Control method and device of cleaning robot, cleaning robot, equipment and medium

Abstract

The application provides a cleaning robot control method and device, a cleaning robot, equipment and a medium, and relates to the technical field of cleaning equipment. The cleaning robot comprises a second sensor arranged at a position lower than a first sensor, which is used for scanning at a top-down angle; an auxiliary wheel has a first position supporting the body to be lifted to a first height and a second position retracted in the body; during the execution of a task by the cleaning robot, if it is determined that there is an obstacle, the cleaning robot is controlled to travel to a target position, and the size information of the obstacle is determined based on the first sensor; at the target position, the obstacle is at a first distance from the body; the auxiliary wheel is controlled to be in the first position, and the top feature information of the obstacle is determined based on the second sensor; and whether the cleaning robot performs an obstacle-crossing action is determined based on the size information and the top feature information. By introducing a detection process comprising a body lifting action, the accuracy and reliability of obstacle-crossing determination are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cleaning equipment, in particular to a control method and device of a cleaning robot, the cleaning robot, equipment and medium. BACKGROUND

[0002] In a home or commercial scenario, a sweeping robot is widely used for cleaning tasks on a cleaning surface, and its core functions include autonomous navigation, obstacle avoidance, obstacle crossing, and cleaning path planning. However, in actual application, a threshold, as a common physical obstacle, especially a high threshold with a height exceeding 4 cm, often becomes a difficulty for the sweeping robot to cross the obstacle.

[0003] In the prior art, the sweeping robot mainly relies on a single sensor to preliminarily identify the obstacle and determines whether to attempt to cross the obstacle through a preset obstacle crossing threshold. For example, the laser radar scans the obstacle profile, combines the height data to directly trigger the obstacle crossing action, or uses the visual sensor to capture the threshold image, estimates the threshold height through the image processing algorithm, and then determines whether to cross the threshold.

[0004] However, due to the limitation of the single view angle of the sensor and the algorithm accuracy, it is easy to cause an obstacle crossing decision error, especially for a high threshold crossing with low accuracy. SUMMARY

[0005] The present application provides a control method and device of a cleaning robot, equipment and medium, by introducing a detection process including a body lifting action at a position with a first distance from the obstacle, and making an obstacle crossing decision by combining the size information and the top feature information of the obstacle, thereby improving the accuracy and reliability of the obstacle crossing decision, effectively avoiding the misjudgment caused by the limitation of single sensor information, ensuring that the robot can successfully pass through the obstacle, preventing it from being stuck or damaged due to forcibly crossing the dangerous structure, and improving the safety of the obstacle crossing process.

[0006] In a first aspect, the present application provides a control method of a cleaning robot, the cleaning robot including a body, an auxiliary wheel, a first sensor and a second sensor, the first sensor being located at the front end of the body, the second sensor being arranged at a position lower than the first sensor and being used to scan at a top-down angle; the auxiliary wheel having a first position supporting the body to lift a first height and a second position being retracted inside the body; the method comprising:

[0007] In the process of executing a task by the cleaning robot, when it is determined that there is an obstacle, the cleaning robot is controlled to travel to a target position, and the size information of the obstacle is determined based on the first sensor; at the target position, the obstacle is at a first distance from the body;

[0008] The control wheel is in the first position, and the top feature information of the obstacle is determined based on the second sensor;

[0009] Based on size information and top feature information, it is determined whether the cleaning robot should perform obstacle-crossing actions.

[0010] Compared to existing methods with limited field of view, especially for high-threshold obstacles where accuracy is low and there's even the problem of the robot vacuum failing to retreat when it's certain it won't clear the obstacle, this application addresses this issue by first acquiring the obstacle's size information using a higher-positioned first sensor at a target location a first distance from the obstacle. This ensures the first sensor has a sufficiently good and complete field of view. This effectively avoids the problem of partially obstructed sensor view or poor measurement angles caused by the robot being too close to the obstacle, thus obtaining more accurate obstacle size data. Subsequently, by raising the robot body (controlling the auxiliary wheels to a first position), a lower-positioned second sensor scans the top features of the obstacle from a top-down angle, obtaining more comprehensive top feature information and compensating for the blind spots of a single sensor's view. By combining size information and top feature information for obstacle-clearing decisions, this approach considers both the robot's ability to clear the obstacle based on its size and the safety and feasibility of the obstacle-clearing process based on the top feature information, significantly improving the comprehensiveness and reliability of the decision.

[0011] Furthermore, this comprehensive judgment mechanism improves the accuracy of obstacle recognition, such as high thresholds, and avoids the risks of obstacle crossing failure, getting stuck, or even falling due to misjudgment. It also prevents overly conservative approaches from causing missed obstacles that could be safely passed, reducing misjudgments. Moreover, this application uses a phased, multi-angle obstacle perception approach, completing preliminary size detection before raising the fuselage to avoid premature approaching obstacles. Subsequent fuselage raising actions use top feature information to accurately determine obstacle crossing feasibility, reducing the risk of getting stuck due to blind obstacle crossing and thus avoiding the dilemma of being unable to advance or retreat due to ineffective obstacle crossing.

[0012] Optionally, the auxiliary wheel is in the first position, including:

[0013] The control wheel is switched from the second position to the first position.

[0014] Therefore, this application controls the auxiliary wheels to switch from a second position to a first position when the cleaning robot is in the target location, ensuring that they only extend when the specific task of top feature detection is required. This avoids the auxiliary wheels being exposed and stressed for extended periods in non-obstacle detection scenarios, such as cleaning tasks or avoiding low obstacles, reducing unnecessary wear, energy consumption, and the risk of damage from accidental collisions, thus helping to improve the overall energy efficiency and lifespan of the cleaning robot. Furthermore, keeping the auxiliary wheels in the retracted second position in non-obstacle detection scenarios also ensures that the ground clearance and overall profile of the cleaning robot remain unchanged. This guarantees the cleaning robot's normal mobility in low spaces such as under tables and chairs, avoiding potential reduced mobility or jamming problems caused by the auxiliary wheels being extended for extended periods.

[0015] Optionally, based on size information and top feature information, determine whether the cleaning robot performs an obstacle-crossing action, including:

[0016] If the size information and top feature information meet the first preset conditions, and it is determined that the cleaning robot can overcome the obstacle, then the cleaning robot is controlled to perform the obstacle-crossing action.

[0017] In this way, by introducing a clear first precondition, obstacle-crossing decision-making is transformed from a potentially ambiguous judgment into a rule-based, repeatable standard procedure. This improves the consistency and objectivity of the decision-making process, avoiding uncertainty caused by fluctuations in sensor data or subjective biases in different scenarios. Moreover, since the first precondition is a comprehensive judgment condition, it simultaneously includes physical passability requirements from size information and operational safety requirements from top feature information. This design ensures that the cleaning robot is only allowed to cross obstacles after confirming that the macroscopic size and surface features of the obstacle are safe and feasible, thereby greatly improving the safety of operations and preventing dangerous but erroneous obstacle-crossing behaviors.

[0018] Optionally, the auxiliary wheels also have a third position to support the robot body at a second height, which is the height at which the robot body clears the obstacle; controlling the cleaning robot to perform obstacle-crossing actions includes:

[0019] The auxiliary wheel is positioned in the third position and driven to move to the location of the obstacle. The front of the fuselage is then attached to the obstacle to form the first support point. Using the second support point provided by the auxiliary wheel as a fulcrum, the fuselage's center of gravity is shifted forward to overcome the obstacle.

[0020] In this way, by precisely controlling the auxiliary wheel to be in the third position and establishing two clear support points, the potentially unstable, impact-driven obstacle-crossing behavior is transformed into a step-by-step, controllable overlapping-weight transfer obstacle-crossing process. This significantly improves the smoothness and controllability of the obstacle-crossing action, reducing the swaying and impact of the cleaning robot. Moreover, by utilizing the lever principle and using the auxiliary wheel as a fulcrum for weight transfer, the cleaning robot's own gravity can be used more effectively to assist in obstacle crossing. Compared to simply relying on the torque of the drive wheel to forcefully overcome obstacles, this method requires less torque from the motor output, thereby reducing energy consumption and the load on the actuator.

[0021] Furthermore, this step-by-step, rolling obstacle-crossing method reduces the risk of applying immense instantaneous pressure to the top of the obstacle and avoids potential wheel spin-off. The orderly transfer of weight ensures a stable and reliable obstacle-crossing process, thereby increasing the success rate and protecting the mechanical structure and drive system.

[0022] Optionally, the cleaning robot also includes omnidirectional wheels located on the front side of the body. The omnidirectional wheels have a fourth position where they are partially retracted inside the body and in contact with the cleaning surface, and a fifth position where they support the front of the body at a third height; the third height is greater than the first height; after controlling the auxiliary wheels to be in the first position, the method further includes:

[0023] Position the swivel wheels to the fifth position.

[0024] In this way, by raising the foremost omnidirectional wheel structure to a third height, higher than the auxiliary wheel structure, the entire fuselage achieves a stable posture with a specific elevation angle. This allows it to scan the top features of obstacles from a better top-down angle, thus acquiring obstacle height information and top features more accurately and reliably. Furthermore, with the auxiliary wheel structure already raising the fuselage, the omnidirectional wheel structure extends further to a fifth position, providing support for the fuselage and effectively adding a stable fulcrum at the front. This arrangement of the omnidirectional wheel and auxiliary wheel forms a more stable triangular support structure, effectively counteracting the recoil generated by the drive wheels during climbing or disturbances caused by uneven surfaces, significantly suppressing longitudinal sway of the fuselage, and providing a stable platform for sensor detection and subsequent obstacle-crossing maneuvers.

[0025] Optionally, the top feature information of the obstacle is determined based on the second sensor, including:

[0026] Control the fuselage to perform lateral reciprocating motion;

[0027] The top feature information of the obstacle is determined based on the second sensor in at least two different poses during lateral reciprocating motion.

[0028] In this way, by scanning from different lateral positions with the second sensor, depth or contour information of the top of the obstacle can be obtained from multiple angles. This multi-view data helps the cleaning robot more accurately determine the three-dimensional shape of the top of the obstacle, especially for obstacles with uneven surfaces or complex contours, effectively reducing blind spots and errors from single-point detection. Furthermore, this application uses data fusion processing to cross-check and compensate for errors or noise that may exist at individual measurement points. This processing method can more accurately calculate parameters such as flatness and slope, and more reliably identify top features, such as the presence of secondary steps, thereby improving the accuracy and reliability of decision-making.

[0029] Furthermore, lateral movement allows the second sensor to observe the top edge of obstacles from different angles. By comparing edge information from different perspectives, the edge position can be located more accurately, and its shape can be determined, thereby helping to improve the stability and safety of the cleaning robot when its front end contacts obstacles.

[0030] Optionally, control the cleaning robot to perform obstacle-crossing actions, including:

[0031] Control the omnidirectional wheel to switch from the fifth position to the fourth position, and drive the auxiliary wheel to move to the location of the obstacle, and perform the obstacle crossing action through the auxiliary wheel.

[0032] By retracting the omnidirectional wheels, the front end of the cleaning robot can more easily attach to obstacles, allowing the auxiliary wheels to more effectively apply forward and upward forces to lift the robot body. This initial posture helps to create a better lever arm, making subsequent lifting and attaching actions more effortless and efficient, thus significantly improving the success rate and smoothness of obstacle crossing.

[0033] Optionally, the method also includes:

[0034] During the obstacle-crossing action, if the robot fails to cross the obstacle within a preset time period and / or if the tilt angle of the robot body is greater than a preset angle threshold, the robot will be controlled to retreat a second distance and then perform the obstacle-crossing action again.

[0035] In this way, by detecting that the robot has failed to overcome an obstacle for more than a preset time and / or that the tilt angle of the robot body is greater than a preset threshold, the system can further determine whether to continue the obstacle-crossing action. This allows for timely identification of abnormal states during the obstacle-crossing process, such as jamming, slipping, or near-tipping, and proactive intervention to control the cleaning robot to retreat before the problem escalates. This effectively prevents the cleaning robot from overloading its motors or damaging its components due to prolonged jamming, or from tipping over due to severe tilting, thus improving the overall safety of the cleaning robot. Furthermore, after a failed obstacle-crossing attempt, the cleaning robot can autonomously retreat and retry without human intervention. This closed-loop control logic of "attempting obstacle crossing - detection - retreating - retrying obstacle crossing" significantly enhances the cleaning robot's adaptability and robustness in performing tasks in uncertain environments.

[0036] Furthermore, controlling the cleaning robot to retreat a second distance provides it with an opportunity to readjust its posture and align itself with the obstacle. Upon re-attempting, the robot may find a better point of contact or force application due to the slight change in its starting position, thus improving the success rate of subsequent obstacle-crossing attempts.

[0037] Optionally, control the cleaning robot to perform the obstacle-crossing action again, including:

[0038] Control the cleaning robot to move to the location of the obstacle, and adjust the cleaning robot's obstacle-crossing position and / or obstacle-crossing angle so that the cleaning robot can perform the obstacle-crossing action again.

