Obstacle-crossing carrier system for sweeper and control method of obstacle-crossing carrier system

Abstract

The embodiment of the invention provides an obstacle-crossing carrier system for a sweeper and a control method of the obstacle-crossing carrier system, and belongs to the technical field of intelligent mobile cleaning equipment. The system comprises a carrier chassis used for being in contact with the ground; the driving unit is arranged on the carrier chassis and used for providing driving capacity based on the moving requirement of the carrier chassis; the lifting mechanism is connected with the carrier chassis and used for executing lifting adjustment on the structure where the carrier chassis and the containing cavity are located based on the obstacle crossing requirement; the containing cavity is formed in the carrier chassis and used for containing the sweeper and forming a limiting space used for positioning the sweeper; and the locking mechanism is arranged in the accommodating cavity and is used for locking and fixing the sweeper after the sweeper enters the accommodating cavity. According to the scheme, a stable obstacle crossing carrier capable of autonomously crossing a threshold and a height difference in a real family terrain is built for a common sweeper, so that the cleaning process is not interrupted due to the terrain any more.

Description

Technical Field

[0001] This invention relates to the field of intelligent mobile cleaning equipment technology, specifically to an obstacle-crossing vehicle system for a sweeper and a control method for such an obstacle-crossing vehicle system. Background Technology

[0002] With the increasing demand for household cleaning, robotic vacuum cleaners have gradually become one of the most commonly used smart devices in users' daily lives. Their cleaning performance in normal floor environments is relatively mature, but there are still some unavoidable shortcomings in real-world scenarios. These shortcomings occur quite frequently in ordinary households, making the so-called automatic cleaning seem incomplete.

[0003] The most frequently mentioned problem is insufficient obstacle-crossing ability. The overall height of existing robotic vacuum cleaners is strictly limited to a certain range. This inherent structural contradiction makes it difficult for their drive wheels to exceed a certain limit in terms of climbing ability. Sliding door tracks, slightly high thresholds, and even slippers, wires, or children's toys scattered on the floor are enough to make ordinary robotic vacuum cleaners stop. With repeated obstructions, the cleaning area is fragmented into several isolated "islands," forcing users to frequently intervene, helping to hold or lift the machine. The so-called "automated cleaning" here becomes a literal self-deception.

[0004] Another practical problem is that robotic vacuum cleaners are almost incapable of adapting to complex terrain. Take duplexes or homes with stairs as examples: existing products not only cannot autonomously traverse the differences in stair steps, but also often require additional anti-fall algorithms to prevent slipping off the edges of steps. The height difference between carpet and tile, or an irregular slope, is enough to cause the machine to repeatedly attempt to navigate. For users, these are not "extreme scenarios," but for existing robots, these are terrain changes that they cannot reliably handle.

[0005] Some specialized "stair-climbing robots" or transport platforms have appeared on the market, but most of them operate independently and are geared towards specific scenarios for moving objects. They lack interfaces and collaboration mechanisms with mainstream robotic vacuum cleaners, let alone forming a coherent cleaning process in a home environment. Ultimately, users are forced to choose between "buying a more expensive and complex new robotic vacuum cleaner" and "accepting that their existing robotic vacuum cleaner cannot meet the requirements."

[0006] Therefore, without purchasing a new machine, how to give existing robotic vacuum cleaners more stable cross-domain capabilities so that they can move smoothly in the real terrain of an ordinary household remains a problem that the industry has yet to solve. Summary of the Invention

[0007] The purpose of this invention is to provide an obstacle-crossing vehicle system and control method for a robotic vacuum cleaner, so as to at least solve the problems of insufficient obstacle-crossing ability of existing robotic vacuum cleaners and their difficulty in autonomously crossing thresholds and other height differences in real home terrain.

[0008] To achieve the above objectives, a first aspect of the present invention provides an obstacle-crossing vehicle system for a sweeping robot, the system comprising: a vehicle chassis for contacting the ground; a drive unit disposed on the vehicle chassis for providing drive capability based on the movement requirements of the vehicle chassis; a lifting mechanism connected to the vehicle chassis for performing lifting and lowering adjustments on the vehicle chassis and the structure containing the receiving cavity based on obstacle-crossing requirements; a receiving cavity disposed on the vehicle chassis for accommodating the sweeping robot and forming a defined space for positioning the sweeping robot; and a locking mechanism disposed within the receiving cavity for locking and fixing the sweeping robot after it enters the receiving cavity.

[0009] Optionally, the drive unit includes either a tracked drive assembly or a wheeled drive assembly; the tracked drive assembly or the wheeled drive assembly is connected to the bottom of the vehicle chassis and forms a continuous contact path based on the motion posture of the vehicle chassis.

[0010] Optionally, the lifting mechanism includes a rotating connection portion disposed between the vehicle chassis and the receiving cavity, and a lifting drive assembly connected to the receiving cavity; the rotating connection portion is used to limit the receiving cavity to rotate relative to the vehicle chassis about a preset rotation axis, and the lifting drive assembly is used to drive the receiving cavity to switch between a contact state and a lifting state relative to the vehicle chassis based on the obstacle crossing height adjustment requirements.

[0011] Optionally, the lifting mechanism is connected to the side wall structure of the receiving cavity, and synchronously performs lifting and lowering adjustment on the receiving cavity based on the posture adjustment requirements of the receiving cavity.

[0012] Optionally, the bottom of the receiving cavity is provided with a positioning structure for defining the entry position of the sweeper; the positioning structure includes either a guide protrusion or a limiting block, and forms the initial positioning reference of the sweeper based on the contact guidance effect when the sweeper enters the receiving cavity.

[0013] Optionally, the locking mechanism includes either an electromagnetic telescopic pin assembly or a mechanical latch assembly; the electromagnetic telescopic pin assembly or the mechanical latch assembly is disposed on the side wall of the receiving cavity, and performs an extension action based on a trigger signal after the sweeper reaches the preset position of the receiving cavity to insert into the structural joint of the sweeper.

