures can be support rollers, support wheels, etc. The crawling attachment 30 also includes a second drive assembly 3425, which can be fixedly connected to the first bracket 3415.

[0223] The second drive assembly 3425 is used to drive the second crawling assembly 342 to rotate relative to the first crawling assembly 341, thereby adjusting the angle between the second crawling assembly 342 and the first crawling assembly 341, that is, adjusting the angle between the second bracket 3424 and the first bracket 3415. The second drive assembly 3425 can be a motor, or a combination of a motor and a reducer, or a combination of a motor, a reducer and a gear assembly, or a combination of a motor, a reducer and a worm gear, etc. It should be noted that the number of second drive assemblies 3425 corresponds to the number of second crawling assemblies 342, that is, one second drive assembly 3425 corresponds to one second crawling assembly 342. Optionally, in this embodiment, there are two second crawling assemblies 342, and two corresponding second drive assemblies 3425. The two second drive assemblies 3425 are respectively located at both ends of the length direction of the first crawling assembly 341, and one second drive assembly 3425 drives a corresponding second crawling assembly 342 to rotate relative to the first crawling assembly 341.

[0224] By providing a second drive component 3425, the second drive component 3425 can drive the second crawling component 342 to rotate relative to the first crawling component 341. This design allows the second crawling component 342 to flexibly adjust the angle between itself and the first crawling component 341 according to different working environments and task requirements. Figures 23 to 25 As shown, when crossing obstacles (such as steps, stairs, ditches, etc.), by adjusting the rotation angle of the second crawling component 342 relative to the first crawling component 341, the second crawling component 342 and the first crawling component 341 can work together to form a stable support structure and improve the stability of passage. Simultaneously, in narrow spaces or scenarios requiring frequent turning, the rotation angle of the second crawling component 342 can be adjusted to allow it to fold towards the side of the first crawling component 341, making the overall structure of the crawling attachment 30 more compact and facilitating passage.

[0225] Please see Figure 8 and Figure 11 In one embodiment of this application, the second drive component 3425 is fixedly connected to the first bracket 3415. The fixed position of the second drive component 3425 on the first bracket 3415 is not limited. Optionally, in this embodiment, the second drive component 3425 is fixed to the inner side of the first bracket 3415. This arrangement can reduce the width dimension occupied on the outer side of the crawling attachment 30, which is beneficial to further improve the compact design of the crawling attachment 30 structure.

[0226] Please see Figure 11 , Figure 14 and Figure 15 The second drive assembly 3425 has a rotary output end 34251 that drives the second bracket 3424 to rotate relative to the first bracket 3415. The rotary output end 34251 is fixedly connected to the second bracket 3424 to drive the second bracket 3424 to rotate relative to the first bracket 3415. The specific structure of the rotary output end 34251 is not limited; for example, it can be an output shaft, an output flange, an output gear, etc., and needs to be determined according to the structural form of the second drive assembly 3425 during the actual design process. There are various options for the fixed connection between the rotary output end 34251 and the second bracket 3424, such as a snap-fit ​​connection or a bolted connection.

[0227] Since the first crawling component 341 remains relatively fixed to the support mechanism 33 during operation, fixing the second drive component 3425 to the first bracket 3415, rather than mounting the first crawling component 341 to the second bracket 3424, improves the stability of the second drive component 3425's installation position, thus ensuring its reliable and stable operation. Simultaneously, because the rotary output end 34251 is directly and fixedly connected to the second bracket 3424, the transmission path is simplified, mechanical losses are reduced, and power transmission efficiency is improved, which in turn enhances the adjustment accuracy of the second bracket 3424's rotation relative to the first bracket 3415.

[0228] Please see Figure 11In one embodiment of this application, the rotation axis of the second bracket 3424 is coaxially arranged with the rotation axis of the second driving pulley 3422. Since the second driving pulley 3422 is coaxially fixed with either the first driving pulley 3413 or the first driven pulley 3414, the coaxial arrangement of the rotation axis of the second bracket 3424 with the rotation axis of the second driving pulley 3422 indicates that at one end of the first driving pulley 3413, the rotation axes of the second bracket 3424, the second driving pulley 3422, and the first driving pulley 3413 are coaxially arranged. At one end of the first driven pulley 3414, the rotation axes of the second bracket 3424, the second driving pulley 3422, and the first driven pulley 3414 are coaxially arranged.

[0229] By adopting the coaxial arrangement in the above structure, the rotation axis of the second bracket 3424 can be coincided with the rotation axis of the second drive pulley 3422, thereby avoiding the need to occupy additional offset space to accommodate pulleys or other transmission components. Therefore, it is beneficial to reduce the design dimensions of the first bracket 3415 in the length or height direction, thus improving the overall structural compactness of the crawling attachment 30.

[0230] Please see Figure 14 and Figure 15 In one embodiment of this application, a mounting through hole 301 is provided at the rotation axis position of the second bracket 3424 and the first bracket 3415. The second drive assembly 3425 includes a connecting shaft 3426, which forms a rotary output end 34251. The connecting shaft 3426 is rotatably connected to the mounting through hole 301 and fixedly connected to the second bracket 3424. Specifically, the first drive pulley 3413 includes a toothed portion 34131 and a shaft portion 34132. One end of the shaft portion 34132 is coaxially connected to the toothed portion 34131, and the other end of the shaft portion 34132 passes through the second drive pulley 3422 and is coaxially fixedly connected to the second drive pulley 3422. The first drive pulley 3413 is rotatably connected to the first bracket 3415 via a bearing. The second bracket 3424 is rotatably connected to the first bracket 3415 via a rotary assembly. The rotary assembly can be a rotary bearing or other rotating structures, etc.

[0231] The mounting through hole 301 extends axially through the first bracket 3415, the first drive pulley 3413, and the second bracket 3424. Both ends of the first drive pulley 3413 are equipped with rotary bearings 3427, which are located within the mounting through hole 301. The connecting shaft 3426 is rotatably connected to the mounting through hole 301 via the rotary bearings 3427. A connector 3428 is fixedly mounted on the side of the second bracket 3424 opposite to the first bracket 3415. The connecting shaft 3426 extends away from the rotating output end 34251 toward the connector 3428 and can be fixedly connected to the connector 3428. The fixed connection method includes, but is not limited to, bolt fixing.

[0232] By setting up the connecting shaft 3426, torque transmission and a fixed connection between the rotation output end 34251 and the second bracket 3424 can be achieved simultaneously. This design reduces the number of parts and simplifies assembly. Furthermore, the direct connection between the connecting shaft 3426 and the second bracket 3424 reduces intermediate connection points, thus ensuring connection stability and torque transmission efficiency. This improves the response speed and adjustment accuracy of the rotation angle control of the second bracket 3424.

[0233] Please see Figure 11 , Figure 12 and Figure 15 In one embodiment of this application, the second drive assembly 3425 further includes a drive member 34252, a worm gear 34254, and a worm 34253. The drive member 34252 drives the worm 34253 to rotate, and the worm gear 34253 drives the worm wheel 34254 to rotate. The worm wheel 34254 is coaxially and fixedly connected to the connecting shaft 3426. The drive member 34252 may be a motor, a combination of a motor and a gearbox, etc.

[0234] Optionally, in this embodiment, the drive component 34252 is a combination of a motor and a gearbox. The drive component 34252 is fixed to the first bracket 3415, the worm gear 34253 is rotatably connected to the first bracket 3415, and the worm wheel 34254 is fixedly connected to the end of the connecting shaft 3426 opposite to the second bracket 3424. The output end of the drive component 34252 is fixedly connected to the worm gear 34253, and the worm gear 34253 and the worm wheel 34254 mesh and transmit power. When the drive component 34252 operates, it drives the worm gear 34253 to rotate, and the rotation of the worm gear 34253 drives the worm wheel 34254 to rotate. The rotation of the worm wheel 34254 drives the connecting shaft 3426 to rotate, and the connecting shaft 3426 drives the second bracket 3424 to rotate, thereby realizing the adjustment of the rotation angle of the second bracket 3424 relative to the first bracket 3415.

[0235] Because the worm gear drive has a self-locking function, the rotation angle of the second crawling component 342 can be locked when the drive component 34252 stops rotating or is de-energized. This effectively reduces the risk of accidental slippage or fall of the crawling attachment 30 during operation due to changes in the rotation angle of the second crawling component 342. Simultaneously, the worm gear mechanism can achieve orthogonal transmission, meaning the axes of the worm 34253 and the worm wheel 34254 are at 90°. This transmission structure facilitates arrangement and installation in limited spaces, thereby improving the structural compactness of the crawling attachment 30.

[0236] Please see Figure 4 In one embodiment of this application, the upper surface of the cleaning device 20 is provided with an object placement area 201 for carrying objects to be transported. The object placement area 201 can be implemented in various ways. For example, it can be formed directly using the top wall of the body 24 of the cleaning device 20. Alternatively, it can be formed by additional structural components connected to the top wall of the body 24. The structural form of the object placement area 201 can be designed according to actual needs, including various forms such as planar areas and cavity structure areas.

[0237] When the crawling attachment 30 propels the cleaning equipment 20 across a specific obstacle 60, the object placement area 201 can carry and transport the object to be transported. Specifically, the object to be transported can be securely placed on the object placement area 201 and complete the obstacle-crossing transportation operation together with the cleaning equipment 20. It should be noted that the objects to be transported in this embodiment cover various items that need to be moved, including but not limited to common transport objects such as express parcels and garbage.

[0238] By setting an object placement area 201 on the upper surface of the cleaning device 20, this design allows the cleaning device 20 to perform cleaning operations while also having the function of transporting items, thereby expanding the functionality of the cleaning system 100 and making it applicable to more application scenarios.