[0039] In this way, by actively adjusting its obstacle-crossing position and / or angle before attempting another obstacle-crossing maneuver, the cleaning robot can correct any alignment deviations that may have occurred in the previous failed attempt. For example, it can seek out a flatter area on top of the obstacle for overlap, or launch an impact at a more efficient angle to utilize its driving force. This fine-tuning of the obstacle-crossing position and / or angle can improve the success rate of subsequent obstacle-crossing attempts. Furthermore, the cleaning robot actively adapts to its environment by changing its obstacle-crossing position and / or angle. This allows the cleaning robot to better handle obstacles with irregular surfaces or shapes, enhancing its intelligence and obstacle-crossing capabilities in complex scenarios.

[0040] Optionally, the method also includes:

[0041] If the obstacle-crossing maneuver fails again, the cleaning robot will be controlled to avoid the obstacle, and a prompt message will be generated.

[0042] In this way, if the obstacle-crossing maneuver fails again, controlling the cleaning robot to avoid the obstacle can effectively prevent problems such as prolonged jamming and rapid power depletion caused by repeated attempts after failing to cross the obstacle, thus ensuring the overall efficiency of task execution and equipment safety. Furthermore, generating prompts to alert the user allows them to understand the situation in real time and intervene when necessary, improving the user experience.

[0043] Optionally, the method also includes:

[0044] If the obstacle-crossing action fails again, map annotation information is added to the obstacle, and the map annotation information is sent to the terminal device for visualization.

[0045] Therefore, obstacles that fail to overcome in subsequent attempts are marked on a map. This allows the cleaning robot to anticipate the obstacle's presence in the next task, potentially enabling it to avoid obstacles in advance and improving operational continuity and intelligence. Based on the accumulated map information, the cleaning robot can proactively avoid these known obstacles and choose smoother routes during path planning. This avoids repeated attempts and failures on the same obstacle, fundamentally reducing task interruptions and wasted time, and significantly improving long-term task execution efficiency.

[0046] Furthermore, by visualizing map annotations on the user's device, the user's perception of the cleaning robot's working environment and status is greatly enhanced. This not only increases transparency but, more importantly, provides an interface for user intervention. Users can choose to clear obstacles themselves or guide the cleaning robot's behavior by manually setting virtual walls, thus achieving human-robot collaborative environmental management.

[0047] Optionally, the cleaning robot also includes an auxiliary support and drive wheels. The auxiliary wheels are mounted on the auxiliary support, which can rotate around the drive wheels to switch between a first position and a second position. Based on size information and top feature information, it is determined whether the cleaning robot performs an obstacle-crossing action, including:

[0048] If the size information and top feature information meet the second preset conditions, and it is determined that the cleaning robot can overcome the obstacle, then the auxiliary wheel is controlled to switch from the first position to the second position, and the cleaning robot is driven to move based on the drive wheel to overcome the obstacle.

[0049] Thus, given that the size and top feature information meet the second preset condition, a simplified obstacle-crossing mode can be adopted, avoiding unnecessary body lifting, auxiliary wheel forward movement, and complex center of gravity control. This allows the cleaning robot to pass through obstacles more quickly and directly, with a shorter overall movement time and lower energy consumption. Furthermore, this simplified obstacle-crossing mode reduces the number and amplitude of rotations of the auxiliary wheel support, and avoids using the auxiliary wheels as the primary load-bearing and fulcrum for obstacle crossing. By prioritizing the use of drive wheels for obstacle crossing, mechanical wear on the auxiliary wheels and related motion mechanisms is reduced, while the control logic is simplified, improving overall reliability.

[0050] Furthermore, this application enables the cleaning robot to achieve gradient management of its obstacle-crossing strategy by setting two different sets of preset conditions—a first preset condition and a second preset condition—corresponding to different obstacle-crossing actions. Thus, the cleaning robot can intelligently select appropriate and efficient obstacle-crossing schemes based on the actual difficulty of the obstacles, achieving intelligent selection of obstacle-crossing strategies.

[0051] Optionally, the size information of the obstacle is determined based on the first sensor, including:

[0052] Control the cleaning robot to perform lateral reciprocating motion at the target location;

[0053] The size information of the obstacle is determined based on the first sensor in at least two different poses during lateral reciprocating motion.

[0054] In this way, by detecting obstacle size information from different lateral positions, the true height and width of the obstacle can be calculated more accurately, effectively reducing size misjudgments caused by single-point measurement errors or sensor noise, and improving the accuracy of size measurement. Furthermore, the lateral reciprocating movement of the cleaning robot allows the first sensor to scan the contour changes of the obstacle's side. For irregular cuboid obstacles such as cylinders or trapezoids, this detection method can capture changes in their width or the tilt of their sides, thereby enhancing the ability to recognize the contours of irregularly shaped obstacles.

[0055] Furthermore, by fusing data collected from different poses, cross-verification and compensation can be achieved. For example, if data collected from a certain point is abnormal due to reflection issues, it can be corrected by data collected from other normal points. This processing method improves the success rate and reliability of obstacle size measurement.

[0056] Optionally, the method also includes:

[0057] Before the first sensor scans the obstacle, adjust the orientation of the cleaning robot so that the scanning field of view of the first sensor at least covers the obstacle;

[0058] And / or, before the second sensor scans the obstacle, adjust the orientation of the cleaning robot so that the scanning field of view of the second sensor at least covers the obstacle.

[0059] In this way, by pre-adjusting the robot's orientation before the sensors scan obstacles, it is ensured that the sensors can effectively detect the target area to be detected. This avoids incomplete or invalid scanning data due to poor initial positioning, improving the completeness and effectiveness of data acquisition. This pre-adjustment mechanism creates a suitable detection starting point for the cleaning robot to collect data, enhancing the accuracy of detection in complex environments, thereby indirectly improving the accuracy of subsequent size calculations and top feature recognition.

[0060] Optionally, based on size information and top feature information, determine whether the cleaning robot performs an obstacle-crossing action, including:

[0061] If the size information and top feature information do not meet the first preset conditions, and it is determined that the cleaning robot cannot cross the obstacle, then the auxiliary wheel is controlled to be in the second position, and the cleaning robot is controlled to perform obstacle avoidance actions.

[0062] In this way, if the cleaning robot determines that it cannot cross an obstacle, it can immediately abandon the obstacle crossing and perform obstacle avoidance. This fundamentally avoids serious risks such as the cleaning robot getting stuck, tipping over, falling from a height, or internal damage that may occur when attempting to cross an obstacle. It also prevents the cleaning robot from lingering indefinitely in front of an insurmountable obstacle, but allows it to actively detour around it, thereby ensuring the overall work efficiency and completion rate of the task.

[0063] Furthermore, during obstacle avoidance maneuvers, the auxiliary wheels are adjusted to the second position, allowing the cleaning robot to return to a stable, low-power normal movement posture. This operation achieves a smooth transition and rapid recovery, enabling the cleaning robot to continue performing other tasks and reducing energy waste.

[0064] Secondly, this application provides a control method for a cleaning robot. The cleaning robot includes a body, auxiliary wheels, a first sensor, and a second sensor. The first sensor is located at the front end of the body, and the second sensor is positioned lower than the first sensor for scanning from a top-down angle. The auxiliary wheels have a first position that supports the body and raises it to a first height, and a second position that retracts inside the body. The method includes:

[0065] During the cleaning robot's task, if an obstacle is detected, the robot is controlled to move to the target location, and the size information of the obstacle is determined based on the first sensor; at the target location, the obstacle is a first distance away from the robot body;

[0066] If the size information meets the third preset condition, control the cleaning robot to perform obstacle crossing operation;

[0067] The size information includes height information and width information, and the third preset condition includes: the height information is less than or equal to a preset height threshold, and the width information is greater than a preset width threshold.

[0068] Compared to existing obstacle-crossing procedures, where cleaning robots perform a complex process including approaching the obstacle, raising auxiliary wheels, detecting top features, and crossing the obstacle once the obstacle height is determined to be sufficient for obstacle crossing, this complex process is unnecessary and time-consuming for low obstacles (e.g., <3cm thresholds). Therefore, this application achieves a quick decision at the target location using only a single, rapid head-up scan and size estimation via the first sensor. For low thresholds and similar obstacles, the cleaning robot does not need to repeat the complex obstacle-crossing process; instead, it maintains its normal driving posture and directly performs the obstacle-crossing operation. This eliminates the time spent detecting and executing complex obstacle-crossing actions, improving the efficiency of overcoming low thresholds. Furthermore, for these obstacles, there is no need to activate the second sensor's overhead scan or raise / lower the auxiliary wheels, thus reducing computational and energy consumption.

[0069] Optionally, the method also includes:

[0070] If the size information does not meet the third preset condition, the auxiliary wheel is controlled to be in the first position, and the top feature information of the obstacle is determined based on the second sensor;

[0071] Based on size information and top feature information, it is determined whether the cleaning robot should perform obstacle-crossing actions.

[0072] Since the initial obstacle crossing determination based on the detected size information may be inaccurate, a second sensor can be used for re-detection. This allows for a comprehensive judgment based on both size information and top feature information, thereby improving the accuracy of obstacle crossing determination.

[0073] Optionally, if the dimensional information does not meet the third preset condition, the auxiliary wheel is controlled to be in the first position, including:

[0074] If the size information does not meet the third preset condition, the obstacle is marked and the task is continued to be performed while avoiding the obstacle until all obstacles in the area corresponding to the task are marked. Based on the marking order, the cleaning robot is controlled to move to the target position corresponding to each obstacle and the auxiliary wheel is controlled to be in the first position.

[0075] This approach avoids interrupting the cleaning robot's tasks due to frequent complex obstacle detection, improving task efficiency and continuity. Furthermore, by centrally handling all obstacles that do not meet the simplified obstacle-crossing pattern, the number of times the cleaning robot switches between the two energy-intensive modes of task execution and obstacle detection is reduced, thus saving overall energy and reducing wear on mechanical components. In addition, based on the location information of all marked obstacles, the cleaning robot can plan a reasonable sequence path for sequential processing, reducing time wasted on disordered movement and repetitive paths, decreasing the total travel distance, and improving execution efficiency.

[0076] Thirdly, this application provides a control device for a cleaning robot. The cleaning robot includes a body, auxiliary wheels, a first sensor, and a second sensor. The first sensor is located at the front end of the body, and the second sensor is positioned lower than the first sensor for scanning from a top-down angle. The auxiliary wheels have a first position that supports the body and raises it to a first height, and a second position that retracts inside the body. The device includes:

[0077] The first control module is used to control the cleaning robot to move to the target position when an obstacle is detected during the cleaning robot's task, and to determine the size information of the obstacle based on the first sensor; at the target position, the obstacle is a first distance away from the robot body;

[0078] The second control module is used to control the auxiliary wheel to be in the first position and to determine the top feature information of the obstacle based on the second sensor;

[0079] The determination module is used to determine whether the cleaning robot should perform an obstacle-crossing action based on size information and top feature information.

[0080] Fourthly, this application provides a control device for a cleaning robot. The cleaning robot includes a body, auxiliary wheels, a first sensor, and a second sensor. The first sensor is located at the front end of the body, and the second sensor is positioned lower than the first sensor for scanning from a top-down angle. The auxiliary wheels have a first position that supports the body and raises it to a first height, and a second position that retracts inside the body. The device includes:

[0081] The third control module is used to control the cleaning robot to move to the target position when an obstacle is detected during the cleaning robot's task, and to determine the size information of the obstacle based on the first sensor; at the target position, the obstacle is a first distance away from the robot body;

[0082] The fourth control module is used to control the cleaning robot to perform obstacle-crossing operations when the size information meets the third preset condition.

[0083] The size information includes height information and width information, and the third preset condition includes: the height information is less than or equal to a preset height threshold, and the width information is greater than a preset width threshold.

[0084] Fifthly, this application provides a cleaning robot, which includes a body, auxiliary wheels, a first sensor and a second sensor. The first sensor is located at the front end of the body, and the second sensor is positioned below the first sensor for scanning from a top-down angle. The auxiliary wheels have a first position that supports the body and raises it to a first height, and a second position that retracts inside the body. The cleaning robot is used to perform the method as described in any of the first aspects.

[0085] Sixthly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0086] The memory stores the instructions that the computer executes;

[0087] The processor executes computer-executable instructions stored in memory to implement the method as described in any of the first aspects.

[0088] In a seventh aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any of the first aspects.

[0089] Eighthly, this application provides a computer program product including a computer program that, when executed by a processor, implements the method as described in any of the first aspects.

[0090] It should be noted that the third to eighth aspects of this application correspond to the technical solutions of the first and second aspects of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here.

