Cleaning device, obstacle crossing control method thereof, storage medium and computer program product

Abstract

The application discloses a cleaning device and an obstacle-crossing control method thereof, a storage medium and a computer program product. The obstacle-crossing control method comprises the following steps: in the case that an obstacle is detected, acquiring characteristic information of the obstacle; judging whether the obstacle belongs to a first type or a second type according to the characteristic information; in the case that the obstacle belongs to the first type, controlling the first obstacle-crossing component to act; and in the case that the obstacle belongs to the second type, controlling the first obstacle-crossing component and the second obstacle-crossing component to act cooperatively. The method can avoid the situation that the cleaning device is prone to obstacle-crossing failure, and improve the obstacle-crossing performance of the cleaning device.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, and in particular to a cleaning device and its obstacle-crossing control method, storage medium and computer program product. Background Technology

[0002] In related technologies, existing cleaning equipment only lifts the machine body to overcome obstacles using support wheels. However, this method relies on a single lifting action to overcome obstacles. When overcoming obstacles with higher crossing difficulty, it cannot provide a higher crossing height or greater traction, which makes the cleaning equipment prone to failure in overcoming obstacles, resulting in low obstacle-crossing performance. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one object of the present invention is to provide an obstacle-crossing control method for cleaning equipment, which can avoid the cleaning equipment from easily failing to cross obstacles and improve the obstacle-crossing performance of the cleaning equipment.

[0004] The second objective of this invention is to provide a cleaning device.

[0005] The third objective of this invention is to provide a computer storage medium.

[0006] The fourth objective of this invention is to provide a computer program product.

[0007] To address the aforementioned problems, a first aspect of the present invention provides an obstacle-crossing control method for a cleaning device. The cleaning device includes a first obstacle-crossing component and a second obstacle-crossing component. The first obstacle-crossing component is used to lift the body of the cleaning device, and the second obstacle-crossing component is used to contact and attach to an obstacle during obstacle crossing. The obstacle-crossing control method includes: acquiring feature information of the obstacle when an obstacle is detected; determining whether the obstacle belongs to a first type or a second type based on the feature information; controlling the first obstacle-crossing component to move when the obstacle belongs to the first type; and controlling the first obstacle-crossing component and the second obstacle-crossing component to move collaboratively when the obstacle belongs to the second type.

[0008] According to an embodiment of the present invention, the obstacle-crossing control method for a cleaning device is based on a cleaning device equipped with a first obstacle-crossing component and a second obstacle-crossing component. The method controls the movement of the obstacle-crossing component to address obstacles of varying crossing difficulty. For example, when dealing with obstacles of high crossing difficulty, the first and second obstacle-crossing components are controlled to move in tandem, providing greater traction. Therefore, compared to the prior art which uses a single lifting action for obstacle crossing, this method not only utilizes the lifting action of the first obstacle-crossing component but also allows the second obstacle-crossing component to contact and grip the obstacle during the crossing process, providing gripping force and auxiliary traction. This avoids insufficient traction in the obstacle-crossing component when the cleaning device crosses obstacles of higher difficulty, preventing obstacle-crossing failures and improving the obstacle-crossing performance of the cleaning device.

[0009] In some embodiments, the feature information includes the height of the obstacle, the first type being that the height of the obstacle is less than a preset threshold, and the second type being that the height of the obstacle is greater than or equal to the preset threshold.

[0010] In some embodiments, the feature information includes the surface material of the obstacle, and the second type is that the surface material of the obstacle is a smooth material.

[0011] In some embodiments, the feature information includes the height of the obstacle and the surface material of the obstacle. The first type is that the height of the obstacle is less than a preset threshold and the surface material of the obstacle is a non-smooth material; the second type is that the height of the obstacle is greater than or equal to the preset threshold, or the surface material of the obstacle is a smooth material.

[0012] In some embodiments, after the obstacle belongs to the first type and the first obstacle-crossing component is controlled to move, the method further includes: detecting whether the drive wheel of the cleaning device slips; if slippage occurs, controlling the second obstacle-crossing component to move.

[0013] In some embodiments, when slippage is detected, the second obstacle-crossing member is controlled to rotate to contact and grip the obstacle, and the rotation speed of the second obstacle-crossing member is controlled according to the degree of slippage.

[0014] In some embodiments, the cleaning device includes a drive assembly that is driveably connected to the first obstacle-crossing member and the second obstacle-crossing member. Controlling the first obstacle-crossing member and the second obstacle-crossing member to move in coordination includes: controlling the drive assembly to drive so that the first obstacle-crossing member and the second obstacle-crossing member move synchronously; or controlling the drive assembly to drive so that the first obstacle-crossing member and the second obstacle-crossing member move asynchronously.

[0015] In some embodiments, the cleaning device includes a first drive assembly and a second drive assembly, the first drive assembly being drivenly connected to the first obstacle-crossing component, and the second drive assembly being drivenly connected to the second obstacle-crossing component. Controlling the first obstacle-crossing component and the second obstacle-crossing component to move in coordination includes: controlling the first drive assembly to drive the first obstacle-crossing component to move, and controlling the second drive assembly to drive the second obstacle-crossing component to move.

[0016] In some embodiments, when the second obstacle-crossing component rotates, the method further includes: controlling the movement of the second obstacle-crossing component according to target conditions, wherein the target conditions include at least one or more of displacement information, rotation speed, rotation angle, and rotation direction.

[0017] In some embodiments, controlling the first obstacle-crossing member and the second obstacle-crossing member to work together includes controlling the second obstacle-crossing member to rotate so that the height of its end relative to the body of the cleaning device gradually increases.

[0018] In some embodiments, the method further includes: determining whether the cleaning device has crossed the obstacle; if so, controlling the first obstacle-crossing component to reset, or controlling the first obstacle-crossing component and the second obstacle-crossing component to reset.

[0019] In some embodiments, controlling the reset of the first obstacle-crossing component and the second obstacle-crossing component includes: first controlling the reset of the second obstacle-crossing component, and then controlling the reset of the first obstacle-crossing component.

[0020] In some embodiments, controlling the coordinated action of the first obstacle-crossing component and the second obstacle-crossing component includes controlling the second obstacle-crossing component to move from the storage position to the obstacle-crossing position.

[0021] In some embodiments, controlling the second obstacle-crossing member to contact and grip the obstacle includes controlling the second obstacle-crossing member to rotate such that the curved portion at its end hooks onto the edge of the obstacle.

