Cleaning robot

Abstract

The invention relates to a cleaning robot. The cleaning robot comprises a robot body, a driving wheel and a cleaning part, the driving wheel and the cleaning part are both installed on the robot body and rotationally connected with the robot body, a rotating shaft of the driving wheel is parallel to a rotating shaft of the cleaning part, the cleaning robot at least has a backward obstacle crossing mode and a forward obstacle crossing mode, in the forward obstacle crossing mode, the head of the cleaning robot faces an obstacle, the driving wheel rotates forwards, the cleaning piece rotates in the first direction, and the first direction is the same as or opposite to the rotating direction of the driving wheel; in the backward obstacle crossing mode, the tail of the cleaning robot faces an obstacle, the driving wheels rotate reversely, and the rotating direction of the cleaning part is the same as or opposite to that of the cleaning part in the forward obstacle crossing mode. By adopting the method, the obstacle crossing success rate of the cleaning robot can be considered.

Description

Technical Field

[0001] This application relates to the field of smart home device technology, and in particular to a cleaning robot. Background Technology

[0002] With the development of smart home technology, cleaning robots have emerged, which can be used to automatically clean indoor spaces.

[0003] Currently, entering a recessed area or crossing a threshold is a common scenario in the task process of cleaning robots, namely obstacle crossing scenarios. For example, a cleaning robot crossing from the living room to the balcony is a common obstacle crossing scenario.

[0004] However, due to factors such as the driving mode, weight, and design structure of cleaning robots, cleaning robots usually have a certain upper limit to their obstacle-crossing ability. If the obstacle-crossing ability required for the obstacle-crossing scenario exceeds or approaches the upper limit of the obstacle-crossing ability of the cleaning robot, the cleaning robot may become trapped due to failure to cross the obstacle, resulting in a low success rate for obstacle-crossing. Summary of the Invention

[0005] Therefore, it is necessary to provide a cleaning robot that can improve the success rate of obstacle crossing in order to address the above-mentioned technical problems.

[0006] In a first aspect, this application provides a cleaning robot, which includes a body, drive wheels, and cleaning components. The drive wheels and cleaning components are both mounted on the body and rotatably connected to it. The rotation axis of the drive wheels is parallel to the rotation axis of the cleaning components. The cleaning robot has at least a backward obstacle-crossing mode and a forward obstacle-crossing mode.

[0007] In the forward obstacle-crossing mode, the cleaning robot's head faces the obstacle, the drive wheels rotate clockwise, and the cleaning components rotate in a first direction, which is the same as or opposite to the direction of the drive wheels.

[0008] In reverse obstacle-crossing mode, the cleaning robot's tail faces the obstacle, the drive wheels reverse, and the cleaning component's steering is the same as or opposite to that in forward obstacle-crossing mode.

[0009] In one embodiment, the cleaning component includes a roller brush for dry cleaning of the work surface;

[0010] In forward obstacle-crossing mode, the roller brush rotates forward;

[0011] In reverse obstacle-crossing mode, the roller brush rotates forward or backward;

[0012] or,

[0013] In forward obstacle-crossing mode, the roller brush reverses;

[0014] In the reverse obstacle-crossing mode, the roller brush reverses.

[0015] In one embodiment, the cleaning component includes a roller for wet cleaning of the work surface;

[0016] In forward obstacle-crossing mode, the roller rotates forward or backward;

[0017] In reverse obstacle-crossing mode, the roller reverses.

[0018] In one embodiment, the forward obstacle-crossing mode includes a normal obstacle-crossing mode and a powerful obstacle-crossing mode, and the cleaning component includes a roller brush or a drum. The roller brush is used for dry cleaning of the working surface, and the drum is used for wet cleaning of the working surface.

[0019] In normal obstacle-crossing mode, the cleaning component rotates in the reverse direction;

[0020] In the powerful obstacle-crossing mode, the cleaning component rotates in the forward direction;

[0021] Alternatively, the cleaning components include rollers and rollers, with the number of rollers and rollers rotating forward greater in the high-impact obstacle-crossing mode than in the normal obstacle-crossing mode.

[0022] In one embodiment, the cleaning robot further includes a processor, which is connected to the drive wheel and the cleaning component respectively;

[0023] The processor is used to output control commands to the drive wheels and cleaning components according to the target obstacle crossing mode; the target obstacle crossing mode includes a backward obstacle crossing mode or a forward obstacle crossing mode, the forward obstacle crossing mode includes a normal obstacle crossing mode and a powerful obstacle crossing mode, and the number of forward rotations of the drive wheels and cleaning components in the powerful obstacle crossing mode is greater than the number of forward rotations in the normal obstacle crossing mode.

[0024] Drive wheels and cleaning components are used to perform rotation operations according to control commands.

[0025] In one embodiment, the processor is further configured to select a target obstacle crossing mode from a pre-configured obstacle crossing mode based on the obstacle's attribute information; the pre-configured obstacle crossing modes include a backward obstacle crossing mode, a normal obstacle crossing mode, and a powerful obstacle crossing mode.

[0026] In one embodiment, the processor is further configured to use the normal obstacle crossing mode in the pre-configured obstacle crossing modes as the target obstacle crossing mode when the attribute information satisfies the information conditions corresponding to the normal obstacle crossing mode.

[0027] If the attribute information does not meet the information conditions corresponding to the normal obstacle crossing mode, the backward obstacle crossing mode or the powerful obstacle crossing mode will be selected as the target obstacle crossing mode based on the attribute information and the scene complexity of the obstacle crossing scenario in which the cleaning robot is located.

[0028] In one embodiment, the processor is further configured to, if the attribute information satisfies the information conditions corresponding to the back-down obstacle crossing mode, take the back-down obstacle crossing mode as the target obstacle crossing mode when the scene complexity meets the preset conditions.

[0029] If the attribute information does not meet the information conditions corresponding to the backward obstacle crossing mode, the powerful obstacle crossing mode will be used as the target obstacle crossing mode.

[0030] In one embodiment, the processor is further configured to send a mode selection request to the terminal device if the scene complexity does not meet the preset conditions; and select the backward obstacle crossing mode or the powerful obstacle crossing mode as the target obstacle crossing mode based on the user's response information to the mode selection request.

[0031] In one embodiment, the processor is further configured to acquire the number of consecutive failures of the cleaning robot in overcoming obstacles during the process of the cleaning robot crossing obstacles in a normal obstacle-crossing mode; if the number of consecutive failures is greater than a first failure threshold, the reverse obstacle-crossing mode or the powerful obstacle-crossing mode is used as the new target obstacle-crossing mode; and the cleaning robot is controlled to cross obstacles in the new target obstacle-crossing mode.

[0032] In one embodiment, the processor is further configured to obtain the number of consecutive failures of the cleaning robot in the obstacle-crossing mode with the strongest obstacle-crossing capability; if the number of consecutive failures is greater than a second failure threshold, the processor controls the cleaning robot to enter a standby state and sends an obstacle-crossing failure message.

[0033] In one embodiment, the processor is further configured to calculate the obstacle crossing failure probability in a pre-configured obstacle crossing mode based on the number of consecutive failures of the cleaning robot in crossing obstacles; update the information conditions corresponding to the pre-configured obstacle crossing mode based on the obstacle crossing failure probability; the information conditions corresponding to the pre-configured obstacle crossing mode are used to characterize the obstacle crossing capability of the cleaning robot in different obstacle crossing modes.

[0034] In one embodiment, the processor is further configured to send an obstacle crossing request and receive request response information based on the obstacle crossing request if the cleaning robot fails to cross the obstacle in the obstacle crossing mode with the strongest obstacle crossing capability; and, based on the request response information, control the cleaning robot to cross the obstacle in the obstacle crossing mode with the strongest obstacle crossing capability, or control the cleaning robot to enter a standby state.

[0035] Secondly, this application also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, enables a cleaning robot to overcome obstacles.

[0036] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, enables a cleaning robot to overcome obstacles.