[0091] The control method, device, robot, equipment, and medium for the cleaning robot provided in this application, after detecting an obstacle, control the cleaning robot to move to a target position at a first distance from the obstacle. A first sensor acquires the obstacle's size information, avoiding the limited field of view of close-range observation. Subsequently, at the target position, the auxiliary wheels extend to a first position, raising the robot body to a first height, allowing a second sensor to scan the top feature information of the obstacle from a top-down angle. Furthermore, by combining the size information and the top feature information, the system determines whether the cleaning robot can perform an obstacle-crossing action, ensuring comprehensive and accurate decision-making. In this way, by acquiring the obstacle's size information in advance at the first distance and combining it with the top feature information scanned by the second sensor after the robot is raised, comprehensive perception of the obstacle from multiple angles is achieved. This dual detection mechanism effectively overcomes the limitation of the field of view in single close-range observation and reduces the risk of misjudgment of obstacle crossing due to incomplete scanning field of view information. In particular, this application utilizes a height-adjustable auxiliary wheel mechanism to raise the robot body when needed, allowing the second sensor to obtain a top-down scanning perspective, enabling more accurate identification of the obstacle's top contour and surface features. This design is particularly suitable for obstacle types such as high thresholds that are difficult to detect accurately using traditional methods, thus improving the success rate of obstacle crossing. Furthermore, by performing preliminary detection at the initial distance before deciding whether to lift and conduct further detection, it avoids the dilemma of the robot getting too close to the obstacle and its front wheels getting stuck, which is common in traditional methods. Consequently, when the cleaning robot determines that it cannot cross the obstacle, it can more flexibly retreat or go around it because it has not yet fully approached the obstacle, optimizing the robot's maneuverability and avoiding the risk of getting stuck. Attached Figure Description

[0092] 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.

[0093] Figure 1 This is a partial structural diagram of a cleaning robot provided in an embodiment of this application;

[0094] Figure 2 This is a partial structural diagram of another cleaning robot provided in an embodiment of this application;

[0095] Figure 3 This is a schematic diagram of the overall structure of a cleaning robot provided in an embodiment of this application;

[0096] Figure 4 This is a schematic diagram of the overall structure of another cleaning robot provided in an embodiment of this application;

[0097] Figure 5 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0098] Figure 6 A flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application;

[0099] Figure 7 A flowchart illustrating another control method for a cleaning robot provided in an embodiment of this application;

[0100] Figure 8 This is a schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of this application;

[0101] Figure 9 This is a schematic diagram of the structure of a control device for another cleaning robot provided in an embodiment of this application;

[0102] Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0103] 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

[0104] 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.

[0105] To facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, "first sensor" and "second sensor" are used only to distinguish different sensors and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" do not necessarily imply that they are different.

[0106] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0107] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0108] In existing technologies, robotic vacuum cleaners mainly rely on a single sensor to initially identify obstacles and determine whether to attempt to overcome them based on a preset obstacle-crossing threshold. For example, they may use a LiDAR scanner to scan the outline of an obstacle and combine it with height data to directly trigger an obstacle-crossing action; or they may use a visual sensor to capture images of thresholds, estimate the threshold height using image processing algorithms, and then determine whether to cross the threshold.

[0109] However, due to limitations in the sensor's single perspective and algorithm accuracy, it is prone to errors in obstacle crossing decisions, especially for high-threshold obstacle crossings where accuracy is low.

[0110] Furthermore, for thresholds higher than 4cm, robotic vacuum cleaners relying solely on a single sensor struggle to accurately identify detailed features at the top of the threshold, such as secondary steps, slope, and surface flatness. If the obstacle-crossing action is triggered solely by height data, the robot may easily get stuck. This is mainly because the threshold is quite high, and if the threshold surface is uneven, it further increases the difficulty of overcoming the obstacle, potentially causing the robotic vacuum cleaner to get stuck on the threshold.

[0111] In related technologies, when a robot vacuum cleaner has a mechanical structure to assist in overcoming obstacles, such as auxiliary wheels, it can also place its front wheels on the threshold to provide support for feature recognition of the threshold surface. However, this process may not be able to fully observe the surface due to the close proximity to the threshold. Due to the limited field of view, the obstacle-crossing accuracy is also low, and there is even a problem that the robot vacuum cleaner may not be able to back up if it is certain that it will not overcome the obstacle.

[0112] To address the aforementioned issues, this application provides a control method for a cleaning robot. After detecting an obstacle, the cleaning robot is controlled to move to a target position at a first distance from the obstacle. A first sensor is used to acquire the size information of the obstacle, avoiding the limited field of view of close-range observation. Subsequently, at the target position, the auxiliary wheels are controlled to extend to a first position, raising the robot body to a first height, enabling a second sensor to scan the top feature information of the obstacle from a top-down angle. Furthermore, by combining the size information and the top feature information, it is determined whether the cleaning robot can perform an obstacle-crossing action, ensuring that the decision-making basis is comprehensive and accurate.

[0113] In this way, by acquiring the obstacle's size information in advance at the first distance and combining it with the top feature information scanned by the second sensor after lifting, a comprehensive perception of the obstacle from multiple angles is achieved. This dual detection mechanism effectively overcomes the limitation of the field of view when observing at a single close distance, reducing the risk of misjudgment of obstacle crossing due to incomplete scanning field of view information. In particular, this application utilizes a liftable auxiliary wheel mechanism to raise the body when needed so that the second sensor can obtain a top-down scanning perspective, enabling more accurate identification of the top contour and surface features of the obstacle. This design is particularly suitable for obstacle types such as high thresholds that are difficult to perceive accurately using traditional methods, improving the success rate of obstacle crossing. Furthermore, by performing preliminary detection at the first distance before deciding whether to lift and further probe, the dilemma of advancing or retreating caused by the robot getting too close to the obstacle and its front wheels hitting the obstacle, as in traditional methods, is avoided. Consequently, when the cleaning robot determines that it should not cross the obstacle, it can retreat or go around it more flexibly because it has not yet fully approached the obstacle, optimizing the robot's advance and retreat flexibility and avoiding the risk of getting stuck.

[0114] It should be noted that the control method for the cleaning robot provided in this application is applied to cleaning robots, for example, Figure 1 This is a partial structural diagram of a cleaning robot provided in an embodiment of this application, as shown below. Figure 1 As shown, the cleaning robot 100 includes a body 101, auxiliary wheels 102, a first sensor 103 and a second sensor 104. The first sensor 103 is located at the front end of the body 101, and the second sensor 104 is positioned lower than the first sensor 103 for scanning from a top-down angle. The auxiliary wheels 102 have a first position that supports the body 101 to a first height and a second position that retracts inside the body 101.

[0115] The fuselage 101 can be circular, square, or other shapes, such as an irregular shape formed by combining parts of a circle and parts of a square. This application embodiment does not specifically limit the shape of the fuselage 101.

[0116] Optional, such as Figure 4As shown, with the direction of travel of the cleaning robot 100 as the front, the first sensor 103 is located at the front of the body 101, and can be set on the side or top of the body 101. The first sensor 103 scans the environment in front at a level angle.

[0117] Since the second sensor 104 is positioned lower than the first sensor 103, the second sensor 104 can be positioned at the bottom or side of the body 101.

[0118] The auxiliary wheel 102 is a height-adjustable wheel used to provide temporary, additional support and lifting force during obstacle crossing. Because the auxiliary wheel 102 has a first position where it extends and moves downwards until it contacts the clean surface, thereby raising the front of the fuselage 101 to a first height, and a second position where it retracts upwards and is stored inside the fuselage 101 or close to the chassis of the fuselage 101, when the auxiliary wheel 102 is in the first position, it can be ensured that after the fuselage 101 is raised, the second sensor 104 has a sufficient downward viewing angle to effectively scan the surface of the obstacle, and even the situation behind the obstacle.

[0119] With the auxiliary wheel 102 in the second position, it does not affect the normal turning and movement of the cleaning robot 100, making it easy to travel efficiently on flat cleaning surfaces and enter low spaces.

[0120] It should be noted that the specific value corresponding to the first height is not limited in the embodiments of this application. It is only necessary to ensure that the front of the fuselage 101 can be stably supported and that the second sensor 104 has a sufficient downward angle to perform a full top scan of the obstacle.

[0121] Optionally, the auxiliary wheel 102 also has a third position to support the fuselage 101 to be raised to a second height, which is the height at which the fuselage clears an obstacle.

[0122] The second height refers to the actual ground clearance required for the cleaning robot 100 to smoothly pass the highest point of the obstacle when its body 101 is supported by the auxiliary wheels 102 during the actual execution of the obstacle-crossing action. The second height is usually less than the first height.

[0123] Optionally, the second height can be the same as or different from the first height. In this application embodiment, the specific value corresponding to the second height is not limited, as long as it can assist the cleaning robot 100 in overcoming obstacles.

[0124] For example, Figure 2 This is a partial structural diagram of another cleaning robot provided in an embodiment of this application, as shown below. Figure 2 As shown, the cleaning robot 100, in addition to having Figure 1In addition to the structure shown, the cleaning robot 100 also includes a caster wheel 105 located on the front side of the body 101. The caster wheel 105 has a fourth position where it is partially retracted inside the body 101 and in contact with the cleaning surface, and a fifth position where it supports the front end of the body 101 to be raised to a third height; the third height is greater than the first height.

[0125] The third height can refer to the ground clearance significantly higher than the first height, formed by the caster wheel 105 raising the front of the fuselage 101 when it is extended to the fifth position. For example... Figure 3 This is a schematic diagram of the overall structure of a cleaning robot provided in an embodiment of this application, as shown below. Figure 3 As shown, the universal wheel 105 is in the fifth position. In this way, with the universal wheel 105 in the fifth position and the auxiliary wheel 102 in the first position, the stability of the body 101 can be maintained and the top feature information of the obstacle can be better obtained, preventing shaking. Moreover, the combination of the two can form a stable elevation angle, allowing the second sensor 104 to better capture the height information and / or top feature information of the obstacle.

[0126] Optionally, the caster wheel 105 is rotatably or retractably connected to the machine body 101 via a support rod. Thus, when the caster wheel 105 switches from the fourth position to the fifth position, the support rod of a certain length drives the caster wheel 105 to extend beyond the outside of the machine body 101 and move to a position such as... Figure 3 The fifth position shown. Alternatively, the support rod is a shorter telescopic rod. During the process of the caster wheel 105 switching from the fourth position to the fifth position, the support rod drives the caster wheel 105 to extend outside the body 101, and controls the support rod to extend downwards to extend to, as shown in the figure. Figure 3 The fifth position is shown. This application embodiment does not specifically limit the structural configuration required for the caster wheel 105 to switch from the fourth position to the fifth position.

[0127] Understandably, when the caster wheel 105 switches from the fifth position to the fourth position, a support rod of a certain length drives the caster wheel 105 to move, so as to retract into the body 101, causing part of the structure of the caster wheel 105 to retract into the body 101. Figure 4 The fourth position shown. Alternatively, the support rod drives the caster wheel 105 to retract into the body 101, and controls the support rod to retract upwards, so as to retract to the position shown. Figure 4 The fourth position shown.

[0128] It should be noted that the bottom of the body 101 of the cleaning robot 100 is typically provided with a caster wheel 105 located on the vertical axis of the body 101 and near the front end of the body 101. Drive wheels 107 are provided on both sides of the body 101, near or located on the horizontal axis. The caster wheel 105 is used to change the direction of movement of the cleaning robot 100, and the drive wheels 107 are used to provide thrust to the cleaning robot 100, thereby enabling the cleaning robot 100 to move autonomously.

[0129] Optional, Figure 4 This is a schematic diagram of the overall structure of another cleaning robot provided in an embodiment of this application, as shown below. Figure 4 and Figure 3 As shown, the cleaning robot 100, in addition to having Figure 2 In addition to the structure shown, the cleaning robot 100 also includes an auxiliary support 106 and a drive wheel 107. The auxiliary wheel 102 is mounted on the auxiliary support 106, and the auxiliary support 106 can rotate around the drive wheel 107 to allow the auxiliary wheel 102 to switch between a first position and a second position. Figure 4 In the middle, the auxiliary wheel 102 is in the first position.

[0130] Optionally, the first sensor 103 can be a laser sensor, an ultrasonic sensor, a vision sensor, a binocular camera, or an artificial intelligence (AI) camera, and the second sensor 104 can be an optical flow sensor, an ultrasonic sensor, a time-of-flight (ToF) sensor, or a downward-looking sensor, etc. The acquisition angle of the second sensor 104 is not obstructed by the omnidirectional wheel 105, so the second sensor 104 can adjust its field of view by rotating.

[0131] For example, Figure 5 This is a schematic diagram of an application scenario provided in an embodiment of this application, such as... Figure 5 As shown, the control method for the cleaning robot provided in this application can be applied in a home setting, which includes the cleaning robot 100 and the threshold 200.

[0132] Taking the cleaning robot 100 as an example of a sweeping robot, if an obstacle such as a threshold 200 is detected in front of the sweeping robot during the cleaning task, the control system of the sweeping robot will drive the sweeping robot forward until its body 101 is 20cm away from the front edge of the threshold.