[0014] Optionally, an adjustment structure for forming a locking fit gap is provided between the locking mechanism and the side wall structure of the receiving cavity; the adjustment structure includes either a sliding groove or an elastic limiting member, and is used to provide position compensation for the extension position of the locking mechanism based on the stroke change of the locking mechanism.

[0015] Optionally, the inner wall of the receiving cavity is provided with a sensing component for detecting the positioning status of the sweeper; the sensing component includes either a photoelectric sensor or a pressure sensor, and is used to output signal parameters for triggering the locking mechanism after the sweeper enters the receiving cavity and makes contact with the sensing component.

[0016] Optionally, the front end of the vehicle chassis is provided with a front-end detection unit for constructing an obstacle contact detection path. The front-end detection unit is signal-connected to the lifting mechanism and provides trigger input for the lifting action of the lifting mechanism based on the contact change of the obstacle. A second aspect of the present invention provides a control method for an obstacle-crossing vehicle system for a sweeper, the method being applied to the aforementioned obstacle-crossing vehicle system for a sweeper, the method comprising: acquiring operating information of each operating component in the obstacle-crossing vehicle system; generating obstacle-crossing control information based on the operating information and obstacle detection information, the obstacle-crossing control information being used to limit lifting adjustment and displacement adjustment; outputting control commands to a lifting mechanism and a drive unit based on the obstacle-crossing control information, so that the lifting mechanism and the drive unit perform obstacle-crossing actions; and outputting control commands to a locking mechanism based on positioning information after the obstacle-crossing action is completed, so as to release the locking and fixing of the sweeper. Optionally, the operation information of each operating component in the obstacle-crossing vehicle system is obtained, including: collecting status information from the vehicle chassis, lifting mechanism, drive unit, locking mechanism and sweeper located in the receiving cavity to characterize their respective operating states, and aggregating the status information to generate the operation information.

[0017] Optionally, generating obstacle crossing control information based on the operation information and obstacle detection information includes: performing joint processing on the operation information and the obstacle detection information to obtain environmental feature data characterizing the obstacle crossing environment; determining corresponding lifting adjustment parameters and displacement adjustment parameters based on the environmental feature data; and constructing the obstacle crossing control information based on the lifting adjustment parameters and the displacement adjustment parameters.

[0018] Optionally, based on the obstacle-crossing control information, control commands are output to the lifting mechanism and the drive unit to cause the lifting mechanism and the drive unit to perform obstacle-crossing actions. This includes: parsing the obstacle-crossing control information to obtain lifting control commands characterizing the lifting action and displacement control commands characterizing the displacement action; sending the lifting control commands to the lifting mechanism to drive the lifting mechanism to perform lifting adjustment on the structure containing the vehicle chassis and the housing cavity; and sending the displacement control commands to the drive unit to drive the drive unit to perform obstacle-crossing displacement on the vehicle chassis.

[0019] A third aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described control method for an obstacle-crossing vehicle system for a sweeping robot.

[0020] A fourth aspect of the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the control method described above for an obstacle-crossing vehicle system for a sweeping robot.

[0021] The fifth aspect of the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the above-described control method for an obstacle-crossing vehicle system for a sweeping machine.

[0022] Through the above technical solution, this invention introduces a collaborative structure of a carrier chassis, a drive unit, a lifting mechanism, a receiving cavity, and a locking mechanism. This allows the device to provide a stable carrying platform and obstacle-crossing support path for the sweeper without altering its own structure. The carrier chassis ensures continuous contact with the ground, the drive unit provides overall mobility, and the lifting mechanism adjusts the device's posture when encountering height differences, keeping the sweeper in a controllable spatial position. The receiving cavity provides a clear entry and positioning interface for the sweeper, preventing deviation or relative displacement with the carrier during obstacle crossing. The locking mechanism further secures the sweeper within the receiving cavity, maintaining stability when lifted or passing obstacles. This collaborative structure endows sweepers, which previously could not independently cross thresholds or height differences, with reliable obstacle-crossing capabilities, reducing interruptions in the cleaning process and enabling them to adapt to more real-world terrains in home environments.

[0023] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0024] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of an obstacle-crossing vehicle system for a sweeper provided in one embodiment of the present invention; Figure 2 This is a schematic diagram of the phased actions of a vehicle approaching a threshold and lifting and crossing it, provided in one embodiment of the present invention. Figure 3 This is a flowchart of the steps of a control method for an obstacle-crossing vehicle system for a sweeper provided in one embodiment of the present invention. Detailed Implementation

[0025] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0026] like Figure 1 As shown, this invention provides an obstacle-crossing vehicle system for a sweeping robot, the system comprising: a vehicle chassis for contacting the ground; a drive unit disposed on the vehicle chassis for providing drive capability based on the movement requirements of the vehicle chassis; a lifting mechanism connected to the vehicle chassis for adjusting the height of the vehicle chassis and the structure containing the receiving cavity based on obstacle-crossing requirements; a receiving cavity disposed on the vehicle chassis for accommodating the sweeping robot and forming a defined space for positioning the sweeping robot; and a locking mechanism disposed within the receiving cavity for locking and fixing the sweeping robot after it enters the receiving cavity.

