Control method and device, cleaning equipment, storage medium and program product

Abstract

The invention belongs to the technical field of cleaning equipment, and provides a control method and device, cleaning equipment, a storage medium and a program product.The control method comprises the steps that in response to step obstacles detected by the cleaning equipment, depth information of a first step obstacle in the step obstacles is obtained; and based on the depth information, a rotating arm assembly of the cleaning equipment is controlled to execute corresponding obstacle crossing actions. Wherein the stair obstacles are provided with at least two stairs; the obstacle crossing action comprises the steps that the free end of the rotating arm assembly provides obstacle crossing assistance on the rear portion of a driving wheel of the cleaning equipment and / or the free end of the rotating arm assembly provides obstacle crossing assistance on the front portion of the driving wheel, and the first step obstacle is an obstacle which is close to the cleaning equipment and needs to cross the area first; the rotating arm assembly comprises a free end and a fixed end and can rotate or swing around the rotating center of the fixed end. And furthermore, the obstacle crossing stability and success rate of the cleaning equipment aiming at stair obstacles are improved.

Description

Technical Field

[0001] This disclosure pertains to the field of cleaning equipment technology, and more specifically, relates to a control method, apparatus, cleaning equipment, storage medium, and program product. Background Technology

[0002] With the popularization of smart home technology, cleaning equipment such as robot vacuum cleaners and robot vacuum and mop combos have been widely used in homes, offices and other scenarios. One of the key requirements is to have good obstacle crossing ability in order to achieve cleaning of the entire area without dead corners.

[0003] However, in related technologies, the obstacle-crossing ability of cleaning equipment is poor, which seriously affects the continuity of cleaning operations and the user experience. Summary of the Invention

[0004] The purpose of this disclosure is to provide a control method, apparatus, cleaning equipment, storage medium, and program product, aiming to solve the technical problem in the related art that the obstacle-crossing ability of cleaning equipment is poor, which seriously affects the continuity of cleaning operations and user experience.

[0005] To achieve the above objectives, according to a first aspect of this disclosure, a control method is provided, applied to a cleaning device, the method comprising: In response to the cleaning equipment detecting a stepped obstacle, the depth information of the first stepped obstacle in the stepped obstacle is obtained; wherein the stepped obstacle has at least two steps; Based on the depth information, the rotating arm assembly of the cleaning equipment is controlled to perform a corresponding obstacle-crossing action; The obstacle-crossing action includes the free end of the rotating arm assembly providing obstacle-crossing assistance at the rear of the drive wheel of the cleaning equipment and / or the free end of the rotating arm assembly providing obstacle-crossing assistance at the front of the drive wheel. The first step obstacle is the obstacle that is close to the cleaning equipment and must be crossed first. The rotating arm assembly includes a free end and a fixed end, and can rotate or swing about the rotation center of the fixed end.

[0006] The beneficial effects of the embodiments disclosed herein compared to the prior art are as follows: In this embodiment, in response to the cleaning equipment detecting a stepped obstacle, the depth information of the first stepped obstacle in the stepped obstacle is obtained; based on the depth information, the rotating arm assembly of the cleaning equipment is controlled to perform a corresponding obstacle-crossing action; wherein, the stepped obstacle has at least two steps; the obstacle-crossing action includes the free end of the rotating arm assembly providing obstacle-crossing assistance at the rear of the drive wheel of the cleaning equipment and / or the free end of the rotating arm assembly providing obstacle-crossing assistance at the front of the drive wheel, and the first stepped obstacle is the obstacle that is closest to the cleaning equipment and must be crossed first; the rotating arm assembly includes a free end and a fixed end, and can rotate or swing about the rotation center of the fixed end.

[0007] Furthermore, it enables adaptive obstacle-crossing control for multi-level obstacle scenarios, solving the problem of traditional cleaning equipment having a single obstacle-crossing method in multi-level scenarios, reducing cleaning operation interruptions caused by obstacle-crossing failures, ensuring that cleaning equipment can smoothly cross various thresholds, steps and other obstacles in the cleaning scenario, achieving full-area cleaning without dead corners, and improving the adaptability of cleaning equipment in complex home and office environments.

[0008] According to a second aspect of this disclosure, a cleaning device is provided, including a drive wheel, a rotating arm assembly, an auxiliary wheel, a detection assembly, and a controller, wherein the auxiliary wheel is connected to the drive wheel via the rotating arm assembly. The controller is electrically connected to the drive wheel, the rotating arm assembly, the auxiliary wheel, and the detection assembly, respectively, and the controller is used to execute any one of the control methods described above.

[0009] According to a third aspect of this disclosure, a control device is provided for use in cleaning equipment, the control device comprising: The acquisition unit is configured to acquire depth information of the first tier of the tiered obstacle in response to the cleaning equipment detecting a tiered obstacle; wherein the tiered obstacle has at least two tiers; The control unit is used to control the rotating arm assembly of the cleaning equipment to perform a corresponding obstacle-crossing action based on the depth information; The obstacle-crossing action includes the free end of the rotating arm assembly providing obstacle-crossing assistance at the rear of the drive wheel of the cleaning equipment and / or the free end of the rotating arm assembly providing obstacle-crossing assistance at the front of the drive wheel. The first step obstacle is the obstacle that is close to the cleaning equipment and must be crossed first. The rotating arm assembly includes a free end and a fixed end, and can rotate or swing about the rotation center of the fixed end.

[0010] According to a fourth aspect of this disclosure, a cleaning device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the cleaning device causes the cleaning device to perform the method as described in any one of the present invention.

[0011] According to a fifth aspect of this disclosure, a computer-readable storage medium is provided that stores a computer program, which, when executed by a processor, implements the method as described in any one of the claims.

[0012] According to a sixth aspect of this disclosure, a computer program product is provided that, when run on a cleaning device, causes the cleaning device to perform the method described in any one of the first aspects above.

[0013] It is understandable that the beneficial effects of the second to sixth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic flowchart of a control method provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of a stepped obstacle provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram illustrating an application scenario of a control method provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram illustrating an application scenario of a control method provided in an embodiment of this disclosure; Figure 6 This is a schematic diagram illustrating an application scenario of a control method provided in an embodiment of this disclosure; Figure 7 This is a schematic diagram illustrating an application scenario of a control method provided in an embodiment of this disclosure; Figure 8 This is a schematic diagram illustrating an application scenario of a control method provided in an embodiment of this disclosure; Figure 9 This is a schematic diagram illustrating an application scenario of a control method provided in an embodiment of this disclosure; Figure 10 This is a schematic diagram illustrating an application scenario of a control method provided in an embodiment of this disclosure; Figure 11 This is a schematic diagram illustrating an application scenario of a control method provided in an embodiment of this disclosure; Figure 12 This is a schematic diagram of the structure of a control device provided in an embodiment of this disclosure; Figure 13 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this disclosure. Detailed Implementation

[0016] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, so as to provide a thorough understanding of the embodiments of this disclosure. However, those skilled in the art will understand that this disclosure may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this disclosure with unnecessary detail.

[0017] It should be understood that, when used in this disclosure and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0018] It should also be understood that, in the description of this disclosure, unless otherwise stated, the " / " used in this specification and the appended claims indicates that the related objects are in an "or" relationship. For example, A / B can mean A or B. The "and / or" in this disclosure is merely a description of the relationship between the related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. Furthermore, in the description of this disclosure, unless otherwise stated, "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0019] Furthermore, to facilitate a clear description of the technical solutions of the embodiments of this disclosure, the terms "first" and "second" are used in the embodiments of this disclosure to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, but are only used for distinguishing descriptions, and the terms "first" and "second" are not necessarily different, nor should they be construed as indicating or implying relative importance.

[0020] As used in this disclosure and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0021] References to "one embodiment" or "some embodiments" as described in this disclosure mean that one or more embodiments of this disclosure include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless otherwise specifically emphasized.

[0022] This disclosure provides an example of a control method; please refer to [link / reference]. Figure 1 As shown, Figure 1 A schematic flowchart of a control method provided in this disclosure is shown. This is by way of example and not limitation; the method can be applied to or operated in cleaning equipment. The method includes: S101, in response to the cleaning equipment detecting a step obstacle, the depth information of the first step obstacle in the step obstacle is obtained; wherein the step obstacle has at least two steps.

[0023] S102, based on depth information, controls the rotating arm assembly of the cleaning equipment to perform corresponding obstacle-crossing actions.

[0024] The obstacle-crossing action includes the free end of the rotating arm assembly providing obstacle-crossing assistance at the rear of the drive wheel of the cleaning equipment and / or the free end of the rotating arm assembly providing obstacle-crossing assistance at the front of the drive wheel. The first level obstacle is the obstacle that is close to the cleaning equipment and must be crossed first. The rotating arm assembly includes a free end and a fixed end, and can rotate or swing about the rotation center of the fixed end.