[0133] The method of detecting obstacles ahead can be through sensors such as the near-field infrared sensor, the first sensor 103, and the second sensor 104 set on the robot vacuum cleaner body 101, or obstacles marked in advance on the cleaning map, or determined based on user instructions. This application embodiment does not specifically limit the method of detecting obstacles ahead.

[0134] Furthermore, the first sensor 103 located at the front end of the robot body 101 scans the threshold 200, and then calculates the size information of the threshold 200, such as height and width, based on the data scanned by the sensor. Further, the control system uses this height and width information to preliminarily determine whether the threshold 200 is within the height range that the robot can cross.

[0135] Furthermore, based on the preliminary judgment results, the control system extends the auxiliary wheels 102 from the second position retracted inside the body 101 to the first position supporting the body 101 raised to a first height. At this time, the front part of the sweeping robot is raised, and the entire body 101 forms an obstacle-facing posture with the front higher than the back.

[0136] After the body 101 is raised, the second sensor 104, which is lower than the first sensor 103, can scan the top of the threshold 200 based on the top view of the threshold 200 to obtain top feature information. The top feature information may include: flatness, material, front slope, presence or absence of secondary steps, etc. The specific content corresponding to the top feature information is not limited in this application embodiment.

[0137] Furthermore, the control system fuses and analyzes the size information and top feature information, and determines whether the robot vacuum can perform obstacle-crossing actions under the fused information conditions. For example, if the height, width, and flatness of the top of the threshold 200 all meet the obstacle-crossing requirements of the robot vacuum, then the robot vacuum can be controlled to perform obstacle-crossing actions to cross the threshold 200 and continue to perform the cleaning task. Conversely, if the height, width, and flatness of the top of the threshold 200 are difficult to meet the obstacle-crossing requirements of the robot vacuum, then the robot vacuum can be controlled to perform obstacle avoidance actions and perform cleaning tasks or other types of tasks. This application embodiment does not specifically limit this.

[0138] It should be noted that this application can also be applied to shopping malls, schools, and offices. The embodiments of this application do not limit the specific application scenarios; the above are merely illustrative examples.

[0139] It should also be noted that the cleaning robot 100 can be a sweeping robot, or a mopping robot, a floor cleaning robot, a lawn mopping robot, etc. The embodiments of this application do not specifically limit the type of the cleaning robot 100, which can be any smart mobile device with cleaning function.

[0140] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0141] For example, Figure 6 This is a flowchart illustrating a control method for a cleaning robot provided in an embodiment of this application. The control method for the cleaning robot is applied to... Figures 1-4 The cleaning robot shown is, for example Figure 6 As shown, the control method for this cleaning robot includes the following steps:

[0142] S601. During the cleaning robot's task execution, if an obstacle is detected, the cleaning robot is controlled to move to the target location, and the size information of the obstacle is determined based on the first sensor; at the target location, the obstacle is a first distance away from the robot body.

[0143] In this embodiment of the application, the target position is the position where the obstacle is a first distance away from the front end of the fuselage. The first distance can refer to a pre-set detection distance or a detection distance determined according to the sensor performance. This detection distance can ensure that the first sensor can accurately obtain the size information of the obstacle based on the head-up view, while also ensuring the minimum distance at which the second sensor can obtain the top feature information of the top of the obstacle based on the top-down view when the fuselage is lifted.

[0144] The size information may refer to the geometric parameters of the obstacle detected by the first sensor at a first distance. Optionally, the size information may include the obstacle's height, width, depth, or thickness in the direction of travel, etc. The specific content of the size information is not limited in this embodiment.

[0145] Top feature information can refer to the feature data of the obstacle in the top area, which may include: surface morphology, material, boundary position, etc. Surface morphology refers to the flatness, tilt angle, presence of undulations, grooves or secondary steps, etc. of the top surface. Boundary position can refer to the edge position of the top surface of the obstacle. Material can refer to the material properties of the outer surface of the obstacle. The specific content of the top feature information is not limited in the embodiments of this application.

[0146] Optionally, the first distance is 15cm-25cm.

[0147] For example, during the execution of a task, after detecting an obstacle ahead, the cleaning robot is controlled to move to a preset target position. At this target position, a specific distance is maintained between the robot's body and the obstacle, such as a first distance of 20cm. Furthermore, a first sensor installed at the front of the robot's body scans the obstacle to obtain its height and width information, etc.

[0148] It should be noted that the cleaning robot may perform tasks such as cleaning, mapping, and recharging. This application does not limit the specific type of task performed by the cleaning robot.

[0149] S602, control the auxiliary wheel to be in the first position, and determine the top feature information of the obstacle based on the second sensor.

[0150] In this step, the auxiliary wheels are controlled to be in the first position, thereby raising the body of the cleaning robot to a specific first height. After the body is stably raised, the second sensor is used to scan and detect the top area of ​​the obstacle from a better top view angle to obtain top feature information.

[0151] S603. Based on size information and top feature information, determine whether the cleaning robot should perform an obstacle-crossing action.

[0152] In this step, the cleaning robot fuses and comprehensively judges the acquired size information and top feature information. Based on this comprehensive judgment, it determines whether the cleaning robot should perform an obstacle-crossing action or choose obstacle avoidance actions such as detouring or retreating.

[0153] It should be noted that the method used for comprehensive judgment in this application embodiment is not specifically limited. For example, it can be an AI algorithm, a threshold comparison algorithm, etc.

[0154] Optionally, the size information of the obstacle can also be determined based on the second sensor. In this application, the size information and / or top feature information determined by the second sensor, as well as the size information determined by the first sensor, can be used to determine whether the cleaning robot performs an obstacle-crossing action.

[0155] Compared to existing methods with limited field of view, especially for high-threshold obstacles where accuracy is low and there's even the problem of the robot vacuum failing to retreat when it's certain it won't clear the obstacle, this application addresses this issue by first acquiring the obstacle's size information using a higher-positioned first sensor at a target location a first distance from the obstacle. This ensures the first sensor has a sufficiently good and complete field of view. This effectively avoids the problem of partially obstructed sensor view or poor measurement angles caused by the robot being too close to the obstacle, thus obtaining more accurate obstacle size data. Subsequently, by raising the robot body (controlling the auxiliary wheels to a first position), a lower-positioned second sensor scans the top features of the obstacle from a top-down angle, obtaining more comprehensive top feature information and compensating for the blind spots of a single sensor's view. By combining size information and top feature information for obstacle-clearing decisions, this approach considers both the robot's ability to clear the obstacle based on its size and the safety and feasibility of the obstacle-clearing process based on the top feature information, significantly improving the comprehensiveness and reliability of the decision.

[0156] Furthermore, this comprehensive judgment mechanism improves the accuracy of obstacle recognition, such as high thresholds, and avoids the risks of obstacle crossing failure, getting stuck, or even falling due to misjudgment. It also prevents overly conservative approaches from causing missed obstacles that could be safely passed, reducing misjudgments. Moreover, this application uses a phased, multi-angle obstacle perception approach, completing preliminary size detection before raising the fuselage to avoid premature approaching obstacles. Subsequent fuselage raising actions use top feature information to accurately determine obstacle crossing feasibility, reducing the risk of getting stuck due to blind obstacle crossing and thus avoiding the dilemma of being unable to advance or retreat due to ineffective obstacle crossing.

[0157] Optionally, the auxiliary wheel is in the first position, including:

[0158] The control wheel is switched from the second position to the first position.

[0159] For example, when it is necessary to detect the top features of an obstacle, the cleaning robot issues a command to drive the auxiliary wheels to unfold and descend from their initial second position, which is housed inside the body, until they reach a first position that can stably support the body and raise it to a first height.

[0160] Optionally, the auxiliary wheel can be in the first position as the cleaning robot moves to the target location. However, during routine task execution, the auxiliary wheel is usually retracted into the body by default, i.e., in the second position.

[0161] Therefore, this application controls the auxiliary wheels to switch from a second position to a first position when the cleaning robot is in the target location, ensuring that they only extend when the specific task of top feature detection is required. This avoids the auxiliary wheels being exposed and stressed for extended periods in non-obstacle detection scenarios, such as cleaning tasks or avoiding low obstacles, reducing unnecessary wear, energy consumption, and the risk of damage from accidental collisions, thus helping to improve the overall energy efficiency and lifespan of the cleaning robot. Furthermore, keeping the auxiliary wheels in the retracted second position in non-obstacle detection scenarios also ensures that the ground clearance and overall profile of the cleaning robot remain unchanged. This guarantees the cleaning robot's normal mobility in low spaces such as under tables and chairs, avoiding potential reduced mobility or jamming problems caused by the auxiliary wheels being extended for extended periods.

[0162] Furthermore, a clear position switching control from the second position to the first position ensures that the cleaning robot can be stably and reliably raised to the first height when performing top feature scanning. This determinism provides a stable and consistent detection platform for the second sensor, improving the determinism and stability of the detection action.

[0163] Optionally, based on size information and top feature information, determine whether the cleaning robot performs an obstacle-crossing action, including:

[0164] If the size information and top feature information meet the first preset conditions, and it is determined that the cleaning robot can overcome the obstacle, then the cleaning robot is controlled to perform the obstacle-crossing action.

[0165] In this embodiment of the application, the first preset condition can be a predefined set of thresholds for all physical parameters required for successful obstacle crossing, such as maximum height, minimum flatness requirement, etc.

[0166] Optionally, the first preset conditions include: height less than or equal to a first threshold, flatness greater than or equal to a second threshold, no secondary steps, and slope less than or equal to a third threshold, etc., wherein the first threshold defines the maximum obstacle height that the cleaning robot's mechanical structure, such as drive wheels and chassis, can physically overcome.

[0167] A flatness greater than or equal to the second threshold defines the minimum flatness and continuity required for the top surface of an obstacle. A top surface with a flatness greater than the second threshold ensures that the cleaning robot's drive wheels have effective traction when climbing to the top, preventing slippage or getting stuck, and ensuring the stability and continuity of the obstacle-crossing process.

[0168] The requirement of no secondary steps means that the top of the obstacle must be a single, continuous plane, without any sudden vertical drop, i.e., steps on steps. This avoids the cleaning robot from immediately facing the risk of a second fall or collision due to instability or blind spots after clearing the first obstacle, ensuring a safe landing after overcoming the obstacle.

[0169] A slope less than or equal to the third threshold defines the maximum permissible tilt angle of the obstacle's climbing surface (front) or descending surface (rear). A slope greater than or equal to the third threshold may prevent the cleaning robot from climbing or cause it to tip over during descent. This slope less than or equal to the third threshold ensures attitude stability throughout the obstacle-crossing process.

[0170] It should be noted that the embodiments of this application do not specifically limit the first threshold, the second threshold, the third threshold, and the threshold set corresponding to the first preset condition. These threshold sets collectively define the environmental conditions that the cleaning robot must meet to safely and successfully perform obstacle-crossing actions.

[0171] For example, the cleaning robot compares the acquired size information and top feature information with a pre-set and stored first preset condition. When the size information and top feature information simultaneously meet the first preset condition, the cleaning robot determines that it can overcome the obstacle and then triggers a control command to perform an obstacle-crossing action, which requires the use of auxiliary wheels to overcome the obstacle.

[0172] In this way, by introducing a clear first precondition, obstacle-crossing decision-making is transformed from a potentially ambiguous judgment into a rule-based, repeatable standard procedure. This improves the consistency and objectivity of the decision-making process, avoiding uncertainty caused by fluctuations in sensor data or subjective biases in different scenarios. Moreover, since the first precondition is a comprehensive judgment condition, it simultaneously includes physical passability requirements from size information and operational safety requirements from top feature information. This design ensures that the cleaning robot is only allowed to cross obstacles after confirming that the macroscopic size and surface features of the obstacle are safe and feasible, thereby greatly improving the safety of operations and preventing dangerous but erroneous obstacle-crossing behaviors.

[0173] Optionally, control the cleaning robot to perform obstacle-crossing actions, including:

[0174] The auxiliary wheel is positioned in the third position and driven to move to the location of the obstacle. The front of the fuselage is then attached to the obstacle to form the first support point. Using the second support point provided by the auxiliary wheel as a fulcrum, the fuselage's center of gravity is shifted forward to overcome the obstacle.

[0175] Taking a second height greater than the first height as an example, the cleaning robot controls its auxiliary wheels to adjust from the first position to a higher third position. Further, it drives the auxiliary wheels forward until the front of the robot successfully engages with the obstacle, forming the first support point. After establishing stable support based on the front of the robot (the first support point) and the auxiliary wheels located on the cleaning surface (the second support point), the cleaning robot controls its center of gravity to move forward by driving the drive wheels. As the center of gravity moves forward beyond a critical point, the rear wheels of the cleaning robot are lifted, and the entire robot performs a "lever-like" or "rolling" motion around the auxiliary wheels, allowing it to overcome the obstacle and complete the obstacle-crossing process.