[0027] In this embodiment of the invention, the solution addresses the practical pain point of insufficient obstacle-crossing ability of robotic vacuum cleaners in home environments by constructing an obstacle-crossing vehicle system that provides structural support for the robotic vacuum cleaner. The vehicle chassis, as the load-bearing foundation in direct contact with the ground, provides a stable support surface for the entire system. The drive unit, mounted on the vehicle chassis, handles the system's movement needs, enabling the vehicle to advance on different terrains. The connection between the lifting mechanism and the vehicle chassis allows the device to rise or fall according to the height difference of obstacles, thereby creating the necessary spatial conditions for obstacle-crossing. The receiving cavity provides a clear entry area and positioning benchmark for the robotic vacuum cleaner, preventing it from shaking or deviating during obstacle crossing. The locking mechanism secures the robotic vacuum cleaner after it enters the receiving cavity, maintaining the robotic vacuum cleaner and the vehicle as a single unit. Through the coordinated configuration of these components, this embodiment of the invention can supplement ordinary robotic vacuum cleaners with stable and continuous obstacle-crossing channels, significantly enhancing their terrain adaptability in real home environments.

[0028] Preferably, the drive unit includes either a tracked drive assembly or a wheeled drive assembly; the tracked drive assembly or the wheeled drive assembly is connected to the bottom of the vehicle chassis and forms a continuous contact path based on the motion posture of the vehicle chassis.

[0029] In this embodiment of the invention, the structural choice of the drive unit often determines the reliability of the vehicle on complex terrain. Embodiment 1 employs a tracked drive assembly because tracks have a greater contact area with the ground, especially when encountering debris, step edges, or irregular gaps, where they can maintain a more stable contact state. Track links are typically arranged along the lower edge of the chassis. The stiffness of the links and the outer friction material together affect the traction output. During assembly, it is necessary to ensure that the links maintain tension even in bending sections, using tension wheels or guide wheels to limit chain drift.

[0030] In another implementation, the configuration of the wheel drive assembly differs slightly. The wheel size, tire rubber thickness, and the torque output curve of the wheel hub directly affect the ability to grip obstacles. A slight outward flare is typically designed for the front wheel or both side wheels to improve stability upon impact. The wheelsets are usually rigidly connected to the chassis, and the drive motor's output shaft drives the wheelsets to rotate synchronously via a reduction gear, creating a relatively smooth power chain during continuous propulsion.

[0031] Regardless of the chosen form, the drive components remain attached to the underside of the chassis, establishing a continuous contact path along the chassis's motion. This path continuity is crucial for obstacle crossing, as changes in the drive components at the contact point directly affect the attitude adjustment space. In other words, as long as the contact path remains stable, the vehicle's movements when crossing height differences are easier to predict and control.

[0032] Preferably, the lifting mechanism includes a rotating connection portion disposed between the vehicle chassis and the receiving cavity, and a lifting drive assembly connected to the receiving cavity; the rotating connection portion is used to limit the receiving cavity to rotate relative to the vehicle chassis about a preset rotation axis, and the lifting drive assembly is used to drive the receiving cavity to switch between a contact state and a lifting state relative to the vehicle chassis based on the obstacle crossing height adjustment requirements.

[0033] In this embodiment of the invention, the specific configuration of the lifting mechanism determines the vehicle's attitude stability and obstacle-crossing continuity when traversing areas of height difference. This embodiment employs multiple independent electric actuator assemblies as the core unit of the lifting drive assembly. Each electric actuator assembly is correspondingly arranged at multiple support positions on the vehicle chassis, and can be distributed in a four-point or six-point configuration depending on the chassis's structural shape. The rated stroke and thrust level of each electric actuator assembly are determined during the design phase, and a safety margin is reserved for obstacle-crossing redundancy to avoid jamming or overloading when passing thresholds or locally uneven ground.

[0034] In terms of connection, the lower end of the electric push rod assembly forms a vibration-damping support with the ground contact surface via a spherical universal joint, while the upper end is connected to the corresponding chassis support position via a rigid connection structure. This structure can reduce the impact of off-center load on the axial stability of the push rod, allowing the electric push rod to maintain a stable force direction during extension and retraction. There is no mechanical linkage between the multiple push rods; instead, the controller independently allocates the drive amount according to the obstacle clearance height adjustment requirements and controls the extension and retraction stroke of each electric push rod assembly. When the vehicle chassis exhibits a local tilting tendency, one push rod can perform height compensation first, and the remaining push rods then adjust their corresponding displacements according to the real-time attitude to maintain the overall structural balance.

[0035] From an operational perspective, the lifting behavior is similar to the attitude adjustment process of a multi-point support platform: when the electric push rod assembly extends, the height of the corresponding support point rises, and the chassis attitude increases accordingly; when the push rod assembly retracts, the support point sinks, and the chassis returns to its fitted state. Since the drive of each push rod is completely independent, height adjustment can adapt to the geometry of different obstacles, achieving fine-grained attitude control without the need for additional mechanical coordination mechanisms. Overall, this distributed lifting method provides a larger attitude adjustment window for obstacle-crossing maneuvers, enabling the vehicle to traverse different height differences more smoothly, while also ensuring a more stable and flexible response from the chassis under varying load conditions.

[0036] Preferably, the lifting mechanism is connected to the side wall structure of the receiving cavity, and performs lifting and lowering adjustment of the receiving cavity synchronously based on the posture adjustment requirements of the receiving cavity.

[0037] In this embodiment of the invention, the connection method between the lifting mechanism and the receiving cavity typically determines the attitude boundary during obstacle crossing, a point readily apparent in actual structures. The sidewalls of the receiving cavity provide a relatively stable load-bearing surface, and in engineering practice, the upper end of the lifting mechanism is often fixed to a reinforced section of the sidewall. This location is generally constructed as a closed frame with a slightly thicker wall to absorb the axial force of the push rod or other lifting components. Connection points often employ threaded posts or embedded reinforcing blocks to prevent loosening during repeated extension and retraction.

[0038] The cavity itself serves as the positioning point for the sweeper, so the rigidity of the side walls cannot be too weak. A common design practice is to maintain a certain height in the longitudinal direction of the side walls, allowing the lifting mechanism to directly move the entire cavity when it is raised or lowered. In this way, the cavity's posture changes are synchronized with the stroke of the lifting mechanism, preventing lag or slight wobbling.