[0025] In some embodiments, the cleaning equipment can be an autonomous mobile device such as a sweeping robot, a mopping robot, or a sweeping and mopping robot with autonomous movement and obstacle avoidance capabilities. It can be used, but is not limited to, for cleaning tiered obstacles such as double thresholds and two-step steps in usage scenarios such as homes, shopping malls, and offices.

[0026] In some embodiments, a step obstacle refers to a raised structure with at least two consecutive steps (such as a double threshold or two steps in a home setting), wherein the first step obstacle is the step that is closest to the direction of the cleaning equipment's movement and that the cleaning equipment needs to cross first.

[0027] In some embodiments, such as Figure 2The schematic diagram of the cleaning equipment shown shows that the cleaning equipment 100 includes: casters 101, drive wheels 102, rotating arm assembly 103 and auxiliary wheels 104. The auxiliary wheels 104 are connected to the drive wheels 102 via the rotating arm assembly 103.

[0028] In addition, the cleaning equipment can also be equipped with a controller and detection components inside its body; the controller is electrically connected to the detection components, drive wheels, rotating arm components and auxiliary wheels, and then the controller can receive feedback data from each component and output control commands to ensure that the control process is executed in an orderly manner.

[0029] In some embodiments, the rotating arm assembly is an obstacle-crossing execution component of the cleaning equipment, including a fixed end and a free end. The fixed end is fixed relative to the body of the cleaning equipment, such as the fixed end being hinged to the drive wheel (main drive wheel) of the cleaning equipment. The free end can rotate or swing around the rotation center of the fixed end, and the end of the free end is fixedly connected to an auxiliary support structure, such as an auxiliary wheel, to achieve obstacle-crossing assistance at different positions.

[0030] The controller of the cleaning equipment, upon detecting a tiered obstacle, obtains the depth information of the first tier of obstacle and accordingly controls the rotating arm assembly to perform a corresponding obstacle-crossing action, adapting to the obstacle-crossing requirements of multi-tiered scenarios. The obstacle-crossing action is differentiated by the position of the free end of the rotating arm assembly, which provides obstacle-crossing assistance either behind the drive wheels or in front of them. This different positional assistance adapts to first-tier obstacles with varying depths, improving obstacle-crossing reliability.

[0031] First, during normal travel or cleaning operations, the cleaning equipment continuously detects the environment ahead using its onboard detection components (such as distance sensors and vision acquisition components). When the environmental data collected by the detection components meets the preset obstacle recognition conditions, the cleaning equipment determines that it has detected an obstacle, triggering the obstacle-crossing operation process. The cleaning equipment then pauses its normal operation and switches to obstacle-crossing mode. It should be noted that the obstacle recognition conditions aim to confirm the presence of at least two consecutive stepped structures ahead, ensuring that the control method disclosed herein is applicable to multi-step scenarios and avoiding false triggering for single protruding structures.

[0032] After triggering the obstacle-crossing operation, the system acquires the depth information of the first-level obstacle in the tiered obstacle course. Specifically, the controller of the cleaning equipment first calls the relevant information about the tiered obstacles collected by the detection component, including but not limited to environmental distance data and obstacle contour data; then, it processes the above-mentioned tiered obstacle information through a preset analysis algorithm to identify the hierarchical division of the continuous tiers, clearly distinguish the first-level obstacle (closer to the cleaning equipment) from the subsequent tiered obstacles, and extracts the two relative contour boundaries of the first-level obstacle, namely the boundary closer to the cleaning equipment and the boundary closer to the subsequent tiered obstacles; finally, based on the distance-related data collected by the detection component, it calculates the interval distance between these two relative contour boundaries, i.e., as shown below. Figure 3 As shown in the figure, W1 represents the depth information of the first-level obstacle, which is used to characterize the size of the first-level obstacle in the direction of the cleaning equipment's movement.

[0033] Subsequently, the controller of the cleaning equipment, based on the depth information of the first-level obstacle, controls the rotating arm assembly to perform the corresponding obstacle-crossing action. For example, the controller stores preset judgment criteria for distinguishing between two obstacle-crossing actions, and these criteria are directly related to the depth information of the first-level obstacle. The controller compares the acquired depth information with the preset judgment criteria and selects the corresponding obstacle-crossing action type based on the comparison result: if the depth information meets the first judgment condition, the controller moves the free end of the rotating arm assembly to the rear of the drive wheel, providing obstacle-crossing assistance through the support and auxiliary drive provided by the free end at the rear of the drive wheel; if the depth information meets the second judgment condition, the controller moves the free end of the rotating arm assembly to the front of the drive wheel, providing obstacle-crossing assistance through the support and contact drive provided by the free end at the front of the drive wheel.

[0034] It should be further explained that the rotating arm assembly can switch its support position between the drive wheels by rotating or swinging its free end around the fixed end. This provides additional support during obstacle-crossing by different positions, preventing instability and ensuring the cleaning equipment can smoothly traverse the entire obstacle course. During the obstacle-crossing process, the controller continuously monitors the cleaning equipment's movement and its relative position to the obstacle courses until it detects that the equipment has completely crossed all obstacles and the environment ahead is now flat. At this point, the obstacle crossing is considered complete, the cleaning equipment exits obstacle-crossing mode, and resumes normal cleaning operations.

[0035] In summary, the embodiments disclosed herein achieve adaptive obstacle-crossing control for multi-level obstacle scenarios, solving the problem of traditional cleaning equipment having a single obstacle-crossing method in multi-level scenarios, and improving the adaptability of cleaning equipment in complex home and office environments.

[0036] In some embodiments, the method further includes: When crossing the second level of a tiered obstacle course, the rotating arm assembly of the cleaning equipment is controlled to perform the corresponding obstacle-crossing action based on depth information.

[0037] The second level of obstacles consists of obstacles that are far from the cleaning equipment and need to be crossed later.

[0038] In some embodiments, after the cleaning equipment completes the crossing of the first level of obstacles, the detection component monitors the relative position of the cleaning equipment body and the level of obstacles in real time. When the equipment body enters the crossing area of ​​the second level of obstacles, the controller triggers the control logic of this embodiment.

[0039] At this point, the controller does not need to restart the depth information acquisition and calculation process. It can directly call the depth information of the first-level obstacle that has been acquired, and control the rotating arm assembly to maintain or perform the obstacle crossing action corresponding to crossing the first level based on the depth information.

[0040] The second-level obstacle can be, but is not limited to, the obstacle furthest from the cleaning equipment in the tiered obstacles, and relative to the first-level obstacle, the second-level obstacle is the obstacle that the cleaning equipment needs to cross after completing the obstacle-crossing action, such as the second step in a double staircase, the second threshold in a double threshold, the third step in a three-level staircase, and so on.

[0041] When crossing the first level of obstacle, the controller determines the depth information and controls the free end of the rotating arm assembly to provide obstacle crossing assistance behind the drive wheel. When crossing the second level of obstacle, the controller continuously outputs control signals to keep the rotating arm assembly in this rear auxiliary posture, ensuring that the auxiliary support structure of the free end is stably attached to the ground or support surface, and works in coordination with the drive wheel for driving.

[0042] If the free end of the rotating arm assembly provides obstacle-crossing assistance in front of the drive wheel when crossing the first level obstacle, then when crossing the second level obstacle, the controller controls the rotating arm assembly to maintain the front assistance posture, ensuring that the free end is in contact with the second level obstacle, and continuously provides obstacle-crossing assistance through auxiliary drive and grappling action until the environmental detection component detects that the machine body has completely left the second level obstacle area.

[0043] By using the depth information of the first-level obstacle, the process of repeatedly collecting and analyzing data and switching obstacle-crossing actions when crossing the second-level obstacle is avoided, reducing the frequency of obstacle-crossing action interruptions and switching, making the multi-level obstacle-crossing process smoother, reducing the risk of fuselage attitude fluctuations caused by obstacle-crossing action switching, and ensuring that the fuselage does not tilt, slide or collide when climbing the second-level obstacle.

[0044] In some embodiments, before controlling the rotating arm assembly of the cleaning equipment to perform the corresponding obstacle-crossing action based on depth information, the method further includes: controlling the cleaning equipment to climb the first level of obstacle.

[0045] After obtaining the depth information of the first-level obstacle, before controlling the rotating arm assembly to perform the corresponding obstacle-crossing action based on the depth information, the cleaning equipment is in the obstacle-crossing working mode. The controller first controls the rotating arm assembly to swing around the rotation center of its fixed end toward the direction closer to the first-level obstacle (first direction, preset clockwise direction) until it swings to the preset initial support angle.