[0176] In this way, by precisely controlling the auxiliary wheel to be in the third position and establishing two clear support points, the potentially unstable, impact-driven obstacle-crossing behavior is transformed into a step-by-step, controllable overlapping-weight transfer obstacle-crossing process. This significantly improves the smoothness and controllability of the obstacle-crossing action, reducing the swaying and impact of the cleaning robot. Moreover, by utilizing the lever principle and using the auxiliary wheel as a fulcrum for weight transfer, the cleaning robot's own gravity can be used more effectively to assist in obstacle crossing. Compared to simply relying on the torque of the drive wheel to forcefully overcome obstacles, this method requires less torque from the motor output, thereby reducing energy consumption and the load on the actuator.

[0177] Furthermore, this step-by-step, rolling obstacle-crossing method reduces the risk of applying immense instantaneous pressure to the top of the obstacle and avoids potential wheel spin-off. The orderly transfer of weight ensures a stable and reliable obstacle-crossing process, thereby increasing the success rate and protecting the mechanical structure and drive system.

[0178] Optionally, after the control auxiliary wheel is in the first position, the method further includes:

[0179] Position the swivel wheels to the fifth position.

[0180] In this step, omnidirectional wheels located on the front of the robot body and their position control are introduced. After the auxiliary wheels have extended to the first position and raised the robot body to the first height, the cleaning robot further controls the omnidirectional wheels to rise from the fourth position, where they are normally in contact with the cleaning surface, to a higher fifth position, thereby allowing the robot head to reach a higher third height.

[0181] In this way, by raising the foremost omnidirectional wheel structure to a third height, higher than the auxiliary wheel structure, the entire fuselage achieves a stable posture with a specific elevation angle. This allows it to scan the top features of obstacles from a better top-down angle, thus acquiring obstacle height information and top features more accurately and reliably. Furthermore, with the auxiliary wheel structure already raising the fuselage, the omnidirectional wheel structure extends further to a fifth position, providing support for the fuselage and effectively adding a stable fulcrum at the front. This arrangement of the omnidirectional wheel and auxiliary wheel forms a more stable triangular support structure, effectively counteracting the recoil generated by the drive wheels during climbing or disturbances caused by uneven surfaces, significantly suppressing longitudinal sway of the fuselage, and providing a stable platform for sensor detection and subsequent obstacle-crossing maneuvers.

[0182] Optionally, if the rear of the fuselage also has casters, the casters on the rear side can also form a stable posture with a specific angle of elevation with the auxiliary wheel in the first position, which is equivalent to adding a stable fulcrum on the rear of the fuselage.

[0183] Optionally, the top feature information of the obstacle is determined based on the second sensor, including:

[0184] Control the fuselage to perform lateral reciprocating motion;

[0185] The top feature information of the obstacle is determined based on the second sensor in at least two different poses during lateral reciprocating motion.

[0186] For example, after the auxiliary wheels lift the robot, the cleaning robot does not remain stationary for a single scan, but instead controls the robot to perform lateral reciprocating motion, i.e., swaying left and right. During the lateral reciprocating motion, the second sensor performs multiple detections and data collections on the top of the obstacle from at least two different lateral positions and robot postures, such as acquiring image information of the threshold from different angles, thereby accurately determining the top feature information of the threshold.

[0187] In this way, by scanning from different lateral positions with the second sensor, depth or contour information of the top of the obstacle can be obtained from multiple angles. This multi-view data helps the cleaning robot more accurately determine the three-dimensional shape of the top of the obstacle, especially for obstacles with uneven surfaces or complex contours, effectively reducing blind spots and errors from single-point detection. Furthermore, this application uses data fusion processing to cross-check and compensate for errors or noise that may exist at individual measurement points. This processing method can more accurately calculate parameters such as flatness and slope, and more reliably identify top features, such as the presence of secondary steps, thereby improving the accuracy and reliability of decision-making.

[0188] Furthermore, lateral movement allows the second sensor to observe the top edge of obstacles from different angles. By comparing edge information from different perspectives, the edge position can be located more accurately, and its shape can be determined, thereby helping to improve the stability and safety of the cleaning robot when its front end contacts obstacles.

[0189] Optionally, control the cleaning robot to perform obstacle-crossing actions, including:

[0190] Control the omnidirectional wheel to switch from the fifth position to the fourth position, and drive the auxiliary wheel to move to the location of the obstacle, and perform the obstacle crossing action through the auxiliary wheel.

[0191] In this embodiment, the obstacle-crossing action is a specific, sequential obstacle-crossing operation process. It can refer to a series of continuous operations in which the cleaning robot, after confirming the feasibility of obstacle crossing, uses its auxiliary wheels as actuators and precisely controls its own center of gravity movement in coordination with other wheel sets to smoothly move the entire robot body from one side of the obstacle to the other. This embodiment does not specifically limit the specific obstacle-crossing operation process.

[0192] For example, the obstacle-crossing operation can involve attaching the front of the fuselage to the obstacle to form a first support point, using the second support point provided by the auxiliary wheels as a fulcrum, and controlling the center of gravity of the fuselage to move forward in order to cross the obstacle.

[0193] In this step, after confirming that the first preset condition is met based on the size information and top feature information, the cleaning robot can control the omnidirectional wheels to switch from the fifth position to the fourth position. The specific process can be referred to the description of the above embodiment. This step causes the extended omnidirectional wheels to retract into the body. Subsequently, the cleaning robot drives the auxiliary wheels, which are already in the first or third position, to move forward, directly to the front or below the obstacle to perform an obstacle-crossing action.

[0194] The omnidirectional wheel can switch from position five to position four when the cleaning robot is directly in front of or below an obstacle, or it can switch from position five to position four at the target location before moving to directly in front of or below the obstacle. This application does not specify the exact timing of the omnidirectional wheel switching.

[0195] By retracting the omnidirectional wheels, the front end of the cleaning robot can more easily attach to obstacles, allowing the auxiliary wheels to more effectively apply forward and upward forces to lift the robot body. This initial posture helps to create a better lever arm, making subsequent lifting and attaching actions more effortless and efficient, thus significantly improving the success rate and smoothness of obstacle crossing.

[0196] Optionally, the method also includes:

[0197] During the obstacle-crossing action, if the robot fails to cross the obstacle within a preset time period and / or if the tilt angle of the robot body is greater than a preset angle threshold, the robot will be controlled to retreat a second distance and then perform the obstacle-crossing action again.

[0198] In this embodiment, the preset duration refers to the maximum allowable time limit set for completing one obstacle-crossing maneuver. This preset duration can be an empirical value determined based on statistical analysis of the time required for a normal obstacle-crossing process, or a predetermined value set by the user in advance. This embodiment does not limit the specific value corresponding to the preset duration. If the obstacle is not crossed within the preset duration, it indicates that the obstacle-crossing process is hindered.

[0199] The preset angle threshold refers to a safe limit on the tilt angle of the cleaning robot set to ensure its stability during obstacle crossing. This preset angle threshold can be set based on factors such as the mechanical structural stability of the cleaning robot, its center of gravity position, and the characteristics of its anti-fall sensors. This application embodiment does not limit the specific value corresponding to the preset angle threshold.

[0200] The preset angle threshold is the maximum allowable tilt angle of the cleaning robot body relative to the horizontal plane in the front-back or left-right directions at any stage of the obstacle crossing process. If the tilt angle of the body is greater than the preset angle threshold, it indicates that the cleaning robot is at risk of instability or tipping over.

[0201] This step introduces a safety detection and automatic recovery mechanism. During the obstacle-crossing maneuver of the cleaning robot, the execution time and robot posture can be monitored in real time. If the obstacle-crossing maneuver fails to complete after a preset time, and / or the robot's tilt angle exceeds a preset threshold, the cleaning robot will immediately determine that the current obstacle-crossing attempt may have failed or is risky. In response, the cleaning robot will automatically interrupt the current obstacle-crossing maneuver and execute a standardized recovery procedure: controlling the cleaning robot to retreat a second distance to disengage from the obstacle, and then controlling the cleaning robot to attempt the obstacle-crossing maneuver again.

[0202] It should be noted that the embodiments of this application do not specifically limit the size of the second distance. The second distance is a preset safe retreat distance, and its design goal is to enable the cleaning robot to completely detach from a failed obstacle crossing attempt and reset to a starting position where it can launch an effective impact again.

[0203] In this way, by detecting that the robot has failed to overcome an obstacle for more than a preset time and / or that the tilt angle of the robot body is greater than a preset threshold, the system can further determine whether to continue the obstacle-crossing action. This allows for timely identification of abnormal states during the obstacle-crossing process, such as jamming, slipping, or near-tipping, and proactive intervention to control the cleaning robot to retreat before the problem escalates. This effectively prevents the cleaning robot from overloading its motors or damaging its components due to prolonged jamming, or from tipping over due to severe tilting, thus improving the overall safety of the cleaning robot. Furthermore, after a failed obstacle-crossing attempt, the cleaning robot can autonomously retreat and retry without human intervention. This closed-loop control logic of "attempting obstacle crossing - detection - retreating - retrying obstacle crossing" significantly enhances the cleaning robot's adaptability and robustness in performing tasks in uncertain environments.

[0204] Furthermore, controlling the cleaning robot to retreat a second distance provides it with an opportunity to readjust its posture and align itself with the obstacle. Upon re-attempting, the robot may find a better point of contact or force application due to the slight change in its starting position, thus improving the success rate of subsequent obstacle-crossing attempts.

[0205] Optionally, if the number of times the obstacle-crossing action is repeated exceeds a preset threshold, the cleaning robot is controlled to perform obstacle avoidance actions. In this embodiment, the size of the preset threshold is not specifically limited, but can be set by the user's terminal device.

[0206] By setting a preset threshold to promptly terminate invalid, repetitive obstacle-crossing attempts, the long-term resource waste caused by the cleaning robot getting stuck in a loop at a single obstacle can be effectively avoided. This directly reduces unnecessary time delays during task execution, ensuring the overall progress and continuity of the cleaning task.

[0207] Optionally, control the cleaning robot to perform the obstacle-crossing action again, including:

[0208] Control the cleaning robot to move to the location of the obstacle, and adjust the cleaning robot's obstacle-crossing position and / or obstacle-crossing angle so that the cleaning robot can perform the obstacle-crossing action again.

[0209] In this step, when the cleaning robot needs to attempt to overcome the obstacle again according to the instruction, the cleaning robot can be driven to move and approach the obstacle again; then, before performing the obstacle-crossing action, the position of the cleaning robot relative to the obstacle is adjusted, such as the lateral or longitudinal relative distance between the cleaning robot and the obstacle, so that the cleaning robot can perform the obstacle-crossing action again.

[0210] And / or, adjust the obstacle-crossing angle of the cleaning robot relative to the obstacle, such as the angle between the direction of the cleaning robot's forward movement and the normal direction of the obstacle's edge, so that the cleaning robot can perform the obstacle-crossing action again.

[0211] In this way, by actively adjusting its obstacle-crossing position and / or angle before attempting another obstacle-crossing maneuver, the cleaning robot can correct any alignment deviations that may have occurred in the previous failed attempt. For example, it can seek out a flatter area on top of the obstacle for overlap, or launch an impact at a more efficient angle to utilize its driving force. This fine-tuning of the obstacle-crossing position and / or angle can improve the success rate of subsequent obstacle-crossing attempts. Furthermore, the cleaning robot actively adapts to its environment by changing its obstacle-crossing position and / or angle. This allows the cleaning robot to better handle obstacles with irregular surfaces or shapes, enhancing its intelligence and obstacle-crossing capabilities in complex scenarios.

[0212] Optionally, the method also includes:

[0213] If the obstacle-crossing maneuver fails again, the cleaning robot will be controlled to avoid the obstacle, and a prompt message will be generated.

[0214] In this step, when the cleaning robot fails to overcome the obstacle again, it will no longer retry indefinitely but will terminate the current obstacle-crossing task. The robot can then be controlled to avoid the obstacle, for example, by planning and executing a detour to continue its cleaning task; simultaneously, a notification message can be generated to remind users of the failed obstacle-crossing event.

[0215] The notification information may include airborne audio and visual prompts, application (APP) notifications from terminal devices, etc. This application embodiment does not specifically limit the form and content of the notification information.

[0216] For example, the cleaning robot can emit specific voice messages via its built-in speaker, such as "Obstacle crossing failed, detour has been taken," or alert the user with an alarm tone. It can also visually indicate the failure status using light strips or status lights on its body, with specific colors and flashing patterns. Furthermore, it can send a push notification to an app that has established a communication connection with the cleaning robot.

[0217] In this way, if the obstacle-crossing maneuver fails again, controlling the cleaning robot to avoid the obstacle can effectively prevent problems such as prolonged jamming and rapid power depletion caused by repeated attempts after failing to cross the obstacle, thus ensuring the overall efficiency of task execution and equipment safety. Furthermore, generating prompts to alert the user allows them to understand the situation in real time and intervene when necessary, improving the user experience.

[0218] Optionally, the method also includes:

[0219] If the obstacle-crossing action fails again, map annotation information is added to the obstacle, and the map annotation information is sent to the terminal device for visualization.