[0037] The aforementioned cleaning robot includes a body, drive wheels, and cleaning components. Both the drive wheels and cleaning components are mounted on the body and rotatably connected to it. The rotation axis of the drive wheels is parallel to the rotation axis of the cleaning components. The cleaning robot has at least two obstacle-crossing modes: a backward obstacle-crossing mode and a forward obstacle-crossing mode. In the forward obstacle-crossing mode, the robot's head faces the obstacle, the drive wheels rotate clockwise, and the cleaning components rotate in a first direction, which may be the same as or opposite to the direction of the drive wheels. In the backward obstacle-crossing mode, the robot's tail faces the obstacle, the drive wheels rotate counterclockwise, and the cleaning components rotate in the same or opposite direction as in the forward obstacle-crossing mode. By switching the orientation of the cleaning robot relative to the obstacle, it can be divided into forward and backward obstacle-crossing modes. Furthermore, by setting the rotation direction of the drive wheels and cleaning components in both forward and backward obstacle-crossing modes, different driving forces and speeds can be used to cross obstacles. In other words, the cleaning robot can cross obstacles of varying difficulty using multiple obstacle-crossing modes, further improving its obstacle-crossing ability and ensuring a high success rate. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a structural side view of the cleaning robot in one embodiment;

[0040] Figure 2 This is a top view of the structure of a cleaning robot in one embodiment;

[0041] Figure 3 This is a top view of the structure of a cleaning robot in one embodiment;

[0042] Figure 4 This is a top view of the structure of a cleaning robot in one embodiment;

[0043] Figure 5 This is an internal structural diagram of the processor in a cleaning robot in one embodiment.

[0044] Explanation of reference numerals in the attached figures:

[0045] 10: Cleaning robot; 11: Body; 12: Drive wheel; 13: Cleaning component; 131: Roller brush; 132: Roller; 14: Processor; 20: Obstacle. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] Typically, the primary task of a cleaning robot is to clean the floor. Therefore, cleaning robots are manufactured with a normal cleaning mode, in which they can clean the floor. In this mode, the robot's drive wheels rotate clockwise, while the cleaning components can rotate clockwise or counterclockwise depending on the specific design of the robot.

[0048] When cleaning robots are performing cleaning tasks, it is common for them to encounter a recessed area or cross a threshold, which is called an obstacle crossing scenario. For example, a cleaning robot in a home environment crossing from the living room to the balcony is a common obstacle crossing scenario.

[0049] For relatively simple obstacle-crossing scenarios, cleaning robots can traverse obstacles in normal cleaning mode. However, due to factors such as the robot's drive mode, weight, and design structure, cleaning robots typically have a certain upper limit to their obstacle-crossing capabilities. If the obstacle-crossing capability required for the scenario exceeds or approaches this limit, the robot may become stuck due to failed attempts, resulting in a low success rate. Furthermore, the robot may attempt to cross an obstacle multiple times before succeeding, leading to low obstacle-crossing efficiency.

[0050] To address the aforementioned problems, this application provides a cleaning robot. This robot, in its normal cleaning mode, gains the ability to traverse obstacles of varying difficulty by switching the robot's orientation relative to obstacles and adjusting the rotation direction of the drive wheels and cleaning components. This improves the obstacle-crossing success rate. Of course, the technical solutions provided in this application are not limited to solving the above problems and also offer other technical effects, which can be found in the following embodiments. The technical solutions of this application will now be described in detail.

[0051] In one exemplary embodiment, such as Figure 1 As shown, a cleaning robot 10 is provided. The cleaning robot 10 includes a body 11, drive wheels 12, and cleaning components 13. Both the drive wheels 12 and the cleaning components 13 are mounted on the body 11 and rotatably connected to it. The rotation axis of the drive wheels 12 is parallel to the rotation axis of the cleaning components 13. The cleaning robot 10 has at least a backward obstacle-crossing mode and a forward obstacle-crossing mode.

[0052] In the forward obstacle-crossing mode, the head of the cleaning robot 10 faces the obstacle 20, the drive wheel 12 rotates clockwise, and the cleaning component 13 rotates in a first direction, which is the same as or opposite to the direction of the drive wheel 12.

[0053] In the reverse obstacle-crossing mode, the tail of the cleaning robot 10 faces the obstacle 20, the drive wheel 12 reverses, and the direction of the cleaning component 13 is the same as or opposite to the direction of the cleaning component 13 in the forward obstacle-crossing mode.

[0054] The cleaning robot 10 has a wide range of applications, including home environments, offices, and commercial spaces. For any given scenario, the cleaning robot 10 must have sweeping and / or mopping functions.

[0055] For a cleaning robot 10 with sweeping function, the cleaning component 13 refers to the roller brush 131, which is used for dry cleaning of the work surface. Dry cleaning means sweeping away debris on the ground without wetting it. The roller brush 131 sweeps the ground as the cleaning robot 10 moves under the drive of the drive wheels 12. For a cleaning robot 10 with only mopping function, the cleaning component 13 refers to the roller 132, which is used for wet cleaning of the work surface. Wet cleaning means cleaning the ground using a wet roller 132. The roller 132 mops the ground as the cleaning robot 10 moves under the drive of the drive wheels 12. For a cleaning robot 10 that integrates sweeping and mopping, the cleaning component 13 includes both the roller brush 131 and the roller 132. As the cleaning robot 10 moves under the drive of the drive wheels 12, the roller brush 131 at the front sweeps the ground, and the roller 132 at the rear mops the ground. It should be noted that for the sweeping and mopping integrated cleaning robot 10, the mopping roller 132 can also be other types of mop, such as a mop with its rotation axis perpendicular to the ground or a flat mop.

[0056] The cleaning robot 10 can include multiple obstacle-crossing modes to ensure that it can traverse obstacles 20 of varying difficulty. These multiple obstacle-crossing modes are primarily determined by the orientation of the cleaning robot 10 relative to the obstacle 20, and the rotation directions of the drive wheels 12 and the cleaning components 13.

[0057] Taking the cleaning robot 10 with its head facing the obstacle 20 as an example, the drive wheel 12 of the cleaning robot 10 rotates clockwise, and the head of the cleaning robot 10 moves towards the obstacle 20 when crossing it. In this case, the rotation direction of the cleaning component 13 determines the forward propulsion of the cleaning robot 10.

[0058] If the cleaning component 13 includes either a roller brush 131 or a roller 132, and in normal cleaning mode, the cleaning component 13 of the cleaning robot 10 rotates clockwise, the cleaning component 13 continues to rotate clockwise when the cleaning robot 10 is crossing obstacles. If, in normal cleaning mode, the cleaning component 13 of the cleaning robot 10 rotates counterclockwise, when the cleaning robot 10 is crossing obstacles 20 that are relatively easy to overcome, the cleaning component 13 can maintain its counterclockwise rotation. However, when facing obstacles 20 that are more difficult to overcome, the cleaning component 13 can switch to clockwise rotation to provide greater forward momentum for the cleaning robot 10.

[0059] If the cleaning components 13 of the cleaning robot 10 include a roller brush 131 and a roller 132, and in normal cleaning mode, both the roller brush 131 and the roller 132 rotate clockwise, the cleaning robot 10 will maintain clockwise rotation when crossing obstacles, so as to maximize the driving power of the cleaning robot 10 and enable it to cross more difficult obstacles 20. If, in normal cleaning mode, one of the roller brush 131 and the roller 132 rotates clockwise and the other rotates counterclockwise, when the cleaning robot 10 crosses obstacles 20 that are easier to cross, the roller brush 131 and the roller 132 can maintain the rotation direction of normal cleaning mode, while when crossing obstacles 20 that are more difficult to cross, both the roller brush 131 and the roller 132 can rotate clockwise. In normal cleaning mode, both the roller brush 131 and the roller 132 rotate in reverse. When the cleaning robot 10 is crossing an obstacle 20 that is relatively easy to overcome, the roller brush 131 and the roller 132 can maintain their normal rotation direction, i.e., both remain in reverse rotation. Alternatively, one of them can change its rotation direction, i.e., one of the roller brush 131 and the roller 132 remains in reverse rotation while the other switches to forward rotation. However, when facing an obstacle 20 that is more difficult to overcome, both the roller brush 131 and the roller 132 can switch to forward rotation.