[0022] In some embodiments, as the second obstacle-crossing member moves from the storage position to the obstacle-crossing position, the height of the curved portion relative to the body of the cleaning device increases proportionally to the rotation angle of the second obstacle-crossing member.

[0023] A second aspect of the present invention provides a cleaning device, comprising: a first obstacle-crossing component and a second obstacle-crossing component, wherein the first obstacle-crossing component is used to lift the body of the cleaning device, and the second obstacle-crossing component is used to contact and attach to an obstacle during obstacle crossing; and a controller, respectively connected to the first obstacle-crossing component and the second obstacle-crossing component, for executing the obstacle-crossing control method of the cleaning device described in the above embodiment.

[0024] The cleaning device according to the embodiments of the present invention can avoid the situation where the cleaning device is prone to obstacle crossing failure, and improve the obstacle crossing performance of the cleaning device.

[0025] A third aspect of the present invention provides a computer storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the obstacle-crossing control method for the cleaning equipment described in the above embodiments.

[0026] A fourth aspect of the present invention provides a computer program product comprising a computer program that, when executed by a processor, implements the steps of the obstacle crossing control method for the cleaning equipment described in the above embodiments.

[0027] The computer program product according to embodiments of the present invention can avoid the cleaning equipment from failing to overcome obstacles and improve the obstacle-crossing performance of the cleaning equipment.

[0028] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0029] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of a cleaning device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of a cleaning device according to another embodiment of the present invention; Figure 3 This is a schematic diagram of a cleaning device according to another embodiment of the present invention; Figure 4 This is a flowchart of an obstacle crossing control method for a cleaning device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a cleaning device according to an embodiment of the present invention from another perspective; Figure 6 This is a schematic diagram of the second obstacle-crossing component according to an embodiment of the present invention; Figure 7 This is a structural block diagram of a cleaning device according to an embodiment of the present invention.

[0030] Figure label: 100. Cleaning equipment; 1. Equipment body; 10. First obstacle-crossing component; 11. Second obstacle-crossing component; 20. Drive wheel; 40. Controller; 13. Body part; 12. Bending part; 33. First transmission assembly; 34. Second transmission assembly; 43. Support arm. Detailed Implementation

[0031] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention are described in detail below.

[0032] To address the aforementioned problems, a first aspect of the present invention provides an obstacle-crossing control method for a cleaning device. This method can prevent the cleaning device from easily failing to cross obstacles and improve its obstacle-crossing performance.

[0033] In an embodiment, the cleaning device 100 includes a first obstacle-crossing component 10 and a second obstacle-crossing component 11. The first obstacle-crossing component 10 is used to lift the body of the cleaning device 100, i.e., the main body of the device, and the second obstacle-crossing component 11 is used to contact and grab the obstacle during the obstacle-crossing process.

[0034] For example, the overall outline of the second obstacle-crossing component 11 may be petal-shaped. Figures 1-3 As shown, the bottom of the main body 1 is provided with a drive wheel 20, which is adapted to drive the main body 1 to move. The first obstacle-crossing component 10 is adapted to be movably connected to the main body 1. The first obstacle-crossing component 10 has a first storage position and a first obstacle-crossing position. The first obstacle-crossing component 10 is movable between the first storage position and the first obstacle-crossing position. The first obstacle-crossing component 10 is adapted to lift the main body 1 in the first obstacle-crossing position, that is, the first obstacle-crossing component rotates in a first direction, swings downward or extends, and its end contacts the ground and lifts the machine body. The second obstacle-crossing component 11 is adapted to be connected to the main body 1. (Refer to...) Figure 2 The height of the second obstacle-crossing member 11 at the first obstacle-crossing position is greater than the height of the first obstacle-crossing member 10. The second obstacle-crossing member 11 is used to contact and attach to the obstacle during the obstacle-crossing process. The second obstacle-crossing member 11 is adapted to be connected to the main body 1 of the equipment. The second obstacle-crossing member 11 may have a second storage position and a second obstacle-crossing position, and the second obstacle-crossing member 11 moves between the second storage position and the second obstacle-crossing position.

[0035] The following is for reference. Figure 4 The obstacle crossing control method of the cleaning device 100 according to an embodiment of the present invention is described, such as... Figure 4 As shown, the obstacle crossing control method includes steps S1-S4.

[0036] Step S1: If an obstacle is detected, acquire the feature information of the obstacle.

[0037] The cleaning equipment 100 can be equipped with sensors for obstacle detection. These sensors can be visual sensors, TOF (Time of Flight) sensors, infrared sensors, ultrasonic sensors, cameras, or lidar, etc., with no restrictions. Obstacle feature information can be understood as information describing the type, shape, location, and attributes of the obstacle. For example, feature information can include morphological features, location features, physical property features, and material features. This feature information is used to determine the type of obstacle.

[0038] Specifically, during the movement of the cleaning equipment 100, the controller detects obstacles through signals fed back by sensors and obtains the characteristic information of the obstacles.

[0039] Step S2: Determine whether the obstacle belongs to the first type or the second type based on the feature information.

[0040] Here, the first type and the second type can be understood as categories categorized based on the type, shape, and attributes of the obstacle. For example, the first type and the second type can be categories pre-stored in the controller, categorized in advance based on the difficulty of the obstacle being crossed by the cleaning device 100. For instance, the first type is less difficult to cross than the second type; for example, the first type can be a low, gentle, and easy-to-cross obstacle, while the second type can be a higher, steeper, and more difficult-to-climb obstacle.

[0041] Step S3: When the obstacle belongs to the first type, control the first obstacle-crossing component 10 to move.

[0042] Specifically, when the obstacle is of type 1, the cleaning equipment 100 has a lower difficulty in crossing the obstacle. At this time, controlling the first obstacle-crossing component 10 to lift the body of the cleaning equipment 100 so that the height of the leading edge of the body exceeds the height of the obstacle will enable the cleaning equipment 100 to cross the type 1 obstacle.

[0043] Specifically, for controlling the action of the first obstacle-crossing component 10, refer to Figure 5 As shown, under the action of the drive motor, the first obstacle-crossing component 10 can rotate relative to the support arm 43. When the main body of the equipment 1 needs to cross an obstacle, by controlling the support arm 43, the first obstacle-crossing component 10 can move from the first storage position to the first obstacle-crossing position, so as to raise the front end of the body 1, increase the contact height between the drive wheel 20 and the obstacle, and realize the crossing of the obstacle.