[0220] In this embodiment of the application, adding map annotation information to obstacles refers to marking the geographical location of the obstacle that cannot be crossed in the environmental map constructed by the cleaning robot with a specific numerical label. For example, on the cleaned area map generated by the App, a virtual obstacle marker is automatically generated at the specific coordinates of the failed obstacle crossing.

[0221] In this step, when the cleaning robot fails to overcome the obstacle again and decides to detour, it can add map annotations to the obstacle. The cleaning robot then sends these annotations to a connected terminal device app. Upon receiving the annotations, the app displays them as a visual element on the map, such as through an icon, highlighted area, or annotation.

[0222] Therefore, obstacles that fail to overcome in subsequent attempts are marked on a map. This allows the cleaning robot to anticipate the obstacle's presence in the next task, potentially enabling it to avoid obstacles in advance and improving operational continuity and intelligence. Based on the accumulated map information, the cleaning robot can proactively avoid these known obstacles and choose smoother routes during path planning. This avoids repeated attempts and failures on the same obstacle, fundamentally reducing task interruptions and wasted time, and significantly improving long-term task execution efficiency.

[0223] Furthermore, by visualizing map annotations on the user's device, the user's perception of the cleaning robot's working environment and status is greatly enhanced. This not only increases transparency but, more importantly, provides an interface for user intervention. Users can choose to clear obstacles themselves or guide the cleaning robot's behavior by manually setting virtual walls, thus achieving human-robot collaborative environmental management.

[0224] Optionally, based on size information and top feature information, determine whether the cleaning robot performs an obstacle-crossing action, including:

[0225] If the size information and top feature information meet the second preset conditions, and it is determined that the cleaning robot can overcome the obstacle, then the auxiliary wheel is controlled to switch from the first position to the second position, and the cleaning robot is driven to move based on the drive wheel to overcome the obstacle.

[0226] In this embodiment of the application, the second preset condition is a pre-set comprehensive standard for determining whether an obstacle is suitable for a simplified obstacle crossing mode. The simplified obstacle crossing mode refers to an obstacle crossing mode that does not require the initiation of a complex obstacle crossing procedure, such as not needing to use auxiliary wheels to help cross the obstacle, but can be safely and smoothly crossed by simply adjusting the auxiliary wheels to a low position and relying mainly on the power of the drive wheels.

[0227] Optionally, the second preset conditions include height less than or equal to the fourth threshold, flatness greater than or equal to the fifth threshold but less than the second threshold, no secondary steps, and slope less than or equal to the sixth threshold, where the fourth threshold is less than the first threshold and the sixth threshold is less than the third threshold. The condition that the height is less than or equal to the fourth threshold ensures that the cleaning robot's chassis and drive wheels can pass under normal power.

[0228] A flatness level greater than or equal to the fifth threshold ensures that the drive wheels will not slip or get stuck due to uneven surfaces when crossing a top. The absence of secondary steps ensures that there is no immediate risk of falling after crossing a top. A slope less than or equal to the sixth threshold ensures that the cleaning robot maintains a stable posture during climbing and descending without requiring additional center of gravity adjustment.

[0229] It should be noted that the embodiments of this application do not specifically limit the specific content corresponding to the fourth threshold, the fifth threshold, the sixth threshold, and the second preset condition. The fourth threshold indicates that the height is within the normal range that the cleaning robot can pass through, and the fifth and sixth thresholds indicate that the flatness and slope are also within the normal range that the robot can pass through.

[0230] For example, the cleaning robot can compare the acquired size information and top feature information with a pre-set and stored second preset condition. When the size information and top feature information simultaneously meet the second preset condition, the cleaning robot determines that it can overcome the obstacle and then triggers a control command to perform the obstacle-crossing action. This control command instructs the auxiliary wheels to switch from a first position to a second position and provides power based on the drive wheels, driving the cleaning robot to overcome the obstacle in a relatively conventional movement manner.

[0231] It should be noted that the above obstacle-crossing maneuvers do not require the use of auxiliary wheels.

[0232] Thus, given that the size and top feature information meet the second preset condition, a simplified obstacle-crossing mode can be adopted, avoiding unnecessary body lifting, auxiliary wheel forward movement, and complex center of gravity control. This allows the cleaning robot to pass through obstacles more quickly and directly, with a shorter overall movement time and lower energy consumption. Furthermore, this simplified obstacle-crossing mode reduces the number and amplitude of rotations of the auxiliary wheel support, and avoids using the auxiliary wheels as the primary load-bearing and fulcrum for obstacle crossing. By prioritizing the use of drive wheels for obstacle crossing, mechanical wear on the auxiliary wheels and related motion mechanisms is reduced, while the control logic is simplified, improving overall reliability.

[0233] Furthermore, this application enables the cleaning robot to achieve gradient management of its obstacle-crossing strategy by setting two different sets of preset conditions—a first preset condition and a second preset condition—corresponding to different obstacle-crossing actions. Thus, the cleaning robot can intelligently select appropriate and efficient obstacle-crossing schemes based on the actual difficulty of the obstacles, achieving intelligent selection of obstacle-crossing strategies.

[0234] Optionally, the size information of the obstacle is determined based on the first sensor, including:

[0235] Control the cleaning robot to perform lateral reciprocating motion at the target location;

[0236] The size information of the obstacle is determined based on the first sensor in at least two different poses during lateral reciprocating motion.

[0237] In this step, the size information of the obstacle is detected by controlling the lateral movement of the cleaning robot. For example, after the cleaning robot reaches the target position, it does not remain stationary for a single measurement, but instead performs a small-amplitude lateral reciprocating motion at the target position, i.e., swaying left and right. During the lateral reciprocating motion, the first sensor located at the front of the cleaning robot performs multiple distance measurements and data acquisitions of the obstacle at at least two different lateral positions and body postures, thereby comprehensively calculating the size information of the obstacle.

[0238] In this way, by detecting obstacle size information from different lateral positions, the true height and width of the obstacle can be calculated more accurately, effectively reducing size misjudgments caused by single-point measurement errors or sensor noise, and improving the accuracy of size measurement. Furthermore, the lateral reciprocating movement of the cleaning robot allows the first sensor to scan the contour changes of the obstacle's side. For irregular cuboid obstacles such as cylinders or trapezoids, this detection method can capture changes in their width or the tilt of their sides, thereby enhancing the ability to recognize the contours of irregularly shaped obstacles.

[0239] Furthermore, by fusing data collected from different poses, cross-verification and compensation can be achieved. For example, if data collected from a certain point is abnormal due to reflection issues, it can be corrected by data collected from other normal points. This processing method improves the success rate and reliability of obstacle size measurement.

[0240] Optionally, the method also includes:

[0241] Before the first sensor scans the obstacle, adjust the orientation of the cleaning robot so that the scanning field of view of the first sensor at least covers the obstacle;

[0242] And / or, before the second sensor scans the obstacle, adjust the orientation of the cleaning robot so that the scanning field of view of the second sensor at least covers the obstacle.

[0243] In this step, a posture adjustment process is introduced before the sensor scans. That is, before controlling the first or second sensor to scan the obstacle, the cleaning robot can adjust its body orientation, i.e., rotate, based on the approximate field of view of the sensor and the relative position of the obstacle. For example, this allows the first sensor to better scan the height and outline of the threshold, and the second sensor to better scan the top of the threshold, so as to better observe the situation above the threshold.

[0244] Understandably, adjusting the orientation of the cleaning robot is intended to ensure that the main body of the obstacle or the key area to be measured falls within the effective scanning field of the sensor. For example, for size measurement, the key area to be measured is the front of the obstacle; for top feature scanning, the key area to be measured is the top leading edge area of ​​the obstacle.

[0245] In this way, by pre-adjusting the robot's orientation before the sensors scan obstacles, it is ensured that the sensors can effectively detect the target area to be detected. This avoids incomplete or invalid scanning data due to poor initial positioning, improving the completeness and effectiveness of data acquisition. This pre-adjustment mechanism creates a suitable detection starting point for the cleaning robot to collect data, enhancing the accuracy of detection in complex environments, thereby indirectly improving the accuracy of subsequent size calculations and top feature recognition.

[0246] Optionally, based on size information and top feature information, determine whether the cleaning robot performs an obstacle-crossing action, including:

[0247] If the size information and top feature information do not meet the first preset conditions, and it is determined that the cleaning robot cannot cross the obstacle, then the auxiliary wheel is controlled to be in the second position, and the cleaning robot is controlled to perform obstacle avoidance actions.

[0248] In this embodiment, obstacle avoidance action refers to a set of movement commands executed by the cleaning robot to avoid obstacles, including path replanning, turning and detouring, backing up and turning, moving along the edge, and the auxiliary wheels retracting from the first position and returning to the second position. This embodiment does not limit the specific obstacle avoidance action, which can be reasonably set and selected based on the actual application scenario.

[0249] For example, after the cleaning robot acquires the size information and top feature information of the obstacle, if it determines that the size information and top feature information of the obstacle do not meet the first preset condition for triggering the obstacle crossing action, the cleaning robot determines that it cannot cross the obstacle, and then controls the auxiliary wheel to switch or remain in the second position to ensure the stability of the cleaning robot's movement; then, it controls the cleaning robot to execute a preset obstacle avoidance action, such as planning and executing a path to bypass the obstacle.

[0250] In this way, if the cleaning robot determines that it cannot cross an obstacle, it can immediately abandon the obstacle crossing and perform obstacle avoidance. This fundamentally avoids serious risks such as the cleaning robot getting stuck, tipping over, falling from a height, or internal damage that may occur when attempting to cross an obstacle. It also prevents the cleaning robot from lingering indefinitely in front of an insurmountable obstacle, but allows it to actively detour around it, thereby ensuring the overall work efficiency and completion rate of the task.

[0251] Furthermore, during obstacle avoidance maneuvers, the auxiliary wheels are adjusted to the second position, allowing the cleaning robot to return to a stable, low-power normal movement posture. This operation achieves a smooth transition and rapid recovery, enabling the cleaning robot to continue performing other tasks and reducing energy waste.

[0252] For example, this application also provides a control method for a cleaning robot, which is applied to... Figures 1-4 The cleaning robot shown Figure 7 A flowchart illustrating another control method for a cleaning robot provided in this application embodiment is shown below. Figure 7 As shown, the control method for this cleaning robot includes the following steps:

[0253] S701. During the cleaning robot's task execution, if an obstacle is detected, control the cleaning robot to move to the target location and determine the size information of the obstacle based on the first sensor; at the target location, the obstacle is a first distance away from the robot body.

[0254] It should be noted that the processes of S701 and S601 are similar. For the specific implementation principles and effects, please refer to the relevant descriptions and effects of S601 above. We will not go into too much detail here.

[0255] S702. When the size information meets the third preset condition, control the cleaning robot to perform obstacle crossing operation; wherein, the size information includes height information and width information, and the third preset condition includes: the height information is less than or equal to a preset height threshold, and the width information is greater than a preset width threshold.

[0256] In this embodiment, the third preset condition refers to a criterion set based on the obstacle's size that allows the cleaning robot to directly perform obstacle-crossing actions. The third preset condition includes height information less than or equal to a preset height threshold and width information greater than a preset width threshold. Thus, when the obstacle is determined to be sufficiently low and wide, it is determined to meet the third preset condition, thereby triggering a rapid obstacle-crossing process without the need to activate complex auxiliary mechanisms such as auxiliary wheels.

[0257] Optionally, the preset height threshold can be 3 cm, and the preset width threshold can be the width of the robot body. This application embodiment does not specifically limit the size of the preset height and width thresholds; they can be set based on the product structure and performance of the cleaning robot.

[0258] In this step, a rapid decision-making and response mechanism is established. When the cleaning robot is at the target location and has obtained the obstacle's size information using the first sensor, if the obstacle's size is determined to be smaller than a preset height threshold or larger than a preset width threshold, the auxiliary detection action will not be executed. Instead, the robot will directly and quickly perform an obstacle-crossing operation, which does not include the action of crossing the obstacle using auxiliary wheels. The auxiliary detection action involves using the lifting of the auxiliary wheels to detect the top feature information of the obstacle.

[0259] Compared to existing obstacle-crossing procedures, where cleaning robots perform a complex process including approaching the obstacle, raising auxiliary wheels, detecting top features, and crossing the obstacle once the obstacle height is determined to be sufficient for obstacle crossing, this complex process is unnecessary and time-consuming for low obstacles (e.g., <3cm thresholds). Therefore, this application achieves a quick decision at the target location using only a single, rapid head-up scan and size estimation via the first sensor. For low thresholds and similar obstacles, the cleaning robot does not need to repeat the complex obstacle-crossing process; instead, it maintains its normal driving posture and directly performs the obstacle-crossing operation. This eliminates the time spent detecting and executing complex obstacle-crossing actions, improving the efficiency of overcoming low thresholds. Furthermore, for these obstacles, there is no need to activate the second sensor's overhead scan or raise / lower the auxiliary wheels, thus reducing computational and energy consumption.