[0046] At this point, the auxiliary support structure (such as the auxiliary wheel) at the free end of the rotating arm assembly will fit against the slope or front edge of the first-level obstacle to form an initial support point, thereby moderately raising the front end of the cleaning equipment body to prevent the bottom of the body from scraping or getting stuck against the edge of the first-level obstacle.

[0047] After confirming that the rotating arm assembly has reached its initial support angle and is stably engaged, the controller drives the main drive wheel of the cleaning equipment to start, simultaneously rotating the auxiliary support structure at the free end of the rotating arm assembly through a transmission structure. The main drive wheel and the auxiliary support structure work together to provide forward driving force, propelling the cleaning equipment body slowly up the upper surface of the first level of obstacles.

[0048] By controlling the cleaning equipment to climb to the top surface of the first-level obstacle in advance, the subsequent obstacle-crossing action against the second-level obstacle does not need to overcome the height difference of the first level, thus reducing the difficulty and load of the cleaning equipment's obstacle-crossing action.

[0049] In some embodiments, during the process of the cleaning equipment climbing the first-level obstacle, the environmental detection component and the inertial measurement component of the cleaning equipment work together to collect data such as the tilt angle of the machine body and its relative position to the first-level obstacle in real time, and feed the real-time collected data back to the controller in real time.

[0050] The controller dynamically fine-tunes the support angle of the rotating arm assembly and the rotation speed of the main drive wheel and auxiliary support structure based on feedback data. If the tilt angle of the machine body is detected to be too large, the rotating arm assembly is fine-tuned to increase the support angle and raise the front end of the machine body to balance the posture. If the climbing speed of the machine body is detected to be too slow or there is a downward trend, the driving torque of the main drive wheel and auxiliary support structure is increased. When the environmental detection component detects that the center of gravity of the cleaning equipment body is completely located on the upper surface of the first-level obstacle, and the inertial measurement component detects that the body posture is becoming stable (tilt angle is below the preset threshold), the controller determines that the preliminary step of controlling the cleaning equipment to climb the first-level obstacle has been completed, and then pauses the current action. Thus, by dynamically fine-tuning the posture during the climbing process, the risks of machine body scraping, tilting, and sliding can be effectively avoided, reducing wear and tear on the cleaning equipment and improving the safety of the obstacle-crossing process.

[0051] In some embodiments, the free end of the rotating arm assembly is provided with an auxiliary wheel, and the fixed end of the rotating arm assembly is connected to a drive wheel module, which includes a drive wheel. Controlling the cleaning equipment to climb the first level of the obstacle includes: The control arm assembly drives the auxiliary wheel to swing at a first support angle in a first direction, so that the auxiliary wheel supports the body of the cleaning equipment and moves forward until the body rests on the upper surface of the second step obstacle in the tiered obstacle; The control arm assembly drives the auxiliary wheel to swing at a second support angle in a second direction, so that the auxiliary wheel is located behind the drive wheel of the cleaning equipment; While the auxiliary wheel maintains the second support angle, the drive wheel is controlled to rotate and drive the auxiliary wheel to rotate synchronously, so as to drive the body of the cleaning equipment to climb the first level of obstacle.

[0052] In some embodiments, controlling the cleaning equipment to climb the first level of obstacle involves the following three consecutive stages: In such Figure 4 In the first stage shown, the control arm assembly drives the auxiliary wheel to swing at a first support angle in a first direction, thereby lifting and positioning the machine body forward. Specifically, the controller of the cleaning equipment first outputs a first control command to drive the drive mechanism (such as a stepper motor) of the rotating arm assembly to rotate around the fixed end (the connection point with the drive wheel) in a preset first direction (the positive swing direction close to the step obstacle), thereby driving the auxiliary wheel at the free end to swing synchronously.

[0053] Furthermore, during the swinging process, the controller receives feedback data from the angle sensor of the rotating arm assembly in real time. When it detects that the auxiliary wheel has swung to the preset first support angle, it immediately controls the drive mechanism to stop. At this time, the auxiliary wheel is exactly in contact with the slope or front edge of the first-level obstacle, and the support force generated by this support angle moderately lifts the front of the cleaning equipment body, preventing the bottom of the body from scraping against the first-level obstacle. Subsequently, the controller controls the drive wheel to start, driving the body to move forward slowly. During this process, the rotating arm assembly maintains the first support angle unchanged, and the auxiliary wheel continues to provide stable support as the body moves forward, until the front of the body is placed on the upper surface of the second-level obstacle in the tiered obstacle system, completing the positioning and support preparation.

[0054] In such Figure 5 In the second stage, the control arm assembly drives the auxiliary wheel to swing at a second support angle in a second direction, adjusting the auxiliary wheel to a position behind the drive wheel. Specifically, after detecting that the front of the machine body is stably mounted on the upper surface of the second-level obstacle, the controller outputs a second control command, driving the drive mechanism of the rotating arm assembly to move in the opposite direction, causing the rotating arm assembly to rotate in a preset second direction (a counterclockwise direction away from the level obstacle, opposite to the first direction), simultaneously causing the auxiliary wheel to swing towards the drive wheel.

[0055] Furthermore, the controller monitors the swing position of the auxiliary wheel in real time using an angle sensor. When the auxiliary wheel swings to the preset second support angle, it is positioned directly behind the drive wheel of the cleaning equipment, and the bottom of the auxiliary wheel remains in contact with the upper surface of the first-level obstacle or the ground, forming a stable rear support point. At this time, the controller locks the drive mechanism of the rotating arm assembly, keeping the auxiliary wheel at the second support angle unchanged, thus completing the adjustment of the support position.

[0056] In such Figure 6 In the third stage, as shown, the auxiliary wheel maintains the second support angle, controls the drive wheel to rotate, and drives the auxiliary wheel to rotate synchronously, enabling the climbing of the first level of obstacles. Specifically, with the rotating arm assembly locked and the auxiliary wheel maintaining the second support angle, the controller outputs a third control command to control the drive wheel of the cleaning equipment to rotate at high speed. Since the fixed end of the rotating arm assembly is rigidly connected to the drive wheel, when the drive wheel rotates, power is transmitted to the rotating arm assembly through a transmission structure (such as a gear set or synchronous belt), thereby driving the auxiliary wheel at the free end to rotate synchronously. At this time, the drive wheel provides the main climbing power, and the auxiliary wheel provides rear support and auxiliary driving force. The two work together to drive the body of the cleaning equipment to climb smoothly upwards.

[0057] Furthermore, during the climbing process, the controller monitors the machine's attitude in real time through the inertial measurement unit. If the machine's tilt angle exceeds a preset threshold, the controller can balance the attitude by finely adjusting the speed difference between the drive wheels and the auxiliary wheels. When the environmental detection unit detects that the cleaning equipment's center of gravity has completely crossed the edge of the first-level obstacle and the machine is completely positioned on the upper surface of the first-level obstacle, the controller determines that the climbing of the first-level obstacle is complete, and controls the drive wheels and auxiliary wheels to stop rotating, preparing for the subsequent crossing of the second-level obstacle.

[0058] By employing the embodiments of this disclosure, power linkage is achieved through the direct connection between the rotating arm assembly and the drive wheel, eliminating the need for an additional independent drive mechanism. This not only ensures the stable support and forward positioning of the cleaning equipment body but also guarantees stability during the climbing process by adjusting the support position behind the drive wheel. Furthermore, the synchronous rotation and coordination of the drive wheel and the auxiliary wheel effectively enhance the climbing power of the cleaning equipment, avoiding slippage or insufficient power issues that occur when climbing with a single drive wheel, thus ensuring that the cleaning equipment can climb the first level of obstacle smoothly and efficiently.

[0059] In some embodiments, obtaining depth information of the first tier of obstacles in a tiered obstacle system includes: Obtain obstacle information of the tiered obstacles collected by the detection components of the cleaning equipment; Based on the obstacle information of the tiered obstacles, the distance difference between the cleaning equipment and the first and second tiered obstacles is obtained, and the depth information of the first tiered obstacles is determined.

[0060] In some embodiments, the aforementioned distance difference is obtained in the following manner: Identify the first and second level obstacles in the tiered obstacle system, as well as the two relative contour boundaries of the first level obstacle; wherein the two relative contour boundaries include the first contour boundary of the first level obstacle on the side closer to the cleaning equipment, and the second contour boundary of the first level obstacle on the side closer to the second level obstacle.

[0061] The distance difference of the first-level obstacle is determined based on the interval between the first contour boundaries.