[0044] Step S4: When the obstacle is of the second type, control the first obstacle-crossing component 10 and the second obstacle-crossing component 11 to work together.

[0045] Specifically, when the obstacle is of type II, the cleaning equipment 100 faces greater difficulty in crossing it. In this case, controlling the first obstacle-crossing component 10 may not be sufficient to ensure the cleaning equipment 100 crosses the obstacle. Therefore, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 work together. The first obstacle-crossing component 10 lifts the cleaning equipment 100, while the second obstacle-crossing component 11 provides a gripping force and forward traction to contact and attach to the obstacle during the obstacle-crossing process. This allows the first and second components to provide a combined driving force to overcome type II obstacles. In other words, while the first obstacle-crossing component 10 provides obstacle-crossing capability, the second obstacle-crossing component 11 provides auxiliary obstacle-crossing effect, thereby comprehensively improving the lifting capacity of the entire cleaning equipment 100. This ensures that when crossing obstacles with higher difficulty, the cleaning equipment 100 avoids insufficient traction in the obstacle-crossing mechanism, preventing obstacle-crossing failures and improving its obstacle-crossing performance.

[0046] According to the obstacle-crossing control method of the cleaning device 100 of the present invention, based on the cleaning device 100 equipped with a first obstacle-crossing component 10 and a second obstacle-crossing component 11, the movement of the obstacle-crossing component is controlled for obstacles of different crossing difficulties. For example, when dealing with obstacles of high crossing difficulty, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 are controlled to move in coordination, so that the obstacle-crossing component provides greater traction. Thus, compared with the prior art that uses a single lifting action for obstacle crossing, not only through the lifting action of the first obstacle-crossing component 10, but also through the second obstacle-crossing component 11 contacting and gripping the obstacle during the obstacle crossing process to provide gripping force and auxiliary traction, the problem of insufficient traction of the obstacle-crossing component can be avoided when the cleaning device 100 crosses obstacles of higher crossing difficulty, thus avoiding the situation where the cleaning device 100 is prone to obstacle crossing failure and improving the obstacle-crossing performance of the cleaning device 100.

[0047] In some embodiments, the feature information includes the height of the obstacle, the first type being that the height of the obstacle is less than a preset threshold, and the second type being that the height of the obstacle is greater than or equal to the preset threshold.

[0048] The preset threshold can be understood as a pre-set threshold used to determine whether an obstacle is of varying height. The preset threshold can be 4cm, without specific limitations. The first type of obstacle can be steps or thresholds.

[0049] In this embodiment, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 are respectively connected to the device body 1, and the first obstacle-crossing component 10 can move between a first storage position and a first obstacle-crossing position, while the second obstacle-crossing component 11 can rotate relative to the device body 1. When the device body 1 needs to cross an obstacle, the first obstacle-crossing component 10 moves from the first storage position to the first obstacle-crossing position, such as... Figure 2 As shown, the front end of the main body 1 of the equipment is raised to increase the contact height between the drive wheel 20 and the obstacle. During the obstacle crossing process, since the height of the second obstacle crossing component 11 is greater than the height of the first obstacle crossing component 10, the second obstacle crossing component 11 can contact and grab the higher obstacle, further raising the front end of the main body 1 of the equipment, increasing the contact height between the drive wheel 20 and the obstacle, so that the drive wheel 20 can contact and climb the obstacle, and provide auxiliary traction for the main body 1 of the equipment, thereby realizing the smooth obstacle crossing of the main body 1 of the equipment.

[0050] Specifically, in the existing technology, obstacles such as steps and thresholds are overcome by raising the height of the cleaning equipment 100. However, this does not take into account that when the height of the steps and thresholds is high, simply raising the cleaning equipment 100 cannot reach the higher points of the obstacles, thus limiting the obstacle-crossing height of the cleaning equipment 100. In response, based on the above structure, when this application determines that the obstacle is of the second type, that is, the height of the obstacle is greater than or equal to a preset threshold, the height of the obstacle is relatively high, and the cleaning equipment 100 is more difficult to cross. Therefore, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 are controlled to work together. That is, the lifting force provided by the first obstacle-crossing component 10 is used to raise the body of the cleaning equipment 100, and the obstacle is hooked by the second obstacle-crossing component. The second obstacle-crossing component 11 is controlled to provide forward traction force. In other words, while the first obstacle-crossing component 10 provides lifting force to raise the body of the cleaning equipment 100 to a certain height, the second obstacle-crossing component 11 contacts and grabs the obstacle during the obstacle-crossing process, forming a fulcrum at the grab point. The force between the second obstacle-crossing component 100 and the obstacle generates an auxiliary forward traction force, which causes the cleaning equipment 100 to further raise its body height under the action of the above combined force, thereby achieving the purpose of crossing the obstacle with a higher height and improving the success rate of the cleaning equipment 100 in overcoming obstacles. In addition, for obstacles of the first type with a height less than a preset threshold, only the first obstacle-crossing component 10 is controlled to lift the body of the cleaning equipment 100 so that the cleaning equipment 100 can cross low obstacles and reduce the energy consumption of the cleaning equipment 100.

[0051] If the height of the obstacle is less than a first threshold, such as 1.5cm, then the obstacle is low enough that the cleaning equipment can drive over it directly without any obstacle-crossing action. In addition, the first obstacle-crossing component 10 provides a lifting force on the machine body, allowing the cleaning equipment 100 to be raised to a preset height.

[0052] Therefore, this application employs different levels of obstacle-crossing strategies by differentiating between high and low obstacles. Specifically, when dealing with high obstacles, two obstacle-crossing components coordinate their actions, with one component raising the height of the machine body while the other component grabs the obstacle and provides auxiliary forward traction. When dealing with low obstacles, only the height of the machine body is raised. This ensures the ability to cross high obstacles while eliminating the need to activate the second obstacle-crossing component 11 when dealing with low obstacles, thus simplifying the operation process of the obstacle-crossing components and effectively reducing the operating energy consumption of the cleaning equipment 100.

[0053] In some embodiments, the feature information includes the surface material of the obstacle, and the second type is that the surface material of the obstacle is a smooth material. The surface material of the obstacle is determined by visual recognition or reflectivity. The smooth material can be metal, polished stone, etc., and there is no limitation thereto.