[0239] In one embodiment of this application, the cleaning device 20 is further provided with a robotic arm (not shown in the figure), and a cleaning accessory is detachably installed at the end of the robotic arm. The robotic arm adopts a multi-degree-of-freedom joint design, which can realize flexible movement in multiple directions, including pitch, lateral and telescopic movements.

[0240] In one embodiment, the cleaning accessory is a vacuuming assembly. When the crawling attachment 30 moves the cleaning device 20 along a specific obstacle 60, the robotic arm can adjust the position of the vacuuming assembly to vacuum the surface of the obstacle 60 to be cleaned. The surface of the obstacle 60 to be cleaned can be a stair railing, balustrade, step, etc. It should be noted that the vacuuming assembly can include various specifications and models; depending on the shape and position of the surface of the obstacle 60 to be cleaned, different specifications and models of vacuuming assemblies can be selected for the end of the robotic arm. The vacuuming assembly can include a vacuum motor and a multi-stage filtration system; the operation of the vacuuming assembly can effectively remove dust, debris, and fine particles from the surrounding area.

[0241] In another embodiment, the cleaning accessory is a scrubbing assembly. When the crawling attachment 30 moves the cleaning device 20 along the specific obstacle 60, the robotic arm can adjust the position of the scrubbing assembly to scrub the surface of the obstacle 60 to be cleaned. The scrubbing assembly can be a flat cloth structure, a cloth tray structure, etc. The scrubbing assembly can be wet scrubbing or dry scrubbing, etc., and this embodiment is not limited in this respect. It should be noted that the scrubbing assembly can also include various specifications and models. Depending on the shape and position of the surface of the obstacle 60 to be cleaned, different specifications and models of scrubbing assemblies can be selected for the end of the robotic arm.

[0242] By detachably connecting cleaning accessories to the end of the robotic arm, the multi-degree-of-freedom operation of the robotic arm allows for flexible adjustment of the position and angle of the cleaning accessories. When the crawling attachment 30 moves the cleaning device 20 along a specific obstacle 60, the cleaning accessories can precisely clean the surface of the obstacle 60. Therefore, this design not only enriches the functionality of the crawling attachment 30, making it applicable to more application scenarios, but also allows the robotic arm to flexibly select different cleaning accessories according to different cleaning tasks and environments, thereby better meeting the cleaning requirements of different surfaces and ensuring better cleaning results.

[0243] In one embodiment, a climbing control method is provided. This embodiment uses the application of this climbing control method to the controller of the aforementioned cleaning equipment as an example for illustration. Figure 26 As shown, when the cleaning equipment needs to pass through a specific obstacle, the climbing control method includes:

[0244] Step 2602: Control the combination of cleaning equipment and crawling attachment to form a combined unit.

[0245] During the cleaning process, if the sensor system on the cleaning equipment detects an obstacle in the cleaning path, the controller can control the sensor system to collect the feature information of the obstacle and determine whether the obstacle is a specific obstacle based on the feature information. If so, the controller can control the cleaning equipment to combine with the crawling attachment through a snap-fit ​​structure to form a combined unit.

[0246] Alternatively, the cleaning equipment can be pre-set with multiple cleaning tasks, and different cleaning tasks correspond to different working surfaces. When the cleaning equipment completes the current cleaning task, the controller determines, based on the pre-stored spatial position information of the working surfaces corresponding to each cleaning task, that the cleaning equipment needs to climb a specific obstacle to reach the working surface corresponding to the next cleaning task. In this case, the controller can control the cleaning equipment to combine with the crawling attachment through a snap-fit ​​structure to form a combined unit.

[0247] Alternatively, during the cleaning process, the controller receives a control command from a specific terminal. This control command is issued by the user through the specific terminal and instructs the cleaning equipment to stop cleaning the current working surface and move to another working surface to perform a new cleaning task. When the controller determines that the cleaning equipment needs to climb a specific obstacle to reach the working surface corresponding to the control command, it can control the cleaning equipment to combine with the crawling attachment through a snap-fit ​​structure to form a combined unit.

[0248] The characteristic information of an obstacle refers to various parameters used to describe its physical and dynamic properties, including but not limited to morphological features (such as size, outline, and geometry), flexibility features (such as elasticity and deformation characteristics), and motion features (such as speed, trajectory, and vibration patterns). This information helps the controller identify and classify different types of obstacles.

[0249] As an example, the sensor system can employ monocular vision sensors, binocular vision sensors, line laser sensors, area laser sensors, LDS sensors, Dtof sensors, Itof sensors, etc. The controller acquires the three-dimensional feature information of the obstacle through the sensor system and processes the three-dimensional feature information of the obstacle through computer vision to obtain its morphological features.

[0250] Alternatively, the sensor system can use force sensors, tactile sensors, sound wave sensors, etc., and the controller can determine the hardness or softness of the obstacle by pressure distribution pattern or mechanical feedback, thereby obtaining the softness or material characteristics of the obstacle.

[0251] Alternatively, the sensor system can use infrared sensors, millimeter-wave radar, dynamic vision sensors, etc., and the controller can predict the movement trend of obstacles based on time-series data (such as Kalman filtering and optical flow methods) to determine the movement characteristics of obstacles. These movement characteristics are used to distinguish between static objects and dynamic objects.

[0252] A specific obstacle refers to an object used to connect the first working surface and the second working surface, such as a staircase with multiple steps, where the first working surface is lower than the second working surface in the height direction. Specifically, the first working surface and the second working surface can refer to the ground of the first floor and the ground of the second floor.

[0253] Step 2604: Control the assembly to perform a climbing action, so as to use the crawling attachment to drive the cleaning equipment through specific obstacles.

[0254] After the cleaning equipment is combined with the crawling attachment to form a unit, the controller can control the unit to move the cleaning equipment through the specific obstacle by having the crawling attachment crawl on it.

[0255] It should be noted that in this step, the controller can control the cleaning equipment body in the assembly to be at the second ground clearance before using the crawling attachment to perform the climbing action. This ensures that the walking system of the cleaning equipment does not pass through the second avoidance zone, preventing the cleaning equipment from lifting the crawling attachment off the working surface of the assembly. Furthermore, during the climbing action of the assembly, the controller controls the cleaning equipment body to always be at the second ground clearance to prevent the walking system of the cleaning equipment from passing through the second avoidance zone and contacting the surface of each step of the stairs, thereby lifting the crawling attachment off the stair surface and causing the assembly to overturn.

[0256] The aforementioned climbing control method can detect when the cleaning equipment needs to pass through a specific obstacle. It can then be combined with an additional climbing attachment to form a composite structure, and pass through the obstacle with a significant height difference in this composite form. This design separates the structure with traversing capabilities from the cleaning equipment in terms of hardware. The cleaning equipment can perform routine cleaning tasks based on a lighter hardware structure without adding additional hardware. When it needs to climb a specific obstacle, it automatically combines the hardware structure with climbing capabilities to perform the climbing action. This enables the cleaning equipment to have good automatic stair climbing capabilities. When facing multi-story buildings or complex indoor environments, the cleaning equipment can smoothly perform automated cleaning tasks on multiple work surfaces. This expands the applicability and application scenarios of the cleaning equipment, avoids adding new structures to the cleaning equipment, and saves on the equipment cost for automated cleaning of multi-story buildings.

[0257] In some optional embodiments, step 2602 includes:

[0258] The cleaning equipment and crawling attachment are moved separately to specific obstacles, and then combined at the obstacles to form a combined unit; or

[0259] Control the cleaning equipment and crawling attachments to combine at specific locations to form a combined unit.

[0260] The specific location can be, for example, inside the containment cavity of the base station, or any location outside the base station.

[0261] In an embodiment where the cleaning device and the crawling attachment are combined at a specific obstacle, the controller can control the crawling attachment to move to the specific obstacle and combine with the cleaning device to form a combination when the cleaning device is at the specific obstacle; or, during the cleaning process, after determining that the cleaning path of the cleaning device needs to pass through a specific obstacle, the controller can control the crawling attachment to move to the specific obstacle simultaneously before the cleaning device reaches the specific obstacle and combine to form a combination.

[0262] In an embodiment where the cleaning equipment and crawling attachment are combined at a specific location, the controller can switch the chassis of the cleaning equipment from its original state to a raised state. At this time, the machine body changes from a second ground clearance to a first ground clearance, causing the crawling attachment to lift off the working surface currently occupied by the cleaning equipment. The controller further controls the operation of the cleaning equipment's walking system, enabling the assembly to move independently until it reaches a specific obstacle. When the chassis is in the raised state, the walking system on the cleaning equipment passes through the avoidance zone of the crawling attachment and contacts the working surface. The avoidance zone refers to the second avoidance zone. By raising the crawling attachment, the self-movement of the assembly can be ensured by the drive wheels (or drive wheels and casters) on the crawling system, resulting in a faster movement speed for the assembly.

[0263] It should be noted that if the cleaning equipment body is at the first ground clearance during the process of the assembly moving from a specific location to a specific obstacle, the controller needs to control the cleaning equipment body to switch from the first ground clearance to the second ground clearance when the assembly reaches the specific obstacle, so that the chassis of the cleaning equipment returns to its original state before the assembly performs the climbing action, and avoids lifting the climbing attachment off the current working surface.

[0264] Alternatively, the controller can keep the chassis of the cleaning equipment in its original state, that is, the body is at the second ground clearance, the crawling attachment is in contact with the working surface, and the controller drives the crawling attachment to achieve the self-movement of the assembly.