[0260] Optionally, if the obstacle is determined to be very tall based on its size information, such as a height exceeding a predefined height threshold, the cleaning robot can be directly controlled to perform obstacle avoidance. The predefined height threshold is the lower limit of the obstacle height that the cleaning robot, based on its physical structure and obstacle-crossing capabilities, theoretically cannot overcome. When the detected obstacle's height exceeds the predefined height threshold, the cleaning robot does not need to initiate any subsequent auxiliary detection actions or obstacle-crossing actions using auxiliary wheels; it can directly determine that the obstacle is insurmountable and immediately execute obstacle avoidance.

[0261] Optionally, the method also includes:

[0262] If the size information does not meet the third preset condition, the auxiliary wheel is controlled to be in the first position, and the top feature information of the obstacle is determined based on the second sensor;

[0263] Based on size information and top feature information, it is determined whether the cleaning robot should perform obstacle-crossing actions.

[0264] For example, based on the obstacle size information obtained from the first sensor, if it is initially determined that there is an obstacle with a height greater than a preset height threshold, the auxiliary wheels can be controlled to be in a first position, raising the front of the machine to a first height. The obstacle is then scanned from a top-down perspective based on the second sensor to obtain its top feature information. The size information and top feature information are then fused together for a comprehensive judgment to determine whether to perform an obstacle-crossing action.

[0265] The preset height threshold is less than the predefined height threshold. This application does not limit the specific size of the preset height threshold and the predefined height threshold; they can be set based on the robot's structural performance.

[0266] It should be noted that this step is similar to the process in S602. For the specific implementation principle and effect, please refer to the relevant description and effect of S602 above. We will not go into details here.

[0267] Since the initial obstacle crossing determination based on the detected size information may be inaccurate, a second sensor can be used for re-detection. This allows for a comprehensive judgment based on both size information and top feature information, thereby improving the accuracy of obstacle crossing determination.

[0268] Optionally, if the dimensional information does not meet the third preset condition, the auxiliary wheel is controlled to be in the first position, including:

[0269] If the size information does not meet the third preset condition, the obstacle is marked and the task is continued to be performed while avoiding the obstacle until all obstacles in the area corresponding to the task are marked. Based on the marking order, the cleaning robot is controlled to move to the target position corresponding to each obstacle and the auxiliary wheel is controlled to be in the first position.

[0270] The conditions that are not met include: the height information is greater than the preset height threshold, and / or the width information is less than or equal to the preset width threshold.

[0271] For example, if a high threshold (e.g., 4cm or more) is initially determined based on size information, it can be marked and stored inside the cleaning robot. Then, the cleaning robot can be controlled to continue performing the task until all obstacles in the area corresponding to the task are marked, for example, two are marked as low thresholds and two as high thresholds. Then, it can return to each obstacle in the order of marking and perform the following steps in sequence: control the auxiliary wheels to be in the first position and determine the top feature information of the obstacle based on the second sensor; based on the size information and the top feature information, determine whether the cleaning robot should perform an obstacle-crossing action.

[0272] Optionally, obstacles can be marked using map marking, that is, each obstacle can be marked on a clean map using semantics, coordinates, feature points, etc. This application embodiment does not limit the specific marking method.

[0273] This approach avoids interrupting the cleaning robot's tasks due to frequent complex obstacle detection, improving task efficiency and continuity. Furthermore, by centrally handling all obstacles that do not meet the simplified obstacle-crossing pattern, the number of times the cleaning robot switches between the two energy-intensive modes of task execution and obstacle detection is reduced, thus saving overall energy and reducing wear on mechanical components. In addition, based on the location information of all marked obstacles, the cleaning robot can plan a reasonable sequence path for sequential processing, reducing time wasted on disordered movement and repetitive paths, decreasing the total travel distance, and improving execution efficiency.

[0274] Optionally, the auxiliary wheel is in the first position, including:

[0275] The control wheel is switched from the second position to the first position.

[0276] Optionally, based on size information and top feature information, determine whether the cleaning robot performs an obstacle-crossing action, including:

[0277] If the size information and top feature information meet the first preset conditions, and it is determined that the cleaning robot can overcome the obstacle, then the cleaning robot is controlled to perform the obstacle-crossing action.

[0278] Optionally, the auxiliary wheels also have a third position to support the robot body at a second height, which is the height at which the robot body clears the obstacle; controlling the cleaning robot to perform obstacle-crossing actions includes:

[0279] The auxiliary wheel is positioned in the third position and driven to move to the location of the obstacle. The front of the fuselage is then attached to the obstacle to form the first support point. Using the second support point provided by the auxiliary wheel as a fulcrum, the fuselage's center of gravity is shifted forward to overcome the obstacle.

[0280] Optionally, the cleaning robot also includes omnidirectional wheels located on the front side of the body. The omnidirectional wheels have a fourth position where they are partially retracted inside the body and in contact with the cleaning surface, and a fifth position where they support the front of the body at a third height; the third height is greater than the first height; after controlling the auxiliary wheels to be in the first position, the method further includes:

[0281] Position the swivel wheels to the fifth position.

[0282] Optionally, the top feature information of the obstacle is determined based on the second sensor, including:

[0283] Control the fuselage to perform lateral reciprocating motion;

[0284] The top feature information of the obstacle is determined based on the second sensor in at least two different poses during lateral reciprocating motion.

[0285] Optionally, control the cleaning robot to perform obstacle-crossing actions, including:

[0286] Control the omnidirectional wheel to switch from the fifth position to the fourth position, and drive the auxiliary wheel to move to the location of the obstacle, and perform the obstacle crossing action through the auxiliary wheel.

[0287] Optionally, the method also includes:

[0288] During the obstacle-crossing action, if the robot fails to cross the obstacle within a preset time period and / or if the tilt angle of the robot body is greater than a preset angle threshold, the robot will be controlled to retreat a second distance and then perform the obstacle-crossing action again.

[0289] Optionally, control the cleaning robot to perform the obstacle-crossing action again, including:

[0290] Control the cleaning robot to move to the location of the obstacle, and adjust the cleaning robot's obstacle-crossing position and / or obstacle-crossing angle so that the cleaning robot can perform the obstacle-crossing action again.

[0291] Optionally, the method also includes:

[0292] If the obstacle-crossing maneuver fails again, the cleaning robot will be controlled to avoid the obstacle, and a prompt message will be generated.

[0293] Optionally, the method also includes:

[0294] If the obstacle-crossing action fails again, map annotation information is added to the obstacle, and the map annotation information is sent to the terminal device for visualization.

[0295] Optionally, the cleaning robot also includes an auxiliary support and drive wheels. The auxiliary wheels are mounted on the auxiliary support, which can rotate around the drive wheels to switch between a first position and a second position. Based on size information and top feature information, it is determined whether the cleaning robot performs an obstacle-crossing action, including:

[0296] If the size information and top feature information meet the second preset conditions, and it is determined that the cleaning robot can overcome the obstacle, then the auxiliary wheel is controlled to switch from the first position to the second position, and the cleaning robot is driven to move based on the drive wheel to overcome the obstacle.

[0297] Optionally, the size information of the obstacle is determined based on the first sensor, including:

[0298] Control the cleaning robot to perform lateral reciprocating motion at the target location;

[0299] The size information of the obstacle is determined based on the first sensor in at least two different poses during lateral reciprocating motion.

[0300] Optionally, the method also includes:

[0301] Before the first sensor scans the obstacle, adjust the orientation of the cleaning robot so that the scanning field of view of the first sensor at least covers the obstacle;

[0302] And / or, before the second sensor scans the obstacle, adjust the orientation of the cleaning robot so that the scanning field of view of the second sensor at least covers the obstacle.

[0303] Optionally, based on size information and top feature information, determine whether the cleaning robot performs an obstacle-crossing action, including:

[0304] If the size information and top feature information do not meet the first preset conditions, and it is determined that the cleaning robot cannot cross the obstacle, then the auxiliary wheel is controlled to be in the second position, and the cleaning robot is controlled to perform obstacle avoidance actions.

[0305] It should be noted that the specific implementation principles and effects of the above optional embodiments can be found in the relevant descriptions and effects in the above embodiments, and will not be elaborated further here.

[0306] In the foregoing embodiments, the control method for the cleaning robot provided in this application has been described. To achieve the functions of the methods provided in the embodiments of this application, the electronic device serving as the execution entity may include hardware structures and / or software modules, implementing the aforementioned functions in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is executed in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0307] For example, Figure 8 This is a schematic diagram of the structure of a control device for a cleaning robot provided in an embodiment of this application, as shown below. Figure 8 As shown, the cleaning robot includes a body, auxiliary wheels, a first sensor, and a second sensor. The first sensor is located at the front of the body, and the second sensor is positioned below the first sensor for scanning from a top-down angle. The auxiliary wheels have a first position that supports the body and raises it to a first height, and a second position that retracts inside the body. The control device 800 of the cleaning robot includes:

[0308] The first control module 801 is used to control the cleaning robot to move to the target position when an obstacle is detected during the cleaning robot's task, and to determine the size information of the obstacle based on the first sensor; at the target position, the obstacle is a first distance away from the robot body;

[0309] The second control module 802 is used to control the auxiliary wheel to be in the first position and to determine the top feature information of the obstacle based on the second sensor;

[0310] The determination module 803 is used to determine whether the cleaning robot should perform an obstacle-crossing action based on size information and top feature information.

[0311] Optionally, the second control module 802 is specifically used for:

[0312] The control wheel is switched from the second position to the first position.

[0313] Optionally, module 803 is determined, specifically for:

[0314] If the size information and top feature information meet the first preset conditions, and it is determined that the cleaning robot can overcome the obstacle, then the cleaning robot is controlled to perform the obstacle-crossing action.

[0315] Optionally, the auxiliary wheels also have a third position supporting the fuselage raised to a second height, the second height being the height the fuselage clears over an obstacle; the determining module 803 includes a control unit, which is used for:

[0316] The auxiliary wheel is positioned in the third position and driven to move to the location of the obstacle. The front of the fuselage is then attached to the obstacle to form the first support point. Using the second support point provided by the auxiliary wheel as a fulcrum, the fuselage's center of gravity is shifted forward to overcome the obstacle.

[0317] Optionally, the cleaning robot also includes omnidirectional wheels located on the front side of the body. The omnidirectional wheels have a fourth position where they are partially retracted inside the body and in contact with the cleaning surface, and a fifth position where they support the front of the body raised to a third height; the third height is greater than the first height. After the auxiliary wheels are in the first position, the control device 800 of the cleaning robot further includes a fifth control module, which is used for:

[0318] Position the swivel wheels to the fifth position.

[0319] Optionally, the second control module 802 is specifically used for:

[0320] Control the fuselage to perform lateral reciprocating motion;

[0321] The top feature information of the obstacle is determined based on the second sensor in at least two different poses during lateral reciprocating motion.

[0322] Optionally, the control unit is also used for:

[0323] Control the omnidirectional wheel to switch from the fifth position to the fourth position, and drive the auxiliary wheel to move to the location of the obstacle, and perform the obstacle crossing action through the auxiliary wheel.

[0324] Optionally, the control unit 800 of the cleaning robot also includes a sixth control module, which is used for:

[0325] During the obstacle-crossing action, if the robot fails to cross the obstacle within a preset time period and / or if the tilt angle of the robot body is greater than a preset angle threshold, the robot will be controlled to retreat a second distance and then perform the obstacle-crossing action again.

[0326] Optionally, this sixth control module is specifically used for:

[0327] Control the cleaning robot to move to the location of the obstacle, and adjust the cleaning robot's obstacle-crossing position and / or obstacle-crossing angle so that the cleaning robot can perform the obstacle-crossing action again.

[0328] Optionally, the control device 800 of the cleaning robot also includes a seventh control module, which is used for:

[0329] If the obstacle-crossing maneuver fails again, the cleaning robot will be controlled to avoid the obstacle, and a prompt message will be generated.

[0330] Optionally, the control unit 800 of the cleaning robot also includes an eighth control module, which is used for:

[0331] If the obstacle-crossing action fails again, map annotation information is added to the obstacle, and the map annotation information is sent to the terminal device for visualization.

[0332] Optionally, the cleaning robot also includes an auxiliary support and drive wheels. The auxiliary wheels are mounted on the auxiliary support, which can rotate around the drive wheels to switch the auxiliary wheels between a first position and a second position. The determining module 803 is specifically used for:

[0333] If the size information and top feature information meet the second preset conditions, and it is determined that the cleaning robot can overcome the obstacle, then the auxiliary wheel is controlled to switch from the first position to the second position, and the cleaning robot is driven to move based on the drive wheel to overcome the obstacle.

[0334] Optionally, the first control module 801 is specifically used for:

[0335] Control the cleaning robot to perform lateral reciprocating motion at the target location;

[0336] The size information of the obstacle is determined based on the first sensor in at least two different poses during lateral reciprocating motion.

