Control method, control device, equipment and product of obstacle crossing mechanism

Abstract

The embodiment of the invention discloses a control method, a control device, equipment and a product of an obstacle crossing mechanism, and the main technical scheme comprises the steps: responding to a starting instruction, controlling a drive motor to rotate in a first direction, and starting sensing detection and locked-rotor detection for an obstacle crossing wheel leg; if a sensing signal that the obstacle crossing wheel leg reaches the initial position is obtained through sensing detection, determining that the current position of the obstacle crossing wheel leg is the initial position; if it is determined that the obstacle crossing wheel leg reaches the target position through locked-rotor detection, the driving motor is controlled to rotate in the second direction until sensing detection obtains a sensing signal that the obstacle crossing wheel leg reaches the initial position, and the current position of the obstacle crossing wheel leg is determined as the initial position; according to the obstacle crossing mechanism, the initial positions of the obstacle crossing wheel legs of the obstacle crossing mechanism can be reset, operation faults of the obstacle crossing mechanism caused by position sensing errors can be effectively avoided, and the operation reliability of the obstacle crossing mechanism is guaranteed.

Description

Technical Field

[0001] This application relates to the field of mobile cleaning equipment technology, and in particular to a control method, control device, equipment, and product for an obstacle-crossing mechanism. Background Technology

[0002] As mobile cleaning equipment becomes increasingly complex, its overall weight increases significantly. To achieve sufficient obstacle-crossing capability, the obstacle-crossing mechanism of mobile cleaning equipment typically needs to be equipped with a drive motor with a larger output torque. However, in practical applications, it has been found that after being moved, stopped suddenly, or experiencing an abnormal power outage, the obstacle-crossing legs of the mobile cleaning equipment may remain in an unexpected and unknown position. If the obstacle-crossing program is initiated directly at this time, the system cannot sense the actual position of the legs, which can easily cause the drive motor to stall at an incorrect mechanical angle, affecting the obstacle-crossing reliability and automation level of the mobile cleaning equipment. Summary of the Invention

[0003] This application provides a control method, control device, equipment, and product for an obstacle-crossing mechanism, which improves the obstacle-crossing reliability and automation level of mobile cleaning equipment.

[0004] In a first aspect, this application provides a control method for an obstacle-crossing mechanism, applied to an obstacle-crossing mechanism installed at the bottom of a mobile cleaning device. The obstacle-crossing mechanism includes a drive wheel, obstacle-crossing wheel legs rotatably mounted on the drive wheel, and a drive motor for driving the obstacle-crossing wheel legs to rotate. The method includes: In response to the power-on command, the drive motor is controlled to rotate in the first direction, and sensor detection and stall detection are enabled for the obstacle-crossing wheel legs; If the sensor signal indicating that the obstacle-crossing wheel has reached its initial position is obtained through the sensor detection, then the current position of the obstacle-crossing wheel is determined to be the initial position. If the stall detection determines that the obstacle-crossing wheel has reached the target position, the drive motor is controlled to rotate along the second direction until the sensor detects that the obstacle-crossing wheel has reached the initial position, and the current position of the obstacle-crossing wheel is determined to be the initial position.

[0005] In some embodiments, controlling the drive motor to rotate along a first direction includes: controlling the drive motor to rotate along the first direction with a first voltage; The control of the drive motor to rotate in the second direction includes: The drive motor is controlled to rotate along a second direction with a second voltage for a first preset time period, and after the first preset time period ends, the drive motor is controlled to rotate along the second direction with the first voltage. Wherein, the second voltage is greater than the first voltage.

[0006] In some embodiments, the stall detection activated for the obstacle-crossing wheel leg includes the following steps: Under the first voltage, the real-time current of the drive motor is obtained; When the real-time current exceeds a preset current threshold, the duration for which the real-time current continues to exceed the preset current threshold is recorded, and the duration for which the real-time current continues to exceed the preset current threshold is determined as the stall duration. Wherein, the preset current threshold is lower than the stall current of the drive motor under the first voltage.

[0007] In some embodiments, the target position includes the obstacle crossing end position and the lifting position of the obstacle crossing wheel leg, the initial position is located between the obstacle crossing end position and the lifting position of the obstacle crossing wheel leg, the first direction is the direction in which the obstacle crossing wheel leg turns from the obstacle crossing end position to the lifting position, and the second direction is the direction in which the obstacle crossing wheel leg turns from the lifting position to the obstacle crossing end position.

[0008] In some embodiments, the obstacle-crossing wheel leg moves from the initial position to the obstacle-crossing end position along the second direction, and moves from the obstacle-crossing end position to the initial position along the first direction, so as to realize the obstacle-crossing mechanism's obstacle-crossing and obstacle-crossing reset process; The obstacle-crossing wheel leg moves from the initial position to the raised position along the first direction and from the raised position to the initial position along the second direction to realize the lifting and resetting process of the obstacle-crossing mechanism.

[0009] In some embodiments, the stall detection includes a first stall detection at the obstacle clearance end position and a second stall detection at the lift position, and the method further includes: After controlling the drive motor to rotate in the first direction and triggering the second stall detection, the drive motor is controlled to rotate in the second direction; If, during the rotation of the drive motor in the second direction, the initial position sensor signal is not obtained through the sensor detection and the first stall detection is triggered, then the drive motor is controlled to stop running and the first fault information is reported.