[0265] In an embodiment where the controller drives the crawling attachment to achieve self-propelled movement of the assembly, the controller can, for example, control the rotation of the second crawling components at the front and rear ends relative to the first crawling component. This allows the second crawling components at the front and rear ends to support the support mechanism and the first crawling component, placing them in a suspended state. At this time, the controller controls the contact between the second track on the second crawling component and the working surface to achieve self-propelled movement of the assembly. By raising the support mechanism and the first crawling component, obstacles on the working surface can be prevented from scraping against the chassis of the cleaning equipment during the self-propelled movement of the assembly, thereby improving equipment safety.

[0266] In the aforementioned climbing control method, the cleaning equipment and the crawling attachment can be moved separately to specific obstacles and combined at those obstacles. In this case, the crawling attachment can leave its resting position independently, thus preventing the cleaning equipment from interrupting the cleaning task or changing the cleaning path, ensuring that the cleaning equipment performs the cleaning task in the most efficient way. Alternatively, when the cleaning equipment needs to pass through a specific obstacle, it can return to the resting position of the crawling attachment, combine with the crawling attachment, and move the combination to the specific obstacle through the cleaning equipment's walking system or through the crawling attachment. This allows the combination to be made according to the actual cleaning needs of the cleaning equipment, avoiding situations where the crawling attachment leaves its resting position, but the cleaning equipment changes the cleaning path due to temporary user control, resulting in ineffective movement of the crawling attachment. This ensures the control effectiveness of the crawling attachment.

[0267] In some optional embodiments, prior to step 2604, the method further includes:

[0268] Use sensor systems to identify image and / or 3D information of specific obstacles.

[0269] Based on this, such as Figure 27 As shown, in some optional embodiments, when the assembly is located on the first working surface and needs to move from the first working surface to the second working surface by performing a climbing action, step 2604 includes:

[0270] Step 26041: Adjust the posture and position of the crawling attachment on the first working surface so that the crawling mechanism contacts the surface of the specific obstacle;

[0271] Step 26042: Use the crawling mechanism to drive the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface until the assembly moves to a position near the second working surface of the specific obstacle so that the assembly passes through the specific obstacle;

[0272] Step 26043: At the location where a specific obstacle is close to the second working surface, adjust the posture and position of the crawling attachment so that the assembly moves onto the second working surface.

[0273] In this embodiment, after the assembly is positioned at a specific obstacle, the controller can adjust the posture and position of the crawling attachment to make the crawling mechanism contact the surface of the specific obstacle. Specifically, in the embodiment where the cleaning equipment and the crawling attachment are combined at a specific position, and the chassis of the cleaning equipment switches from its original state to a raised state, causing the crawling attachment to be lifted away from the working surface where the cleaning equipment is currently located, the assembly achieves self-propelled movement through the operation of the cleaning equipment's walking system. After the assembly reaches the specific obstacle, the controller can adjust the posture and position of the crawling attachment to make the crawling mechanism contact the surface of the specific obstacle.

[0274] In some alternative embodiments, such as Figure 28 As shown, step 26041 includes:

[0275] Step 260411: Drive the second crawling component at the front end to rotate relative to the first crawling component so that the second crawling component overlaps the surface of the first step of the specific obstacle;

[0276] Step 260412: Drive the second crawling component at the rear end to rotate relative to the first crawling component, so that the crawling mechanism flattens out;

[0277] Step 260413: Use the crawling mechanism to drive the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface, so that the second crawling component at the front end contacts the corner of the second step of the specific obstacle.

[0278] Along the height direction, the first step is higher than the first working surface, and the second step is higher than the first step.

[0279] It should be noted that the first step refers to, for example, the first step that is closest to the first working surface in the height direction, or it may also include the second step that is second closest to the first working surface in the height direction, the third step that is third closest to the first working surface in the height direction, etc. The first step refers to the step that the second crawling component at the front end can reach by rotating relative to the first crawling component when the assembly is located on the first working surface. The second step refers to at least one step that is higher than the first step.

[0280] In this embodiment, the controller can first determine the spatial position of the first step of the specific obstacle based on the image information and / or three-dimensional information of the specific obstacle, and further adjust the position of the crawling attachment so that the distance between the assembly and the first step is less than the distance between the end of the second crawling component at the front end that is away from the first crawling component and the rotation center of the second crawling component at the front end. Here, the controller can determine that by controlling the rotation of the second crawling component at the front end, the second crawling component at the front end can make contact with the surface of the first step. The controller further drives the second crawling component at the front end to rotate relative to the first crawling component so that the second crawling component overlaps the surface of the first step of the specific obstacle.

[0281] It should be noted that, in one embodiment, during the process of using the crawling mechanism to drive the assembly to move along the extension direction of a specific obstacle, the angle of the second crawling component relative to the first crawling component is adjusted in real time so that the second crawling component contacts the corner of the step of the corresponding specific obstacle. This allows the crawling mechanism to always engage with the corner of the step during the climbing action, thereby achieving stable movement of the crawling mechanism on the specific obstacle and thus achieving stable climbing of the assembly.

[0282] In this embodiment, the controller controls the rotation of the second crawling component at the front end to ensure that the second crawling component at the front end makes initial contact with the surface of the first step. Then, by driving the second crawling component at the rear end to rotate relative to the first crawling component, the crawling mechanism is flattened to ensure the stability of the assembly. Finally, the crawling mechanism is used to drive the assembly to move towards the corner of the second step, so that the crawling mechanism only needs to contact the corner of the second step, thereby enabling the crawling mechanism to move stably on specific obstacles. This ensures the stable movement of the assembly while achieving stable climbing of the assembly.

[0283] In some optional embodiments, prior to step 260412, the method further includes:

[0284] Drive the crawling attachment toward a specific obstacle until the front end of the first crawling component engages with the surface of the first step.

[0285] In this embodiment, the controller can move the assembly toward a specific obstacle by controlling the contact between the second track of the rear-end second crawling component and the first working surface, and the contact between the front-end second crawling component and the surface of the first step via the second track, until the front end of the first crawling component engages with the surface of the first step. In this way, the front ends of the second and first crawling components can jointly support the crawling attachment on the surface of the first step, thereby improving the stability of the crawling attachment in performing the next action.

[0286] In some optional embodiments, prior to step 260413, the method further includes:

[0287] The second crawling component at the front end is rotated relative to the first crawling component so that the second crawling component at the front end aligns with the corner of the second step of a specific obstacle.

[0288] As an example, the controller may determine the height and position of each step on a staircase based on image and / or 3D information of a specific obstacle, and determine the angle value of the corner formed by the step.

[0289] In this embodiment, after the controller controls the second crawling component to attach to the surface of the first step of a specific obstacle (or controls the front end to attach to the surface of the first step), the controller can drive the second crawling component at the front end to rotate relative to the first crawling component, so that the angle between the second crawling component at the front end and the first step conforms to the aforementioned tilt angle value, thereby accommodating the corner of the second step. During the process of driving the second crawling component at the front end to accommodate the corner of the second step, the end of the second crawling component closest to the front end of the first crawling component and the front end of the first crawling component together support the crawling attachment on the surface of the first step, thereby improving the stability of the second crawling component during rotation.

[0290] In the above embodiments, after the second crawling component at the front end attaches to the surface of the first step of the specific obstacle, the controller can adjust the orientation of the second crawling component at the front end so that the second crawling component at the front end is parallel to the plane formed by the corners of the multiple steps of the specific obstacle. This ensures that during the subsequent movement of the assembly, the crawling mechanism contacts the corners of the second step of the specific obstacle, thereby enabling the crawling mechanism to move stably on the specific obstacle. This ensures the stable movement of the assembly while achieving stable climbing of the assembly.

[0291] In some optional embodiments, after step 260413, the method further includes:

[0292] The second crawling component at the front end rotates relative to the first crawling component to flatten the crawling mechanism.

[0293] In this embodiment, after the crawling mechanism contacts the corner of the second step, the specific obstacle supports the crawling mechanism simultaneously with the corners of the first and second steps. Thus, the direction of movement of the crawling attachment on the specific obstacle can be determined by the two corners. Therefore, the crawling mechanism can be flattened so that it can move along the extension direction of the specific obstacle.

[0294] In the above embodiments, after the second crawling component at the front end contacts the corner of the second step of the specific obstacle, the controller can adjust the orientation of the second crawling component at the front end so that the plane formed by the corners of the multiple steps of the specific obstacle is parallel to the second crawling component at the front end. This ensures that during the subsequent movement of the assembly, the crawling mechanism only needs to contact the corner of the second step of the specific obstacle, so that the crawling mechanism can always engage with the corner of the step during the climbing action. This enables the crawling mechanism to move stably on the specific obstacle, ensuring the stable movement of the assembly while achieving stable climbing of the assembly.

[0295] In some optional embodiments, step 260411 includes:

[0296] A second crawling component at the front end of either side of the drive support mechanism rotates relative to the first crawling component so that the second crawling component overlaps the surface of the first step of a specific obstacle;

[0297] The second crawling component at the front end of the other side of the drive support mechanism rotates relative to the first crawling component so that the second crawling component overlaps the surface of the first step of the specific obstacle.

[0298] In this embodiment, the controller performs step-by-step control on the second crawling component located at the front end of the first crawling component on the first side of the support mechanism and on the second crawling component located at the front end of the first crawling component on the second side of the support mechanism, so as to avoid instability of the crawling mechanism caused by controlling the second crawling components on both sides to rotate simultaneously.