[0060] In general, in the forward obstacle-crossing mode, the cleaning robot 10 can select an appropriate obstacle-crossing mode, such as normal obstacle-crossing mode and powerful obstacle-crossing mode, based on the actual design of the cleaning component 13 and the actual situation of the obstacle 20 to be crossed, such as the type, height, and width of the obstacle 20. In normal obstacle-crossing mode, the turning of the cleaning component 13 is the same as that in normal cleaning mode. In powerful obstacle-crossing mode, the number of forward rotations of the cleaning component 13 and the drive wheel 12 is greater than that in normal cleaning mode. Therefore, compared with normal obstacle-crossing mode, the forward momentum of the cleaning robot 10 is stronger in powerful obstacle-crossing mode, and it can cross more difficult obstacles 20.

[0061] Taking the cleaning robot 10 with its tail facing the obstacle 20 as an example, the drive wheel 12 of the cleaning robot 10 reverses direction, and the tail of the cleaning robot 10 moves towards the obstacle 20 when crossing it. In this case, the rotation direction of the cleaning component 13 determines the obstacle-crossing power of the cleaning robot 10.

[0062] If the cleaning component 13 includes either a roller brush 131 or a roller 132, and in normal cleaning mode, the cleaning component 13 of the cleaning robot 10 rotates in reverse, the cleaning component 13 can continue to rotate in reverse when the cleaning robot 10 is crossing obstacles. If, in normal cleaning mode, the cleaning component 13 of the cleaning robot 10 rotates forward, when the cleaning robot 10 is crossing obstacles 20 that are relatively easy to overcome, the cleaning component 13 can maintain forward rotation. However, when facing obstacles 20 that are more difficult to overcome, the cleaning component 13 can switch to reverse rotation to provide the cleaning robot 10 with greater obstacle-crossing power.

[0063] If the cleaning components 13 of the cleaning robot 10 include a roller brush 131 and a roller 132, and in normal cleaning mode, both the roller brush 131 and the roller 132 rotate in reverse, the cleaning robot 10 will maintain the reverse rotation when crossing obstacles, so as to maximize the driving force of the cleaning robot 10 and enable it to cross more difficult obstacles 20. If, in normal cleaning mode, one of the roller brush 131 and the roller 132 rotates clockwise and the other rotates in reverse, when crossing obstacles 20 that are easier to cross, the roller brush 131 and the roller 132 can maintain the rotation direction in normal cleaning mode, while when crossing obstacles 20 that are more difficult to cross, both the roller brush 131 and the roller 132 can rotate in reverse. In normal cleaning mode, both the roller brush 131 and the roller 132 rotate clockwise. When the cleaning robot 10 is crossing obstacles 20 that are relatively easy to overcome, the roller brush 131 and the roller 132 can maintain their normal rotation direction, i.e., both remain clockwise. Alternatively, one of them can change its rotation direction, i.e., one of the roller brush 131 and the roller 132 remains clockwise while the other switches to counterclockwise. However, when facing obstacles 20 that are more difficult to overcome, both the roller brush 131 and the roller 132 can switch to counterclockwise.

[0064] In general, the cleaning robot 10 can select either a backward obstacle-crossing mode or a forward obstacle-crossing mode based on the actual design of the cleaning component 13 and the actual conditions of the obstacle 20 it is crossing, such as the type, height, and width of the obstacle 20. For example, in one embodiment, the cleaning robot 10 includes a roller brush 131 and a roller 132. In normal cleaning mode, the roller brush 131 rotates forward, and the roller 132 rotates in reverse. Changing the direction of the roller brush 131 and the roller 132 may cause the cleaning robot 10 to spew out garbage and dirt. In forward obstacle-crossing mode, the cleaning robot 10 is prone to tilting its head due to its rearward center of gravity. Both of these situations will result in a low probability of the cleaning robot 10 successfully crossing obstacles in forward obstacle-crossing mode. Therefore, for the cleaning robot 10 in this embodiment, the backward obstacle-crossing mode will be preferred. That is, the cleaning robot 10 will turn 180° so that its tail faces the obstacle 20, and the drive wheel 12 will be reversed. The roller brush 131 will continue to rotate forward, and the roller 132 will continue to rotate in reverse, thereby improving the success rate of obstacle crossing. Of course, in other embodiments, the cleaning robot 10 may be designed with structures to prevent the robot from spitting out trash and dirt, so that the cleaning robot 10 has more options when crossing obstacles.

[0065] It is worth mentioning that all the forward and reverse rotations mentioned above are based on the direction of the drive wheel 12 when the cleaning robot 10 moves forward. When the cleaning robot 10 moves forward, the drive wheel 12 rotates in the forward direction. Therefore, the same direction as the drive wheel 12 when moving forward is forward rotation, and the opposite direction is reverse rotation.

[0066] The aforementioned cleaning robot 10 includes a body 11, drive wheels 12, and cleaning components 13. Both the drive wheels 12 and the cleaning components 13 are mounted on the body 11 and rotatably connected to it. The rotation axis of the drive wheels 12 is parallel to the rotation axis of the cleaning components 13. The cleaning robot 10 has at least a backward obstacle-crossing mode and a forward obstacle-crossing mode. In the forward obstacle-crossing mode, the head of the cleaning robot 10 faces the obstacle 20, the drive wheels 12 rotate clockwise, and the cleaning components 13 rotate in a first direction, which may be the same as or opposite to the direction of the drive wheels 12. In the backward obstacle-crossing mode, the tail of the cleaning robot 10 faces the obstacle 20, the drive wheels 12 rotate counterclockwise, and the direction of the cleaning components 13 is the same as or opposite to the direction of the cleaning components 13 in the forward obstacle-crossing mode. By switching the orientation of the cleaning robot 10 towards the obstacle 20, the robot can be divided into forward obstacle-crossing mode and backward obstacle-crossing mode. Furthermore, in both forward and backward obstacle-crossing modes, by setting the rotation direction of its drive wheels 12 and cleaning components 13, the cleaning robot 10 can cross obstacles 20 with different driving forces and speeds. In other words, the cleaning robot 10 can cross obstacles 20 of varying difficulty using multiple obstacle-crossing modes, thus further improving its obstacle-crossing ability and ensuring its success rate.

[0067] The following sections will describe three scenarios: the cleaning component 13 is a roller brush 131, a roller 132, or a combination of roller brush 131 and roller 132.

[0068] In one embodiment, such as Figure 2 As shown, a detailed description will be given of the case where the cleaning component 13 is a roller brush 131;

[0069] In forward obstacle-crossing mode, the roller brush rotates 131 degrees forward.

[0070] In reverse obstacle-crossing mode, the roller brush 131 rotates forward or backward;

[0071] or,

[0072] In forward obstacle-crossing mode, the roller brush 131 reverses;

[0073] In the reverse obstacle-crossing mode, the roller brush 131 reverses.

[0074] During operation, the cleaning robot 10 uses the forward rotation of the roller brush 131 to roll up the garbage into the cavity for loading the garbage. Therefore, when the roller brush 131 rotates in reverse, it is easy for the garbage in the cavity to be rolled out (spit out the garbage). So, in response to the reverse rotation of the roller brush 131, the cleaning robot 10 is usually equipped with a structure designed to prevent the garbage from being spit out.

[0075] In the forward obstacle-crossing mode, the drive wheel 12 rotates clockwise, while the roller brush 131 can rotate either clockwise or counterclockwise. When the roller brush 131 rotates clockwise, the driving force of the cleaning robot 10 includes the driving force generated by the rotation of the drive wheel 12 and the roller brush 131. In this case, the driving force of the cleaning robot 10 is relatively strong, enabling it to overcome more difficult obstacles. When the roller brush 131 rotates counterclockwise, the driving force of the cleaning robot 10 includes the difference between the driving force of the drive wheel 12 and the driving force of the roller brush 131. In this case, the driving force of the cleaning robot 10 is relatively weak, enabling it to overcome less difficult obstacles.

[0076] Furthermore, in the normal obstacle-crossing mode, the roller brush 131 rotates in the reverse direction; in the powerful obstacle-crossing mode, the roller brush 131 rotates in the forward direction.

[0077] In the reverse obstacle-crossing mode, drive wheel 12 rotates in reverse, while brush 131 can rotate either forward or backward. When brush 131 rotates forward, the driving force of cleaning robot 10 includes the difference between the driving force of drive wheel 12 and the driving force of brush 131. In this case, the driving force of cleaning robot 10 is weaker, enabling it to cross easier obstacles. When brush 131 rotates in reverse, the driving force of cleaning robot 10 includes the driving force generated by the rotation of drive wheel 12 and brush 131. In this case, the driving force of cleaning robot 10 is stronger, enabling it to cross more difficult obstacles.