[0010] In some embodiments, the method further includes: Get the total runtime since the response to the power-on command; If the total running time exceeds the fifth preset time and the sensor signal indicating that the obstacle-crossing wheel has reached the initial position is not obtained, the drive motor is controlled to stop running and a second fault information is reported.

[0011] In some embodiments, the stall detection includes a second stall detection for the raised position, and the method further includes: After controlling the drive motor to rotate in the first direction and triggering the second stall detection, the drive motor is controlled to rotate in the second direction; If, during the rotation of the drive motor in the second direction, the sensor detects that the obstacle-crossing wheel has reached the initial position, and determines that the current position of the obstacle-crossing wheel is the initial position, then the drive motor is controlled to stop running.

[0012] Secondly, this application provides a control device for an obstacle-crossing mechanism, applied to an obstacle-crossing mechanism installed at the bottom of a mobile cleaning device. The obstacle-crossing mechanism includes a drive wheel, obstacle-crossing wheel legs rotatably mounted on the drive wheel, and a drive motor for driving the obstacle-crossing wheel legs to rotate. The device includes: The detection activation module is configured to, in response to a power-on command, control the drive motor to rotate along a first direction and enable sensor detection and stall detection for the obstacle-crossing wheel legs; The position determination module is configured to determine the current position of the obstacle-crossing wheel leg as the initial position if the sensor detection obtains a sensor signal indicating that the obstacle-crossing wheel leg has reached the initial position; and to control the drive motor to rotate along the second direction if the stall detection determines that the obstacle-crossing wheel leg has reached the target position, until the sensor detection obtains a sensor signal indicating that the obstacle-crossing wheel leg has reached the initial position, and to determine the current position of the obstacle-crossing wheel leg as the initial position.

[0013] Thirdly, this application provides a mobile cleaning device, the bottom of which is provided with an obstacle-crossing mechanism. The obstacle-crossing mechanism includes a drive wheel, obstacle-crossing legs rotatably mounted on the drive wheel, and a drive motor for driving the obstacle-crossing legs to rotate. The device further includes: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method described in any one of the first aspects.

[0014] Fourthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0015] According to the specific embodiments provided in this application, the following technical effects are disclosed: The solution provided in this application is applied to an obstacle-crossing mechanism installed at the bottom of a mobile cleaning device. This mechanism includes a drive wheel, obstacle-crossing legs rotatably mounted on the drive wheel, and a drive motor for rotating the obstacle-crossing legs. By automatically executing a position detection and correction process when the device responds to a power-on command, the operational risks caused by the obstacle-crossing legs remaining in an unknown position after handling, emergency stops, or abnormal power outages can be effectively resolved. Specifically, this application first controls the drive motor to rotate along a first direction, while simultaneously activating sensor detection of the initial position of the obstacle-crossing legs and stall detection of the target position. If the initial position signal is directly obtained through sensor detection, the current position is directly determined as the initial position. If the target position is determined through stall detection, the drive motor is controlled to rotate along a second direction until the initial position signal is obtained through sensor detection, completing the position correction. This application enables the initial position reset of the obstacle-crossing legs, effectively avoiding operational malfunctions such as drive motor stalling and mechanical jamming caused by position perception errors, ensuring the reliability of the obstacle-crossing mechanism's operation, and thus comprehensively improving the obstacle-crossing stability and automation level of the mobile cleaning device.

[0016] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the obstacle-crossing mechanism provided in an embodiment of this application.

[0019] Figure 2 A flowchart of the control method for the obstacle-crossing mechanism provided in the embodiments of this application.

[0020] Figure 3 This is a schematic diagram of various positions on the obstacle-crossing mechanism provided in the embodiments of this application.

[0021] Figure 4 This is a schematic diagram of the obstacle-crossing process of the obstacle-crossing mechanism provided in the embodiments of this application.

[0022] Figure 5 This is a schematic diagram of the lifting process of the obstacle-crossing mechanism provided in the embodiments of this application.

[0023] Figure 6 This is a schematic diagram of the control device for the obstacle-crossing mechanism provided in an embodiment of this application.

[0024] Figure 7 A schematic block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0026] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0027] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0028] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0029] In existing technologies, as the functions of mobile cleaning equipment become increasingly complex, their overall weight increases significantly. To achieve sufficient obstacle-crossing capability, the obstacle-crossing mechanism of mobile cleaning equipment typically needs to be equipped with a drive motor with a larger output torque. However, in practical applications, it has been found that after being moved, stopped suddenly, or experiencing an abnormal power outage, the obstacle-crossing legs of the mobile cleaning equipment may remain in an unexpected and unknown position. If the obstacle-crossing program is initiated directly at this time, the system cannot sense the actual position of the legs, which can easily cause the drive motor to stall at an incorrect mechanical angle, affecting the obstacle-crossing reliability and automation level of the mobile cleaning equipment.

[0030] To address the aforementioned issues, this application provides a control method, control device, equipment, and product for an obstacle-crossing mechanism, which improves the obstacle-crossing reliability and automation level of mobile cleaning equipment.

[0031] The present application will be further described below with reference to the accompanying drawings.

[0032] refer to Figure 1 , Figure 1 This is a schematic diagram of the obstacle-crossing mechanism provided in an embodiment of this application. In some embodiments, the obstacle-crossing mechanism is disposed at the bottom of the mobile cleaning equipment. The obstacle-crossing mechanism includes a drive wheel, an obstacle-crossing wheel leg rotatably disposed on the drive wheel, and a drive motor for driving the obstacle-crossing wheel leg to rotate. An obstacle-crossing wheel is disposed at the end of the obstacle-crossing wheel leg, and a support member for supporting the bottom of the mobile cleaning equipment is disposed above the drive wheel.