[0299] As an example, if the assembly is only in contact with the first working surface via the second crawling component before performing the climbing action, the controller can employ the climbing control method described in this embodiment. First, it drives the second crawling component at the front end of one side of the support mechanism to rotate relative to the first crawling component, and then drives the second crawling component at the front end of the other side of the support mechanism to rotate relative to the first crawling component. This prevents the assembly from tipping over due to both front-end second crawling components simultaneously leaving the ground. In this way, by controlling the sequential rotation of the two front-end second crawling components, the controller can prevent the assembly from tipping over, thereby ensuring the stability of the assembly during the climbing action.

[0300] In some optional embodiments, prior to step 260411, the method further includes:

[0301] The second crawling components at the front and rear ends are driven to rotate relative to the first crawling component, so as to use the second crawling components at the front and rear ends to support the support mechanism and the first crawling component, so that the support mechanism and the first crawling component are in a suspended state.

[0302] In this embodiment, the second crawling component lifts the support mechanism, the first crawling component, and the cleaning device, which in the height direction makes the support mechanism, the first crawling component, and the cleaning device higher than or slightly lower than the first step. This makes it easier for the second crawling component to attach to the surface of the first step, making it easier for the assembly to move onto a specific obstacle.

[0303] In some optional embodiments, prior to step 26042b1, the following steps are also included:

[0304] A second crawling component at the front end of either side of the drive support mechanism rotates relative to the first crawling component so that the second crawling component overlaps the surface of the first step of a specific obstacle;

[0305] The second crawling component at the front end of the other side of the drive support mechanism rotates relative to the first crawling component so that the second crawling component overlaps the surface of the first step of the specific obstacle.

[0306] In this embodiment, the controller performs step-by-step control on the second crawling component located at the front end of the first crawling component on the first side of the support mechanism and on the second crawling component located at the front end of the first crawling component on the second side of the support mechanism, so as to avoid instability of the crawling mechanism caused by controlling the second crawling components on both sides to rotate simultaneously.

[0307] As an example, if the assembly is in contact with the first working surface only through the second crawling component before performing the climbing action, the controller can use the climbing control method in this embodiment to first drive the second crawling component at the front end of either side of the support mechanism to rotate relative to the first crawling component, and then drive the second crawling component at the front end of the other side of the support mechanism to rotate relative to the first crawling component, so as to avoid the assembly from tipping over due to the two second crawling components at the front end simultaneously leaving the ground.

[0308] If the assembly is in contact with the first working surface simultaneously through the first crawling component and the second crawling component before performing the climbing action, the controller can simultaneously control the second crawling component at the front end of the first crawling component on both sides of the support mechanism to rotate simultaneously. Alternatively, the climbing control method in this embodiment can be used to first drive the second crawling component at the front end of one side of the support mechanism to rotate relative to the first crawling component, and then drive the second crawling component at the front end of the other side of the support mechanism to rotate relative to the first crawling component, so as to ensure the stability of the assembly.

[0309] In the above embodiments, the controller can prevent the assembly from tipping over by controlling the second crawling components at the two front ends to rotate sequentially, thereby ensuring the stability of the assembly during the climbing process.

[0310] In some alternative embodiments, when the assembly moves to a position near a specific obstacle close to the second working surface, the end of the second crawling component at the front end that is closer to the first crawling component is higher than the second working surface;

[0311] Step 26043 includes:

[0312] The second crawling component at the front end is rotated relative to the first crawling component so that the second crawling component at the front end overlaps the second working surface;

[0313] The second crawling component at the front end is driven by a crawling mechanism to move on the second working surface in a direction away from a specific obstacle until the rear end is above the second working surface.

[0314] In step 26042, the controller can drive the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface. During the movement, the first crawling component maintains stable power output through the contact between the first track and the step corner of the specific obstacle, and the second crawling component maintains stable power output through the contact between the second track and the step corner of the specific obstacle. When the assembly moves to a position near the second working surface of the specific obstacle, the front second crawling component is raised. At this time, the front second crawling component no longer contacts the surface of the step corner of the specific obstacle. The first crawling component provides friction through the contact between the first track and the surface of the step corner of the specific obstacle, and the rear second crawling component provides friction through the contact between the second track and the step corner of the specific obstacle, so that the assembly can stay on the surface of the specific obstacle.

[0315] At this time, the controller can drive the second crawling component at the front end to rotate relative to the first crawling component, so that the height of the end of the second crawling component at the front end that is away from the first crawling component is reduced, so as to realize the downward movement of the second crawling component at the front end until the second crawling component at the front end contacts the second working surface.

[0316] Subsequently, the second crawling component at the front end maintains its power output through contact between the second track and the second working surface, causing the assembly to move along the second working surface in a direction away from a specific obstacle until the rear end of the first crawling component is above the second working surface. At this point, the rear end of the second crawling component contacts the corner of the second working surface, and the end of the front end of the second crawling component away from the first crawling component contacts the second working surface, thereby raising the first crawling component so that its rear end is above the second working surface. It should be noted that "rear end above the second working surface" can mean that the rear end of the first crawling component is in contact with the second working surface, or it can mean that the rear end of the first crawling component is suspended above the second working surface.

[0317] In the above embodiments, the use of a split first crawling component and second crawling components located at the front and rear ends ensures that multiple objects can maintain contact with specific obstacles simultaneously during the climbing process, thereby providing stable support points and preventing the assembly from tipping over. Furthermore, the multi-support-point design provides a power basis for the assembly's sequence of lifting and then lowering when climbing steps. As the second crawling component at the front end is gradually lifted above the second working surface, the first crawling component and the second crawling component at the rear end can stably provide power to continuously raise the center of gravity of the assembly, reducing the difficulty of adjusting the center of gravity when the assembly crosses steps, thereby ensuring the stable climbing of the assembly on the steps.

[0318] In some optional embodiments, after the step of using a crawling mechanism to drive the second crawling component at the front end to move on the second working surface in a direction away from a specific obstacle until the rear end is above the second working surface, the method further includes:

[0319] Adjust the posture of the crawling attachment so that the first crawling component fits into the second working surface.

[0320] It should be noted that during the climbing action of the crawling mechanism, the first surface of the second crawling component contacts the surface of the specific obstacle, namely the corner of the second step, and the second surface of the second crawling component is set to correspond to the first surface.

[0321] In this embodiment, if the rear end of the first crawling component is suspended above the second working surface, the controller can, for example, drive the second crawling component at the rear end to rotate relative to the first crawling component after the rear end of the first crawling component is above the second working surface, so that the rear end of the first crawling component contacts the second working surface.

[0322] Subsequently, the controller can drive the second crawling component at the front end to rotate relative to the first crawling component, so that the first surface of the second crawling component contacts the second working surface. At this time, the second crawling component and the first crawling component at the front end are flattened, and the first crawling component also contacts the second working surface. At this point, the cleaning device can detach from the crawling attachment and continue to perform the cleaning task on the second working surface. The controller can further drive the crawling attachment to move on its own, controlling it to move to a preset position corresponding to the second working surface, so as to avoid the crawling attachment obstructing the user's daily walking. If the current working surface is the working surface where the base station is located, the controller can control the crawling attachment to return to the base station, thereby realizing highly intelligent automatic control of the cleaning device and the crawling attachment.

[0323] In the above embodiments, the second crawling component at the front end contacts the second working surface, and the second crawling component at the rear end contacts the step of the specific obstacle, to provide stable power to the assembly, enabling the assembly to move stably away from the specific obstacle and to raise its center of gravity stably. Furthermore, by first adjusting the orientation of the second crawling component at the rear end and then adjusting the orientation of the second crawling component at the front end, the rear end and front end of the first crawling component can be made to contact the second working surface in sequence, thereby achieving stable landing of the first crawling component and ensuring the stable completion of the climbing action.

[0324] like Figure 29 As shown, in some optional embodiments, when the assembly is located on the second working surface and the assembly needs to move from the second working surface to the first working surface by performing a climbing action, step 2604 includes:

[0325] Step 26044: Adjust the posture and position of the crawling attachment on the second working surface so that the crawling mechanism contacts the surface of the specific obstacle;

[0326] Step 26045: Use the crawling mechanism to drive the assembly to move along the extension direction of the specific obstacle from the second working surface to the first working surface until the assembly moves to a position where the specific obstacle is close to the first working surface.

[0327] Step 26046: At the location where a specific obstacle is close to the first working surface, adjust the posture and position of the crawling attachment so that the assembly moves onto the first working surface.

[0328] In some alternative embodiments, such as Figure 30 As shown, step 26044 includes:

[0329] Step 260441: Drive the second crawling component at the front end to rotate relative to the first crawling component so that the second crawling component at the front end contacts the corner of the third step of the specific obstacle;

[0330] Step 260442: Use the crawling mechanism to drive the assembly to move along the extension direction of the specific obstacle from the second working surface to the first working surface, so that the second crawling component at the front end contacts the surface of the fourth step;

[0331] Step 260443: Drive the second crawling components at the front and rear ends to rotate relative to the first crawling component, so that the crawling mechanism flattens out;

[0332] Step 260444: Use a crawling mechanism to drive the assembly to move along the extension direction of a specific obstacle from the second working surface to the first working surface, so that the second crawling component at the front end contacts the corner of the fourth step. Wherein, along the height direction, the third step is lower than the second working surface, and the fourth step is lower than the third step.

[0333] It should be noted that the third step refers to, for example, the first step that is closest to the second working surface in the height direction, or it may include the second step that is second closest to the second working surface in the height direction, the third step that is third closest to the second working surface in the height direction, etc. The third step refers to the step that the second crawling component at the front end can reach by rotating relative to the first crawling component when the assembly is located on the second working surface. The fourth step refers to at least one step that is lower than the third step.