[0054] Specifically, in the prior art, when the cleaning device 100 crosses an obstacle with a smooth surface, if the height of the machine body is raised by the support wheels to avoid the obstacle, slippage can easily occur on the smooth surface, leading to the cleaning device 100 failing to cross the obstacle. To address this, in this application, when the obstacle is determined to be of the second type (i.e., the surface material of the obstacle is smooth), the adhesion between the cleaning device 100 and the obstacle is insufficient to be converted into traction force for obstacle crossing. Therefore, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 are controlled to work together. Specifically, the lifting force provided by the first obstacle-crossing component 10 is used to raise the body of the cleaning device 100, and the second obstacle-crossing component 11 is controlled to contact and grip the obstacle during the obstacle-crossing process. The force exerted by the second obstacle-crossing component 11 when gripping the obstacle provides forward traction force for the cleaning device 100, thereby preventing slippage when crossing the obstacle and improving the obstacle-crossing performance and success rate of the cleaning device 100.

[0055] The second obstacle-crossing component 11 may include an anti-slip structure or be made of an anti-slip material, so that the second obstacle-crossing component 11 can effectively grip the obstacle.

[0056] Therefore, in this application, for obstacles with smooth surfaces, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 are controlled to work together. That is, while the first obstacle-crossing component 10 provides lifting force to the machine body, the second obstacle-crossing component 11 is used to grab the obstacle, so as to avoid the cleaning equipment 100 from slipping when crossing smooth surfaces. The force generated during the grabbing is used to provide traction force for the cleaning equipment 100 when crossing the obstacle, thereby avoiding the problem of the cleaning equipment 100 failing to cross the obstacle.

[0057] In some embodiments, the feature information includes the height of the obstacle and the surface material of the obstacle. The first type is that the height of the obstacle is less than a preset threshold and the surface material of the obstacle is a non-smooth material; the second type is that the height of the obstacle is greater than or equal to the preset threshold, or the surface material of the obstacle is a smooth material.

[0058] Specifically, when the obstacle is detected as Type 1 (i.e., the obstacle's height is less than a preset threshold and its surface material is non-smooth), the first obstacle-crossing component 10 can be used to lift the machine body to overcome the Type 1 obstacle, reducing the energy consumption of the cleaning equipment 100. When the obstacle is detected as Type 2 (i.e., the obstacle's height is greater than or equal to the preset threshold), the first obstacle-crossing component 10 lifts the cleaning equipment 100, and the second obstacle-crossing component 11 provides a gripping force and forward traction force to contact and attach to the obstacle during the obstacle-crossing process. In other words, while the first obstacle-crossing component 10 provides a lifting force to allow the cleaning equipment 100 to climb to a certain height above the obstacle, the second obstacle-crossing component 11 contacts and attaches to the obstacle during the obstacle-crossing process, forming a gripping point. A fulcrum is used, and the force generated between the fulcrum and the obstacle generates an auxiliary traction force, causing the cleaning equipment 100 to further raise its body height under the action of the traction force, thereby achieving the purpose of crossing obstacles with a high height; or if the surface material of the obstacle is smooth, the first obstacle crossing component 10 and the second obstacle crossing component 11 are controlled to work together, that is, the first obstacle crossing component 10 raises the body of the cleaning equipment 100 to provide the lifting force to cross the obstacle, and the second obstacle crossing component 11 is controlled to contact and grab the obstacle during the obstacle crossing process, so that the force of the second obstacle crossing component 11 when it grabs the obstacle provides the traction force for the cleaning equipment 100 to cross the obstacle, thereby avoiding the cleaning equipment 100 from slipping when crossing smooth surfaces, and thus avoiding the problem of the cleaning equipment 100 failing to cross the obstacle.

[0059] Therefore, this application employs different levels of obstacle-crossing strategies for obstacles of different materials and heights. For obstacles of high height or smooth surface, the two obstacle-crossing components are controlled to coordinate their movements. While one obstacle-crossing component raises the height of the machine body, the other obstacle-crossing component grabs the obstacle and provides auxiliary traction. This ensures the ability to cross high obstacles and avoids the problem of the cleaning equipment 100 slipping when crossing smooth surfaces, which could lead to obstacle-crossing failure. For low obstacles of non-smooth surface, only the height of the machine body is raised. The first obstacle-crossing component 10 is controlled to raise the machine body, while the second obstacle-crossing component 11 is not controlled, thus reducing the energy consumption of the cleaning equipment 100.

[0060] In some embodiments, after the obstacle is of the first type and the first obstacle-crossing member 10 is activated, the method further includes: detecting whether the drive wheel of the cleaning device slips; if slippage occurs, activating the second obstacle-crossing member 11.

[0061] Specifically, after the obstacle is of type 1 and the first obstacle-crossing component 10 is activated, i.e., after the cleaning equipment 100 is lifted by the first obstacle-crossing component 10, it is detected whether the drive wheel of the cleaning equipment slips. If slippage occurs, i.e., the drive wheel slips on the contact surface with the obstacle, the cleaning equipment 100 will fail to cross the obstacle. At this time, the friction between the drive wheel of the cleaning equipment 100 and the obstacle is insufficient, so it cannot be converted into traction force when crossing the obstacle. Then, the second obstacle-crossing component 11 is activated, i.e., the second obstacle-crossing component 11 is activated to contact and grab the obstacle during the obstacle-crossing process. The second obstacle-crossing component 11 increases the contact friction with the obstacle, and the force of the second obstacle-crossing component 11 when it grabs the obstacle provides the forward traction force for the cleaning equipment 100 to cross the obstacle, thereby avoiding the problem of the cleaning equipment 100 failing to cross the obstacle due to the drive wheel slipping.

[0062] Therefore, in this application, after the cleaning equipment 100 fails to overcome an obstacle, different retry strategies are adaptively selected by detecting the cause of the failure. Thus, in cases where the cleaning equipment fails to overcome an obstacle due to drive wheel slippage, the movement of the second obstacle-crossing component 11 is controlled to provide forward traction for the cleaning equipment 100 when crossing the obstacle, thereby improving the success rate of obstacle crossing. Furthermore, in this application, the first obstacle-crossing mechanism 10 lifts the machine before the second obstacle-crossing component 11 contacts and grips the obstacle, enabling clearer movement timing control of the cleaning equipment 100. This results in smoother obstacle-crossing movements and a more coherent obstacle-crossing process, making the obstacle-crossing of the cleaning equipment 100 more stable.