[0062] In some embodiments, taking a robotic vacuum cleaner as an example, the detection component can employ a Time-of-Flight (ToF) sensor and a vision camera. Taking a tiered obstacle as an example, consisting of a double-layered threshold structure with a first tier (closer to the cleaning device) and a second tier (farthest from the cleaning device), the system first acquires obstacle information about the tiered obstacle collected by the detection component. When the cleaning device's controller determines the presence of a tiered obstacle and triggers the obstacle-crossing process, it immediately sends a data acquisition command to the detection component. Upon receiving the data acquisition command, the ToF sensor initiates distance detection of the area in front, continuously collecting distance data between itself and various points on the obstacle, generating a distance matrix. Simultaneously, the vision camera captures image information of the tiered obstacle, such as two-dimensional or three-dimensional images containing the tier outline and texture. Then, based on the aforementioned distance data and image information, the obstacle information of the tiered obstacle is constructed and transmitted to the controller in real time. The controller performs format conversion and caching on the received obstacle information to ensure data integrity and parseability.

[0063] In some embodiments, based on obstacle information of the tiered obstacles, the two relative contour boundaries of the tiered structure and the first tier obstacle are identified. The controller invokes a preset multi-source data fusion recognition algorithm to perform collaborative analysis on the cached distance data and image information: First, by combining the depth dimension information from the distance data with the grayscale gradient features from the image information, the overall area of ​​the tiered obstacle is separated from the environmental background, eliminating interference factors such as ground debris and shadows. Then, a contour segmentation algorithm is used to hierarchically divide the tiered obstacle area. Based on the height difference and distance interval between adjacent areas, the first tiered obstacle closest to the cleaning equipment's direction of travel, and the second tiered obstacle located behind the first tiered obstacle, such as the second step after the first step in a two-tiered staircase, or the third step in a three-tiered staircase. Finally, for the first tiered obstacle, two relative contour boundaries are further extracted: the first contour boundary closer to the cleaning equipment (corresponding to the front edge of the first tier), and the second contour boundary closer to the second tiered obstacle (corresponding to the rear edge of the first tier).

[0064] In some embodiments, the distance difference is determined based on the interval between the first contour boundary and the second contour boundary, thus obtaining the depth information of the first-level obstacle. The controller first converts the pixel coordinates of the two extracted contour boundaries into actual spatial coordinates through a preset coordinate mapping relationship (the mapping parameters are determined by the installation position of the detection component, focal length, and other calibration parameters); then, based on the distance data collected by the ToF sensor, the straight-line distance between corresponding points on the contour boundaries corresponding to the two spatial coordinates is calculated; finally, the average distance data of all corresponding points is taken, and this average value is the depth information of the first-level obstacle, representing the actual width of the first-level obstacle in the direction of the cleaning equipment's movement.

[0065] In some embodiments, based on depth information, the rotating arm assembly of the cleaning equipment is controlled to perform corresponding obstacle-crossing actions, including: If the depth information of the first-level obstacle is greater than the preset depth information threshold, the free end of the control rotating arm assembly provides obstacle crossing assistance at the rear of the drive wheel of the cleaning equipment; If the depth information of the first-level obstacle is less than or equal to the preset depth information threshold, the free end of the control rotating arm assembly provides obstacle-crossing assistance at the front of the drive wheel.

[0066] In some embodiments, the controller first calls a pre-stored preset depth information threshold. Specifically, this preset depth information threshold can be determined after experimental calibration based on the radius of the cleaning equipment's drive wheel and the maximum horizontal distance from the rear of the drive wheel to the center of the drive wheel when the free end of the rotating arm assembly touches the ground. Simultaneously, the accuracy of the preset depth information threshold can be optimized by combining auxiliary parameters such as the cleaning equipment's body structure and the swing range of the rotating arm assembly. Finally, the calibrated preset depth information threshold is stored in the controller for accurately distinguishing different obstacle-crossing assistance strategies.

[0067] For example, if the obstacle is a double-layer step or a double-layer threshold, the preset depth information threshold can be, but is not limited to, 5-10 centimeters. The specific value can be determined and adjusted according to the structural parameters of the cleaning equipment and the depth information of the first-level obstacle.

[0068] Subsequently, the controller compares the depth information of the first-level obstacles in the cache with the preset depth information threshold, and executes the corresponding control logic based on the comparison result: like Figure 7 As shown, if the comparison result indicates that the depth information of the first-level obstacle is greater than the preset depth information threshold, it means that the size of the first-level obstacle in the forward direction is sufficient, and the rear of the drive wheel has a stable support space. The controller then outputs the first control command, such as... Figure 8As shown, the drive mechanism of the rotating arm assembly moves, causing the rotating arm assembly to swing around the fixed end toward the rear of the drive wheel until the free end of the rotating arm assembly moves to the preset rear auxiliary position and locks.

[0069] In this locked position, the free end of the rotating arm assembly can form a stable support with the ground or the upper surface of the first-level obstacle. By providing auxiliary support force or cooperative driving force, it provides rear obstacle-crossing assistance for the cleaning equipment, ensuring the smoothness of the obstacle-crossing process.

[0070] However, if the width of the first threshold is less than 8cm, the above method of supporting the tail backward cannot be used. If the previous fixed action is adopted, that is, the swing arm wheel supports the tail backward, the small wheel will not be able to touch the ground. If the swing arm continues to swing, the machine will slide down the threshold, the machine will tilt too much, and the tail will be hit, resulting in failure to overcome the obstacle.

[0071] like Figure 9 As shown, if the comparison result indicates that the depth information of the first-level obstacle is less than or equal to the preset depth information threshold, it means that the size of the first-level obstacle is small and the support space behind the drive wheel is insufficient. If a rear-assisted method is used, it is easy to cause instability in the support. If the free end of the rotating arm assembly continues to provide obstacle-crossing assistance behind the drive wheel, it is easy to cause the cleaning equipment to slide down, tilt downward at a large angle, and bump into the tail, resulting in obstacle-crossing failure.

[0072] Therefore, it is necessary to control the free end of the rotating arm assembly to provide obstacle-crossing assistance in front of the drive wheel, and the controller outputs a second control command, such as... Figure 10 As shown, the drive mechanism of the drive rotating arm assembly performs the same action as... Figure 8 (Rotating in the second direction) The opposite action, that is, rotating in the first direction, drives the rotating arm assembly to swing around the fixed end toward the front of the drive wheel until the free end of the rotating arm assembly moves to the preset front auxiliary position and locks.

[0073] like Figure 11 As shown, in this locked position, the free end of the rotating arm assembly can conform to the surface of the second-level obstacle to form a support. By providing forward digging force or auxiliary guiding force, it provides front obstacle-crossing assistance for the cleaning equipment to overcome obstacles, avoiding obstacle-crossing failure due to insufficient rear support.

[0074] In some embodiments, the free end of the control rotating arm assembly provides obstacle-crossing assistance at the rear of the drive wheels of the cleaning device, including: Control the rotating arm assembly to rotate in the second direction, so that the auxiliary wheel of the cleaning equipment is located behind the drive wheel and is in contact with the ground for support; The drive wheel and auxiliary wheel are controlled to rotate synchronously, driving the body of the cleaning equipment towards the second-level obstacle until the cleaning equipment climbs onto the second-level obstacle.

[0075] In such Figure 7 In the scenario where the depth information of the first-level obstacle is greater than the preset depth information threshold, after the cleaning equipment climbs the first-level obstacle, it is stably supported and driven by the rear of the free end (auxiliary wheel) of the rotating arm assembly to ensure that the cleaning equipment smoothly crosses the second-level obstacle.

[0076] In this embodiment, the free end of the rotating arm assembly of the cleaning equipment is provided with an auxiliary wheel, and the fixed end is rigidly connected to the drive wheel to achieve power linkage, as in the previous embodiment. Figure 8 As shown, the rotating arm assembly is first controlled to rotate in a second direction (opposite to the first direction, such as counterclockwise) to ensure that the auxiliary wheel is located behind the drive wheel, thus providing continuous stable support. Once the cleaning equipment's controller determines that the cleaning equipment has completely climbed the first level of the obstacle, it immediately outputs an angle locking command to lock the drive mechanism (such as a stepper motor) of the rotating arm assembly, maintaining the current second support angle. In this state, the auxiliary wheel at the free end of the rotating arm assembly will remain directly behind the drive wheel of the cleaning equipment, and the bottom of the auxiliary wheel will be in close contact with the upper surface of the first level of the obstacle or the ground, forming a stable rear support point.

[0077] In some embodiments, the controller monitors the angle status of the rotating arm assembly in real time through an angle sensor. If the angle deviates slightly due to factors such as road bumps, it will immediately output a fine-tuning command to ensure that the auxiliary wheel always remains in a close and supportive state, thus avoiding any loosening or detachment of the support.