[0334] In this embodiment, the controller can first determine the spatial position of the third step of the specific obstacle based on the image information and / or three-dimensional information of the specific obstacle, and further adjust the position of the crawling attachment and control the rotation of the second crawling component at the front end so that the second crawling component at the front end contacts the corner of the third step. At this time, the contact between the second crawling component at the front end and the corner of the third step can provide a stable fulcrum for the assembly, prevent the assembly from tipping over, and thus ensure the stability of the assembly during the downward movement.

[0335] Secondly, the controller drives the crawling mechanism to move the assembly downwards along the extension direction of a specific obstacle, so that the second crawling component at the front end can contact the surface of the fourth step.

[0336] As an example, prior to step 260443, the controller may, for example, determine the height and position of each step on the stairs based on image information and / or three-dimensional information of a specific obstacle, and determine the angle value of the inclination formed by the corner of the step.

[0337] Furthermore, in step 260443, the controller can drive the front and rear second crawling components to rotate relative to the first crawling component, so that the angle between the front second crawling component and the fourth step meets the above-mentioned tilt angle value, and the angle between the rear second crawling component and the fourth step meets the above-mentioned tilt angle value, so as to meet the corner of the fourth step and flatten the crawling mechanism, thereby making the entire crawling mechanism parallel to the plane formed by the corners of the multiple steps of the specific obstacle, and further drive the crawling mechanism to ensure that during the subsequent movement of the assembly, the crawling mechanism contacts the corner of the fourth step of the specific obstacle, so as to realize the stable movement of the crawling mechanism on the specific obstacle, and realize the stable climbing of the assembly while ensuring the stable movement of the assembly.

[0338] In some optional embodiments, prior to step 260423, the method further includes:

[0339] Adjust the posture and position of the crawling attachment so that the first crawling component contacts the second working surface.

[0340] In the above steps, adjusting the posture of the crawling attachment refers to adjusting the direction of the crawling attachment using the crawling mechanism so that the front side of the crawling attachment faces the specific obstacle. Adjusting the position of the crawling attachment refers to adjusting its position on the second working surface so that the crawling attachment is close to the junction of the second working surface and the third step. The first crawling component can contact the second working surface directly, or the front and / or rear second crawling components and the first crawling component can contact the second working surface simultaneously. In short, before performing the downward movement from the second working surface to the first working surface, the first crawling component must be in contact with the second working surface; whether the second crawling component contacts the second working surface is not restricted. This setting shortens the distance between the second crawling component and the third step, making it easier for the front second crawling component to contact the surface of the third step, reducing the rotation distance of the second crawling component, and thus facilitating the downward movement from the second working surface to the first working surface.

[0341] In some optional embodiments, step 260444 includes:

[0342] The second crawling component at the front end is rotated relative to the first crawling component so that the second crawling component at the front end contacts the surface of the third step;

[0343] The crawling mechanism drives the assembly to move away from the second working surface on the surface of the third step until the second crawling component at the front end contacts the corner of the third step.

[0344] In this embodiment, the controller can, for example, control the assembly to move its position so that the front end of the first crawling component extends from the second working surface, such that the front end of the first crawling component is above the surface of the third step. Subsequently, the controller can drive the second crawling component at the front end to rotate relative to the first crawling component so that the end of the second crawling component at the front end away from the first crawling component contacts the surface of the third step. Then, the crawling mechanism drives the assembly to move on the surface of the third step in a direction away from a specific obstacle until the second crawling component at the front end contacts the corner of the third step.

[0345] In an optional embodiment, rotating the second crawling component of the front end relative to the first crawling component to bring the second crawling component of the front end into contact with the surface of the third step includes:

[0346] The second crawling component at the front end is rotated relative to the first crawling component so that the second crawling component at the front end is positioned above the surface of the third step;

[0347] The second crawling component at the rear end is rotated relative to the first crawling component, so that the second crawling component at the rear end supports the support mechanism and the tail end of the first crawling component, thereby making the second crawling component at the front end contact the surface of the third step.

[0348] In this embodiment, when the distance between the surface of the third step and the second working surface in the height direction is too large, the end of the second crawling component at the front end that is away from the first crawling component cannot touch the surface of the third step during the rotation of the second crawling component at the front end relative to the first crawling component. At this time, the controller can drive the second crawling component at the rear end to rotate relative to the first crawling component, so that the end of the second crawling component at the rear end that is away from the first crawling component supports the tail of the crawling attachment, so that the second crawling component at the front end extends down, thereby making the end of the second crawling component away from the first crawling component contact the surface of the third step.

[0349] Furthermore, after the rear end of the second crawling component supports the tail of the crawling attachment so that the end of the second crawling component away from the first crawling component contacts the surface of the third step, the end of the rear end of the second crawling component away from the first crawling component contacts the second working surface, the corner of the first crawling component contacts the second working surface, and the end of the front end of the second crawling component away from the first crawling component contacts the surface of the third step, the controller can drive the first crawling component, the front end and the rear end of the second crawling component to move to achieve self-propelled movement of the assembly until the corner of the front end of the second crawling component contacts the corner of the third step.

[0350] In some alternative embodiments, when the assembly moves to a position where a specific obstacle is close to the first working surface, the end of the second crawling component at the front end, away from the first crawling component, contacts the first working surface, and the second crawling component and / or the first crawling component at the rear end contacts the specific obstacle.

[0351] Step 26046 includes:

[0352] The second crawling component at the front end is rotated relative to the first crawling component to make the second crawling component at the front end fit against the first working surface, and to make the second crawling component at the rear end and the first crawling component disengage from the surface of a specific obstacle;

[0353] The second crawling component at the front end is driven by a crawling mechanism to move along the first working surface in a direction away from a specific obstacle.

[0354] In step 26045, the controller can drive the assembly to move along the extension direction of the specific obstacle from the second working surface to the first working surface. During the movement, the first crawling component maintains stable power output through the contact of its first track with the corner of the step of the specific obstacle, and the second crawling component maintains stable power output through the contact of its second track with the corner of the step of the specific obstacle, until the assembly moves to a position near the first working surface of the specific obstacle, at which point the end of the second crawling component at the front, away from the first crawling component, contacts the first working surface. When the assembly moves to a position near the first working surface of the specific obstacle, the assembly provides friction through the contact of the first track of the first crawling component with the corner of the step of the specific obstacle, and / or through the contact of the second track of the second crawling component at the rear with the corner of the step of the specific obstacle, enabling the assembly to stay on the surface of the specific obstacle.

[0355] At this time, the controller can drive the second crawling component at the front end to rotate relative to the first crawling component, so that the height of the front end of the first crawling component is reduced, so that the front end of the first crawling component can be lowered until the front end of the first crawling component contacts the first working surface.

[0356] Subsequently, the assembly can maintain power output by contacting the second track of the second crawling component with the first working surface, so that the assembly moves on the first working surface in a direction away from the specific obstacle, thereby moving away from the specific obstacle.

[0357] In the above embodiments, the use of a split first crawling component and second crawling components located at the front and rear ends ensures that multiple objects can maintain contact with a specific obstacle at the same time during the climbing process, thereby providing a stable support point and preventing the assembly from tipping over. After the second crawling component at the front end contacts the first working surface, by driving the second crawling component at the front end to rotate relative to the first crawling component, the front end of the first crawling component can be lowered until it contacts the first working surface. The first crawling component at the front end, which is in contact with the first working surface, can provide a stable support point for the assembly, preventing the second crawling component at the rear end and the first crawling component from tipping over when they detach from the surface of the specific obstacle.

[0358] In some alternative embodiments, after the second crawling component at the front end is moved along the first working surface in a direction away from a specific obstacle using the crawling mechanism, the method further includes:

[0359] Adjust the posture of the crawling attachment so that the first crawling component fits into the first working surface.

[0360] It should be noted that during the climbing action of the crawling mechanism, the first surface of the second crawling component contacts the surface of the specific obstacle, that is, the corner of the step of the specific obstacle, and the second surface of the second crawling component is set to correspond to the first surface.

[0361] In this embodiment, after the end of the second crawling component at the front end, away from the first crawling component, contacts the first working surface, and after the second crawling component at the rear end and / or the first crawling component contacts a specific obstacle, the controller will drive the second crawling component at the front end to rotate relative to the first crawling component, so that the front end of the first crawling component contacts the first working surface, and further drive the second crawling component at the front end to move a specific distance on the first working surface along the direction away from the specific obstacle.

[0362] After completing its movement, the controller can, for example, drive the first crawling component to rotate relative to the second crawling component at its front end, thereby causing the rear end of the first crawling component to contact the first working surface. At this point, the cleaning device can detach from the crawling attachment and continue performing the cleaning task on the first working surface. The controller can further drive the crawling attachment to move autonomously to a preset position corresponding to the first working surface, thus preventing the crawling attachment from obstructing the user's daily movement. If the first working surface is the working surface where the base station is located, the controller can control the crawling attachment to return to the base station, thereby achieving highly intelligent and automatic control of the cleaning device and the crawling attachment.

[0363] In the above embodiments, the contact between the front-end second crawling component and the first working surface provides a stable support point for the rear-end second crawling component and the first crawling component, preventing the assembly from tipping over. Furthermore, by using a sequence of actions to lower the center of gravity of the assembly multiple times, the stable descent of the assembly is achieved. After the front-end second crawling component contacts the first working surface, by driving the front-end second crawling component to rotate relative to the first crawling component, the front end of the first crawling component can be lowered until it contacts the first working surface, thus achieving the first descent of the center of gravity. Subsequently, by driving the first crawling component to rotate relative to the front-end second crawling component, the rear end of the first crawling component is lowered until it contacts the first working surface, thus achieving the second descent of the center of gravity, thereby ensuring the stable descent of the assembly on the steps.