[0033] It is understandable that, such as Figure 1 As shown, the drive motor is fixedly installed inside the drive wheel structure, and its output shaft is coupled to the central axis of the obstacle-crossing wheel leg through gear transmission or other means to provide driving force. The pivot point of the obstacle-crossing wheel leg is set at the edge or side of the drive wheel, allowing the obstacle-crossing wheel leg to swing relative to the drive wheel around this pivot point. An obstacle-crossing wheel, usually a driven wheel, is installed at the end of the obstacle-crossing wheel leg. When the drive motor rotates in the second direction, it drives the obstacle-crossing wheel leg to swing downward and backward through the transmission mechanism, so that the end obstacle-crossing wheel contacts the ground, thereby lifting the drive wheel off the ground and realizing the obstacle-crossing function; when the drive motor rotates in the opposite first direction, it drives the obstacle-crossing wheel leg to swing upward and forward to lift the support member, which in turn lifts the front chassis of the equipment to increase the bottom ground clearance.

[0034] The drive wheels support the equipment and provide mobility, while the obstacle-crossing legs lift or support themselves by rotating. The drive motor serves as the power source, driving the obstacle-crossing legs. For example, the obstacle-crossing legs can be connected to the drive motor via a linkage mechanism or gear transmission mechanism to achieve precise angle control. Sensing detection can be achieved using photoelectric sensors, Hall effect sensors, or limit switches, primarily used to detect whether the obstacle-crossing legs have reached a specific position. Stall detection determines whether the obstacle-crossing legs have reached their mechanical limits by monitoring changes in the drive motor's current; for example, a stall condition can be identified when the current exceeds a preset threshold. The first direction and the second direction refer to two opposite rotation directions of the drive motor, and their specific definitions can be adjusted according to the actual application scenario.

[0035] refer to Figure 2 , Figure 2 A flowchart illustrating the control method for an obstacle-crossing mechanism provided in this application embodiment; in some embodiments, this application provides a control method for an obstacle-crossing mechanism applied to an obstacle-crossing mechanism installed at the bottom of a mobile cleaning device, the obstacle-crossing mechanism including a drive wheel, obstacle-crossing wheel legs rotatably mounted on the drive wheel, and a drive motor for driving the obstacle-crossing wheel legs to rotate; the method includes at least the following steps: Step 201: In response to the power-on command, control the drive motor to rotate along the first direction, and enable sensor detection and stall detection for the obstacle-crossing wheel legs; Step 202: If the sensor signal indicating that the obstacle-crossing wheel has reached the initial position is obtained through sensor detection, then the current position of the obstacle-crossing wheel is determined to be the initial position. Step 203: If the stall detection determines that the obstacle-crossing wheel has reached the target position, then control the drive motor to rotate along the second direction until the sensor detects that the obstacle-crossing wheel has reached the initial position, and determine the current position of the obstacle-crossing wheel as the initial position.

[0036] The power-on command can be understood as a signal that triggers the system to start, and its source can be various methods such as user operation, scheduled tasks, or remote control. The initial position refers to the reference position of the obstacle-crossing leg when it is not performing an obstacle-crossing action; it can be set through mechanical limits or sensor calibration. The target position refers to the specified position that the obstacle-crossing leg needs to reach after completing a certain action; it can be located through angle encoders or time control. The movement command is used to instruct the obstacle-crossing mechanism to perform the obstacle-crossing action; it can be manually input or automatically generated.

[0037] In some embodiments, the working principle of this application is as follows: When the mobile cleaning equipment is started, in response to the power-on command, the drive motor is controlled to rotate along a first direction, and simultaneously, sensor detection and stall detection are activated for the obstacle-crossing wheels. This process actively detects the state of the obstacle-crossing wheels by monitoring current changes and physical signals in real time, rather than relying on preset angles or time estimations, thereby providing a dynamic data basis for subsequent calibration. If a sensor signal indicating that the obstacle-crossing wheels have reached the initial position is obtained through sensor detection, the current position of the obstacle-crossing wheels is determined to be the initial position. This sensor signal directly feeds back physical position information, ensuring the accuracy of position determination and effectively overcoming the position drift problem caused by handling, sudden stops, or abnormal power outages.

[0038] Furthermore, if the stall detection determines that the obstacle-crossing wheel has reached the target position, the drive motor is controlled to rotate in the second direction until the sensor detects again that the obstacle-crossing wheel has reached the initial position, thus completing the return operation. The stall detection, as a complementary mechanism to the sensor detection, uses abnormal current changes to infer the mechanical limit position, enabling safe calibration even in the event of sensor failure.

[0039] Therefore, the technical solution of this application integrates sensor detection and stall detection mechanisms to achieve automatic calibration of the initial position of the obstacle-crossing wheel legs during the startup phase. This effectively avoids the risk of the drive motor stalling at the wrong mechanical angle due to the unknown position of the obstacle-crossing wheel legs, thereby improving the obstacle-crossing reliability and automation level of the mobile cleaning equipment.