[0063] In some embodiments, when slippage is detected, the second obstacle-crossing member 11 is controlled to rotate to contact and grip the obstacle, and the rotation speed of the second obstacle-crossing member 11 is controlled according to the degree of slippage.

[0064] Specifically, after the obstacle is of type 1 and the first obstacle-crossing member 10 is activated (i.e., after the cleaning device 100 is lifted by the first obstacle-crossing member 10), if the drive wheel slips, the second obstacle-crossing member 11 is controlled to rotate to contact and grip the obstacle. The rotation speed of the second obstacle-crossing member 11 is controlled according to the degree of slippage. For example, the second obstacle-crossing member 11 can be controlled to rotate at a preset speed. Alternatively, the rotation speed of the second obstacle-crossing member 11 can be increased or decreased to change the second obstacle-crossing member 11's rotation speed. The contact time between the obstacle-crossing component 11 and the obstacle is adjusted to provide traction for a corresponding duration based on the degree of slippage of the drive wheels. For example, when the degree of slippage of the drive wheels is large, the second obstacle-crossing component 11 is controlled to rotate at a slower speed to increase the contact time between the second obstacle-crossing component 11 and the obstacle, thereby providing a more sustained traction force. When the degree of slippage of the drive wheels is small, the second obstacle-crossing component 11 is controlled to rotate at a faster speed to control the contact time between the second obstacle-crossing component 11 and the obstacle, thereby providing traction force that matches the degree of slippage.

[0065] Therefore, in this application, when the drive wheel slips, the rotation speed of the second obstacle-crossing component 11 is adaptively adjusted according to the degree of slippage. This provides a more sustained traction force when the degree of slippage is high, improving the hooking effect of the second obstacle-crossing component 11, so that the drive wheel with a high degree of slippage can smoothly cross the obstacle, increasing the success rate of obstacle crossing for the cleaning equipment. Conversely, when the degree of slippage is low, it provides a traction force that matches the degree of slippage, so that the drive wheel with a low degree of slippage can smoothly cross the obstacle, increasing the success rate of obstacle crossing for the cleaning equipment and reducing the energy consumption of the cleaning equipment.

[0066] In addition, it should be noted that the second obstacle-crossing component 11 can rotate in place or rotate outwards to complete the component's cutting in.

[0067] In some embodiments, the cleaning device 100 includes a drive assembly that is connected to a first obstacle-crossing member 10 and a second obstacle-crossing member 11. Controlling the first obstacle-crossing member 10 and the second obstacle-crossing member 11 to operate in coordination includes: controlling the drive assembly to drive so that the first obstacle-crossing member 10 and the second obstacle-crossing member 11 operate synchronously; or controlling the drive assembly to drive so that the first obstacle-crossing member 10 and the second obstacle-crossing member 11 operate asynchronously.

[0068] In an embodiment, given the requirement that the power output by the drive component can be transmitted to the first obstacle-crossing member 10 and the second obstacle-crossing member 11 based on the transmission connection between the drive component and the first obstacle-crossing member 10 and the second obstacle-crossing member 11, thereby driving the first obstacle-crossing member 10 and the second obstacle-crossing member 11 to rotate, the drive component can be a structure independent of other drive components in the cleaning equipment. That is, the drive component can be used only to drive the first obstacle-crossing member 10 and the second obstacle-crossing member 11. Alternatively, the drive component can include a first drive component and a second drive component, with the first drive component driving the first obstacle-crossing member 10 and the second drive component driving the second obstacle-crossing member 11. Or, the drive component can reuse the drive structure in the cleaning equipment used to drive other structures. For example, the drive component can reuse the drive structure in the cleaning equipment used to drive the drive wheel 20. That is, under the action of this drive component, the first obstacle-crossing member 10, the second obstacle-crossing member 11 and the drive wheel 20 can be driven to move simultaneously. There are no limitations on this.

[0069] For example, such as Figure 2 and Figure 3 As shown, when the drive wheel 20 of the main body 1 rotates around a first direction or a second direction, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 can rotate synchronously with the drive wheel 20, or the second obstacle-crossing component 11 can rotate asynchronously with the first obstacle-crossing component 10 through a linkage mechanism. When the first obstacle-crossing component 10 moves to the first obstacle-crossing position, it will lift the main body 1, the drive wheel 20 will leave the ground, and the first obstacle-crossing component 10 will contact the ground, achieving a first-level increase in height for the main body 1; the second obstacle-crossing component 11 gradually approaches the obstacle, and as the second obstacle-crossing component 11 continues to rotate, it can contact and hook the edge of the obstacle, achieving a second-level increase in height for the main body 1 and providing auxiliary traction for the main body 1, thereby facilitating the main body 1 to successfully cross the obstacle. Wherein, the first direction is opposite to the second direction, the first direction is counterclockwise, and the second direction is clockwise.

[0070] In some embodiments, the swinging of the first obstacle-crossing member 10 between the first storage position and the first obstacle-crossing position can be achieved by setting a motor, so that the first obstacle-crossing member 10 can be supported and the body can be lifted as it gradually contacts the ground; while the rotation of the first obstacle-crossing member 10, the second obstacle-crossing member 11 and the drive wheel 20 can be achieved by setting another motor, so that the cleaning equipment can cross obstacles while moving through the circumferential rotation of the three.

[0071] To synchronize the operation of the first obstacle-crossing component 10 and the second obstacle-crossing component 11, specifically, as follows: Figure 5As shown, the cleaning device 100 includes a first transmission assembly 33 and a second transmission assembly 34. The first obstacle-crossing component 10 is connected to the drive assembly 30 via the first transmission assembly 33, and the second obstacle-crossing component 11 is connected to the drive assembly via the second transmission assembly 34. The first drive assembly 30 drives the first obstacle-crossing component 10 and the second obstacle-crossing component 11 to rotate synchronously via the first transmission assembly 33 and the second transmission assembly 34, respectively.