[0364] In some alternative embodiments, during the climbing action, the first surface of the second crawling component contacts the surface of a specific obstacle, and the second surface of the second crawling component is correspondingly arranged with the first surface;

[0365] The steps of rotating the second crawling component at the front end relative to the first crawling component to make the second crawling component at the front end conform to the first working surface, and disengaging the second crawling component at the rear end and the first crawling component from the surface of the specific obstacle, include:

[0366] The second crawling component at the front end is rotated relative to the first crawling component so that the first surface of the second crawling component at the front end is in contact with the first working surface;

[0367] Continue to drive the second crawling component at the front end to rotate relative to the first crawling component, so that the second surface of the second crawling component at the front end is in contact with the first working surface;

[0368] The first crawling component is driven to rotate relative to the second crawling component at the front end, so that the second crawling component at the rear end and the first crawling component are disengaged from the surface of a specific obstacle.

[0369] In an embodiment where the assembly needs to move from the second working surface to the first working surface by performing a climbing action, if the second crawling component at the front end is rotated relative to the first crawling component to make the second crawling component at the front end adhere to the first working surface, and during the process of making the second crawling component at the rear end and the first crawling component detach from the surface of a specific obstacle, keeping the first surface of the second crawling component adhere to the first working surface at all times may cause the assembly to tip over because the center of gravity of the first crawling component and the second crawling component at the rear end is not on the same vertical line as the center of gravity of the second crawling component at the front end.

[0370] Therefore, in this embodiment, when the controller is at a position where a specific obstacle is close to the first working surface, it can first drive the second crawling component at the front end to rotate relative to the first crawling component, so that the first surface of the second crawling component at the front end is in contact with the first working surface. At this time, the end of the second crawling component at the front end away from the rotation center points away from the specific obstacle. Further, the controller can drive the second crawling component at the front end to rotate relative to the first crawling component, so that the second surface of the second crawling component at the front end is in contact with the first working surface. At this time, the end of the second crawling component at the front end away from the rotation center points towards the specific obstacle. The center of gravity of the first crawling component and the second crawling component at the rear end falls on the support surface of the second crawling component at the front end, making the assembly more stable.

[0371] In some optional embodiments, when the first surface of the front end of the second crawling component is attached to the first working surface, the distance between the rotation center of the front end of the second crawling component and the specific obstacle is a first distance; the distance between the end of the front end of the second crawling component away from the front end and the rotation center of the front end of the second crawling component is a second distance.

[0372] Before continuing to drive the second crawling component of the front end to rotate relative to the first crawling component, so that the second surface of the second crawling component of the front end is in contact with the first working surface, the method further includes:

[0373] The second crawling component at the front end is driven by a crawling mechanism to move on the second working surface in a direction away from a specific obstacle, so that the first distance is greater than or equal to the second distance.

[0374] In this embodiment, after the controller drives the second crawling component at the front end to rotate relative to the first crawling component so that the second crawling component at the front end is attached to the first working surface, it can provide power through the contact between the second track of the second crawling component at the front end and the first working surface, so as to drive the assembly to move away from the specific obstacle until it is determined that the distance between the rotation center of the second crawling component at the front end and the specific obstacle is greater than the distance between the end of the second crawling component away from the front end and the rotation center of the second crawling component at the front end.

[0375] In the above embodiments, by moving the assembly away from the specific obstacle and controlling the first distance to be greater than the second distance, it is ensured that during the process of adjusting the direction of the second crawling component at the front end away from the rotation center from pointing away from the specific obstacle to pointing closer to the specific obstacle, the second crawling component at the front end away from the rotation center will not collide with the specific obstacle, thus ensuring the stability and safety of the assembly.

[0376] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0377] Based on the same inventive concept, this application also provides a climbing control device for implementing the climbing control method described above. The solution provided by this climbing control device is similar to the solution described in the climbing control method above. Therefore, the specific limitations in one or more device embodiments provided below can be found in the limitations of the climbing control method described above, and will not be repeated here.

[0378] In one embodiment, such as Figure 31 As shown, a climbing control device 3100 is provided and applied to a cleaning system 100. The cleaning system 100 includes a cleaning device 20 and a climbing attachment 30. When the cleaning device 20 and the climbing attachment 30 are combined, they form a combination 40.

[0379] The climbing control device 3100 includes:

[0380] Control module 3102 is used to control the combination of cleaning equipment and crawling attachment to form a combined unit;

[0381] Climbing module 3104 is used to control the assembly to perform climbing actions, so as to use the crawling attachment to drive the cleaning equipment through specific obstacles;

[0382] The specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface. The first working surface is lower than the second working surface in the height direction. The assembly can move from the first working surface to the second working surface or from the second working surface to the first working surface by performing a climbing action.

[0383] In some alternative embodiments, the control module 3102 is further configured to:

[0384] The cleaning equipment and crawling attachment are moved separately to specific obstacles, and then combined at the obstacles to form a combined unit; or

[0385] Control the cleaning equipment and crawling attachments to combine at specific locations to form a combined unit.

[0386] In some alternative embodiments, the crawling attachment includes a support mechanism and a crawling mechanism, the support mechanism being disposed on the crawling mechanism, the support mechanism being used to support the cleaning equipment, and the crawling mechanism being used to drive the support mechanism to move 31.

[0387] In some optional embodiments, the crawling mechanism includes a first crawling component and a second crawling component. Along the forward direction perpendicular to the crawling attachment, the support mechanism includes a first side and a second side. The first crawling component is provided with at least one set on the first side and the second side respectively. Along the forward direction of the crawling attachment, the first crawling component includes a front end and a rear end. The second crawling component is rotatably connected to at least one on the front end and the rear end respectively.

[0388] In some optional embodiments, when the assembly is located on the first working surface and needs to move from the first working surface to the second working surface by performing a climbing action, the climbing module 3104 is further configured to:

[0389] Adjust the attitude and position of the crawling attachment on the first working surface so that the crawling mechanism contacts the surface of a specific obstacle;

[0390] The assembly is driven by a crawling mechanism to move along the extension direction of a specific obstacle from the first working surface to the second working surface until the assembly moves to a position near the second working surface of the specific obstacle, so that the assembly passes through the specific obstacle;

[0391] At a location where a specific obstacle is near the second working surface, adjust the attitude and position of the crawling attachment so that the assembly moves onto the second working surface.

[0392] In some alternative embodiments, the climbing module 3104 is also configured to:

[0393] The second crawling component at the drive front rotates relative to the first crawling component so that the second crawling component overlaps the surface of the first step of a specific obstacle;

[0394] The second crawling component at the back end is rotated relative to the first crawling component to flatten the crawling mechanism;

[0395] The assembly is driven by a crawling mechanism to move along the extension direction of a specific obstacle from the first working surface to the second working surface, so that the second crawling component at the front end contacts the corner of the second step of the specific obstacle;

[0396] Along the height direction, the first step is higher than the first working surface, and the second step is higher than the first step.

[0397] In some alternative embodiments, the climbing module 3104 is also configured to:

[0398] Drive the crawling attachment toward a specific obstacle until the front end attaches to the surface of the first step.

[0399] In some alternative embodiments, the climbing module 3104 is also configured to:

[0400] The second crawling component at the front end is rotated relative to the first crawling component so that the second crawling component at the front end aligns with the corner of the second step of a specific obstacle.

[0401] In some alternative embodiments, the climbing module 3104 is also configured to:

[0402] The second crawling component at the front end rotates relative to the first crawling component to flatten the crawling mechanism.

[0403] In some alternative embodiments, the climbing module 3104 is also configured to:

[0404] The second crawling components at the front and rear ends are driven to rotate relative to the first crawling component, so as to use the second crawling components at the front and rear ends to support the support mechanism and the first crawling component, so that the support mechanism and the first crawling component are in a suspended state.

[0405] In some alternative embodiments, the climbing module 3104 is also configured to:

[0406] A second crawling component at the front end of either side of the drive support mechanism rotates relative to the first crawling component so that the second crawling component overlaps the surface of the first step of a specific obstacle;

[0407] The second crawling component at the front end of the other side of the drive support mechanism rotates relative to the first crawling component so that the second crawling component overlaps the surface of the first step of the specific obstacle.

[0408] In some alternative embodiments, when the assembly moves to a position near a specific obstacle close to the second working surface, the end of the second crawling component at the front end that is closer to the first crawling component is higher than the second working surface;

[0409] Climbing module 3104 is also configured as follows:

[0410] The second crawling component at the front end is rotated relative to the first crawling component so that the second crawling component at the front end overlaps the second working surface;

[0411] The second crawling component at the front end is driven by a crawling mechanism to move on the second working surface in a direction away from a specific obstacle until the rear end is above the second working surface.

[0412] In some alternative embodiments, the climbing module 3104 is also configured to:

[0413] After the rear end is above the second working surface, adjust the posture of the crawling attachment so that the first crawling component fits into the second working surface.

[0414] In some optional embodiments, when the assembly is located on the second working surface and the assembly needs to move from the second working surface to the first working surface by performing a climbing action, the climbing module 3104 is further configured to:

[0415] Adjust the attitude and position of the crawling attachment on the second working surface so that the crawling mechanism contacts the surface of a specific obstacle;

[0416] The assembly is driven by a crawling mechanism to move along the extension direction of a specific obstacle from the second working surface to the first working surface until the assembly moves to a position where the specific obstacle is close to the first working surface.

[0417] At a location where a specific obstacle is close to the first working surface, adjust the posture and position of the crawling attachment so that the assembly moves onto the first working surface.