[0040] Furthermore, after determining the current position of the obstacle-crossing leg as the initial position, this application can respond to a movement command by having the drive motor rotate the obstacle-crossing leg from its current position to the target position. Specifically, the obstacle-crossing action is triggered only at the initial position, strictly limiting the accuracy of the mechanical angle, thereby eliminating the risk of stalling due to angle deviation at startup. For example, after handling or power failure, the obstacle-crossing leg may remain in an unknown position. The above method ensures that it accurately returns to the initial position before performing the obstacle-crossing task, significantly improving the stability and automation capability of the equipment in dealing with obstacles. As a preferred implementation, this technical solution effectively avoids the risk of the drive motor stalling due to unknown position by using an automatic startup calibration mechanism combined with dual verification methods of sensor detection and stall detection, thereby improving the obstacle-crossing reliability and automation level of the mobile cleaning equipment.

[0041] In some embodiments, controlling the drive motor to rotate along a first direction includes: controlling the drive motor to rotate along the first direction with a first voltage; controlling the drive motor to rotate along a second direction includes: controlling the drive motor to rotate along the second direction with a second voltage for a first preset time period, and controlling the drive motor to rotate along the second direction with the first voltage after the first preset time period ends; wherein the second voltage is greater than the first voltage.

[0042] The first voltage refers to the lower voltage value used by the drive motor during the smooth start-up phase. This can be achieved by adjusting the output power using pulse width modulation (PWM) technology, aiming to reduce current surges during startup and improve system stability. The second voltage refers to the higher voltage value used when the drive motor needs to respond quickly or overcome significant mechanical resistance. This can be achieved by increasing the output power level of the power supply circuit, providing greater instantaneous torque after stall occurs to drive the motor to start and rotate in the second direction. The first preset duration can be understood as the time window for the drive motor to operate under the second voltage. It can be flexibly set according to the mechanical load characteristics in the actual application scenario, aiming to balance the needs of rapid movement and precise adjustment.

[0043] Understandably, the above solution addresses the issues of low efficiency and stall risk during rotation by optimizing the voltage control strategy. Firstly, when controlling the drive motor to rotate in the first direction, using a lower initial voltage effectively avoids initial shocks caused by excessive voltage, while ensuring the obstacle-crossing wheel legs move smoothly to their initial position. Secondly, when controlling the drive motor to rotate in the second direction, introducing a higher second voltage and rapidly driving it within a first preset time period provides greater instantaneous torque to overcome the static friction of stall, enabling the motor to start reverse rotation. After successful reverse rotation, the system can switch the voltage back to the first voltage, returning the drive motor to a low-voltage operating state. This ensures that during the reverse rotation back to the initial position, the system can reactivate the reliable low-voltage stall detection mechanism, avoiding the shock risk that may arise from stalling under high voltage. This phased voltage control method not only improves the efficiency of the rotation process but also significantly reduces the risk of stalling while maintaining precise position control.

[0044] In some embodiments, this application further proposes a stall detection for obstacle-crossing wheel legs, including the following steps: acquiring the real-time current of the drive motor under a first voltage; when the real-time current exceeds a preset current threshold, recording the duration for which the real-time current continues to exceed the preset current threshold, and determining the duration for which the real-time current continues to exceed the preset current threshold as the stall duration; wherein the preset current threshold is lower than the stall current of the drive motor under the first voltage.

[0045] Real-time current refers to the actual current flowing through the drive motor during operation. It can be achieved using a current sensor or a sampling resistor combined with an analog-to-digital converter, with the aim of accurately capturing the driving motor's operating state. Preset current threshold is a reference value pre-set based on the characteristics of the drive motor. It can be determined through experimental calibration or theoretical calculation, with the aim of providing a reasonable basis for identifying abnormal current states.

[0046] Understandably, in the above scheme, by acquiring the real-time current of the drive motor under the first voltage, the system triggers a recording mechanism when the real-time current exceeds a preset current threshold. This monitors the duration for which the real-time current exceeds the preset current threshold to eliminate false judgments caused by instantaneous current fluctuations. Only when the abnormal state persists for a certain period is it considered a potential stall event, thereby enhancing the reliability of the detection. Furthermore, setting the preset current threshold below the stall current of the drive motor under the first voltage allows for early warning before the motor actually stalls, effectively reducing the risk of equipment damage or misjudgment of position due to stalling.

[0047] refer to Figure 3 , Figure 3This is a schematic diagram of the various positions on the obstacle-crossing mechanism provided in the embodiments of this application; this application further proposes that the target positions include the obstacle-crossing end position and the lifting position of the obstacle-crossing wheel leg, the initial position is located between the obstacle-crossing end position and the lifting position of the obstacle-crossing wheel leg, the first direction is the direction in which the obstacle-crossing wheel leg turns from the obstacle-crossing end position to the lifting position, and the second direction is the direction in which the obstacle-crossing wheel leg turns from the lifting position to the obstacle-crossing end position. Figure 3 As shown, the interpretations of each position in this application can be as follows: Position 0 (Initial Position): This is the reference and zeroing position for the obstacle-crossing legs, typically detected by an optocoupler sensor. In this position, the obstacle-crossing legs are retracted, not affecting the normal movement of the equipment. Position 1 (Obstacle Crossing Position): When the obstacle crossing wheel leg moves from position 0 along the second direction (e.g., clockwise) to this position, the end of the obstacle crossing wheel will contact the ground and lift the drive wheel, preparing to cross the obstacle. This position is also detected by an optocoupler sensor.

[0048] Position 2 (Obstacle Clearance End Position): The obstacle-clearing leg continues to move in the second direction from position 1 until it enters a stalled state due to mechanical limit. This endpoint is position 2. After the equipment successfully clears the obstacle, the leg returns to position 0 from here.