[0078] Subsequently, the drive wheel and auxiliary wheel rotate synchronously, propelling the machine over the second level of obstacles. With the rotating arm assembly maintaining its second support angle and the auxiliary wheel stably engaged, the controller outputs a coordinated drive command, initiating the rotation of the drive wheel. Because the fixed end of the rotating arm assembly is rigidly connected to the drive wheel, the drive wheel's rotation transmits power synchronously to the auxiliary wheel via a pre-set transmission structure (such as a gear set or timing belt), ensuring the auxiliary wheel and drive wheel maintain the same rotation direction and matching speed, achieving synchronized rotation. The drive wheel provides the primary forward driving force, while the auxiliary wheel provides a stabilizing torque to the machine through its rear support, while simultaneously outputting auxiliary driving force, together propelling the machine smoothly towards the second level of obstacles.

[0079] During movement, the environmental detection component of the cleaning equipment collects real-time relative position data between the machine body and the second-tier obstacle, while the inertial measurement unit simultaneously monitors the machine body's attitude (such as tilt angle and sway amplitude). Based on this feedback data, the controller dynamically fine-tunes the rotation speeds of the drive wheels and auxiliary wheels to ensure the machine body maintains a stable posture, preventing tilting, slippage, or collisions. When the environmental detection component detects that the cleaning equipment body has climbed onto the edge of the second-tier obstacle, and the entire machine body has moved away from the obstacle area with flat ground in front, the controller determines that obstacle crossing is complete. It then outputs a stop command, controlling the drive wheels and auxiliary wheels to stop rotating, and simultaneously unlocks and resets the rotating arm assembly to its initial state, preparing for subsequent routine cleaning operations.

[0080] In some embodiments, the free end of the control rotating arm assembly provides obstacle-crossing assistance in front of the drive wheel, including: The control arm assembly is rotated in a first direction so that the auxiliary wheel of the cleaning equipment is located in front of the drive wheel of the cleaning equipment and the auxiliary wheel of the cleaning equipment is in contact with the upper surface of the second-level obstacle; The control arm assembly continues to rotate in the first direction, and the drive wheel and auxiliary wheel of the cleaning equipment are simultaneously controlled to rotate in the first direction, so as to drive the body of the cleaning equipment forward and upward until the cleaning equipment climbs the second level obstacle.

[0081] In some embodiments, such as Figure 9 In scenarios where the depth information of the first-level obstacle is less than or equal to a preset depth information threshold, after the cleaning equipment climbs onto the first-level obstacle, it uses the front of the free end of the rotating arm assembly (auxiliary wheel) to provide support, drive, and coordinate with the rear to compensate for the insufficient support of the rear auxiliary method in small-sized obstacle scenarios, thus ensuring that the cleaning equipment can smoothly cross the second-level obstacle.

[0082] In this embodiment, the free end of the rotating arm assembly of the cleaning equipment is provided with an auxiliary wheel, and the fixed end is rigidly connected to the drive wheel to achieve power linkage. The specific implementation process is divided into the following three consecutive stages: like Figure 10 As shown in the left figure, after the controller of the cleaning equipment determines that the machine body has completely climbed the first step obstacle, it immediately outputs the first swing command to drive the drive mechanism (such as a stepper motor) of the rotating arm assembly to rotate around the fixed end in a preset first direction (the positive swing direction close to the second step obstacle). At the same time, it drives the auxiliary wheel at the free end to swing so that the auxiliary wheel of the cleaning equipment is in front of the drive wheel of the cleaning equipment and the auxiliary wheel of the cleaning equipment is in contact with the upper surface of the second step obstacle.

[0083] In some embodiments, during the process of providing obstacle-crossing assistance at the front, the assistance wheels remain in contact with the upper surface of the second-level obstacle without disengaging.

[0084] In some embodiments, the controller monitors the swing angle of the auxiliary wheel in real time using an angle sensor. When the auxiliary wheel swings to a preset third support angle, the controller stops the drive mechanism. In this state, the auxiliary wheel is in contact with the slope or front edge of the second-level obstacle, supporting the body of the cleaning equipment to a certain extent and preventing the bottom of the body from rubbing against the second-level obstacle. Subsequently, the controller controls the drive wheel to rotate slowly, moving the body forward. The rotating arm assembly maintains the third support angle unchanged, and the auxiliary wheel continues to provide stable support as the body moves forward until the body rests on the upper surface of the second-level obstacle.

[0085] like Figure 10 As shown in the left and right figures, when the environmental detection component detects that the machine body is stably mounted on the upper surface of the second-level obstacle, the controller outputs a second swing command, controlling the rotating arm assembly to continue rotating in the first direction, and simultaneously controlling the drive wheel and auxiliary wheel of the cleaning equipment to rotate in the first direction, so as to drive the cleaning equipment body forward and upward until the cleaning equipment climbs onto the second-level obstacle, as shown in the figures. Figure 11 As shown.

[0086] Through the above embodiments, on the one hand, the auxiliary wheel is controlled to apply forward digging force to the second-level obstacle, and the friction between the auxiliary wheel and the surface of the obstacle is used to form a forward traction force; on the other hand, the drive wheel of the cleaning equipment is controlled to rotate in the same direction as the digging direction, and at the same time, the transmission structure at the fixed end drives the auxiliary wheel to rotate synchronously, so that the digging force and the driving force work together to drive the body of the cleaning equipment forward and upward until the cleaning equipment climbs the second-level obstacle.

[0087] In some embodiments, the method further includes: Without obtaining the depth information of the first level of obstacles, first control the free end of the rotating arm assembly to provide obstacle crossing assistance at the rear of the drive wheel; If the free end fails to provide obstacle-crossing assistance at the rear of the drive wheel, switch the action of the free end of the control rotating arm assembly to provide obstacle-crossing assistance at the front of the drive wheel until the cleaning equipment climbs the second level of the ladder obstacle, or determines that obstacle crossing is not feasible.

[0088] In some embodiments, the status of the cleaning equipment can also be detected by controlling the inertial measurement unit of the cleaning equipment, and whether obstacle crossing assistance is provided can be determined by detecting the status of the equipment.

[0089] The fuselage status includes the tilt angle and / or glide trend.

[0090] In some embodiments, for special scenarios where the depth information of the first-level obstacle is not obtained, this method also sets an adaptive obstacle crossing control logic, which is implemented as follows: When the cleaning equipment detects a step-by-step obstacle, but fails to obtain the depth information of the first-level obstacle due to factors such as detection component failure or ambient light interference, the controller does not trigger the judgment process based on the depth threshold, but directly executes the default control strategy. It first controls the free end of the rotating arm assembly to provide obstacle crossing assistance in front of the drive wheel. The specific execution process of this front assistance action is consistent with the aforementioned implementation process of controlling the free end of the rotating arm assembly to provide obstacle crossing assistance in front of the drive wheel.

[0091] For example, in some embodiments, while performing the front-assisted obstacle-crossing maneuver, the controller activates the inertial measurement unit (IMU) of the cleaning equipment to continuously monitor the equipment's body status, specifically including the tilt angle and / or downward trend. The IMU feeds back the real-time collected body status data to the controller, which compares the tilt angle with a preset angle range and determines whether the cleaning equipment's body has a tilting and / or downward trend.

[0092] If the controller detects that the cleaning equipment is trending downwards, and / or detects that the tilt angle exceeds the preset angle range, it indicates that the current rear assist method cannot guarantee obstacle crossing stability. At this time, the controller immediately outputs a switching command to stop the current rear assist action and switch to the action of the free end of the control rotating arm assembly providing obstacle crossing assistance in front of the drive wheel.

[0093] After switching to the front assist action, the execution process of the front assist action is the same as the implementation process of the control rotating arm assembly providing obstacle crossing assistance in front of the drive wheel, until the environmental detection component detects that the cleaning equipment has climbed the second level of the ladder obstacle. If the machine body cannot be stabilized after switching to the front assist action, or if the cleaning equipment is detected to be stuck in a state that cannot be extricated, the controller will determine that obstacle crossing is not feasible, output a stop command and control the cleaning equipment to reverse back to the safe area to avoid damage to the cleaning equipment.

[0094] According to an embodiment of this disclosure, a cleaning device is also provided, including a drive wheel module, a rotating arm assembly, an auxiliary wheel, a detection component, and a controller. The auxiliary wheel is connected to the drive wheel module via the rotating arm assembly. The controller is electrically connected to the drive wheel module, the rotating arm assembly, the auxiliary wheel, and the detection component, and is used to execute any one of the control methods.