[0039] The need for attitude adjustment stems from the geometric characteristics of obstacles and the preset angle range of the chassis. The lifting mechanism only needs to extend and retract according to height changes, and the side wall connection sections will then undergo uniform displacement. The responses of each side wall point are relatively consistent, allowing the enclosure to maintain relative balance during dynamic processes. This consistency is crucial for obstacle crossing, as the orientation of the enclosure directly affects the stability of the sweeper within it. Overall, this type of side wall connection structure makes attitude adjustment more direct and provides better continuity and controllability of obstacle crossing actions at the structural level.

[0040] In another possible implementation, the lifting mechanism employs a ring-shaped swing arm structure instead of a push rod assembly. The swing arm, arranged along the outer edge of the receiving cavity and resembling a semi-ring, is used to move the cavity up and down via rotational motion. The swing arm is connected to the chassis via an eccentric shaft, the eccentricity of which is fixedly calibrated to ensure a considerable lifting stroke even with small-angle rotation. The rotational drive is typically provided by a small geared motor, fixed to a reinforcing plate beneath the chassis, with torque transmitted to the swing arm along the eccentric shaft.

[0041] The outer edge of the swing arm is often made into an arc segment. The arc profile can maintain relative stability of the sidewall force when sweeping through different angles. To prevent lateral swaying of the cavity, a limiting guide rail is often added to the swing arm in the design, allowing the swing arm to slide along the trajectory during rotation. The guide rail is generally attached to the outer ring of the receiving cavity. The structure is not complicated, but it can significantly improve the consistency of posture. The rotation angle of the swing arm does not need to be large. A dozen degrees is sufficient to handle common threshold height differences.

[0042] The key feature of this swing-arm lifting mechanism is its more continuous movement and smoother stroke curve, making it suitable for scenarios requiring a faster pace. The swing-arm structure reduces the point-like forces commonly found in linear push rods, resulting in a smoother motion of the cavity during lifting, which helps maintain the robot's stable posture within the cavity. Overall, this implementation offers a lifting strategy different from push rod structures, demonstrating a certain degree of innovation in its structural form.

[0043] Preferably, the bottom of the receiving cavity is provided with a positioning structure for defining the entry position of the sweeper; the positioning structure includes either a guide protrusion or a limiting block, and forms the initial positioning reference of the sweeper based on the contact guidance effect when the sweeper enters the receiving cavity.

[0044] In this embodiment of the invention, the positioning structure is typically placed at the bottom of the receiving cavity, a position that makes it easier to control the robot vacuum's posture changes upon entry. A common practice is to create a low guide protrusion, somewhat resembling two shallow slopes, with the guide surface extending along the entrance of the receiving cavity. After the robot vacuum's front edge contacts the protrusion, it slides along the slope towards the center line. The height of the guide protrusion does not need to be too large; it only needs to allow the wheel assembly to generate a slight lateral component upon contact, enabling the robot to automatically approach the preset center.

[0045] The design of the limiting block is different. The block is made into a short, straight section, closely attached to the bottom plate of the receiving cavity, usually positioned about ten centimeters inside the entrance. When the robot vacuum moves forward, the front shell will make clear contact with the block. This contact is relatively firm, with almost no room for slippage. Once the limiting point is fixed, the robot vacuum's orientation within the cavity is also basically stable, no longer relying on fine adjustments from navigation sensors.

[0046] The main difference between these two positioning methods lies in the stability and error tolerance during the entry phase. The guide protrusion is gentler, able to bring the machine back to center even with slight ground particles or minor wheel deflection. The stop is more direct, suitable for scenarios with limited space and requiring rapid position determination. Regardless of the method used, the bottom positioning structure provides a clear initial reference, giving obstacle-crossing maneuvers a more reliable starting point.

[0047] Preferably, the locking mechanism includes either an electromagnetic telescopic pin assembly or a mechanical latch assembly; the electromagnetic telescopic pin assembly or the mechanical latch assembly is disposed on the side wall of the receiving cavity, and performs an extension action based on a trigger signal after the sweeper reaches a preset position in the receiving cavity to insert into the structural joint of the sweeper.

[0048] In this embodiment of the invention, the locking mechanism is generally placed on the side wall of the receiving cavity, where a stable force point is more easily obtained. A common approach is to use an electromagnetic telescopic pin, which has a relatively simple structure. The coil is embedded in the side wall reinforcement block, maintaining a right angle with the base plate. When energized, the telescopic pin slides out along the guide hole. The pin diameter is usually precisely matched with the mating hole at the bottom of the sweeper, ensuring it is neither too tight nor too loose to affect positioning. When de-energized, the return spring pulls the pin back into the side wall, with a crisp, non-residual action.

[0049] The mechanical latch operates slightly differently. Most latches use a plate-like structure, with the pivot mounted in a groove on the side wall. When the sweeper reaches the preset position, the contact plate is pressed down a few millimeters, causing the spring to flip and the latch to engage with the slot on the side edge of the sweeper. Release is achieved by a reset lever on the outside; the reset lever pushes the latch back, allowing the sweeper to exit the receiving cavity.

[0050] The trigger signal source is relatively direct, mostly from photoelectric or pressure-sensitive components. Upon arrival of the signal, the electromagnetic pin or latch will perform a defined extension action, engaging with the structural joint of the sweeper. This engagement point is crucial because all posture changes during obstacle crossing will transmit force here. A stable engagement means the sweeper will not wobble within the cavity or shift position due to localized off-center loading. Overall, this type of locking structure provides a reliable fixed reference for subsequent lifting and lowering movements.