[0049] Position 5 (Lift Position / 11mm Lift): When the obstacle-crossing wheel leg moves from position 0 in the first direction opposite to the second direction (e.g., reverse), until it enters a stall state due to mechanical limit, this endpoint is position 5. At this time, the equipment chassis is lifted by about 11mm.

[0050] Position 6 (Multi-level Lift Position / 5mm Lift Position): This position is located between Position 0 and Position 5. It can be reached by controlling the forward rotation from Position 5 for a preset time (e.g., 100ms), achieving a chassis lift height of approximately 5mm.

[0051] Position 7 (Drive wheel lock position): This position is detected by an optocoupler sensor. When the obstacle crossing wheel leg moves to this position, the drive wheel can be locked to prevent the equipment from slipping.

[0052] The first direction can be the direction in which the obstacle-crossing wheel leg turns from the obstacle-crossing end position to the lifting position, which can be achieved by the forward rotation of the drive motor. The second direction can be the direction in which the obstacle-crossing wheel leg turns from the lifting position to the obstacle-crossing end position, which can be achieved by the reverse rotation of the drive motor. The purpose is to optimize the continuity of the motion trajectory.

[0053] Furthermore, the control method in this application can reliably drive the obstacle-crossing wheel legs to move between these positions by combining optocoupler detection (for positions 0, 1, and 7) and stall detection (for positions 2 and 5), and supplemented by precise voltage and time control, thereby achieving functions such as obstacle crossing, chassis lifting, and drive wheel locking.

[0054] Understandably, when the obstacle-crossing leg is in the obstacle-crossing position, the drive motor causes it to rotate downwards towards the drive wheel. After contacting the obstacle, the obstacle-crossing leg continues to rotate to a symmetrical position on the other side of the drive wheel, forming a complete obstacle-crossing path. During this process, the symmetrical arrangement of the obstacle-crossing end position and the initial position ensures that the drive wheel maintains balanced force during the obstacle-crossing action. When the obstacle-crossing leg is in the initial position, the drive motor causes it to rotate upwards to a predetermined angle, raising the chassis of the mobile cleaning equipment. At this point, the raised position acts as a mechanical limit point to prevent excessive rotation from causing structural interference.

[0055] refer to Figure 4 , Figure 4 This is a schematic diagram of the obstacle-crossing process of the obstacle-crossing mechanism provided in the embodiments of this application; in some embodiments, the obstacle-crossing wheel leg turns from the initial position to the obstacle-crossing end position along the second direction, and turns from the obstacle-crossing end position to the initial position along the first direction, so as to realize the obstacle-crossing and obstacle-crossing reset process of the obstacle-crossing mechanism; such as Figure 4 As shown, corresponding to the obstacle-crossing position of the current obstacle-crossing wheel leg, the obstacle-crossing wheel leg of this application will go through the following process during the obstacle-crossing action: Position 0 (Initial Position): This is the starting and resetting position of the obstacle-crossing legs. When the equipment is moving normally, the legs are in this retracted state.

[0056] Position 1 (obstacle crossing position): When the device needs to cross an obstacle, in response to the movement command, the drive motor is controlled to rotate in the second direction, driving the obstacle crossing wheel leg to move from position 0 to position 1; at this time, the obstacle crossing wheel at the end of the wheel leg contacts the ground, supporting the drive wheel and preparing for obstacle crossing; this process corresponds to the stage in the above embodiment where the drive motor is controlled to run at the first voltage within the second preset time period, which aims to provide sufficient power to enable the wheel leg to move into position quickly and reliably.

[0057] Position 2 (obstacle crossing end position): The drive motor drives the obstacle crossing wheel leg to continue rotating in the second direction from position 1 until the mechanical structure reaches its limit (i.e., the target position) and stalls. Before reaching this position, the drive motor runs at the first voltage and enables stall detection to prevent overshoot when the stall state is detected. After the stall detection is triggered, the drive motor switches to the second voltage to reverse.

[0058] Reverse rotation of the wheel leg to the initial position (stress relief and reset): When the stall duration detected at position 2 reaches the second preset duration, it indicates that the obstacle crossing action has been completed. Subsequently, the control system controls the drive motor to perform a stress relief action, usually running briefly in the first direction opposite to the second direction, driving the obstacle crossing wheel leg to rotate from position 2 to position 0, completing the reset, in preparation for the next action.

[0059] Specifically, during the process from position 1 to position 2 (obstacle crossing position -> obstacle crossing end position), the first voltage can be 7V, the first preset duration can be 1000ms, the current can be not detected for the first 1000ms, the stall current detection threshold can be 800mA after the first 1000ms, the first voltage of 7V is maintained for stall detection, and the detection time is 100ms; after stall for 100ms, the motor can reverse to release stress, the starting voltage for reversing to release stress can be the second voltage of 8V, and the stress release time can be 150ms.

[0060] refer to Figure 5 , Figure 5 This is a schematic diagram of the lifting process of the obstacle-crossing mechanism provided in an embodiment of this application; in some embodiments, the obstacle-crossing wheel legs turn from the initial position to the lifting position along a first direction, and from the lifting position to the initial position along a second direction, to realize the lifting and resetting process of the obstacle-crossing mechanism. Figure 5 As shown, corresponding to the initial position of the obstacle-crossing wheel leg, the obstacle-crossing wheel leg of this application will undergo the following process during the bottom lifting action: Position 0 (Initial Position): This is the starting and resetting position of the obstacle-crossing legs. When the equipment is moving normally, the legs are in this retracted state.