[0337] Optionally, the control device 800 of the cleaning robot also includes a ninth control module, which is used for:

[0338] Before the first sensor scans the obstacle, adjust the orientation of the cleaning robot so that the scanning field of view of the first sensor at least covers the obstacle;

[0339] And / or, before the second sensor scans the obstacle, adjust the orientation of the cleaning robot so that the scanning field of view of the second sensor at least covers the obstacle.

[0340] Optionally, the determining module 803 is specifically used for:

[0341] If the size information and top feature information do not meet the first preset conditions, and it is determined that the cleaning robot cannot cross the obstacle, then the auxiliary wheel is controlled to be in the second position, and the cleaning robot is controlled to perform obstacle avoidance actions.

[0342] It should be noted that the specific implementation principle and effect of the control device 800 of the cleaning robot can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0343] For example, this application also provides a control device for a cleaning robot. Figure 9This is a schematic diagram of the structure of another control device for a cleaning robot provided in an embodiment of this application, as shown below. Figure 9 As shown, the cleaning robot includes a body, auxiliary wheels, a first sensor, and a second sensor. The first sensor is located at the front of the body, and the second sensor is positioned below the first sensor for scanning from a top-down angle. The auxiliary wheels have a first position that supports the body and raises it to a first height, and a second position that retracts inside the body. The control device 900 of the cleaning robot includes:

[0344] The third control module 901 is used to control the cleaning robot to move to the target position when an obstacle is detected during the cleaning robot's task, and to determine the size information of the obstacle based on the first sensor; at the target position, the obstacle is a first distance away from the robot body;

[0345] The fourth control module 902 is used to control the cleaning robot to perform obstacle-crossing operations when the size information meets the third preset condition.

[0346] The size information includes height information and width information, and the third preset condition includes: the height information is less than or equal to a preset height threshold, and the width information is greater than a preset width threshold.

[0347] Optionally, the control device 900 of the cleaning robot further includes a tenth control module, which is used for:

[0348] If the size information does not meet the third preset condition, the auxiliary wheel is controlled to be in the first position, and the top feature information of the obstacle is determined based on the second sensor;

[0349] Based on size information and top feature information, it is determined whether the cleaning robot should perform obstacle-crossing actions.

[0350] Optional, the tenth control module, specifically used for:

[0351] If the size information does not meet the third preset condition, the obstacle is marked and the task is continued to be performed while avoiding the obstacle until all obstacles in the area corresponding to the task are marked. Based on the marking order, the cleaning robot is controlled to move to the target position corresponding to each obstacle and the auxiliary wheel is controlled to be in the first position.

[0352] It should also be noted that the specific implementation principle and effect of the control device 900 of the cleaning robot can be found in the relevant description and effect of the above embodiments, and will not be elaborated further here.

[0353] This application also provides an electronic device. Figure 10 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 10As shown, the electronic device may include: a processor 1001 and a memory 1002 communicatively connected to the processor 1001; the memory 1002 stores a computer program; the processor 1001 executes the computer program stored in the memory 1002, causing the processor 1001 to perform the method described in any of the above embodiments.

[0354] The memory 1002 and the processor 1001 can be connected via the bus 1003.

[0355] This application also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the methods described in any of the foregoing embodiments of this application.

[0356] This application also provides a chip for executing instructions, which is used to perform the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0357] This application also provides a computer program product, which includes a computer program that, when executed by a processor, can implement the methods described in any of the foregoing embodiments executed by an electronic device as described in any of the foregoing embodiments of this application.

[0358] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules 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 through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0359] The modules described as separate components may or may not be physically separate. The components shown as modules 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 modules can be selected to implement the solution of this embodiment according to actual needs.

[0360] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0361] The integrated modules implemented as software functional modules described above can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of this application.

[0362] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0363] The memory may include high-speed random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0364] 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.

[0365] The aforementioned storage media can be implemented from 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 storage media can be any available medium accessible to general-purpose or special-purpose computers.

[0366] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in application-specific integrated circuits (ASICs). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0367] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to this application.

[0368] It should be further noted that although the steps in the flowchart 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 flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0369] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0370] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0371] The above are merely specific embodiments of this application, but the protection scope of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the protection scope of this application. Therefore, the protection scope of this application should be determined by the scope of the claims.

Claims

1. A control method for a cleaning robot, characterized in that, The cleaning robot includes a body, auxiliary wheels, a first sensor, and a second sensor. The first sensor is located at the front of the body, and the second sensor is positioned below the first sensor for scanning from a top-down angle. The auxiliary wheel has a first position that supports the fuselage raised to a first height and a second position that retracts inside the fuselage; the method includes: During the cleaning robot's task execution, if an obstacle is detected, the robot is controlled to move to the target location, and the size information of the obstacle is determined based on the first sensor; at the target location, the obstacle is a first distance away from the robot body; The auxiliary wheel is controlled to be in the first position, and the top feature information of the obstacle is determined based on the second sensor; Based on the size information and the top feature information, it is determined whether the cleaning robot performs an obstacle-crossing action.

2. The method according to claim 1, characterized in that, The control of the auxiliary wheel to be in the first position includes: Control the auxiliary wheel to switch from the second position to the first position.

3. The method according to claim 1, characterized in that, The step of determining whether the cleaning robot performs an obstacle-crossing action based on the size information and the top feature information includes: If the size information and the top feature information meet the first preset conditions, and it is determined that the cleaning robot can overcome the obstacle, then the cleaning robot is controlled to perform an obstacle-crossing action.

4. The method according to claim 3, characterized in that, The auxiliary wheel also has a third position to support the fuselage to be raised to a second height, the second height being the height at which the fuselage passes over the obstacle; The control of the cleaning robot to perform obstacle-crossing actions includes: The auxiliary wheel is controlled to be in the third position and driven to move to the location of the obstacle. The front end of the fuselage is attached to the obstacle to form a first support point. Using the second support point provided by the auxiliary wheel as a fulcrum, the center of gravity of the fuselage is controlled to move forward to cross the obstacle.

5. The method according to claim 3, characterized in that, The cleaning robot also includes a caster wheel located on the front side of the body. The caster wheel has a fourth position where it is partially retracted inside the body and in contact with the cleaning surface, and a fifth position where it supports the front end of the body to be raised to a third height. The third height is greater than the first height; After controlling the auxiliary wheel to be in the first position, the method further includes: Control the omnidirectional wheel to the fifth position.

6. The method according to claim 5, characterized in that, The determination of the top feature information of the obstacle based on the second sensor includes: Control the fuselage to perform lateral reciprocating motion; At least two different poses during the lateral reciprocating motion, the top feature information of the obstacle is determined based on the second sensor.

7. The method according to claim 5, characterized in that, The control of the cleaning robot to perform obstacle-crossing actions includes: Control the omnidirectional wheel to switch from the fifth position to the fourth position, and drive the auxiliary wheel to move to the location of the obstacle, and perform the obstacle crossing action through the auxiliary wheel.

8. The method according to claim 1, characterized in that, The method further includes: During the obstacle-crossing action, if it is detected that the obstacle has not been crossed for more than a preset time and / or the tilt angle of the robot body is greater than a preset angle threshold, the cleaning robot is controlled to retreat a second distance and the cleaning robot is controlled to perform the obstacle-crossing action again.

9. The method according to claim 8, characterized in that, The control of the cleaning robot to perform the obstacle-crossing action again includes: Control the cleaning robot to move to the location of the obstacle, and adjust the obstacle-crossing position and / or obstacle-crossing angle of the cleaning robot so that the cleaning robot performs the obstacle-crossing action again.

10. The method according to claim 8, characterized in that, The method further includes: If the obstacle-crossing action fails again, the cleaning robot is controlled to avoid the obstacle and a prompt message is generated.

11. The method according to claim 8, characterized in that, The method further includes: If the obstacle-crossing action fails again, map annotation information is added to the obstacle, and the map annotation information is sent to the terminal device for visualization.

12. The method according to claim 1, characterized in that, The cleaning robot also includes an auxiliary support and a drive wheel. The auxiliary wheel is mounted on the auxiliary support, and the auxiliary support can rotate around the drive wheel to switch the auxiliary wheel between a first position and a second position. The step of determining whether the cleaning robot performs an obstacle-crossing action based on the size information and the top feature information includes: If the size information and the top feature information meet the second preset condition, and it is determined that the cleaning robot can cross the obstacle, then the auxiliary wheel is controlled to switch from the first position to the second position, and the cleaning robot is driven to move based on the drive wheel to cross the obstacle.

13. The method according to claim 1, characterized in that, Determining the size information of the obstacle based on the first sensor includes: The cleaning robot is controlled to perform lateral reciprocating motion at the target location; The size information of the obstacle is determined based on the first sensor at at least two different poses during the lateral reciprocating motion.

14. The method according to claim 1, characterized in that, The method further includes: Before the first sensor scans the obstacle, the orientation of the cleaning robot is adjusted so that the scanning field of view of the first sensor at least covers the obstacle; And / or, before the second sensor scans the obstacle, adjust the orientation of the cleaning robot so that the scanning field of view of the second sensor at least covers the obstacle.

15. The method according to claim 1, characterized in that, The step of determining whether the cleaning robot performs an obstacle-crossing action based on the size information and the top feature information includes: If the size information and the top feature information do not meet the first preset condition, and it is determined that the cleaning robot cannot cross the obstacle, then the auxiliary wheel is controlled to be in the second position, and the cleaning robot is controlled to perform an obstacle avoidance action.

16. A control method for a cleaning robot, characterized in that, The cleaning robot includes a body, auxiliary wheels, a first sensor, and a second sensor. The first sensor is located at the front of the body, and the second sensor is positioned below the first sensor for scanning from a top-down angle. The auxiliary wheel has a first position that supports the fuselage raised to a first height and a second position that retracts inside the fuselage; the method includes: During the cleaning robot's task execution, if an obstacle is detected, the robot is controlled to move to the target location, and the size information of the obstacle is determined based on the first sensor; at the target location, the obstacle is a first distance away from the robot body; If the size information is determined to meet the third preset condition, the cleaning robot is controlled to perform an obstacle-crossing operation. The size information includes height information and width information, and the third preset condition includes: the height information is less than or equal to a preset height threshold, and the width information is greater than a preset width threshold.

17. The method according to claim 16, characterized in that, The method further includes: If it is determined that the size information does not meet the third preset condition, the auxiliary wheel is controlled to be in the first position, and the top feature information of the obstacle is determined based on the second sensor; Based on the size information and the top feature information, it is determined whether the cleaning robot performs an obstacle-crossing action.

18. The method according to claim 17, characterized in that, The step of controlling the auxiliary wheel to be in the first position when it is determined that the size information does not meet the third preset condition includes: If the size information does not meet the third preset condition, the obstacle is marked and the task is continued to be performed while avoiding the obstacle until all obstacles in the area corresponding to the task are marked. Based on the marking order, the cleaning robot is controlled to move to the target position corresponding to each obstacle and the auxiliary wheel is controlled to be in the first position.

19. A control device for a cleaning robot, characterized in that, The cleaning robot includes a body, auxiliary wheels, a first sensor, and a second sensor. The first sensor is located at the front of the body, and the second sensor is positioned below the first sensor for scanning from a top-down angle. The auxiliary wheel has a first position that supports the fuselage to be raised to a first height and a second position that retracts inside the fuselage; the device includes: The first control module is used to control the cleaning robot to move to a target location when an obstacle is detected during the cleaning robot's task execution, and to determine the size information of the obstacle based on the first sensor; at the target location, the obstacle is a first distance away from the robot body; The second control module is used to control the auxiliary wheel to be in the first position and to determine the top feature information of the obstacle based on the second sensor; The determination module is used to determine whether the cleaning robot performs an obstacle-crossing action based on the size information and the top feature information.

20. A control device for a cleaning robot, characterized in that, The cleaning robot includes a body, auxiliary wheels, a first sensor, and a second sensor. The first sensor is located at the front of the body, and the second sensor is positioned below the first sensor for scanning from a top-down angle. The auxiliary wheel has a first position that supports the fuselage to be raised to a first height and a second position that retracts inside the fuselage; the device includes: The third control module is used to control the cleaning robot to move to the target position when an obstacle is detected during the cleaning robot's task, and to determine the size information of the obstacle based on the first sensor; at the target position, the obstacle is a first distance away from the robot body; The fourth control module is used to control the cleaning robot to perform obstacle-crossing operations when the size information is determined to meet the third preset condition. The size information includes height information and width information, and the third preset condition includes: the height information is less than or equal to a preset height threshold, and the width information is greater than a preset width threshold.

21. A cleaning robot, characterized in that, The cleaning robot includes a body, auxiliary wheels, a first sensor, and a second sensor. The first sensor is located at the front end of the body, and the second sensor is positioned below the first sensor for scanning from a top-down angle. The auxiliary wheels have a first position that supports the body to be raised to a first height and a second position that retracts inside the body. The cleaning robot is used to perform the method as described in any one of claims 1-18.

22. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1-18.

23. 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 1-18.

24. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1-18.

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