[0078] The following is a detailed description of the case where the cleaning component 13 is a roller 132. In one embodiment, such as... Figure 3 As shown,

[0079] In forward obstacle-crossing mode, roller 132 rotates forward or in reverse;

[0080] In the reverse obstacle-crossing mode, roller 132 reverses.

[0081] In the forward obstacle-crossing mode, drive wheel 12 rotates clockwise, while roller 132 can rotate either clockwise or counterclockwise. When roller 132 rotates clockwise, the driving force of cleaning robot 10 includes the driving force generated by the rotation of drive wheel 12 and roller 132. In this case, the driving force of cleaning robot 10 is relatively strong, enabling it to overcome more difficult obstacles. When roller 132 rotates counterclockwise, the driving force of cleaning robot 10 includes the difference between the driving force of drive wheel 12 and the driving force of roller 132. In this case, the driving force of cleaning robot 10 is relatively weak, enabling it to overcome less difficult obstacles.

[0082] Furthermore, in the normal obstacle-crossing mode, the roller 132 rotates in the reverse direction; in the powerful obstacle-crossing mode, the roller 132 rotates in the forward direction.

[0083] In the reverse obstacle-crossing mode, drive wheel 12 rotates in reverse, and roller 132 rotates in reverse. The driving force of cleaning robot 10 includes the driving force generated by the rotation of drive wheel 12 and roller 132. In this case, the driving force of cleaning robot 10 is strong, which enables it to cross obstacles with greater difficulty.

[0084] Finally, the cleaning component 13, including the roller brush 131 and the roller 132, will be described in detail. In one embodiment, such as... Figure 4 As shown, the cleaning component 13 includes a roller brush 131 and a roller 132. The number of times the roller brush 131 and the roller 132 rotate forward in the powerful obstacle crossing mode is greater than the number of times they rotate forward in the normal obstacle crossing mode.

[0085] When the cleaning component 13 includes a roller brush 131 and a roller 132, the number of rotating parts is three. If the number of rotating parts in the powerful obstacle-crossing mode is three, then the number of rotating parts in the normal obstacle-crossing mode can be two or one. For example, in the powerful obstacle-crossing mode, the drive wheel 12, the roller brush 131, and the roller 132 all rotate in the forward direction; in the normal obstacle-crossing mode, one of the drive wheel 12 and the roller brush 131 and the roller 132 can rotate in the forward direction, or the drive wheel 12 can rotate in the forward direction while the roller brush 131 and the roller 132 rotate in the reverse direction.

[0086] If the number of forward rotations in the powerful obstacle-crossing mode is at least two, then the number of forward rotations in the normal obstacle-crossing mode can be one. For example, in the powerful obstacle-crossing mode, the drive wheel 12, the roller brush 131, and the drum 132 all rotate in the forward direction, or one of the drive wheel 12, the roller brush 131, and the drum 132 can rotate in the forward direction; in the normal obstacle-crossing mode, the drive wheel 12 can rotate in the forward direction, while the roller brush 131 and the drum 132 can both rotate in the reverse direction.

[0087] It is easy to understand that the obstacle-crossing ability of the cleaning robot 10 in the powerful obstacle-crossing mode is greater than that in the normal obstacle-crossing mode, while the obstacle-crossing ability in the backward obstacle-crossing mode varies depending on the turning of the drive wheel 12 and the cleaning component 13 in each mode. In some embodiments, the obstacle-crossing ability of the cleaning robot 10 in the backward obstacle-crossing mode is between that in the normal obstacle-crossing mode and the powerful obstacle-crossing mode.

[0088] In an exemplary embodiment, the cleaning robot 10 further includes a processor 14, which is connected to the drive wheel 12 and the cleaning component 13, respectively.

[0089] Processor 14 is used to output control commands to drive wheel 12 and cleaning component 13 according to the target obstacle crossing mode; the target obstacle crossing mode includes a backward obstacle crossing mode or a forward obstacle crossing mode, the forward obstacle crossing mode includes a normal obstacle crossing mode and a powerful obstacle crossing mode, and the number of forward rotations of drive wheel 12 and cleaning component 13 in the powerful obstacle crossing mode is greater than the number of forward rotations in the normal obstacle crossing mode.

[0090] The drive wheel 12 and the cleaning component 13 are used to perform rotation operations according to control commands.

[0091] In this embodiment, when the cleaning robot 10 needs to cross an obstacle 20, the processor 14 in the cleaning robot 10 can determine the difficulty of crossing the obstacle 20 based on the attribute information of the obstacle 20. Then, based on the difficulty of crossing the obstacle 20, the processor selects the obstacle-crossing mode corresponding to that difficulty as the target obstacle-crossing mode. For example, the powerful obstacle-crossing mode can cross the most difficult obstacle 20, the backward obstacle-crossing mode can cross the moderately difficult obstacle 20, and the normal obstacle-crossing mode can cross the easiest obstacle 20. The attribute information can be one or more of the obstacle 20's height, width, shape, and number of thresholds.

[0092] As an example, obstacle 20 can be a raised area (threshold) or a recessed area within the workspace of cleaning robot 10. If obstacle 20 is a raised area, its height information can be the height of the raised area, its width information can be the width of the raised area, its shape information can be the shape of the raised area (e.g., circular or square), and its threshold information can be the number of raised areas in the raised area (e.g., assuming obstacle 20 is the threshold of a sliding door, the threshold information can be the number of raised paths for the sliding door to move). If obstacle 20 is a recessed area, its height information can be the depth of the recess, its width information can be the width of the recessed area, its shape information can be the shape of the recessed area (e.g., circular or square), and its threshold information can be the number of recessed areas in the recessed area.

[0093] Optionally, when the cleaning robot 10 needs to cross obstacle 20, regardless of the difficulty of obstacle 20, the processor 14 of the cleaning robot 10 can use the obstacle-crossing mode corresponding to the lowest difficulty as the target obstacle-crossing mode. If the crossing fails, it switches from the obstacle-crossing mode corresponding to the lowest difficulty to the obstacle-crossing mode corresponding to a moderate difficulty, and continues to use the obstacle-crossing mode corresponding to the moderate difficulty as the target obstacle-crossing mode. If it still fails to cross, it continues to switch to the obstacle-crossing mode corresponding to a higher difficulty until the cleaning robot 10 successfully crosses obstacle 20. If the cleaning robot 10 still fails to cross obstacle 20 even in the highest difficulty obstacle-crossing mode, it means that obstacle 20 has exceeded the crossing range of the cleaning robot 10. At this time, the cleaning robot 10 can be controlled to stop crossing.

[0094] After determining the target obstacle-crossing mode, the processor 14 can generate control commands based on the target obstacle-crossing mode and send the control commands to the drive wheel 12 and the cleaning component 13. Based on the control commands, the drive wheel 12 and the cleaning component 13 perform corresponding rotation operations. For example, if the target obstacle-crossing mode is a forward obstacle-crossing mode, both the drive wheel 12 and the cleaning component 13 will rotate forward, causing the cleaning robot 10 to face the obstacle 20 and cross the more difficult obstacle 20.

[0095] The following example illustrates the specific details of selecting a target obstacle crossing mode based on attribute information. These details include:

[0096] The processor 14 is also used to select a target obstacle crossing mode from a pre-configured obstacle crossing mode based on the attribute information of the obstacle 20; the pre-configured obstacle crossing modes include a backward obstacle crossing mode, a normal obstacle crossing mode, and a powerful obstacle crossing mode.

[0097] In one scenario, the cleaning robot 10 is equipped with a detection sensor, which allows it to perceive its surroundings. The processor 14 can perform target detection on the information collected by the detection sensor, such as images, to determine whether an obstacle 20 exists in front of the cleaning robot 10. If an obstacle 20 is determined to exist, the collected information is further analyzed to determine the obstacle 20's height, width, shape, number of thresholds, and other information, which is then used as the obstacle 20's attribute information.