[0418] In some alternative embodiments, the climbing module 3104 is also configured to:

[0419] The second crawling component at the front end is rotated relative to the first crawling component so that the second crawling component at the front end contacts the corner of the third step of a specific obstacle;

[0420] The assembly is driven by a crawling mechanism to move along a specific obstacle from the second working surface to the first working surface, so that the second crawling component at the front end contacts the surface of the fourth step;

[0421] The second crawling component, which drives the front and back ends, rotates relative to the first crawling component to flatten the crawling mechanism;

[0422] The assembly is driven by a crawling mechanism to move along a specific obstacle from the second working surface to the first working surface, so that the second crawling component at the front end contacts the corner of the fourth step;

[0423] Along the height direction, the third step is lower than the second working surface, and the fourth step is lower than the third step.

[0424] 31 In some alternative embodiments, the climbing module 3104 is also configured to:

[0425] The second crawling component at the front end is rotated relative to the first crawling component so that the second crawling component at the front end contacts the surface of the third step;

[0426] The crawling mechanism drives the assembly to move on the surface of the third step in a direction away from the second working surface until the second crawling component at the front end contacts the corner of the third step.

[0427] In some alternative embodiments, the climbing module 3104 is also configured to:

[0428] The second crawling component at the front end is rotated relative to the first crawling component so that the second crawling component at the front end is positioned above the surface of the third step;

[0429] The second crawling component at the rear end is rotated relative to the first crawling component, so that the second crawling component at the rear end supports the support mechanism and the tail end of the first crawling component, thereby making the second crawling component at the front end contact the surface of the third step.

[0430] In some alternative embodiments, when the assembly moves to a position where a specific obstacle is close to the first working surface, the end of the second crawling component at the front end, away from the first crawling component, contacts the first working surface, and the second crawling component and / or the first crawling component at the rear end contacts the specific obstacle.

[0431] Climbing module 3104 is also configured as follows:

[0432] The second crawling component at the front end is rotated relative to the first crawling component to make the second crawling component at the front end fit against the first working surface, and to make the second crawling component at the rear end and the first crawling component disengage from the surface of a specific obstacle;

[0433] The second crawling component at the front end is driven by a crawling mechanism to move along the first working surface in a direction away from a specific obstacle.

[0434] In some alternative embodiments, during the climbing action, the first surface of the second crawling component contacts the surface of a specific obstacle, and the second surface of the second crawling component is correspondingly arranged with the first surface;

[0435] Climbing module 3104 is also configured as follows:

[0436] The second crawling component at the front end is rotated relative to the first crawling component so that the first surface of the second crawling component at the front end is in contact with the first working surface;

[0437] Continue to drive the second crawling component at the front end to rotate relative to the first crawling component, so that the second surface of the second crawling component at the front end is in contact with the first working surface;

[0438] The first crawling component is driven to rotate relative to the second crawling component at the front end, so that the second crawling component at the rear end and the first crawling component are disengaged from the surface of a specific obstacle.

[0439] In some optional embodiments, when the first surface of the front end of the second crawling component is attached to the first working surface, the distance between the rotation center of the front end of the second crawling component and the specific obstacle is a first distance; the distance between the end of the front end of the second crawling component away from the front end and the rotation center of the front end of the second crawling component is a second distance.

[0440] Climbing module 3104 is also configured as follows:

[0441] The second crawling component at the front end is driven by a crawling mechanism to move on the second working surface in a direction away from a specific obstacle, so that the first distance is greater than or equal to the second distance.

[0442] In some alternative embodiments, the climbing module 3104 is also configured to:

[0443] Adjust the posture of the crawling attachment so that the first crawling component fits into the first working surface.

[0444] In some alternative embodiments, the climbing module 3104 is also configured to:

[0445] Adjust the posture and position of the crawling attachment so that the first crawling component contacts the second working surface.

[0446] In some alternative embodiments, the climbing module 3104 is also configured to:

[0447] During the process of using the crawling mechanism to drive the assembly to move along the extension direction of a specific obstacle, the angle of the second crawling component relative to the first crawling component is adjusted in real time so that the second crawling component contacts the corner of the step of the corresponding specific obstacle.

[0448] In some optional embodiments, the cleaning system further includes a sensor system disposed on the cleaning equipment and / or climbing attachment, the sensor system being used to acquire image information and / or three-dimensional information of obstacles, and the climbing module 3104 is further configured to:

[0449] Use sensor systems to identify image and / or 3D information of specific obstacles.

[0450] In some alternative embodiments, the crawling mechanism further includes a first track and a second track;

[0451] The first track is wound around the first crawling assembly, and the first track can rotate on the first crawling assembly. The first crawling assembly achieves crawling through the first track.

[0452] The second track is wound around the second crawling assembly, and the second track can rotate on the second crawling assembly. The second crawling assembly achieves crawling through the second track.

[0453] In some optional embodiments, the cleaning device includes a body and a walking system, the walking system being located at the bottom of the body, the body having a first ground clearance and a second ground clearance, the first ground clearance being greater than the second ground clearance, and a clearance area being provided at the bottom of the crawling attachment;

[0454] Before and after the control assembly performs the climbing action, the control body switches from the second ground clearance to the first ground clearance to drive the crawling attachment to lift off the first or second working surface, and uses the walking system to move the assembly.

[0455] When the fuselage is at the first ground clearance, the walking system passes through the avoidance zone and comes into contact with the first working surface or the second working surface.

[0456] In some alternative embodiments, the climbing module 3104 is also configured to:

[0457] The control body switches from the first ground clearance to the second ground clearance so that the crawling attachment contacts the first or second working surface, and performs climbing actions using the crawling attachment.

[0458] Each module in the above-mentioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0459] Figure 31 A schematic diagram of the structure of the electronic device provided in this application. Figure 31 As shown, the electronic device 3100 provided in this embodiment includes at least one processor 3101 and a memory 3102. Optionally, the device 3100 also includes a communication component 3103. The processor 3101, memory 3102, and communication component 3103 are connected via a bus 3104.

[0460] In a specific implementation, at least one processor 3101 executes computer execution instructions stored in memory 3102, causing at least one processor 3101 to perform the above-described method.

[0461] The specific implementation process of processor 3101 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0462] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0463] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0464] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0465] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0466] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0467] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0468] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0469] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0470] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0471] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0472] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0473] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0474] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A climbing control method, characterized in that, Applied to a cleaning system, the cleaning system including a cleaning device and a crawling attachment, the cleaning device being capable of automatically combining and separating from the crawling attachment, the method comprising: when the cleaning device needs to pass through a specific obstacle. The cleaning equipment and the crawling attachment are controlled to combine to form the assembly; Control the assembly to perform a climbing motion, so as to use the crawling attachment to propel the cleaning equipment through the specific obstacle; The specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface. The first working surface is lower than the second working surface in the height direction. The assembly can move from the first working surface to the second working surface or from the second working surface to the first working surface by performing the climbing action.

2. The method according to claim 1, characterized in that, The control of the cleaning device and the crawling attachment to form the assembly includes: The cleaning device and the crawling attachment are controlled to move to the specific obstacle, and the cleaning device and the crawling attachment combine at the specific obstacle to form the assembly; or The cleaning device and the crawling attachment are controlled to combine at a specific location to form the assembly.

3. The method according to claim 1, characterized in that, The crawling attachment includes a support mechanism and a crawling mechanism. The support mechanism is disposed on the crawling mechanism and is used to support the cleaning equipment. The crawling mechanism is used to drive the support mechanism to move.

4. The method according to claim 3, characterized in that, The crawling mechanism includes a first crawling component and a second crawling component. Along the forward direction perpendicular to the crawling attachment, the support mechanism includes a first side and a second side. The first crawling component has at least one set on the first side and the second side respectively. Along the forward direction of the crawling attachment, the first crawling component includes a front end and a rear end. The second crawling component has at least one rotatably connected to the front end and the rear end respectively.

5. The method according to claim 4, characterized in that, When the assembly is located on the first working surface and the assembly needs to move from the first working surface to the second working surface by performing the climbing action, controlling the assembly to perform the climbing action to use the crawling attachment to propel the cleaning equipment through the specific obstacle includes: The posture and position of the crawling attachment are adjusted on the first working surface so that the crawling mechanism contacts the surface of the specific obstacle; The crawling mechanism drives the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface until the assembly moves to a position near the second working surface of the specific obstacle, so that the assembly passes through the specific obstacle; At a location where the specific obstacle is close to the second working surface, the posture and position of the crawling attachment are adjusted so that the assembly moves onto the second working surface.

6. The method according to claim 5, characterized in that, The step of adjusting the posture and position of the crawling attachment on the first working surface to make the crawling mechanism contact the surface of the specific obstacle includes: The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component attaches to the surface of the first step of the particular obstacle; The second crawling component at the rear end is driven to rotate relative to the first crawling component, so that the crawling mechanism flattens out; The crawling mechanism drives the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface, so that the second crawling component at the front end contacts the corner of the second step of the specific obstacle; Along the height direction, the first step is higher than the first working surface, and the second step is higher than the first step.

7. The method according to claim 6, characterized in that, Before the second crawling component driving the rear end rotates relative to the first crawling component to flatten the crawling mechanism, the method further includes: Drive the crawling attachment toward the specific obstacle until the front end attaches to the surface of the first step.

8. The method according to claim 7, characterized in that, Before the method utilizes the crawling mechanism to drive the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface, so that the second crawling component at the front end contacts the corner of the second step of the specific obstacle, the method further includes: The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component at the front end aligns with the corner of the second step of the particular obstacle.

9. The method according to claim 8, characterized in that, After the method involves using the crawling mechanism to drive the assembly to move along the extension direction of the specific obstacle from the first working surface to the second working surface, so that the second crawling component at the front end contacts the corner of the second step of the specific obstacle, the method further includes: The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the crawling mechanism flattens out.