[0095] In some embodiments, the cleaning device is an autonomous mobile device (such as a robotic vacuum cleaner) capable of traversing tiered obstacles, which can stably execute any of the aforementioned obstacle-crossing control methods and is suitable for cleaning tiered obstacles such as double thresholds and two-step steps in home and office settings.

[0096] Specifically, the cleaning equipment includes a drive wheel module, a rotating arm assembly, an auxiliary wheel, a detection component, and a controller. The auxiliary wheel is connected to the drive wheel module via the rotating arm assembly. For example, the rotating arm assembly includes an integrally formed fixed end and a free end. The fixed end is connected to the axle of the drive wheel module via a keyed connection and bolts. The rotating arm assembly integrates a synchronous belt drive mechanism. The input end of this mechanism is linked to the axle of the drive wheel module, and the output end extends to the free end and is fixedly connected to the axle of the auxiliary wheel. Through this transmission structure, the power generated by the rotation of the drive wheel can be stably transmitted to the auxiliary wheel through the rotating arm assembly, achieving synchronous linkage between the drive wheel module and the auxiliary wheel, providing coordinated power for the cleaning equipment's movement and obstacle crossing.

[0097] In some embodiments, the controller may employ an embedded microprocessor as the control component of the cleaning equipment, establishing stable electrical connections with the drive wheel module, the rotating arm assembly, the auxiliary wheel, and the detection component, respectively. The drive wheel module includes drive wheels. For example, the controller is electrically connected to the drive motor of the drive wheel, the swing motor of the rotating arm assembly, and the auxiliary drive motor of the auxiliary wheel through a drive module (such as a drive chip) to achieve precise output of control commands. Simultaneously, the controller is electrically connected to the various sensor signal terminals of the detection component through an ADC acquisition module to achieve real-time reception of detection data, ensuring the smoothness and timeliness of control command transmission and data feedback between the controller and each component.

[0098] In this embodiment, the functionality of the cleaning equipment relies on the controller executing any of the aforementioned control methods. During the operation of the cleaning equipment, the detection component continuously collects information on the tiered obstacles in the environment ahead (such as distance data and contour images) and the cleaning equipment's own body status information (such as tilt angle and downward trend). The collected analog or digital signals are converted into electrical signals that the controller can recognize and then transmitted to the controller. After receiving the collected data, the controller completes logical processing such as tiered obstacle recognition, first-tier obstacle depth information calculation, and obstacle crossing action strategy determination through a built-in preset control program. Subsequently, it outputs corresponding control commands to the drive wheel, rotating arm assembly, and auxiliary wheel. The drive wheel adjusts its rotation direction and speed according to the commands, providing the main propulsion and climbing power for the cleaning equipment. The rotating arm assembly drives the swing motor according to the commands, causing the auxiliary wheel to rotate or swing around the fixed end, realizing the switching of the auxiliary wheel's position in front of or behind the drive wheel to adapt to the obstacle crossing requirements of different obstacle scenarios. The auxiliary wheel rotates synchronously with the drive wheel under the linkage of the transmission structure, and at the same time provides front-end scooping power or rear-end support force according to the controller's control commands, working with the drive wheel to improve obstacle crossing stability.

[0099] To elaborate further, the detection components may include: a ToF distance sensor, a high-definition vision camera, a three-axis gyroscope, and an angle sensor. The ToF distance sensor and the high-definition vision camera are used to collect distance and contour information of the ladder obstacles, the three-axis gyroscope is used to detect the tilt angle and downward trend of the equipment body, and the angle sensor is used to monitor the swing angle of the rotating arm assembly. The coordinated work of various sensors can ensure the comprehensiveness and accuracy of the detection data.

[0100] This embodiment provides a structural design and connection relationship for the cleaning equipment, enabling the various components of the cleaning equipment to form a highly efficient and collaborative working system. The controller can stably execute any of the control methods in the above embodiments, ensuring that the cleaning equipment can smoothly and efficiently overcome obstacles in different obstacle scenarios such as multi-level steps and double-level thresholds, effectively improving the environmental adaptability of the cleaning equipment and meeting diverse cleaning operation needs.

[0101] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure.

[0102] Corresponding to the control method in the above embodiments, Figure 12 This is a schematic diagram of the structure of a control device provided in an embodiment of this disclosure. This device can be applied to... Figure 2 The cleaning equipment shown. (Refer to...) Figure 6 The control device includes: The acquisition unit 121 is used to acquire the depth information of the first step obstacle in the step obstacle in response to the cleaning equipment detecting the step obstacle; wherein the step obstacle has at least two steps.

[0103] The control unit 122 is used to control the rotating arm assembly of the cleaning equipment to perform corresponding obstacle-crossing actions based on depth information; The obstacle-crossing action includes the free end of the rotating arm assembly providing obstacle-crossing assistance at the rear of the drive wheel of the cleaning equipment and / or the free end of the rotating arm assembly providing obstacle-crossing assistance at the front of the drive wheel. The first level obstacle is the obstacle that is close to the cleaning equipment and must be crossed first. The rotating arm assembly includes a free end and a fixed end, and can rotate or swing about the rotation center of the fixed end.

[0104] In some embodiments, the control unit is further configured to control the rotating arm assembly of the cleaning equipment to perform a corresponding obstacle-crossing action based on depth information when crossing a second-level obstacle in a series of obstacles; wherein the second-level obstacle is an obstacle that is far from the cleaning equipment and is to be crossed later.

[0105] In some embodiments, the control unit is also configured to control the cleaning equipment to climb the first level of obstacle before controlling the rotating arm assembly of the cleaning equipment to perform the corresponding obstacle-crossing action based on depth information.

[0106] In some embodiments, the free end of the rotating arm assembly is provided with an auxiliary wheel, and the fixed end of the rotating arm assembly is connected to a drive wheel module. The drive wheel module includes a drive wheel and a control unit, which controls the cleaning equipment to climb the first-level obstacle, specifically for: The control arm assembly drives the auxiliary wheel to swing at a first support angle in a first direction, so that the auxiliary wheel supports the body of the cleaning equipment and moves forward until the body rests on the upper surface of the second step obstacle in the tiered obstacle; The control arm assembly drives the auxiliary wheel to swing at a second support angle in a second direction, so that the auxiliary wheel is located behind the drive wheel of the cleaning equipment; While the auxiliary wheel maintains the second support angle, the drive wheel is controlled to rotate and drive the auxiliary wheel to rotate synchronously, so as to drive the body of the cleaning equipment to climb the first level of obstacle.

[0107] In some embodiments, the acquisition unit acquires the depth information of the first tier of obstacles in the tiered obstacle system, specifically for: Obtain obstacle information of the tiered obstacles collected by the detection components of the cleaning equipment; Based on the obstacle information of the tiered obstacles, the distance difference between the cleaning equipment and the first and second tiered obstacles is obtained, and the depth information of the first tiered obstacles is determined.

[0108] In some embodiments, the acquisition unit is specifically used to identify a first-level obstacle and a second-level obstacle in a series of obstacles, as well as two relative contour boundaries of the first-level obstacle, wherein the two relative contour boundaries include a first contour boundary of the first-level obstacle on the side closer to the cleaning equipment and a second contour boundary of the first-level obstacle on the side closer to the second-level obstacle. The distance difference is determined based on the interval between the first contour boundaries.

[0109] In some embodiments, the control unit, based on depth information, controls the rotating arm assembly of the cleaning equipment to perform corresponding obstacle-crossing actions, specifically for: If the depth information of the first-level obstacle is greater than the preset depth information threshold, the free end of the control rotating arm assembly provides obstacle crossing assistance at the rear of the drive wheel; If the depth information of the first-level obstacle is less than or equal to the preset depth information threshold, the free end of the control rotating arm assembly provides obstacle-crossing assistance at the front of the drive wheel.

[0110] In some embodiments, the apparatus further includes: The determining unit is used to determine a preset depth information threshold based on the radius of the drive wheel of the cleaning equipment and the maximum horizontal distance from the free end of the rotating arm assembly from the rear of the drive wheel to the center of the drive wheel when it touches the ground.

[0111] In some embodiments, the control unit controls the free end of the rotating arm assembly to provide obstacle-crossing assistance at the rear of the drive wheel, specifically for: Control the rotating arm assembly to rotate in the second direction, so that the auxiliary wheel of the cleaning equipment is located behind the drive wheel and is in contact with the ground for support; The drive wheel and auxiliary wheel are controlled to rotate synchronously, driving the body of the cleaning equipment towards the second-level obstacle until the cleaning equipment climbs onto the second-level obstacle.