[0098] In another scenario, the processor 14 of the cleaning robot 10 can connect to detection sensors set up in the cleaning environment, such as indoor surveillance cameras. The processor 14 analyzes the images collected by the detection sensors set up in the cleaning environment to determine the attribute information of the obstacle 20.

[0099] It should be noted that the detection sensors, whether mounted on the cleaning robot 10 itself or placed in the cleaning environment, can be radar, cameras, etc. The images acquired by the detection sensors can be images captured by a monocular camera, images captured by a binocular camera, or 3D point cloud data measured by radar, etc. The processor 14 can detect whether there is a target obstacle 20 to be crossed on the movement path of the cleaning robot 10 based on the detection data; if a target obstacle 20 to be crossed is detected, the processor 14 identifies the attribute information of the target obstacle 20 based on the detection data from the detection sensors.

[0100] As an example, if the detection data is from a monocular camera, then multiple frames of images captured by the monocular camera are acquired; and the presence of an obstacle 20 to be crossed by the cleaning robot 10 is detected by fusing the multiple frames of images; in addition, three-dimensional reconstruction can be performed based on the multiple frames of images through multi-view geometric mapping to generate three-dimensional point cloud data, thereby detecting the attribute information of the obstacle 20 based on the three-dimensional point cloud data.

[0101] As an example, if the detection data is from a binocular camera, then a single frame of the image captured by the binocular camera can be obtained; thus, the presence of an obstacle 20 that the cleaning robot 10 needs to cross can be detected using a single frame of the image; in addition, a three-dimensional reconstruction can be performed based on a single frame of the image using multi-view geometric mapping to generate three-dimensional point cloud data, thereby detecting the attribute information of the obstacle 20 based on the three-dimensional point cloud data.

[0102] As an example, if the detection data is three-dimensional point cloud data measured by radar, the presence of an obstacle 20 that the cleaning robot 10 needs to cross can be detected directly based on the three-dimensional point cloud data, as well as the attribute information of the obstacle 20.

[0103] Furthermore, the cleaning robot 10 is equipped with different obstacle-crossing modes, each with varying obstacle-crossing capabilities and efficiencies. Generally, the stronger the obstacle-crossing capability of a mode, the higher its obstacle-crossing efficiency. For example, in the powerful obstacle-crossing mode, the cleaning robot 10 exhibits the highest obstacle-crossing capability and efficiency; in the backward obstacle-crossing mode, its obstacle-crossing capability and efficiency are second best; and in the normal obstacle-crossing mode, its obstacle-crossing capability and efficiency are the weakest.

[0104] Therefore, in this embodiment, it is necessary to select an obstacle-crossing mode that has the ability to overcome the difficulty of overcoming obstacle 20, and at the same time, select an obstacle-crossing mode with higher obstacle-crossing efficiency, so as to achieve the goal of balancing obstacle-crossing success rate and obstacle-crossing efficiency.

[0105] The cleaning robot 10 has different obstacle-crossing capabilities in different obstacle-crossing modes, meaning there is a mapping relationship between obstacle-crossing modes and obstacle-crossing capabilities. Therefore, the processor 14 of the cleaning robot 10 can match the attribute information of the obstacle 20 with the attribute information corresponding to different obstacle-crossing capabilities to determine the obstacle-crossing capability required for the obstacle 20. Then, based on the obstacle-crossing capability required for the obstacle 20, it selects a target obstacle-crossing mode that matches that capability from the pre-configured obstacle-crossing modes.

[0106] As an example, the attribute information includes the height of obstacle 20, and the attribute information corresponding to different obstacle-crossing capabilities includes two height thresholds. For example, the obstacle-crossing height of the powerful obstacle-crossing mode can be 1 cm-1.5 cm; the obstacle-crossing height of the backward obstacle-crossing mode can be 0.5 cm-1 cm; and the obstacle-crossing height of the normal obstacle-crossing mode can be less than 0.5 cm. The specific content of selecting the target obstacle-crossing mode from the pre-configured obstacle-crossing modes based on the attribute information of obstacle 20 includes: selecting the target obstacle-crossing mode from different obstacle-crossing modes based on the height of obstacle 20 and the two height thresholds.

[0107] The processor 14 of the cleaning robot 10 is also used to select a target obstacle-crossing mode from a pre-configured obstacle-crossing mode based on the attribute information of the obstacle 20. The pre-configured obstacle-crossing modes include a backward obstacle-crossing mode, a normal obstacle-crossing mode, and a powerful obstacle-crossing mode. By flexibly selecting the most suitable obstacle-crossing mode as the target obstacle-crossing mode based on the attribute information, the cleaning robot 10 can overcome the obstacle difficulty of the obstacle 20 while ensuring that its obstacle-crossing ability under the selected target obstacle-crossing mode can overcome the obstacle difficulty. At the same time, it can select an obstacle-crossing mode with higher obstacle-crossing efficiency and without affecting cleaning efficiency, thus balancing the obstacle-crossing success rate, obstacle-crossing efficiency, and cleaning efficiency of the cleaning robot 10.

[0108] In one embodiment, the specific details of determining the target obstacle crossing pattern are further described, including the following steps:

[0109] The processor 14 is also used to select the normal obstacle crossing mode from the pre-configured obstacle crossing modes as the target obstacle crossing mode when the attribute information meets the information conditions corresponding to the normal obstacle crossing mode.

[0110] If the attribute information does not meet the information conditions corresponding to the normal obstacle crossing mode, the backward obstacle crossing mode or the powerful obstacle crossing mode will be selected as the target obstacle crossing mode based on the attribute information and the scene complexity of the obstacle crossing scenario in which the cleaning robot 10 is located.

[0111] Scene complexity refers to the complexity of the environment in which the cleaning robot 10 crosses the obstacle 20. Scene complexity is usually related to at least one of the factors of the obstacle 20 and the path of the cleaning robot 10 to the obstacle 20. For example, the higher the obstacle 20, the higher the scene complexity can be considered. For example, the more other obstacles 20 there are near the path of the cleaning robot 10 to the obstacle 20, the higher the scene complexity can be considered.

[0112] In this embodiment of the application, the processor 14 can match the attribute information of the obstacle 20 with the information conditions corresponding to the normal obstacle crossing mode, and determine whether the attribute information of the obstacle 20 meets the information conditions corresponding to the normal obstacle crossing mode based on the matching result.

[0113] As an example, the attribute information could be the height of obstacle 20, and the information condition corresponding to the normal obstacle crossing mode could be a first height threshold. Therefore, if the height of obstacle 20 is less than the first height threshold, it means that the attribute information matches the height condition corresponding to the normal obstacle crossing mode. Thus, the normal obstacle crossing mode can be selected as the target obstacle crossing mode.

[0114] As an example, the attribute information can be the width of obstacle 20, and the information condition corresponding to the normal obstacle crossing mode can be a first width threshold. If the width of obstacle 20 is less than the first width threshold, it means that the attribute information matches the first obstacle 20 parameter corresponding to the normal obstacle crossing mode, so the normal obstacle crossing mode is selected as the target obstacle crossing mode.

[0115] If the attribute information of obstacle 20 does not meet the information conditions corresponding to the normal obstacle crossing mode, the processor 14 can combine the scene complexity of the obstacle crossing scenario in which the cleaning robot 10 is located with the attribute information of obstacle 20 to determine the obstacle crossing difficulty of the cleaning robot 10. Based on the obstacle crossing difficulty, the processor 14 selects the target obstacle crossing mode from the backward obstacle crossing mode and the powerful obstacle crossing mode.

[0116] Optionally, if the scene complexity of the obstacle-crossing scenario in which the cleaning robot 10 is located meets preset conditions, it indicates that the cleaning robot 10 is capable of crossing the obstacle 20. In this case, the processor 14 can match the attribute information of the obstacle 20 with the information conditions corresponding to the backward obstacle-crossing mode. If the match is successful, the backward obstacle-crossing mode is used as the target obstacle-crossing mode; if the match is unsuccessful, the forceful backward obstacle-crossing mode is used as the target obstacle-crossing mode. If the scene complexity of the obstacle-crossing scenario in which the cleaning robot 10 is located does not meet preset conditions, it indicates that the cleaning robot 10 has difficulty crossing the obstacle 20. In this case, the user can remotely control the cleaning robot 10 to attempt obstacle crossing.