[0072] Therefore, by setting up a drive assembly, a first transmission assembly 33, and a second transmission assembly 34, the first transmission assembly 33 and the second transmission assembly 34 respectively transmit the power output from the drive assembly to the first obstacle-crossing member 10 and the second obstacle-crossing member 11. This facilitates the synchronous rotation of the first obstacle-crossing member 10 and the second obstacle-crossing member 11 with the drive wheel 20, effectively simplifying the structure of the cleaning equipment 100 and achieving efficient and synchronous power transmission. This facilitates the smooth obstacle crossing of the equipment body 1 and improves the reliability of the cleaning equipment 100. In addition, using the drive assembly eliminates the need for adding a large number of sensors or actuators.

[0073] To enable the first obstacle-crossing component 10 and the second obstacle-crossing component 11 to operate asynchronously, the cleaning equipment 100 includes a linkage mechanism located between the first obstacle-crossing component 10 and the second obstacle-crossing component 11. The first obstacle-crossing component 10 and the second obstacle-crossing component 11 are connected by the linkage mechanism. The linkage mechanism is configured such that a drive component drives one of the first obstacle-crossing component 10 and the second obstacle-crossing component 11 to move, and the linkage mechanism drives the other of the first obstacle-crossing component 10 and the second obstacle-crossing component 11 to move, so that the movements of the first obstacle-crossing component 10 and the second obstacle-crossing component 11 have a time difference or relative movement, thereby achieving asynchronous rotation.

[0074] Therefore, by setting up drive components and linkage mechanisms, the movement of the first obstacle-crossing component 10 and the second obstacle-crossing component 11 can have a time difference or relative movement, which can achieve more precise movement timing control of the cleaning equipment 100, avoid the second obstacle-crossing component 11 extending out too early and interfering with the ground, and improve the adaptability of the cleaning equipment 100 to scenarios with higher requirements for the obstacle-crossing process.

[0075] Therefore, in this application, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 are driven to rotate synchronously by the drive component, so that the cleaning device 100 can quickly cross the obstacle and facilitate efficient and synchronous power transmission. Alternatively, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 are driven to rotate asynchronously by the drive component, so that the lifting action and the gripping action of the obstacle-crossing component are connected, ensuring a smooth and stable obstacle-crossing process. This can avoid the problem of the two obstacle-crossing components being stuck by the obstacle and also avoid the problem of the cleaning device 100 tipping over during the obstacle-crossing process.

[0076] In some embodiments, the cleaning device includes a first drive assembly and a second drive assembly, the first drive assembly being drivenly connected to a first obstacle-crossing member 10, and the second drive assembly being drivenly connected to a second obstacle-crossing member 11. Controlling the first obstacle-crossing member 10 and the second obstacle-crossing member 11 to move in coordination includes: controlling the first drive assembly to drive the first obstacle-crossing member 10 to move, and controlling the second drive assembly to drive the second obstacle-crossing member 11 to move.

[0077] Specifically, when the controller determines that the obstacle belongs to the second type, it controls the first obstacle-crossing component 10 and the second obstacle-crossing component 11 to work together. It controls the first drive assembly to drive and transmits the driving force to the first obstacle-crossing component 10 through the transmission connection, so as to make the first obstacle-crossing component 10 rotate. It also controls the second drive assembly to drive and transmit the driving force to the second obstacle-crossing component 11 through the transmission connection, so as to make the second obstacle-crossing component 11 rotate. Thus, the cleaning equipment 100 can cross the obstacle.

[0078] Therefore, by using two drive components to independently control the corresponding obstacle-crossing components, the rotation state of the obstacle-crossing components can be flexibly adjusted according to the obstacle situation, thereby ensuring that the cleaning equipment 100 can cross obstacles more efficiently. In addition, if one drive component fails, the other drive component may still maintain the obstacle-crossing function. In some embodiments, when the second obstacle-crossing member 11 rotates, the method further includes: controlling the action of the second obstacle-crossing member 11 according to target conditions, wherein the target conditions include at least one or more of displacement information, rotation speed, rotation angle and rotation direction.

[0079] The displacement information can be the displacement of the second obstacle-crossing component 11 relative to the central axis of the fuselage, such as displacement in the vertical direction or displacement in the horizontal direction.

[0080] Specifically, the controller can control one or more of the following when the second obstacle-crossing component 11 rotates, based on the target conditions: displacement information, rotation speed, rotation angle, and rotation direction. For example, the controller can determine one or more of the following when the second obstacle-crossing component 11 rotates, based on information such as the height, material, and slope of the obstacle: for example, for obstacles of a higher height, the displacement information of the second obstacle-crossing component 11 can be controlled to achieve a three-stage increase in height; and for the shape of the obstacle, the rotation direction of the second obstacle-crossing component 11 can be controlled to change the direction of the traction force provided by the second obstacle-crossing component 11, that is, the traction force provided by the second obstacle-crossing component 11 always conforms to the shape of the obstacle, so that the cleaning equipment 100 can cross obstacles of different shapes.

[0081] Therefore, by controlling the displacement information, rotation speed, rotation angle and rotation direction of the second obstacle-crossing component 11 during rotation, the hooking effect of the second obstacle-crossing component 11 is improved, which can adapt to different obstacle situations, so that the cleaning equipment 100 can cross obstacles of different shapes, and also facilitates the precise control of the second obstacle-crossing mechanism 11.

[0082] In some embodiments, controlling the first obstacle-crossing member and the second obstacle-crossing member 11 to work together includes controlling the second obstacle-crossing member 11 to rotate so that the height of its end relative to the body of the cleaning device 100 gradually increases.

[0083] In some embodiments, such as Figure 6 As shown, the second obstacle-crossing component 11 includes a body portion 13 and a curved portion 12 at its end. The curved portion 12 bends toward the rotation direction of the second obstacle-crossing component 11. The curved portion 12 is adapted to hook onto the edge of an obstacle and provide traction to the device body 1. Based on this, when driving the second obstacle-crossing component 11 to rotate, the curved portion 12 can be controlled to linearly increase in height relative to the body by means of the rotation speed and / or rotation angle. The rotation speed can be a preset value or adjusted according to the body posture, and the rotation angle can be adjusted according to the obstacle height. Specifically, when the device body 1 moves along... Figure 3 When moving in the direction shown, the second obstacle-crossing component 11 is controlled to rotate along the first direction. As the second obstacle-crossing component 11 rotates, the height of the end of the second obstacle-crossing component 11 relative to the body of the cleaning device 100 gradually increases, so that the end of the second obstacle-crossing component 11 gradually approaches the obstacle and grabs the obstacle.