[0112] In some embodiments, the control unit controls the free end of the rotating arm assembly to provide obstacle-crossing assistance at the front of the drive wheel, specifically for: The control arm assembly is rotated in a first direction so that the auxiliary wheel of the cleaning equipment is located in front of the drive wheel of the cleaning equipment and the auxiliary wheel of the cleaning equipment is in contact with the upper surface of the second-level obstacle; The control arm assembly continues to rotate in the first direction, and the drive wheel and auxiliary wheel of the cleaning equipment are simultaneously controlled to rotate in the first direction, so as to drive the body of the cleaning equipment forward and upward until the cleaning equipment climbs the second level obstacle.

[0113] In some embodiments, during the process of providing obstacle-crossing assistance at the front, the assistance wheels remain in contact with the upper surface of the second-level obstacle without disengaging.

[0114] In some embodiments, the control unit is further configured to: Without obtaining the depth information of the first level of obstacles, first control the free end of the rotating arm assembly to provide obstacle crossing assistance at the rear of the drive wheel; If the free end fails to provide obstacle-crossing assistance at the rear of the drive wheel, switch the action of the free end of the control rotating arm assembly to provide obstacle-crossing assistance at the front of the drive wheel until the cleaning equipment climbs the second level of the ladder obstacle, or determines that obstacle crossing is not feasible.

[0115] In some embodiments, the control unit is also used to control the inertial measurement unit of the cleaning equipment to detect the body status of the cleaning equipment; and to detect whether to provide obstacle crossing assistance by detecting the body status, wherein the body status includes tilt angle and / or descent trend.

[0116] It is understood that the control device embodiments and any implementation methods correspond to the control method embodiments and any implementation methods, respectively. The technical effects corresponding to the control device embodiments and any implementation methods can be found in the technical effects corresponding to the control method embodiments and any implementation methods described above, and will not be repeated here.

[0117] It should be noted that the control device provided in the above embodiments is only an example of the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0118] The functional units and modules in the above embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of the embodiments of this disclosure.

[0119] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this disclosure. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0120] This disclosure also provides a cleaning device, which includes one or more processors and a memory; The memory is coupled to one or more processors. The memory is used to store computer program code, which includes computer instructions. One or more processors invoke the computer instructions to cause the cleaning device to perform the control method described above.

[0121] Figure 13 This is a schematic diagram of a cleaning device provided in an embodiment of the present disclosure. The cleaning device 1300 can be a sweeping robot, a mopping robot, or the like. This disclosure does not limit the specific type of cleaning device.

[0122] The memory 1301 can be used to store computer software programs 1302 and modules. The processor 1303 executes various functional applications and data processing of the cleaning equipment by running the software programs and modules stored in the memory 1301. The memory 1301 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as the function of performing cleaning tasks, obstacle avoidance, obstacle crossing, etc.); the data storage area may store data created based on the use of the cleaning equipment (such as cleaning operation log data, detection data, etc.). In addition, the memory 1301 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0123] The processor 1303 may include one or more processors such as a central processing unit (CPU), an application processor (AP), and a baseband processor. The processor can serve as the nerve center and command center of the wireless router. The processor 1303 can generate operation control signals based on instruction opcodes and timing signals to control instruction fetching and execution. The memory 1301 can be used to store executable program code, including instructions. The processor 1303 executes various functional applications and data processing of the network device by running the instructions stored in the memory. The memory 1301 may include a program storage area and a data storage area, etc. For example, the memory may be Double Data Rate Synchronous Dynamic Random Access Memory (DDR) or Flash memory.

[0124] This disclosure also provides a computer-readable storage medium storing computer instructions; when the computer-readable storage medium is operated on a cleaning device, it causes the cleaning device to perform the control method described above.

[0125] The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or can include one or more data storage devices such as servers or data centers that can be integrated with media. The available medium can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media, or semiconductor media (e.g., solid-state disks (SSDs)).

[0126] This disclosure also provides a computer program product containing computer instructions that, when run on a cleaning device, enables the cleaning device to perform the control method described above.

[0127] The computer storage medium and computer program product provided in the above-described embodiments are used to execute the methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects corresponding to the methods provided above, and will not be repeated here.

[0128] In the above embodiments, implementation can also be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line, DSL) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer, or a data storage device such as a server or data center that integrates one or more available media. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc., and the storage medium can also include combinations of the above types of memory.

[0129] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0130] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments claimed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0131] In the embodiments provided in this disclosure, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0132] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0133] The above-described embodiments are only used to illustrate the technical solutions of this disclosure, and are not intended to limit it. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure, and should all be included within the protection scope of this disclosure.

Claims

1. A control method, characterized in that, The control method, applied to cleaning equipment, includes: In response to the cleaning equipment detecting a stepped obstacle, the depth information of the first stepped obstacle in the stepped obstacle is obtained; wherein the stepped obstacle has at least two steps; Based on the depth information, the rotating arm assembly of the cleaning equipment is controlled to perform a corresponding obstacle-crossing action; The obstacle-crossing action includes the free end of the rotating arm assembly providing obstacle-crossing assistance at the rear of the drive wheel of the cleaning equipment and / or the free end of the rotating arm assembly providing obstacle-crossing assistance at the front of the drive wheel. The first step obstacle is the obstacle that is close to the cleaning equipment and must be crossed first. The rotating arm assembly includes a free end and a fixed end, and can rotate or swing about the rotation center of the fixed end.

2. The method according to claim 1, characterized in that, The method further includes: When crossing the second level of the tiered obstacles, the rotating arm assembly of the cleaning equipment is controlled to perform the corresponding obstacle-crossing action based on the depth information; The second tier of obstacles refers to obstacles that are far from the cleaning equipment and need to be crossed later.

3. The method according to claim 2, characterized in that, Before controlling the rotating arm assembly of the cleaning equipment to perform a corresponding obstacle-crossing action based on the depth information, the method further includes: Control the cleaning equipment to climb the first step obstacle.

4. The method according to claim 3, characterized in that, The free end of the rotating arm assembly is provided with an auxiliary wheel, and the fixed end of the rotating arm assembly is connected to a drive wheel module, the drive wheel module including a drive wheel. Controlling the cleaning device to climb the first step obstacle includes: The rotating arm assembly is controlled to drive the auxiliary wheel to swing at a first support angle in a first direction, so that the auxiliary wheel supports the body of the cleaning equipment and moves forward until the body rests on the upper surface of the second step obstacle in the tiered obstacle; The rotating arm assembly is controlled to drive the auxiliary wheel to swing at a second support angle in a second direction, so that the auxiliary wheel is located behind the drive wheel of the cleaning device; While the auxiliary wheel maintains the second support angle, the drive wheel is controlled to rotate and drive the auxiliary wheel to rotate synchronously, so as to drive the body of the cleaning equipment to climb the first step obstacle.

5. The method according to claim 1, characterized in that, The step of obtaining the depth information of the first tier of obstacles in the tiered obstacle system includes: Obtain obstacle information of the tiered obstacles collected by the detection component of the cleaning equipment; Based on the obstacle information of the tiered obstacles, the distance difference between the cleaning equipment and the first and second tiered obstacles is obtained, and the depth information of the first tiered obstacle is determined.

6. The method according to claim 5, characterized in that, The distance difference is obtained by identifying the first and second tier obstacles in the tiered obstacles, as well as the two relative contour boundaries of the first tier obstacle, wherein the two relative contour boundaries include the first contour boundary of the first tier obstacle on the side closer to the cleaning equipment, and the second contour boundary of the first tier obstacle on the side closer to the second tier obstacle. The distance difference is determined based on the interval between the first contour boundary and the first contour boundary.

7. The method according to any one of claims 1 to 6, characterized in that, The step of controlling the rotating arm assembly of the cleaning equipment to perform a corresponding obstacle-crossing action based on the depth information includes: If the depth information of the first-level obstacle is greater than a preset depth information threshold, the free end of the rotating arm assembly is controlled to provide obstacle-crossing assistance at the rear of the drive wheel; If the depth information of the first-level obstacle is less than or equal to the preset depth information threshold, the free end of the rotating arm assembly is controlled to provide obstacle-crossing assistance at the front of the drive wheel.

8. The method according to claim 7, characterized in that, The method further includes: The preset depth information threshold is determined based on the radius of the drive wheel of the cleaning device and the maximum horizontal distance from the free end of the rotating arm assembly to the center of the drive wheel when the rear of the drive wheel touches the ground.

9. The method according to claim 7, characterized in that, The rear of the drive wheel at the free end of the rotating arm assembly provides obstacle-crossing assistance, including: Control the rotating arm assembly to rotate in the second direction, so that the auxiliary wheel of the cleaning equipment is located behind the drive wheel and is in contact with and supported on the ground; The drive wheel and the auxiliary wheel are controlled to rotate synchronously, driving the body of the cleaning equipment to move towards the second-level obstacle until the cleaning equipment climbs onto the second-level obstacle.