[0117] The processor 14 of the cleaning robot 10 is also used to select a target obstacle-crossing mode from a pre-configured obstacle-crossing mode based on the attribute information of the obstacle 20. The pre-configured obstacle-crossing modes include a backward obstacle-crossing mode, a normal obstacle-crossing mode, and a powerful obstacle-crossing mode. Based on the attribute information, the processor 14 can select a target obstacle-crossing mode that is compatible with the obstacle 20 from different obstacle-crossing modes. A higher degree of compatibility between the target obstacle-crossing mode and the obstacle 20 ensures that the cleaning robot 10 can accurately and efficiently cross the obstacle 20, resulting in a higher success rate and efficiency in obstacle crossing.

[0118] The following is a detailed description of the method for obtaining the above-mentioned scene complexity through an embodiment. The processor 14 detects the height, width, shape and number of barriers 20 and the obstacle crossing path information of the cleaning robot 10 based on the scene image of the obstacle crossing scene. Based on the obstacle crossing path information of the cleaning robot 10 and the height, width, shape and number of barriers 20, the processor 14 detects the scene complexity of the obstacle crossing scene in which the cleaning robot 10 is located.

[0119] The complexity of the scene is usually related to the characteristics of the obstacle 20 itself, as well as the characteristics of the obstacle crossing path between the cleaning robot 10 and the obstacle 20. The characteristics of the obstacle 20 itself can be the height, width, shape and number of thresholds of the obstacle 20, etc., and the characteristics of the obstacle crossing path can be the path length, path curvature and the number of obstacles 20 near the path, etc.

[0120] As an example, by performing image detection on the scene image, the height, width, shape, and number of barriers 20 are detected respectively, and height information, width information, shape information, and number of barriers information are obtained; by performing image detection on the scene image, the path length, path curvature, and number of barriers 20 near the obstacle crossing path between the cleaning robot 10 and the obstacle 20 are detected respectively, and path length information, path curvature information, and number of neighboring barriers 20 information are obtained; the path length information, path curvature information, and number of neighboring barriers 20 information are combined into obstacle crossing path information.

[0121] In this embodiment, the obstacle-crossing path information of the cleaning robot 10 and the height, width, shape and number of thresholds of the obstacle 20 are merged to obtain scene complexity detection information; the scene complexity detection information is used to extract features to obtain scene complexity features; and the scene complexity of the obstacle-crossing scene in which the cleaning robot 10 is located is detected based on the scene complexity features.

[0122] As an example, the scene complexity feature can be a vector feature, and the scene complexity of the obstacle-crossing scene in which the cleaning robot 10 is located can be generated by performing a full connection on the scene complexity feature.

[0123] The processor 14 detects the height, width, shape, and number of hurdles of the obstacle 20, as well as the obstacle-crossing path information of the cleaning robot 10, based on the scene image of the obstacle-crossing scenario. It then detects the scene complexity of the obstacle-crossing scenario in which the cleaning robot 10 is located, based on the obstacle-crossing path information of the cleaning robot 10 and the height, width, shape, and number of hurdles of the obstacle 20. By comprehensively considering information such as the height, width, shape, and number of hurdles of the obstacle 20, as well as the path length, curvature, and number of adjacent obstacles 20 of the obstacle-crossing path, the processor 14 provides a reliable basis for detecting scene complexity, thus improving the accuracy of scene complexity detection.

[0124] The following sections will explain the scenarios where the scene complexity meets the preset conditions and those where it does not.

[0125] First, an example will be used to illustrate the situation where the scene complexity meets the preset conditions. The processor 14 of the cleaning robot 10 is also used to, when the scene complexity meets the preset conditions, if the attribute information meets the information conditions corresponding to the backward obstacle crossing mode, use the backward obstacle crossing mode as the target obstacle crossing mode; if the attribute information does not meet the information conditions corresponding to the backward obstacle crossing mode, use the powerful obstacle crossing mode as the target obstacle crossing mode.

[0126] In this embodiment, if the scene complexity meets the preset conditions, it means that the cleaning robot 10 is unlikely to collide when crossing the obstacle 20, and the cleaning robot 10 can autonomously select the obstacle-crossing mode. In this case, the processor 14 can match the attribute information of the obstacle 20 with the information conditions corresponding to the backward obstacle-crossing mode. If the match is successful, it means that the obstacle 20 is of moderate difficulty to cross, and the backward obstacle-crossing mode can be used as the target obstacle-crossing mode. If the match is unsuccessful, it means that the obstacle 20 is of high difficulty to cross, and the powerful obstacle-crossing mode can be used as the target obstacle-crossing mode.

[0127] For example, the height requirement for the backward obstacle crossing mode is 0.5 cm to 1 cm. If the height of obstacle 20 is 0.9 cm, the backward obstacle crossing mode can be selected as the target obstacle crossing mode. If the height of obstacle 20 is 1.3 cm, the powerful obstacle crossing mode needs to be selected as the target obstacle crossing mode.

[0128] The obstacle course number requirement for the backward obstacle course mode is 3 or less. If obstacle 20 has 2 obstacles, the backward obstacle course mode can be selected as the target obstacle course mode. If obstacle 20 has 4 obstacles, the powerful obstacle course mode should be selected as the target obstacle course mode.

[0129] The processor 14 is further configured to, when the scene complexity meets preset conditions, select the backward obstacle crossing mode as the target obstacle crossing mode if the attribute information meets the information conditions corresponding to the backward obstacle crossing mode; otherwise, select the powerful obstacle crossing mode as the target obstacle crossing mode if the attribute information does not meet the information conditions corresponding to the backward obstacle crossing mode. Thus, when the scene complexity is low, the processor 14 can accurately determine which obstacle crossing mode to select as the target obstacle crossing mode based on the matching result between the attribute information of the obstacle 20 and the information conditions corresponding to the backward obstacle crossing mode.

[0130] The following example illustrates the situation where the scene complexity does not meet the preset conditions. The processor 14 is also used to send a mode selection request to the terminal device when the scene complexity does not meet the preset conditions; based on the user's response information to the mode selection request, the backward obstacle crossing mode or the powerful obstacle crossing mode is selected as the target obstacle crossing mode.

[0131] In this embodiment of the application, if the scene complexity does not meet the preset conditions, it means that the cleaning robot 10 is prone to collision when crossing the obstacle 20. At this time, user intervention is required to send a mode selection request to the terminal device and receive the response information of the terminal device based on the mode selection request, and select the backward obstacle crossing mode or the powerful obstacle crossing mode as the target obstacle crossing mode.

[0132] The mode selection request can be sent to the terminal device via an APP pop-up, SMS, or voice call. Users can input relevant information for selecting the target obstacle crossing mode on the terminal device by dragging, clicking, text input, or voice input.

[0133] The processor 14 is also used to send a mode selection request to the terminal device when the scene complexity does not meet the preset conditions; based on the user's response information to the mode selection request, it selects either the backward obstacle crossing mode or the powerful obstacle crossing mode as the target obstacle crossing mode. When the scene complexity is high, user intervention assists the cleaning robot 10 in accurately determining which obstacle crossing mode to select as the target obstacle crossing mode, thereby improving the accuracy of obstacle crossing mode selection.

[0134] The above embodiments all involve determining the target obstacle-crossing mode based on the attribute information of obstacle 20. The cleaning robot 10 can also attempt to cross obstacles sequentially, in ascending order of obstacle-crossing ability. The process of multiple obstacle-crossing attempts will be described in detail below, including:

[0135] The processor 14 is also used to acquire the number of consecutive failures of the cleaning robot 10 in crossing the obstacle 20 in the normal obstacle crossing mode; if the number of consecutive failures is greater than the first failure threshold, the reverse obstacle crossing mode or the powerful obstacle crossing mode is used as the new target obstacle crossing mode; and the cleaning robot 10 is controlled to cross the obstacle 20 in the new target obstacle crossing mode.

[0136] The cleaning robot 10 can use the normal obstacle-crossing mode as its default obstacle-crossing mode. When encountering an obstacle 20 ahead, the cleaning robot 10 does not need to identify the obstacle 20's attribute information and can directly cross the obstacle 20 using the default obstacle-crossing mode. It should be noted that the cleaning robot 10 can also set a failure threshold for the default obstacle-crossing mode. If the cleaning robot 10 can cross the obstacle 20 within the failure threshold in the default obstacle-crossing mode, it indicates that the obstacle 20 is relatively easy to cross. For example, the failure threshold for the default obstacle-crossing mode can be 3, 4, or 6 times, etc.