10. The method according to claim 5, characterized in that, Before rotating the second crawling component of the front end relative to the first crawling component to make the second crawling component engage with the surface of the first step of the particular obstacle, the method further includes: The second crawling component at the front end and the rear end is driven to rotate relative to the first crawling component, so as to support the support mechanism and the first crawling component using the second crawling component at the front end and the rear end, so that the support mechanism and the first crawling component are in a suspended state.

11. The method according to claim 10, characterized in that, The second crawling component that drives the front end to rotate relative to the first crawling component, so that the second crawling component engages with the surface of the first step of the specific obstacle, includes: The second crawling component at the front end of either side of the support mechanism is rotated relative to the first crawling component so that the second crawling component rests on the surface of the first step of the particular obstacle; The second crawling component at the front end of the other side of the support mechanism is driven to rotate relative to the first crawling component, so that the second crawling component rests on the surface of the first step of the particular obstacle.

12. The method according to claim 5, characterized in that, When the assembly moves to a position where the specific obstacle is close to the second working surface, the end of the second crawling component at the front end that is closer to the first crawling component is higher than the second working surface; The step of adjusting the posture and position of the crawling attachment at a location near the specific obstacle on the second working surface, so that the assembly moves onto the second working surface, includes: The second crawling component of the front end is driven to rotate relative to the first crawling component, so that the second crawling component of the front end overlaps the second working surface; The second crawling component at the front end is driven by the crawling mechanism to move on the second working surface in a direction away from the specific obstacle until the rear end is above the second working surface.

13. The method according to claim 12, characterized in that, The step of using the crawling mechanism to drive the second crawling component at the front end to move on the second working surface in a direction away from the specific obstacle until the rear end is above the second working surface further includes: After the rear end is above the second working surface, the posture of the crawling attachment is adjusted so that the first crawling component fits into the second working surface.

14. The method according to claim 4, characterized in that, When the assembly is located on the second working surface and the assembly needs to move from the second working surface to the first working surface by performing the climbing action, controlling the assembly to perform the climbing action to use the climbing attachment to propel the cleaning equipment through the specific obstacle includes: The posture and position of the crawling attachment are adjusted on the second working surface so that the crawling mechanism contacts the surface of the specific obstacle; The crawling mechanism drives the assembly to move along the specific obstacle from the second working surface to the first working surface until the assembly moves to a position near the first working surface of the specific obstacle; At a location where the specific obstacle is close to the first working surface, the posture and position of the crawling attachment are adjusted so that the assembly moves onto the first working surface.

15. The method according to claim 14, characterized in that, The step of adjusting the posture and position of the crawling attachment on the second working surface to make the crawling mechanism contact the surface of the specific obstacle includes: The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component at the front end contacts the corner of the third step of the specific obstacle; The crawling mechanism drives the assembly to move along the extension direction of the specific obstacle from the second working surface to the first working surface, so that the second crawling component at the front end contacts the surface of the fourth step of the specific obstacle; The second crawling component, which drives the front end and the rear end, to rotate relative to the first crawling component, so that the crawling mechanism flattens out; The crawling mechanism drives the assembly to move along the extension direction of the specific obstacle from the second working surface to the first working surface, so that the second crawling component at the front end contacts the corner of the fourth step; Along the height direction, the third step is lower than the second working surface, and the fourth step is lower than the third step.

16. The method according to claim 15, characterized in that, The method of driving the second crawling component of the front end to rotate relative to the first crawling component, so that the second crawling component of the front end contacts the corner of the third step of the specific obstacle, includes: The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component at the front end contacts the surface of the third step; The crawling mechanism drives the assembly to move on the surface of the third step away from the second working surface until the second crawling component at the front end contacts the corner of the third step.

17. The method according to claim 16, characterized in that, The step of driving the second crawling component of the front end to rotate relative to the first crawling component, so that the second crawling component of the front end contacts the surface of the third step, includes: The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component at the front end is positioned above the surface of the third step; The second crawling component at the rear end is driven to rotate relative to the first crawling component, so that the second crawling component at the rear end supports the support mechanism and the tail end of the first crawling component, thereby causing the second crawling component at the front end to contact the surface of the third step.

18. The method according to claim 14, characterized in that, When the assembly moves to a position where the specific obstacle is close to the first working surface, the end of the second crawling component at the front end that is away from the first crawling component contacts the first working surface, and the second crawling component and / or the first crawling component at the rear end contacts the specific obstacle; The step of adjusting the posture and position of the crawling attachment at a location near the specific obstacle on the first working surface, so that the assembly moves onto the first working surface, includes: The second crawling component at the front end is driven to rotate relative to the first crawling component, so that the second crawling component at the front end fits against the first working surface, and the second crawling component at the rear end and the first crawling component are disengaged from the surface of the specific obstacle. The second crawling component at the front end is driven by the crawling mechanism to move on the first working surface in a direction away from the specific obstacle.

19. The method according to claim 18, characterized in that, During the climbing action, the first surface of the second climbing component contacts the surface of a specific obstacle, and the second surface of the second climbing component is correspondingly positioned to the first surface; The method of driving the second crawling component at the front end to rotate relative to the first crawling component, so that the second crawling component at the front end fits against the first working surface, and so that the second crawling component at the rear end and the first crawling component disengage from the surface of the specific obstacle, includes: The second crawling component of the front end is driven to rotate relative to the first crawling component, so that the first surface of the second crawling component of the front end is in contact with the first working surface; Continue to drive the second crawling component of the front end to rotate relative to the first crawling component, so that the second surface of the second crawling component of the front end is in contact with the first working surface; The first crawling component is driven to rotate relative to the second crawling component at the front end, so that the second crawling component at the rear end and the first crawling component detach from the surface of the specific obstacle.

20. The method according to claim 19, characterized in that, When the first surface of the second crawling component at the front end is in contact with the first working surface, the distance between the rotation center of the second crawling component at the front end and the specific obstacle is a first distance; the distance between the end of the second crawling component at the front end away from the front end and the rotation center of the second crawling component at the front end is a second distance. Before continuing to drive the second crawling component of the front end to rotate relative to the first crawling component, so that the second surface of the second crawling component of the front end is in contact with the first working surface, the method further includes: The second crawling component at the front end is driven by the crawling mechanism to move on the first working surface in a direction away from the specific obstacle, so that the first distance is greater than or equal to the second distance.

21. The method according to claim 18 or 20, characterized in that, After the second crawling component at the front end is driven by the crawling mechanism to move on the first working surface in a direction away from the specific obstacle, the method further includes: Adjust the posture of the crawling attachment so that the first crawling component fits into the first working surface.

22. The method according to claim 14, characterized in that, Before rotating the second crawling component of the front end relative to the first crawling component to make contact with the corner of the third step of the particular obstacle, the method further includes: Adjust the posture and position of the crawling attachment so that the first crawling component contacts the second working surface.

23. The method according to claim 5 or 14, characterized in that, During the process of using the crawling mechanism to drive the assembly to move along the extension direction of the specific obstacle, the angle of the second crawling component relative to the first crawling component is adjusted in real time so that the second crawling component contacts the corner of the step of the corresponding specific obstacle.

24. The method according to claim 4, characterized in that, The crawling mechanism also includes a first track and a second track; The first track is wound around the first crawling component, and the first track can rotate on the first crawling component. The first crawling component achieves crawling through the first track. The second track is wound around the second crawling assembly, and the second track can rotate on the second crawling assembly. The second crawling assembly crawls through the second track.

25. The method according to claim 1, characterized in that, The cleaning system further includes a sensor system disposed on the cleaning device, or the crawling attachment and the cleaning device. The sensor system is used to acquire image information and / or three-dimensional information of the obstacle. Before controlling the assembly to perform the climbing action, the method further includes: The sensor system is used to identify image information and / or three-dimensional information of specific obstacles.

26. The method according to claim 1, characterized in that, The cleaning equipment includes a body and a walking system. The walking system is located at the bottom of the body. The body has a first ground clearance and a second ground clearance. The first ground clearance is greater than the second ground clearance. The bottom of the crawling attachment is provided with a clearance area. Before and after controlling the assembly to perform the climbing action, the body is controlled to switch from the second ground clearance to the first ground clearance, so as to drive the crawling attachment to lift off the first working surface or the second working surface, and the assembly is moved by the walking system; When the fuselage is at the first ground clearance, the walking system extends out of the avoidance zone and comes into contact with the first working surface or the second working surface.

27. The method according to claim 26, characterized in that, Controlling the assembly to perform a climbing motion, so that the crawling attachment propels the cleaning equipment through the specific obstacle, includes: The machine body is controlled to switch from the first ground clearance to the second ground clearance, and the climbing action is performed using the crawling attachment.

28. A climbing control device, characterized in that, The cleaning system includes a cleaning device and a crawling attachment, which are capable of automatically combining and separating. When the cleaning device needs to pass through a specific obstacle, the cleaning device and the crawling attachment combine to form a combined unit. The device includes: A control module is used to control the combination of the cleaning equipment and the crawling attachment to form the assembly. A climbing module is used to control the assembly to perform climbing actions, so as to use the climbing attachment to propel the cleaning equipment through the specific obstacle; The specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface. The first working surface is lower than the second working surface in the height direction. The assembly can move from the first working surface to the second working surface or from the second working surface to the first working surface by performing the climbing action.

29. A cleaning system, characterized in that, include: Cleaning equipment used to perform cleaning tasks; A crawling attachment, which can be combined with the cleaning equipment to form a combined unit and drive the cleaning equipment through specific obstacles.

30. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-27.

31. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-27.

32. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-27.

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