[0051] In another possible implementation, the locking mechanism employs a sealed airbag structure instead of relying on mechanical pins or latches. The airbag is typically positioned within the inner lining of the receiving cavity sidewall, extending along the contact area of ​​the sweeper's outer casing. The airbag is made of flexible rubber and coated with a wear-resistant layer to resist repeated compression. An independent, sealed cavity remains inside the airbag, connected via a narrow-diameter air tube to the inflation / deflation unit on the outer sidewall.

[0052] The locking action is triggered by inflation. When the robot vacuum enters the receiving cavity and approaches the preset stopping point, the sensing component outputs a position signal, and the inflation unit then injects compressed air into the airbag cavity. The inflation range of the airbag is generally controlled within a few millimeters, but it is sufficient to form a planar clamping area. The inflated airbag will adhere to the side wall of the robot vacuum's outer shell and apply a uniform clamping force within a certain range. This clamping method is more tolerant of the shape tolerance of the outer shell and does not require mating holes or flange structures.

[0053] Unlocking relies on deflation. Once the deflation valve opens, the airbag quickly retracts, releasing the gaps in the side walls, allowing the sweeper to exit the enclosure. Since no rigid contact parts are involved in the entire process, there is virtually no risk of jamming or misalignment. The airbag structure acts more like a "flexible locking" mechanism, offering good adaptability to different sweeper models and reducing the risk of concentrated force during obstacle crossing.

[0054] Preferably, an adjustment structure for forming a locking fit gap is provided between the locking mechanism and the side wall structure of the receiving cavity; the adjustment structure includes either a sliding groove or an elastic limiting member, and is used to compensate for the extension position of the locking mechanism based on the stroke change of the locking mechanism.

[0055] In this embodiment of the invention, the adjusting structure is typically placed between the locking mechanism and the side wall of the receiving cavity, a position that is more sensitive to the control of the locking gap. The structure itself is not complex, generally consisting of a sliding groove or an elastic limiting component. The sliding groove is usually an elongated opening, arranged along the height direction of the side wall. A buffer zone is usually reserved at the bottom of the groove to absorb residual displacement of the telescopic pin at its extended end. The fixing plate of the locking mechanism can slide a few millimeters along the groove, and the tightness can be finely adjusted according to installation deviations.

[0056] The approach to elastic limiting components differs. A common practice is to add a rubber washer or a thin metal sheet, allowing the locking mechanism a flexible allowance during extension. The elastic material recovers quickly, absorbing deviations caused by changes in stroke within this elastic range. The limiting component is often pressed against the side of the locking mechanism's housing, providing both a point of contact and maintaining a compact structure.

[0057] The existence of the adjustment mechanism makes position compensation more direct, especially when the travel of the telescopic pins is inconsistent or when there are tolerances in the docking holes of the sweeper. The locking action requires a stable endpoint, which cannot be constrained by installation errors. The slight degree of freedom provided by the adjustment mechanism solves this problem. During obstacle crossing, the force distribution on the locking point is also more even. Overall, this type of adjustment mechanism is more like a buffer, making the landing point of the locking action more controllable and making the fixation relationship of the entire receiving cavity more stable.

[0058] Preferably, the inner wall of the receiving cavity is provided with a sensing component for detecting the positioning status of the sweeper; the sensing component includes any one of a photoelectric sensor or a pressure sensor, and is used to output signal parameters for triggering the locking mechanism after the sweeper enters the receiving cavity and makes contact with the sensing component.

[0059] In this embodiment of the invention, the sensing component is typically concealed within the inner wall of the receiving cavity, a location that makes it easier to detect the entry of the sweeping robot. Photoelectric solutions are commonly used, with the component generally placed in alignment slots on either side. These slots are shallow but effectively block stray light from above. A narrow slit is left between the transmitter and receiver; as soon as the leading edge of the sweeping robot enters the beam, the signal will change noticeably. This structure does not require high positional repeatability, and the debugging process is not particularly complicated.

[0060] The placement of pressure sensors differs slightly. Typically, a thin-film pressure pad is attached to the lower part of the inner wall. As the robot vacuum moves, it creates a slight deformation, with the trigger threshold usually within a few Newtons. A cushioning pad is added behind the pressure pad to distribute the force more evenly and prevent false triggering caused by localized hard impacts. This pressure-sensitive structure is more adaptable to the tolerances of the robot vacuum's casing, and can reliably trigger even with a slightly curved casing.

[0061] The signal output is typically connected directly to the control unit of the locking mechanism. This path is straightforward and avoids complex intermediate processing. The sensing component simply tells the device "the position has been reached," and the subsequent locking action will proceed based on this point. This trigger point is crucial because the locking mechanism needs to complete its positioning before the robot vacuum cleaner starts to shake. Overall, this type of sensing configuration provides a clear starting condition for obstacle-crossing actions, making the entire locking process cleaner and more controllable.

[0062] Preferably, the front end of the vehicle chassis is provided with a front-end detection unit for constructing an obstacle contact detection path. The front-end detection unit is signal-connected to the lifting mechanism and provides trigger input for the lifting action of the lifting mechanism based on the contact change of the obstacle.

[0063] In this embodiment of the invention, the front-end detection unit is typically placed at the front edge of the chassis, as this position is the first to come into contact with the obstacle and best reflects changes in height. The structure is generally made as a narrow strip of support plate, covered with a flexible material on the outside, which forms a contact surface and also prevents unnecessary noise during impact. A displacement element, commonly a miniature limit switch or a Hall effect sensor, is placed behind the support plate. The travel variation is limited to a few millimeters to determine the point of change in contact state.

[0064] The wiring in the detection section is quite compact. Signal lines typically bend along the chassis towards the center before connecting to the control unit of the lifting mechanism. This arrangement reduces the number of bends and keeps the signal path cleaner. The trigger point is generally set in the light-touch area; as long as the leading edge is slightly raised or pressed, the displacement element will output a clear jump. The significance of the jump is not to determine the size of the obstacle, but to inform the lifting mechanism that a height difference has appeared ahead, and preparations can begin.