[0061] Position 5 (Lifted Position): When the drive motor responds to the movement command and rotates along the first direction, it moves the obstacle-crossing wheel legs from the initial position to this lifted position. At this time, the obstacle-crossing wheel legs are above the drive wheels, realizing the function of raising the bottom height of the mobile cleaning equipment.

[0062] Position 5 (lifted position) to position 0 (initial position): This corresponds to the reset process after the lifting action is completed. When reset is required, the drive motor is controlled to rotate in the second direction opposite to the first direction. After running for a third preset time, the obstacle-crossing wheel leg can rotate from position 5 to position 0, completing the reset, thereby releasing mechanical stress and preparing to execute the next action.

[0063] Specifically, during the process from position 0 to position 5 (from the initial position to the raised position), the first voltage can be 7V, the first preset duration can be 600ms, the current can be not detected for the first 600ms, the stall current detection threshold can be 1000mA after the first 600ms, the first voltage of 7V is maintained for stall detection, and the detection time is 200ms; after stalling for 200ms, the motor reverses to release stress, the starting voltage for reversing to release stress can be the second voltage of 8V, and the stress release time can be 150ms.

[0064] Through the above technical solution, this application can effectively solve the problem of jamming caused by stress concentration in the obstacle-crossing wheel leg during stalled operation. By precisely controlled short-term reverse drive, it ensures timely stress release and avoids mechanism position displacement caused by prolonged reverse operation. This solution is particularly suitable for obstacle-crossing mechanisms using high-torque motors, improving the reliability of the mechanism's reset action while maintaining the original driving capability.

[0065] In some embodiments, this application further proposes a method for stall detection including a first stall detection at the obstacle crossing end position and a second stall detection at the lifting position. After controlling the drive motor to rotate in a first direction and triggering the second stall detection, the drive motor is controlled to rotate in a second direction; if, during the rotation of the drive motor in the second direction, no sensor signal of the initial position is obtained through sensor detection, and the first stall detection is triggered, the drive motor is controlled to stop running and a first fault information is reported.

[0066] Understandably, the first stall detection refers to the detection mechanism used to determine whether the obstacle-crossing leg has reached the obstacle-crossing end position. This is achieved by monitoring changes in the drive motor's current. For example, when the drive motor current exceeds a preset current threshold and persists for a certain period, the first stall detection is triggered. Its purpose is to accurately identify whether the obstacle-crossing leg has reached the obstacle-crossing end position. The second stall detection refers to the detection mechanism used to determine whether the obstacle-crossing leg has reached the raised position. Its implementation is similar to the first stall detection, also achieved by monitoring changes in the drive motor's current. Its purpose is to ensure that the system can distinguish between different target position types of the obstacle-crossing leg, thus providing accurate information for subsequent operations. The first fault information can be understood as an alarm signal used to indicate a position detection failure. This can be achieved by illuminating indicator lights, sending error codes, or logging, with the purpose of promptly notifying users or maintenance personnel of any abnormal equipment conditions.

[0067] It is worth noting that the above method, by refining the stall detection types and introducing a fault handling mechanism, allows the system to automatically control the drive motor to rotate in the second direction after the drive motor rotates in the first direction and triggers the second stall detection. This process ensures that the motor can automatically reverse after detecting the lifting position, maintaining operational continuity. Simultaneously, if the first stall detection is triggered during the drive motor's rotation in the second direction, but the sensor signal for the initial position is still not obtained, the system immediately controls the drive motor to stop and reports the first fault information. This mechanism can promptly stop the equipment when position detection fails, avoiding equipment damage or safety risks caused by continued operation at an unknown position, thereby significantly improving the obstacle-crossing reliability of the mobile cleaning equipment.

[0068] In some embodiments, this application further proposes the following technical solution: the above method further includes obtaining the total running time since responding to the power-on command; if the total running time exceeds a fifth preset time and the sensor signal indicating that the obstacle-crossing wheel has reached the initial position is not obtained, the drive motor is controlled to stop running and a second fault information is reported.

[0069] It is understandable that the total runtime refers to the accumulated time from when the system receives the power-on command to the current moment. This can be achieved through a timer or timestamp recording, and its purpose is to monitor the duration of the entire operation process in real time, ensuring that the system does not continue running due to sensor failure. The fifth preset duration can be understood as a preset time threshold used to determine whether sensor detection has failed. Different duration values ​​can be set according to the actual application scenario, such as 3 seconds or 5 seconds, to provide waiting time to identify abnormal situations. Controlling the drive motor to stop operation immediately terminates the motor when a timeout is detected, preventing damage from prolonged idling or stalling. Reporting the second fault information refers to sending the fault status to the user or maintenance personnel via indicator lights, audible alarms, or communication modules. Its purpose is to promptly report equipment abnormalities for rapid intervention and handling.

[0070] In some embodiments, this application further proposes that if the obstacle-crossing wheel leg is determined to have reached the target position through stall detection, the drive motor is controlled to rotate in the second direction, including: after controlling the drive motor to rotate in the first direction and triggering the second stall detection, the drive motor is controlled to rotate in the second direction; if, during the rotation of the drive motor in the second direction, a sensor detection acquires a sensor signal indicating that the obstacle-crossing wheel leg has reached the initial position, and the current position of the obstacle-crossing wheel leg is determined to be the initial position, the drive motor is controlled to stop running.