[0137] In the default obstacle-crossing mode, if the cleaning robot 10 cannot cross the obstacle 20 within the failure count threshold, it means that the obstacle 20 is difficult to cross and a more capable obstacle-crossing mode needs to be selected as the target obstacle-crossing mode.

[0138] Furthermore, if the cleaning robot 10 fails to cross the obstacle 20 in the default obstacle crossing mode, it needs to select one of the backward obstacle crossing mode and the powerful obstacle crossing mode as the new target obstacle crossing mode; in the new target obstacle crossing mode, the processor 14 controls the cleaning robot 10 to cross the obstacle 20.

[0139] Understandably, the normal obstacle-crossing mode has the weakest obstacle-crossing ability, the backward obstacle-crossing mode has a moderate obstacle-crossing ability, and the powerful obstacle-crossing mode has the strongest obstacle-crossing ability. Therefore, the processor 14 can use the normal obstacle-crossing mode, the backward obstacle-crossing mode, and the powerful obstacle-crossing mode in sequence according to this obstacle-crossing ability until the cleaning robot 10 crosses the obstacle 20.

[0140] The processor 14 of the cleaning robot 10 is also used to acquire the number of consecutive failures of the cleaning robot 10 in crossing the obstacle 20 in the normal obstacle-crossing mode; if the number of consecutive failures exceeds a first failure threshold, the backward obstacle-crossing mode or the powerful obstacle-crossing mode is selected as the new target obstacle-crossing mode; under the new target obstacle-crossing mode, the cleaning robot 10 is controlled to cross the obstacle 20. During the process of the cleaning robot 10 crossing the obstacle 20, the normal obstacle-crossing mode is used as the default obstacle-crossing mode. In this way, the cleaning robot 10 can cross most obstacles 20. For other obstacles 20 that are difficult to cross, a more difficult obstacle-crossing mode is selected, avoiding frequent switching of the rotation direction of the drive wheel 12 and the cleaning component 13, thus saving obstacle-crossing costs.

[0141] The cleaning robot 10 attempts to overcome obstacles using multiple obstacle-crossing modes. If it still fails even using the most capable obstacle-crossing mode, it indicates that the probability of the cleaning robot 10 crossing the obstacle 20 is low. In this case, the cleaning robot 10 can be put into standby mode to avoid damage caused by repeated obstacle-crossing attempts. In one embodiment, the processor 14 is also used to obtain the number of consecutive failures of the cleaning robot 10 in using the most capable obstacle-crossing mode; if the number of consecutive failures is greater than a second failure threshold, the cleaning robot 10 is put into standby mode and an obstacle-crossing failure message is sent. Of course, this method is also applicable to matching the corresponding target obstacle-crossing mode based on the attribute information of the obstacle 20 and the scene complexity of the obstacle-crossing scenario in which the cleaning robot 10 is located. If the obstacle-crossing mode with the most capable obstacle-crossing ability is matched based on the attribute information of the obstacle 20 and the scene complexity of the obstacle-crossing scenario in which the cleaning robot 10 is located, and the number of consecutive failures of the cleaning robot 10 in this most capable obstacle-crossing mode is greater than the second failure threshold, the cleaning robot 10 is put into standby mode and an obstacle-crossing failure message is sent.

[0142] The failure thresholds for the multiple obstacle-crossing modes of the cleaning robot 10 can be preset, and the failure thresholds for different obstacle-crossing modes can be the same or different. For example, the failure threshold for the normal obstacle-crossing mode can be 5 times, the failure threshold for the backward obstacle-crossing mode can be 3 times, and the failure threshold for the powerful obstacle-crossing mode can be 2 times.

[0143] During the obstacle-crossing process of the cleaning robot 10 in its strongest obstacle-crossing mode (i.e., powerful obstacle-crossing mode), the processor 14 can obtain the number of consecutive failures. When this number of consecutive failures exceeds a second failure threshold, it indicates that the cleaning robot 10 has a low probability of successfully crossing the obstacle 20. At this time, the processor 14 can send a stop command to the drive wheel 12 and the cleaning component 13. Upon receiving the stop command, the drive wheel 12 and the cleaning component 13 stop rotating, and the cleaning robot 10 enters a standby state. Simultaneously, the processor 14 can also send an obstacle-crossing failure message to a remote user terminal, or the processor 14 can control the voice device on the cleaning robot 10 to output an obstacle-crossing failure reminder message.

[0144] The processor 14 of the aforementioned cleaning robot 10 is also used to obtain the number of consecutive failures of the cleaning robot 10 in the obstacle-crossing mode with the strongest obstacle-crossing capability; if the number of consecutive failures exceeds a second failure threshold, the cleaning robot 10 is controlled to enter a standby state and an obstacle-crossing failure message is sent. In this way, the cleaning robot 10 can be prevented from continuing to cross obstacles with a low success rate and thus being damaged, and the user is promptly notified of the obstacle-crossing failure of the cleaning robot 10.

[0145] The obstacle-crossing capabilities of the cleaning robot 10 in multiple obstacle-crossing modes can be updated based on the performance of the cleaning robot 10 during actual obstacle-crossing processes, so that the cleaning robot 10 can cross obstacles 20 more accurately. In one embodiment, the processor 14 is further configured to calculate the obstacle-crossing failure probability in a pre-configured obstacle-crossing mode based on the number of consecutive obstacle-crossing failures of the cleaning robot 10; and update the information conditions corresponding to the pre-configured obstacle-crossing modes based on the obstacle-crossing failure probability; the pre-configured information conditions corresponding to the obstacle-crossing modes are used to characterize the obstacle-crossing capabilities of the cleaning robot 10 in different obstacle-crossing modes.

[0146] In this embodiment of the application, for any obstacle crossing mode, if the cleaning robot 10 fails to cross an obstacle in the obstacle crossing mode, the total number of obstacle crossings and the number of consecutive failures are obtained, the ratio of the number of consecutive failures to the total number of obstacle crossings is calculated, and the ratio is used as the obstacle crossing failure probability in the obstacle crossing mode.

[0147] Furthermore, the processor 14 can compare the obstacle-crossing failure probability with a preset failure probability threshold. If the obstacle-crossing failure probability is greater than the preset failure probability threshold, it indicates that the information conditions corresponding to the pre-configured obstacle-crossing mode are set unreasonably. In this case, it is necessary to reduce the information conditions corresponding to the pre-configured obstacle-crossing mode. For example, if the height in the information conditions corresponding to the normal obstacle-crossing mode is 5 centimeters, and the failure probability of the cleaning robot 10 in this normal obstacle-crossing mode reaches 80%, then the height in the information conditions corresponding to the normal obstacle-crossing mode can be adjusted to 3 centimeters.

[0148] The processor 14 of the cleaning robot 10 is also used to calculate the obstacle-crossing failure probability under a pre-configured obstacle-crossing mode based on the number of consecutive failures of the cleaning robot 10 in overcoming obstacles; and to update the information conditions corresponding to the pre-configured obstacle-crossing mode based on the obstacle-crossing failure probability. The information conditions corresponding to the pre-configured obstacle-crossing mode are used to characterize the obstacle-crossing ability of the cleaning robot 10 in different obstacle-crossing modes. For each obstacle-crossing mode, the obstacle-crossing failure probability under the obstacle-crossing mode is updated in real time, and the information conditions corresponding to the obstacle-crossing mode are continuously adjusted based on the obstacle-crossing failure probability, so that the information conditions corresponding to the obstacle-crossing mode become more and more accurate, which helps to improve the accuracy of the cleaning robot 10 in selecting the target obstacle-crossing mode.

[0149] If the cleaning robot 10 fails to overcome the obstacle even using its strongest obstacle-crossing mode (i.e., powerful obstacle-crossing mode), the user needs to decide whether to continue. In one embodiment, the processor 14 is further configured to send an obstacle-crossing request and receive a request response based on the obstacle-crossing request when the cleaning robot 10 fails to overcome the obstacle 20 using its strongest obstacle-crossing mode; based on the request response, it controls the cleaning robot 10 to overcome the obstacle 20 using its strongest obstacle-crossing mode, or controls the cleaning robot 10 to enter a standby state. The obstacle-crossing request can be sent via an app pop-up notification, SMS, or voice call.