[0084] It should be noted that the second obstacle-crossing component 11 only gradually increases in height relative to the body of the cleaning device 100 when it rotates from the second storage position to the second obstacle-crossing position, for example, when the second obstacle-crossing component rotates from 0 degrees to 90 degrees.

[0085] Therefore, during the rotation process, the height of the end of the second obstacle-crossing component 11 relative to the body of the cleaning equipment 100 gradually increases, so that the end of the second obstacle-crossing component 11 reaches a higher position to contact the obstacle, so that the second obstacle-crossing component 11 can smoothly grab the obstacle, thereby facilitating the smooth lifting of the body of the cleaning equipment 100 by the second obstacle-crossing component 11 and improving the stability and reliability of the body of the cleaning equipment 100 in overcoming obstacles.

[0086] In some embodiments, it is determined whether the cleaning device 100 has crossed the obstacle; if so, the first obstacle crossing member 10 is reset, or the first obstacle crossing member 10 and the second obstacle crossing member 11 are reset.

[0087] Specifically, the first obstacle-crossing component 10 has a working position and a non-working position. The working position is the first obstacle-crossing position, and the non-working position is the first storage position. The second obstacle-crossing component 11 also has a working position and a non-working position. The working position is the second obstacle-crossing position, and the non-working position is the second storage position. When the controller determines that the obstacle belongs to the first type, after controlling the first obstacle-crossing component 10 to move, if the sensor detects that the cleaning device 100's posture has returned to horizontal or the obstacle is located behind the cleaning device 100, it is determined that the cleaning device 100 has crossed the obstacle. A reset command is sent to the first drive component. The first drive component drives the first obstacle-crossing component 10 to reset according to the reset command. For example, it drives the first obstacle-crossing component 10 to rotate upward along the second direction to retract to the first storage position of the first obstacle-crossing component 10. The first storage position can be the initial position, the default position, or other reset positions, so that the cleaning device 100 can return to normal walking state.

[0088] Alternatively, when the obstacle is of the second type, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 are controlled to move in coordination. If the sensor detects that the cleaning device 100 has returned to a horizontal position or that the obstacle is behind the cleaning device 100, it is determined that the cleaning device 100 has crossed the obstacle. A reset command is sent to the first drive component and the second drive component. The first drive component and the second drive component control the first obstacle-crossing component 10 and the second obstacle-crossing component 11 to reset. For example, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 are driven to rotate upward along the second direction to reset to the first storage position and the second storage position. The storage position can be the initial position, the default position, or other reset position of the first obstacle-crossing component 10 and the second obstacle-crossing component 11, so that the cleaning device 100 can return to normal walking state.

[0089] In addition, the first obstacle-crossing component 10 and the second obstacle-crossing component 11 can be reset synchronously, or the first obstacle-crossing component 10 and the second obstacle-crossing component 11 can be reset sequentially.

[0090] Therefore, after the cleaning equipment 100 has passed the obstacle, this application controls the first obstacle-crossing component 10 to reset, or controls the first obstacle-crossing component 10 and the second obstacle-crossing component 11 to reset, thereby ensuring that the first obstacle-crossing component 10 and the second obstacle-crossing component 11 can smoothly perform the action in the next obstacle avoidance, and allowing the cleaning equipment 100 to return to normal walking state, so as to avoid affecting the subsequent cleaning work of the cleaning equipment 100.

[0091] In some embodiments, controlling the reset of the first obstacle-crossing member 10 and the second obstacle-crossing member 11 includes: first controlling the reset of the second obstacle-crossing member 11, and then controlling the reset of the first obstacle-crossing member 10.

[0092] Specifically, if the cleaning device 100 has crossed the obstacle, the second obstacle-crossing component 11 is first controlled to reset, that is, the second obstacle-crossing component 11 is first controlled to rotate upward along the second direction to reset to the second storage position. Then the first obstacle-crossing component 10 is controlled to reset, that is, the first obstacle-crossing component 10 is controlled to rotate upward along the second direction to reset to the first storage position. The storage position can be the initial position, default position or other reset position of the first obstacle-crossing component 10 and the second obstacle-crossing component 11, so that the cleaning device 100 returns to normal walking state.

[0093] Therefore, by first controlling the second obstacle-crossing component 11 to reset and then controlling the first obstacle-crossing component 10 to reset, mechanical interference between the first obstacle-crossing component 10 and the second obstacle-crossing component 11 during the reset process can be avoided, the impact of the simultaneous reset of the two obstacle-crossing components on the cleaning equipment can be reduced, and the body of the cleaning equipment 100 can be landed smoothly.

[0094] Optionally, after the cleaning device 100 has completed overcoming the obstacle, the second drive component reverses, and the linkage mechanism causes the second obstacle-crossing component 11 to first reset to the second storage position, and then the first obstacle-crossing component 10 resets to the first storage position.

[0095] In some embodiments, controlling the first obstacle-crossing member 10 and the second obstacle-crossing member 11 to work together includes controlling the second obstacle-crossing member 11 to move from the storage position to the obstacle-crossing position.

[0096] Specifically, the second obstacle-crossing component 11 can be retracted. Thus, when the second obstacle-crossing component 11 is needed to assist in overcoming obstacles (i.e., during the coordinated operation of the first obstacle-crossing component 10 and the second obstacle-crossing component 11), the second obstacle-crossing component 11 can be controlled to move from its retracted position to its obstacle-crossing position (i.e., from its non-working position to its working position). At this obstacle-crossing position, the second obstacle-crossing component 11 can contact and grip the obstacle, allowing the front end of the equipment body to rise secondary, thus maximizing the height of the front end of the equipment body above the obstacle. Combined with the forward driving force, this facilitates the cleaning equipment 100 smoothly overcoming the obstacle. Alternatively, when the second obstacle-crossing component 11 is not needed, it can remain in its retracted position. This retracted position prevents the second obstacle-crossing component 11 from contacting and gripping obstacles, reducing its usage frequency and preventing accidental gripping of obstacles when unnecessary.

[0097] Therefore, in this application, the second obstacle-crossing component 11 moves to the second obstacle-crossing position to assist climbing and provide auxiliary traction for the cleaning equipment 100 so as to successfully cross the obstacle, making the cleaning equipment 100 suitable for conventional obstacle crossing and scenarios with higher requirements for the obstacle crossing process, thereby improving adaptability and reliability.