[0071] Understandably, when the mobile cleaning equipment starts in response to a power-on command, the drive motor will first rotate in the first direction to drive the obstacle-crossing legs to perform initialization operations. During this process, if the stall detection confirms that the obstacle-crossing legs have reached the raised position, the drive motor will be triggered to switch to the second direction of rotation, so that the mobile cleaning equipment can accurately trigger the rotation of the drive motor when the obstacle-crossing legs are in the raised position.

[0072] It is worth noting that when the obstacle-crossing mechanism performs the power-on initialization or lifting reset process, once the drive motor runs in the first direction and the second stall detection confirms that the obstacle-crossing wheel has reached the lifting position, the system can immediately trigger the drive motor to switch directions, controlling it to rotate in the second direction and enter the reset phase back to the initial position. During this reverse rotation, the system continuously monitors the position status of the obstacle-crossing wheel in real time through sensor detection: once the sensor captures the dedicated sensor signal that the obstacle-crossing wheel has reached the initial position, the system will immediately determine that the obstacle-crossing wheel has accurately returned to the initial reference position, and then output a stop command to control the drive motor to cut off the power supply, so that the motor can stop smoothly, thereby providing a precise initial position reference for the subsequent obstacle-crossing mechanism to perform obstacle-crossing, lifting and other actions.

[0073] In some embodiments, stall detection triggers and starts the drive motor to rotate in reverse. During the switching from the first direction to the second direction, the system of this application can first control the drive motor to stop running, so that the obstacle-crossing wheel leg gradually decelerates to zero speed and comes to a stop under the action of inertia. After the wheel leg stabilizes and stops, the reverse rotation is started. The above buffering process can avoid the mechanical impact caused by instantaneous reversal and ensure the smoothness of the reverse reset process and the accuracy of position calibration.

[0074] refer to Figure 6 , Figure 6 This is a schematic diagram of the structure of the control device for the obstacle-crossing mechanism provided in an embodiment of this application. In some embodiments, this application provides a control device 600 for an obstacle-crossing mechanism, applied to an obstacle-crossing mechanism installed at the bottom of a mobile cleaning device. The obstacle-crossing mechanism includes a drive wheel, obstacle-crossing wheel legs rotatably mounted on the drive wheel, and a drive motor for driving the obstacle-crossing wheel legs to rotate. The device may include at least the following modules: The detection enable module 601 is configured to respond to a power-on command, control the drive motor to rotate in a first direction, and enable sensor detection and stall detection for the obstacle-crossing wheel legs; The position determination module 602 is configured to determine the current position of the obstacle-crossing wheel leg as the initial position if a sensing signal indicating that the obstacle-crossing wheel leg has reached the initial position is obtained through sensor detection; and to control the drive motor to rotate along the second direction if the obstacle-crossing wheel leg has reached the target position through stall detection, until the sensing signal indicating that the obstacle-crossing wheel leg has reached the initial position is obtained through sensor detection, and to determine the current position of the obstacle-crossing wheel leg as the initial position.

[0075] In some embodiments, this application provides a readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of any of the methods in the first aspect.

[0076] In some embodiments, this application provides a computer program product including a computer program that, when executed by a processor, implements the steps of any of the methods in the first aspect.

[0077] In some embodiments, this application provides an electronic device, including: One or more processors; and A memory associated with one or more processors, the memory being used to store program instructions that, when read and executed by one or more processors, perform the steps of the method of any of the first aspects.

[0078] in, Figure 7 The architecture of the electronic device provided in the embodiments of this application is illustrated by way of example, wherein, Figure 7 The electronic device 700 can be an electronic device, and the electronic device 700 may include a control device 600 disposed on the obstacle crossing mechanism.

[0079] Furthermore, such as Figure 7 As shown, the electronic device may include a processor 710, a video display adapter 711, a disk drive 712, an input / output interface 713, a network interface 714, and a memory 720. The processor 710, video display adapter 711, disk drive 712, input / output interface 713, network interface 714, and memory 720 can communicate with each other via a communication bus 730.

[0080] The processor 710 can be implemented using a general-purpose CPU, microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs and implement the technical solution provided in this application.

[0081] The memory 720 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 720 can store the operating system 721 for controlling the terminal's operation, and the basic input / output system (BIOS) 722 for controlling the terminal's low-level operations. Additionally, it can store a web browser 723, a data storage management system 724, and a control device 600 installed on the obstacle-crossing mechanism, etc. The aforementioned control device can be the application program that specifically implements the aforementioned steps in this embodiment. In summary, when implementing the technical solution provided in this application through software or firmware, the relevant program code is stored in the memory 720 and executed by the processor 710.

[0082] Input / output interface 713 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0083] Network interface 714 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0084] Bus 730 includes a pathway for transmitting information between various components of the device, such as processor 710, video display adapter 711, disk drive 712, input / output interface 713, network interface 714, and memory 720.

[0085] It should be noted that although the above-described device only shows the processor 710, video display adapter 711, disk drive 712, input / output interface 713, network interface 714, memory 720, bus 730, etc., in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the solution of this application, and does not necessarily include all the components shown in the figures.