[0065] After receiving a trigger input, the lifting mechanism will enter the lifting phase according to a preset rhythm. The action is not necessarily an immediate lift, but rather the chassis attitude is first confirmed, and then the corresponding support points are adjusted. The entire process relies on the contact point provided by the detection unit, which determines the timing of the obstacle-crossing action. Overall, this front-end detection design provides a direct path for height difference identification and also leaves ample buffer space for subsequent lifting responses.

[0066] In another possible implementation, the front-end detection unit employs a segmented flexible beam structure instead of a traditional displacement trigger. The flexible beam is laid out in three segments along the front edge of the chassis, each segment exhibiting slightly different stiffness—the first segment being the softest and the third the stiffest—creating a progressive contact response. The beam is made of a composite elastic material, with a thin optical fiber embedded inside, leaving a clear intensity change along the optical path after strain. The advantages of fiber optic sensing include fast response, more continuous deformation distribution, and no reliance on metal contacts.

[0067] An additional limiting band is installed below the beam to limit its maximum deflection angle and prevent excessive bending. The signal end of the optical fiber is connected to the outside of the control module, and the refraction changes fluctuate in a step-like manner with the increase or decrease of the pressing force. The optical signal frequency characteristics of the three beam segments are slightly different, which allows the device to determine the approximate location of the contact point without requiring a complex shape recognition algorithm.

[0068] During the obstacle-crossing initiation phase, the deformation of the flexible beam occurs before the chassis structure, resulting in an earlier and smoother trigger point. The combination of responses from different beam segments can often provide the basic outline of the obstacle's ramps, rounded corners, or right angles early on, allowing for a wider preparation range for the lifting action. The entire structure is lightweight, without adding extra thickness to the chassis or relying on high-precision mechanical components. Overall, this approach creates a new triggering mechanism, offering a more flexible detection method for utilizing continuous deformation.

[0069] In one specific implementation, Figure 2 A relatively intuitive process of obstacle crossing is presented. Figure 2 In scenario (a), the vehicle chassis approaches the sill in a straight line, and the front end of the track just touches the point of height change. The contact point usually occurs at the rounded corner of the track, which provides a slight upward push. The front-end detection unit captures the slight lift signal at this moment, and the contact path immediately confirms that the height difference has entered the trigger range. At this time, the chassis remains in a level position and does not immediately lift, mainly to allow the contact pressure of the track to stabilize.

[0070] Figure 2 (b) describes the next stage of the movement. The lifting mechanism begins to extend outward at a preset rhythm. The travel of each support point is generally not completely synchronized, but rather distributed according to the chassis angle requirements. The foremost support points usually extend faster, allowing the leading edge of the chassis to gain height first. As the travel increases, the chassis gradually lifts off the ground, and the ground clearance exceeds the sill height in a short period of time. The middle section of the tracks begins to bear the main force, and the contact points move to a more rearward area, resulting in a gentle tilt angle for the chassis. Once the ground clearance reaches the safe threshold, the drive unit continues to advance, the tracks cross the top of the sill, and the rear edge of the chassis subsequently rolls over. The entire process utilizes front-end triggering and segmented lifting coordination, with a clear action path that requires no additional mechanical auxiliary structures.

[0071] Figure 3 This is a flowchart illustrating the steps of a control method for an obstacle-crossing vehicle system for a sweeper, according to one embodiment of the present invention. Figure 3 As shown, an embodiment of the present invention provides a control method for an obstacle-crossing vehicle system for a sweeper, the method comprising: Step S10: Obtain the operating information of each operating component in the obstacle-crossing vehicle system.

[0072] Specifically, status information representing the operating status of each component is collected from the vehicle chassis, lifting mechanism, drive unit, locking mechanism, and sweeper located in the receiving cavity, and the status information is aggregated to generate the operating information.

[0073] Specifically, the acquisition of operational information typically begins with the vehicle chassis. Since the chassis structure is in contact with the ground, the state variables mainly focus on attitude, contact point pressure, and minute angle changes. Attitude data can be obtained from tilt sensors, installed near the chassis's central axis; these sensors have a fast response time and are suitable for capturing slight ground undulations. Pressure information is acquired through thin-film pressure plates, which are attached to the bottom layer of the chassis to determine pressure changes in local contact areas. This set of basic data helps to depict the chassis's real-time support status.

[0074] Information collection for the lifting mechanism follows a different path. Each lifting pivot point may have an individual travel sensor, which reports the extension / retraction position and its trend. Travel changes are crucial during obstacle crossing because they determine the chassis's lifting range. If the lifting mechanism uses an electric push rod, it will also include current monitoring to observe the push rod's load. An increase in push rod load often indicates that the terrain ahead is beginning to change.

[0075] The drive unit typically provides speed and torque information, which indirectly reflects changes in ground resistance. Large torque fluctuations indicate that the tracks or wheels have contacted an obstacle, or that there has been a sudden change in ground friction. Recording this information separately and correlating it with the chassis attitude allows for a preliminary assessment of the obstacle.

[0076] The locking mechanism's state primarily depends on position sensors, such as the position of the telescopic pin and the angle of the latch. These parameters determine whether the sweeper is in a fixed position, and the locking state must be ensured to be stable before overcoming obstacles.

[0077] The status of the robot vacuum cleaner inside the enclosure is captured by sensing components, including positioning signals, position offset, and entry speed. All collected status information is finally aggregated into a structured dataset, providing a basic framework for subsequent actions.

[0078] Step S20: Generate obstacle crossing control information based on the operation information and obstacle detection information, wherein the obstacle crossing control information is used to limit the lifting adjustment and displacement adjustment.