10. The method according to claim 7, characterized in that, Controlling the free end of the rotating arm assembly to provide obstacle-crossing assistance at the front of the drive wheel includes: The rotating arm assembly is controlled to rotate in a first direction, such that the auxiliary wheel of the cleaning device is located in front of the drive wheel of the cleaning device, and the auxiliary wheel of the cleaning device is in contact with the upper surface of the second-level obstacle; The rotating arm assembly is controlled to continue rotating in the first direction, and the drive wheel and auxiliary wheel of the cleaning equipment are simultaneously controlled to rotate in the first direction, so as to drive the body of the cleaning equipment to move forward and upward until the cleaning equipment climbs the second-level obstacle.

11. The method according to claim 10, characterized in that, During the process of providing obstacle crossing assistance at the front, the auxiliary wheel remains in contact with the upper surface of the second-level obstacle and does not detach.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: If the depth information of the first-level obstacle is not obtained, the free end of the rotating arm assembly is first controlled to provide obstacle-crossing assistance at the rear of the drive wheel; If the free end fails to provide obstacle-crossing assistance at the rear of the drive wheel, the action of controlling the free end of the rotating arm assembly to provide obstacle-crossing assistance at the front of the drive wheel is switched until the cleaning equipment climbs the second step obstacle in the ladder obstacle, or it is determined that obstacle crossing is not feasible.

13. The method according to claim 12, characterized in that, The method further includes: An inertial measurement unit controlling the cleaning equipment detects the body state of the cleaning equipment, wherein the body state includes tilt angle and / or downward trend; Whether obstacle crossing assistance is provided is determined by detecting the condition of the aircraft body.

14. A cleaning device, characterized in that, It includes a drive wheel module, a rotating arm assembly, an auxiliary wheel, a detection assembly, and a controller. The auxiliary wheel is connected to the drive wheel module via the rotating arm assembly. The controller is electrically connected to the drive wheel module, the rotating arm assembly, the auxiliary wheel and the detection assembly respectively, and the controller is used to execute the control method according to any one of claims 1 to 13.

15. A control device, characterized in that, The control device, applied to cleaning equipment, includes: The acquisition unit is configured to acquire depth information of the first tier of the tiered obstacle in response to the cleaning equipment detecting a tiered obstacle; wherein the tiered obstacle has at least two tiers; The control unit is used to control the rotating arm assembly of the cleaning equipment to perform corresponding obstacle-crossing actions based on the depth information; The obstacle-crossing action includes the free end of the rotating arm assembly providing obstacle-crossing assistance at the rear of the drive wheel of the cleaning equipment and / or the free end of the rotating arm assembly providing obstacle-crossing assistance at the front of the drive wheel. The first step obstacle is the obstacle that is close to the cleaning equipment and must be crossed first. The rotating arm assembly includes a free end and a fixed end, and can rotate or swing about the rotation center of the fixed end.

16. The apparatus according to claim 15, characterized in that, The control unit is further configured to, based on the depth information, control the rotating arm assembly of the cleaning equipment to perform a corresponding obstacle-crossing action when crossing the second level obstacle in the tiered obstacle course; wherein the second level obstacle is an obstacle that is far away from the cleaning equipment and is to be crossed later.

17. The apparatus according to claim 16, characterized in that, The control unit is further configured to control the cleaning equipment to climb the first step obstacle before controlling the rotating arm assembly of the cleaning equipment to perform the corresponding obstacle-crossing action based on the depth information.

18. The apparatus according to claim 17, characterized in that, The free end of the rotating arm assembly is provided with an auxiliary wheel, and the fixed end of the rotating arm assembly is connected to a drive wheel module, the drive wheel module including a drive wheel. The control unit controls the cleaning equipment to climb the first step obstacle, specifically for: The rotating arm assembly is controlled to drive the auxiliary wheel to swing at a first support angle in a first direction, so that the auxiliary wheel supports the body of the cleaning equipment and moves forward until the body rests on the upper surface of the second step obstacle in the tiered obstacle; The rotating arm assembly is controlled to drive the auxiliary wheel to swing at a second support angle in a second direction, so that the auxiliary wheel is located behind the drive wheel of the cleaning device; While the auxiliary wheel maintains the second support angle, the drive wheel is controlled to rotate and drive the auxiliary wheel to rotate synchronously, so as to drive the body of the cleaning equipment to climb the first step obstacle.

19. The apparatus according to claim 15, characterized in that, The acquisition unit acquires the depth information of the first tier of obstacles in the tiered obstacle system, specifically for: Obtain obstacle information of the tiered obstacles collected by the detection component of the cleaning equipment; Based on the obstacle information of the tiered obstacles, the distance difference between the cleaning equipment and the first and second tiered obstacles is obtained, and the depth information of the first tiered obstacle is determined.

20. The apparatus according to claim 19, characterized in that, The acquisition unit is specifically used to identify the first and second tier obstacles in the tiered obstacles, as well as the two relative contour boundaries of the first tier obstacle. The two relative contour boundaries include the first contour boundary of the first tier obstacle on the side closer to the cleaning equipment, and the second contour boundary of the first tier obstacle on the side closer to the second tier obstacle. The distance difference is determined based on the interval between the first contour boundary and the first contour boundary.

21. The apparatus according to any one of claims 15 to 20, characterized in that, The control unit, based on the depth information, controls the rotating arm assembly of the cleaning equipment to perform a corresponding obstacle-crossing action, specifically for: If the depth information of the first-level obstacle is greater than a preset depth information threshold, the free end of the rotating arm assembly is controlled to provide obstacle-crossing assistance at the rear of the drive wheel; If the depth information of the first-level obstacle is less than or equal to the preset depth information threshold, the free end of the rotating arm assembly is controlled to provide obstacle-crossing assistance at the front of the drive wheel.

22. The apparatus according to claim 21, characterized in that, The device further includes: The determining unit is used to determine the preset depth information threshold based on the radius of the drive wheel of the cleaning device and the maximum horizontal distance from the free end of the rotating arm assembly to the center of the drive wheel when it touches the ground from the rear of the drive wheel.

23. The apparatus according to claim 21, characterized in that, The control unit controls the free end of the rotating arm assembly to provide obstacle-crossing assistance at the rear of the drive wheel, specifically for: Control the rotating arm assembly to rotate in the second direction, so that the auxiliary wheel of the cleaning equipment is located behind the drive wheel and is in contact with and supported on the ground; The drive wheel and the auxiliary wheel are controlled to rotate synchronously, driving the body of the cleaning equipment to move towards the second-level obstacle until the cleaning equipment climbs onto the second-level obstacle.

24. The apparatus according to claim 21, characterized in that, The control unit controls the free end of the rotating arm assembly to provide obstacle-crossing assistance at the front of the drive wheel, specifically for: The rotating arm assembly is controlled to rotate in a first direction, such that the auxiliary wheel of the cleaning device is located in front of the drive wheel of the cleaning device, and the auxiliary wheel of the cleaning device is in contact with the upper surface of the second-level obstacle; The rotating arm assembly is controlled to continue rotating in the first direction, and the drive wheel and auxiliary wheel of the cleaning equipment are simultaneously controlled to rotate in the first direction, so as to drive the body of the cleaning equipment to move forward and upward until the cleaning equipment climbs the second-level obstacle.

25. The apparatus according to claim 24, characterized in that, During the process of providing obstacle crossing assistance at the front, the auxiliary wheel remains in contact with the upper surface of the second-level obstacle and does not detach.

26. The apparatus according to any one of claims 15 to 25, characterized in that, The control unit is also used for: If the depth information of the first-level obstacle is not obtained, the free end of the rotating arm assembly is first controlled to provide obstacle-crossing assistance at the rear of the drive wheel; If the free end fails to provide obstacle-crossing assistance at the rear of the drive wheel, the action of controlling the free end of the rotating arm assembly to provide obstacle-crossing assistance at the front of the drive wheel is switched until the cleaning equipment climbs the second step obstacle in the ladder obstacle, or it is determined that obstacle crossing is not feasible.

27. The apparatus according to claim 26, characterized in that, The control unit is also used to control the inertial measurement unit of the cleaning equipment to detect the body status of the cleaning equipment; and to detect whether to provide obstacle crossing assistance by detecting the body status, wherein the body status includes tilt angle and / or descent trend.

28. A cleaning 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 causes the cleaning device to perform the method as described in any one of claims 1 to 13.

29. A computer program product, characterized in that, Includes a computer program, which, when run, causes the method as described in any one of claims 1 to 13 to be performed.

30. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 13.

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