[0150] If the cleaning robot 10 fails to overcome an obstacle in the forceful obstacle-crossing mode, the processor 14 can send an obstacle-crossing request to the remote user terminal. The user can decide whether to continue obstacle-crossing based on the actual situation. If the user decides to continue, they send a request response message to the processor 14, which controls the cleaning robot 10 to continue in the forceful obstacle-crossing mode. If the user decides to stop obstacle-crossing, they send a request response message to the processor 14, which controls the cleaning robot 10 to enter standby mode.

[0151] When a user and the cleaning robot 10 are in the same cleaning space, the cleaning robot 10 can also output voice prompts via its own voice device. For example, the voice prompt message could be: "Obstacle crossing failed. Please confirm whether to continue." If the processor 14 of the cleaning robot 10 receives a confirmation message from the user, it controls the cleaning robot 10 to continue crossing obstacles in a forced obstacle-crossing mode. If no confirmation message is received from the user, or if a message to stop obstacle crossing is received from the user, the cleaning robot 10 is controlled to enter standby mode.

[0152] The processor 14 is also configured to send an obstacle-crossing request and receive request response information based on the obstacle-crossing request when the cleaning robot 10 fails to cross the obstacle 20 using its strongest obstacle-crossing mode; based on the request response information, control the cleaning robot 10 to cross the obstacle 20 using its strongest obstacle-crossing mode, or control the cleaning robot 10 to enter a standby state. If the cleaning robot 10 still cannot cross the obstacle 20 using its strongest obstacle-crossing mode, the user can indicate whether to continue or stop obstacle-crossing, preventing the cleaning robot 10 from continuing to attempt obstacle-crossing despite a low success rate and potentially causing damage.

[0153] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0154] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores data related to the obstacle-crossing process of the cleaning robot. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for obstacle-crossing by a cleaning robot.

[0155] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0156] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0157] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0158] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A cleaning robot, characterized in that, The cleaning robot includes a body, drive wheels, and cleaning components. Both the drive wheels and the cleaning components are mounted on the body and rotatably connected to it. The rotation axis of the drive wheels is parallel to the rotation axis of the cleaning components. The cleaning robot has at least a backward obstacle-crossing mode and a forward obstacle-crossing mode. In the forward obstacle-crossing mode, the head of the cleaning robot faces the obstacle, the drive wheel rotates clockwise, and the cleaning component rotates in a first direction, which is the same as or opposite to the direction of the drive wheel. In the reverse obstacle-crossing mode, the tail of the cleaning robot faces the obstacle, the drive wheels reverse, and the direction of the cleaning component is the same as or opposite to the direction of the cleaning component in the forward obstacle-crossing mode.

2. The cleaning robot according to claim 1, characterized in that, The cleaning component includes a roller brush for dry cleaning of the work surface; In the forward obstacle-crossing mode, the roller brush rotates forward; In the reverse obstacle-crossing mode, the roller brush rotates forward or in reverse. or, In the forward obstacle-crossing mode, the roller brush reverses direction; In the reverse obstacle-crossing mode, the roller brush reverses direction.

3. The cleaning robot according to claim 1 or 2, characterized in that, The cleaning component includes a roller, which is used for wet cleaning of the work surface; In the forward obstacle-crossing mode, the roller rotates forward or in reverse. In the reverse obstacle-crossing mode, the roller reverses direction.

4. The cleaning robot according to claim 1, characterized in that, The forward obstacle-crossing mode includes a normal obstacle-crossing mode and a powerful obstacle-crossing mode. The cleaning component includes a roller brush or a roller. The roller brush is used for dry cleaning of the working surface, and the roller is used for wet cleaning of the working surface. In the normal obstacle-crossing mode, the cleaning component rotates in the opposite direction; In the powerful obstacle-crossing mode, the cleaning component rotates in the forward direction; Alternatively, the cleaning component includes the roller brush and the roller, wherein the number of times the roller brush and the roller rotate forward in the high-impact obstacle crossing mode is greater than the number of times they rotate forward in the normal obstacle crossing mode.

5. The cleaning robot according to claim 1, characterized in that, The cleaning robot also includes a processor, which is connected to the drive wheel and the cleaning component respectively. The processor is configured to output control commands to the drive wheel and the cleaning component according to the target obstacle crossing mode; the target obstacle crossing mode includes a backward obstacle crossing mode or a forward obstacle crossing mode, the forward obstacle crossing mode includes a normal obstacle crossing mode and a powerful obstacle crossing mode, and the number of forward rotations of the drive wheel and the cleaning component in the powerful obstacle crossing mode is greater than the number of forward rotations in the normal obstacle crossing mode. The drive wheel and the cleaning component are used to perform rotation operations according to the control command.

6. The cleaning robot according to claim 5, characterized in that, The processor is further configured to select the target obstacle crossing mode from a pre-configured obstacle crossing mode based on the attribute information of the obstacle; the pre-configured obstacle crossing modes include the backward obstacle crossing mode, the normal obstacle crossing mode, and the powerful obstacle crossing mode.

7. The cleaning robot according to claim 6, characterized in that, The processor is further configured to, when the attribute information satisfies the information conditions corresponding to the normal obstacle crossing mode, use the normal obstacle crossing mode in the pre-configured obstacle crossing modes as the target obstacle crossing mode. If the attribute information does not meet the information conditions corresponding to the normal obstacle crossing mode, the backward obstacle crossing mode or the powerful obstacle crossing mode will be used as the target obstacle crossing mode based on the attribute information and the scene complexity of the obstacle crossing scenario in which the cleaning robot is located.

8. The cleaning robot according to claim 7, characterized in that, The processor is further configured to, when the scene complexity meets a preset condition, if the attribute information meets the information condition corresponding to the backward obstacle crossing mode, use the backward obstacle crossing mode as the target obstacle crossing mode. If the attribute information does not meet the information conditions corresponding to the backward obstacle crossing mode, the powerful obstacle crossing mode will be used as the target obstacle crossing mode.

9. The cleaning robot according to claim 8, characterized in that, The processor is further configured to send a mode selection request to the terminal device if the scene complexity does not meet the preset conditions; and to select the backward obstacle crossing mode or the powerful obstacle crossing mode as the target obstacle crossing mode based on the user's response information to the mode selection request.

10. The cleaning robot according to claim 5, characterized in that, The processor is further configured to acquire the number of consecutive failures of the cleaning robot in crossing obstacles in the normal obstacle crossing mode during the process of the cleaning robot crossing obstacles; if the number of consecutive failures is greater than a first failure threshold, the reverse obstacle crossing mode or the powerful obstacle crossing mode is used as a new target obstacle crossing mode; and under the new target obstacle crossing mode, the cleaning robot is controlled to cross obstacles.

11. The cleaning robot according to claim 5 or 10, characterized in that, The processor is also used to obtain the number of consecutive failures of the cleaning robot in the obstacle-crossing mode with the strongest obstacle-crossing capability; if the number of consecutive failures is greater than the second failure threshold, the processor controls the cleaning robot to enter a standby state and sends an obstacle-crossing failure message.

12. The cleaning robot according to claim 5, characterized in that, The processor is further configured to calculate the obstacle crossing failure probability in a pre-configured obstacle crossing mode based on the number of consecutive failures of the cleaning robot in overcoming obstacles; update the information conditions corresponding to the pre-configured obstacle crossing mode based on the obstacle crossing failure probability; the information conditions corresponding to the pre-configured obstacle crossing mode are used to characterize the obstacle crossing ability of the cleaning robot in different obstacle crossing modes.

13. The cleaning robot according to claim 5, characterized in that, The processor is further configured to, in the event that the cleaning robot fails to cross an obstacle in the obstacle-crossing mode with the strongest obstacle-crossing capability, send an obstacle-crossing request and receive request response information based on the obstacle-crossing request; and, according to the request response information, control the cleaning robot to cross the obstacle in the obstacle-crossing mode with the strongest obstacle-crossing capability, or control the cleaning robot to enter a standby state.

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