[0079] Specifically, generating obstacle crossing control information based on the operational information and obstacle detection information includes: performing joint processing on the operational information and the obstacle detection information to obtain environmental feature data characterizing the obstacle crossing environment; determining corresponding lifting adjustment parameters and displacement adjustment parameters based on the environmental feature data; and constructing the obstacle crossing control information based on the lifting adjustment parameters and the displacement adjustment parameters.

[0080] Specifically, the generation of obstacle crossing control information relies on the joint processing of operational information and obstacle detection information. Operational information provides the real-time status of the chassis, lifting mechanism, and drive unit, while obstacle detection information indicates the specific features of the terrain ahead. Combining these two types of data helps to construct a more complete description of the environmental characteristics. The processing flow typically begins with time alignment, organizing the two types of data into the same window according to time nodes to avoid phase discrepancies during analysis.

[0081] Constructing environmental characteristic data requires filtering out signals that truly reflect obstacle-crossing requirements. Examples include chassis lifting trends, drive torque fluctuation patterns, and the trigger amplitude of the front-end detection unit. Individually, these signals have limited meaning, but when combined within a broader context, they can depict the obstacle's outline. Continuous triggering of the front-end detection unit may indicate a high step; a sudden increase and rapid decrease in torque may indicate that the leading edge has just touched the height difference.

[0082] The determination of lifting adjustment parameters references inferences about height differences from environmental characteristic data. Some embodiments use a fixed stepped curve, selecting a preset lifting curve based on the approximate height of the obstacle. Other embodiments dynamically adjust through trend analysis, where the stroke is no longer fixed but continuously corrected based on real-time feedback. The generation of displacement adjustment parameters is more biased towards the configuration of driving capabilities, such as propulsion speed, propulsion angle, and the stress points of the wheel set or tracks.

[0083] Obstacle crossing control information is ultimately a set of parameters, including ascent / descent timing, displacement rhythm, and support point priority. Its function is to define the boundaries of the actions to be performed, allowing ascent / descent and displacement to proceed along a more stable path.

[0084] Step S30: Output control commands to the lifting mechanism and the drive unit based on the obstacle crossing control information, so that the lifting mechanism and the drive unit can perform obstacle crossing actions.

[0085] Specifically, the obstacle crossing control information is parsed to obtain a lifting control command characterizing the lifting action and a displacement control command characterizing the displacement action; the lifting control command is sent to the lifting mechanism to drive the lifting mechanism to perform lifting adjustment on the vehicle chassis and the structure containing the cavity; the displacement control command is sent to the drive unit to drive the drive unit to perform obstacle crossing displacement on the vehicle chassis.

[0086] Specifically, instruction parsing typically begins with breaking down basic fields. Obstacle crossing control information contains various parameters, which need to be separated into two core categories: lifting control commands and displacement control commands. The parsing process reads the lifting adjustment parameters item by item to establish the travel path of the push rod or swing arm. The path is essentially a discrete control sequence, unfolding according to the response cycle of the lifting mechanism. The control sequence includes the starting position, travel increment, and target height.

[0087] The interpretation of displacement control commands is primarily based on the propulsion unit. Tracked drive structures adjust the output difference between the left and right tracks according to the commands, thereby changing the propulsion angle. If a wheeled drive system is used, a similar effect is achieved by adjusting the power distribution between the front and rear wheels or the left and right wheels. These types of displacement commands emphasize continuity because obstacle-crossing requires smooth drive output and should not exhibit large fluctuations.

[0088] The lifting mechanism relies on the parsed lifting control commands. The push rod or swing arm performs a fixed-increment extension / retraction movement in each cycle until the predetermined height is reached. If a change in chassis attitude is detected exceeding a threshold during the process, some embodiments will automatically reduce the command increment to prevent tilting.

[0089] After receiving a displacement control command, the drive unit will maintain a low-speed propulsion. The advantage of low-speed propulsion is that it provides sufficient buffer for lifting and lowering movements, allowing the chassis to maintain stable balance in the transition range.

[0090] The entire process emphasizes "parallel lifting and propulsion," requiring the two commands to be executed synchronously without any significant disconnect; otherwise, jamming or forward tilting may occur. Through command parsing and continuous output, the entire obstacle-crossing maneuver can unfold along a stable trajectory.

[0091] Step S40: After the obstacle-crossing action is completed, a control command is output to the locking mechanism based on the positioning information to release the locking of the sweeper.

[0092] Specifically, the judgment after the obstacle-crossing maneuver is completed is based on the positioning information. Positioning information includes chassis attitude stability signals, drive torque reduction, and the return-to-position status of the lifting mechanism. Stable attitude usually means that the chassis has crossed the obstacle and established a new force balance on the new ground. A reduction in torque indicates that the drive unit no longer bears additional climbing load, and the propulsion environment has returned to a flat state.

[0093] Upon receiving the arrival information, an unlocking command will be generated. Different locking mechanisms require different unlocking methods. For example, a mechanical pin structure requires pulling back the pin; a latch structure requires returning the spring to its initial angle; and an airbag structure requires opening the vent valve to allow the cavity to retract. The logic of the unlocking action is not complex, but it needs to be executed at a specific time to avoid premature release before the robot vacuum has fully stabilized.

[0094] Releasing the lock allows the robot vacuum to regain a small degree of freedom of movement within the enclosure, which is crucial for the subsequent exit maneuver. If the locking mechanism is released at the wrong time, it may cause the robot vacuum to wobble within the enclosure, affecting the final positional deviation.

[0095] A third aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the above-described control method for an obstacle-crossing vehicle system for a sweeping robot.

[0096] A fourth aspect of the present invention provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the control method described above for an obstacle-crossing vehicle system for a sweeping robot.

[0097] The fifth aspect of the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the above-described control method for an obstacle-crossing vehicle system for a sweeping machine.