[0086] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer program product. This computer program product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0087] The technical solutions provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A control method for an obstacle-crossing mechanism, characterized in that, An obstacle-crossing mechanism is applied to the bottom of a mobile cleaning device. The obstacle-crossing mechanism includes a drive wheel, obstacle-crossing legs rotatably mounted on the drive wheel, and a drive motor for driving the obstacle-crossing legs to rotate. The method includes: In response to the power-on command, the drive motor is controlled to rotate in the first direction, and sensor detection and stall detection are enabled for the obstacle-crossing wheel legs; If the sensor signal indicating that the obstacle-crossing wheel has reached its initial position is obtained through the sensor detection, then the current position of the obstacle-crossing wheel is determined to be the initial position. If the stall detection determines that the obstacle-crossing wheel has reached the target position, the drive motor is controlled to rotate along the second direction until the sensor detects that the obstacle-crossing wheel has reached the initial position, and the current position of the obstacle-crossing wheel is determined to be the initial position.

2. The control method for the obstacle-crossing mechanism according to claim 1, characterized in that, The step of controlling the drive motor to rotate along a first direction includes: controlling the drive motor to rotate along a first direction with a first voltage; The control of the drive motor to rotate in the second direction includes: The drive motor is controlled to rotate along a second direction with a second voltage for a first preset time period, and after the first preset time period ends, the drive motor is controlled to rotate along the second direction with the first voltage. Wherein, the second voltage is greater than the first voltage.

3. The control method for the obstacle-crossing mechanism according to claim 1, characterized in that, The stall detection activated for the obstacle-crossing wheel leg includes the following steps: Under the first voltage, the real-time current of the drive motor is obtained; When the real-time current exceeds a preset current threshold, the duration for which the real-time current continues to exceed the preset current threshold is recorded, and the duration for which the real-time current continues to exceed the preset current threshold is determined as the stall duration. Wherein, the preset current threshold is lower than the stall current of the drive motor under the first voltage.

4. The control method for the obstacle-crossing mechanism according to claim 1, characterized in that, The target position includes the obstacle crossing end position and the lifting position of the obstacle crossing wheel leg. The initial position is located between the obstacle crossing end position and the lifting position of the obstacle crossing wheel leg. The first direction is the direction in which the obstacle crossing wheel leg turns from the obstacle crossing end position to the lifting position, and the second direction is the direction in which the obstacle crossing wheel leg turns from the lifting position to the obstacle crossing end position.

5. The control method for the obstacle-crossing mechanism according to claim 4, characterized in that, The obstacle-crossing wheel leg moves from the initial position to the obstacle-crossing end position along the second direction, and moves from the obstacle-crossing end position to the initial position along the first direction, so as to realize the obstacle-crossing mechanism's obstacle-crossing and obstacle-crossing reset process; The obstacle-crossing wheel leg moves from the initial position to the raised position along the first direction and from the raised position to the initial position along the second direction to realize the lifting and resetting process of the obstacle-crossing mechanism.

6. The control method for the obstacle-crossing mechanism according to claim 4, characterized in that, The stall detection includes a first stall detection at the obstacle crossing end position and a second stall detection at the lifting position, and the method further includes: After controlling the drive motor to rotate in the first direction and triggering the second stall detection, the drive motor is controlled to rotate in the second direction; If, during the rotation of the drive motor in the second direction, the initial position sensor signal is not obtained through the sensor detection and the first stall detection is triggered, then the drive motor is controlled to stop running and the first fault information is reported.

7. The control method for the obstacle-crossing mechanism according to claim 1, characterized in that, The method further includes: Get the total runtime since the response to the power-on command; If the total running time exceeds the fifth preset time and the sensor signal indicating that the obstacle-crossing wheel has reached the initial position is not obtained, the drive motor is controlled to stop running and a second fault information is reported.

8. The control method for the obstacle-crossing mechanism according to claim 4, characterized in that, The stall detection includes a second stall detection for the raised position, and the method further includes: After controlling the drive motor to rotate in the first direction and triggering the second stall detection, the drive motor is controlled to rotate in the second direction; If, during the rotation of the drive motor in the second direction, the sensor detects that the obstacle-crossing wheel has reached the initial position, and determines that the current position of the obstacle-crossing wheel is the initial position, then the drive motor is controlled to stop running.

9. A control device for an obstacle-crossing mechanism, characterized in that, An obstacle-crossing mechanism applied to the bottom of a mobile cleaning device, the obstacle-crossing mechanism including a drive wheel, obstacle-crossing wheel legs rotatably mounted on the drive wheel, and a drive motor for driving the obstacle-crossing wheel legs to rotate, the device comprising: The detection activation module is configured to, in response to a power-on command, control the drive motor to rotate along a first direction and enable sensor detection and stall detection for the obstacle-crossing wheel legs; The position determination module is configured to determine the current position of the obstacle-crossing wheel leg as the initial position if the sensor detection obtains a sensor signal indicating that the obstacle-crossing wheel leg has reached the initial position; and to control the drive motor to rotate along the second direction if the stall detection determines that the obstacle-crossing wheel leg has reached the target position, until the sensor detection obtains a sensor signal indicating that the obstacle-crossing wheel leg has reached the initial position, and to determine the current position of the obstacle-crossing wheel leg as the initial position.

10. A mobile cleaning device, characterized in that, The device is equipped with an obstacle-crossing mechanism at its bottom. The obstacle-crossing mechanism includes a drive wheel, obstacle-crossing legs rotatably mounted on the drive wheel, and a drive motor for rotating the obstacle-crossing legs. The device also includes: One or more processors; and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method according to any one of claims 1 to 8.

11. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 8.

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