[0098] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a microcontroller, chip, or processor to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0099] The optional embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details described above. Within the scope of the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention, and these simple modifications all fall within the protection scope of the embodiments of the present invention. It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe the various possible combinations.

[0100] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention.

Claims

1. An obstacle-crossing vehicle system for a sweeper, characterized in that, The system includes: The vehicle chassis, used for contact with the ground; A drive unit, mounted on the vehicle chassis, is used to provide drive capability based on the movement requirements of the vehicle chassis; A lifting mechanism, connected to the vehicle chassis, is used to perform lifting and adjustment of the vehicle chassis and the structure containing the cavity based on obstacle crossing requirements; A receiving cavity, disposed on the chassis of the vehicle, is used to accommodate the sweeper and form a defined space for positioning the sweeper; A locking mechanism is provided inside the receiving cavity, which is used to lock and fix the sweeper after it enters the receiving cavity, and to release the locking state of the sweeper when a release control command is received.

2. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that, The drive unit includes either a tracked drive assembly or a wheeled drive assembly. The tracked drive assembly or the wheeled drive assembly is connected to the bottom of the vehicle chassis and forms a continuous contact path based on the motion posture of the vehicle chassis.

3. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that, The lifting mechanism includes a rotating connection portion disposed between the vehicle chassis and the receiving cavity, and a lifting drive assembly connected to the receiving cavity; The rotating connection portion is used to limit the accommodating cavity to rotate relative to the vehicle chassis about a preset rotation axis, and the lifting drive assembly is used to drive the accommodating cavity to switch between a contact state and a lifting state relative to the vehicle chassis based on the obstacle crossing height adjustment requirements.

4. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that, The lifting mechanism is connected to the side wall structure of the receiving cavity and performs lifting and lowering adjustment of the receiving cavity synchronously based on the posture adjustment requirements of the receiving cavity.

5. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that, The bottom of the receiving cavity is provided with a positioning structure for defining the inlet position of the sweeper; The positioning structure includes either a guide protrusion or a limiting block, and forms the initial positioning reference of the sweeper based on the contact guidance effect when the sweeper enters the receiving cavity.

6. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that, The locking mechanism includes either an electromagnetic telescopic pin assembly or a mechanical latch assembly. The electromagnetic telescopic pin assembly or the mechanical buckle assembly is disposed on the side wall of the receiving cavity, and performs an extension action based on the trigger signal after the sweeper reaches the preset position of the receiving cavity to insert into the structural joint of the sweeper.

7. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that, An adjustment structure for forming a locking fit gap is provided between the locking mechanism and the side wall structure of the receiving cavity; The adjustment structure includes either a sliding groove or an elastic limiting member, used to provide position compensation for the extension position of the locking mechanism based on the stroke change of the locking mechanism.

8. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that, The inner wall of the receiving cavity is provided with a sensing component for detecting the positioning status of the sweeper. The sensing component includes either a photoelectric sensor or a pressure sensor, and is used to output signal parameters to trigger the locking mechanism after the sweeper enters the receiving cavity and makes contact with the sensing component.

9. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that, The front end of the vehicle chassis is provided with a front-end detection unit for constructing an obstacle contact detection path. The front-end detection unit is signal-connected to the lifting mechanism and provides trigger input for the lifting action of the lifting mechanism based on the contact change of the obstacle.

10. A control method for an obstacle-crossing vehicle system for a sweeper, characterized in that, The method is applied to the obstacle-crossing vehicle system for a sweeper according to any one of claims 1-9, and the method includes: Obtain operational information of each operating component in the obstacle-crossing vehicle system; Based on the operational information and obstacle detection information, obstacle crossing control information is generated, which is used to limit the lifting adjustment and displacement adjustment. Based on the obstacle-crossing control information, control commands are output to the lifting mechanism and the drive unit to enable the lifting mechanism and the drive unit to perform obstacle-crossing actions; After the obstacle-crossing action is completed, a control command is output to the locking mechanism based on the positioning information to release the locking and fixing of the sweeper.

11. The control method for an obstacle-crossing vehicle system for a sweeper according to claim 10, characterized in that, Obtain operational information of each operating component in the obstacle-crossing vehicle system, including: Status information is collected from the vehicle chassis, lifting mechanism, drive unit, locking mechanism, and sweeper located in the receiving cavity to characterize their respective operating states, and the status information is aggregated to generate the operating information.

12. The control method for an obstacle-crossing vehicle system for a sweeper according to claim 10, characterized in that, Obstacle crossing control information is generated based on the aforementioned operational information and obstacle detection information, including: The operational information and the obstacle detection information are jointly processed to obtain environmental feature data that characterizes the obstacle crossing environment. Based on the environmental characteristic data, determine the corresponding lifting and displacement adjustment parameters; The obstacle crossing control information is constructed based on the lifting adjustment parameters and the displacement adjustment parameters.

13. The control method for an obstacle-crossing vehicle system for a sweeper according to claim 10, characterized in that, Based on the obstacle-crossing control information, control commands are output to the lifting mechanism and the drive unit to cause the lifting mechanism and the drive unit to perform obstacle-crossing actions, including: The obstacle crossing control information is parsed to obtain lifting control commands that characterize lifting actions and displacement control commands that characterize displacement actions. The lifting control command is sent to the lifting mechanism to drive the lifting mechanism to perform lifting and adjusting of the vehicle chassis and the structure containing the cavity. The displacement control command is sent to the drive unit to drive the drive unit to perform obstacle-crossing displacement on the vehicle chassis.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the control method for the obstacle-crossing vehicle system for a sweeper as described in any one of claims 10-13.

15. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method for the obstacle-crossing vehicle system for a sweeper as described in any one of claims 10-13.

16. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the control method for an obstacle-crossing vehicle system for a sweeper according to any one of claims 10-13.

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