[0098] In some embodiments, controlling the second obstacle-crossing member 11 to contact and grip an obstacle includes controlling the second obstacle-crossing member 11 to rotate such that the curved portion at its end hooks onto the edge of the obstacle.

[0099] Specifically, when the main body of the equipment 1 along Figure 3 When moving in the direction shown, the second obstacle-crossing component 11 rotates along the first direction, and the curved part 12 of the second obstacle-crossing component 11 bends along the rotation direction of the second obstacle-crossing component 11, i.e., the first direction. The curved part 12 gradually approaches and grabs the obstacle. At the same time, as the second obstacle-crossing component 11 rotates, the curved part 12 at the end of the second obstacle-crossing component 11 can hook or jam the edge of the obstacle. In this way, under the action of grabbing and rotation, it can provide forward traction for the main body of the equipment 1, thereby achieving the purpose of overcoming the obstacle.

[0100] Therefore, in order to further enhance the obstacle-crossing effect of the second obstacle-crossing component 11, a curved part 12 is provided at the end of the second obstacle-crossing component 11. As the second obstacle-crossing component 11 moves, the curved part 12 can hook or clamp onto the edge of the obstacle, increasing the gripping force of the second obstacle-crossing component 11 on the obstacle and providing obstacle-crossing traction force for the main body of the equipment 1. This makes it more conducive to the main body of the equipment 1 successfully crossing the obstacle and improves the stability and reliability of the cleaning equipment 100.

[0101] In some embodiments, as the second obstacle-crossing member 11 moves from the storage position to the obstacle-crossing position, the height of the curved portion 12 relative to the body of the cleaning device increases proportionally to the rotation angle of the second obstacle-crossing member 11.

[0102] Specifically, during the movement of the second obstacle-crossing component 11 from the storage position to the obstacle-crossing position, the greater the rotation angle of the second obstacle-crossing component 11, the higher the height of the curved part 12 relative to the body of the cleaning equipment. For example, for higher obstacles, when the rotation angle of the second obstacle-crossing component 11 is controlled to be a large angle, the curved part 12 reaches a higher position to contact the obstacle, which makes it easier for the second obstacle-crossing component 11 to successfully grab the obstacle and improve the hooking effect of the second obstacle-crossing component 11.

[0103] Therefore, in this application, during the rotation process, the second obstacle-crossing component 11 increases the rotation angle of the second obstacle-crossing component 11, causing the height of the curved part 12 relative to the body of the cleaning equipment to increase proportionally, so that the curved part 12 reaches a higher position to contact the obstacle, making it easier for the second obstacle-crossing component 11 to smoothly grab the obstacle, thereby facilitating the second obstacle-crossing component 11 to smoothly lift the main body of the equipment and improving the stability and reliability of the main body of the equipment in overcoming obstacles.

[0104] A second aspect of the present invention provides a cleaning device 100, such as... Figure 7 As shown, the cleaning device 100 includes: a first obstacle-crossing component 10, a second obstacle-crossing component 11, and a controller 40.

[0105] The first obstacle-crossing component 10 is used to lift the body of the cleaning equipment 100, and the second obstacle-crossing component 11 is used to contact and grab the obstacle during the obstacle-crossing process; the controller 40 is connected to the first obstacle-crossing component 10 and the second obstacle-crossing component 11 respectively, and is used to execute the obstacle-crossing control method of the cleaning equipment 100 in the above embodiment.

[0106] The cleaning device 100 according to the embodiments of the present invention can avoid the situation where the cleaning device 100 is prone to obstacle crossing failure, thereby improving the obstacle crossing performance of the cleaning device 100.

[0107] A third aspect of the present invention provides a computer storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the obstacle crossing control method of the cleaning device 100 of the above embodiment.

[0108] A fourth aspect of the present invention provides a computer program product comprising a computer program that, when executed by a processor, implements the steps of the obstacle crossing control method of the cleaning device 100 described above.

[0109] The computer program product according to the embodiments of the present invention can avoid the cleaning device 100 from failing to overcome obstacles and improve the obstacle-crossing performance of the cleaning device 100.

[0110] In the description of this specification, any process or method described in the flowcharts or otherwise herein may be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order according to the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0111] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0112] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0113] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0114] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0115] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0116] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0117] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for obstacle crossing control of cleaning equipment, characterized in that, The cleaning equipment includes a first obstacle-crossing component and a second obstacle-crossing component. The first obstacle-crossing component is used to lift the body of the cleaning equipment, and the second obstacle-crossing component is used to contact and attach to the obstacle during obstacle crossing. The obstacle-crossing control method includes: If an obstacle is detected, its characteristic information is acquired. Based on the characteristic information, it is determined whether the obstacle belongs to the first type or the second type; When the obstacle belongs to the first type, control the first obstacle-crossing component to move; When the obstacle belongs to the second type, the first obstacle-crossing component and the second obstacle-crossing component are controlled to work together.

2. The obstacle crossing control method for cleaning equipment according to claim 1, characterized in that, The feature information includes the height of the obstacle, the first type being that the height of the obstacle is less than a preset threshold, and the second type being that the height of the obstacle is greater than or equal to the preset threshold.

3. The obstacle crossing control method for cleaning equipment according to claim 1, characterized in that, The feature information includes the surface material of the obstacle, and the second type is that the surface material of the obstacle is a smooth material.

4. The obstacle crossing control method for cleaning equipment according to claim 1, characterized in that, The feature information includes the height of the obstacle and the surface material of the obstacle. The first type is that the height of the obstacle is less than a preset threshold and the surface material of the obstacle is a non-smooth material. The second type is when the height of the obstacle is greater than or equal to the preset threshold, or when the surface material of the obstacle is a smooth material.

5. The obstacle crossing control method for cleaning equipment according to claim 1, characterized in that, After the obstacle belongs to the first type and the first obstacle-crossing component is controlled to move, the method further includes: Detect whether the drive wheel of the cleaning equipment is slipping; If slippage occurs, the second obstacle-crossing component is controlled to move.

6. The obstacle crossing control method for cleaning equipment according to claim 5, characterized in that, When slippage is detected, the second obstacle-crossing component is controlled to rotate to contact and grip the obstacle, and the rotation speed of the second obstacle-crossing component is controlled according to the degree of slippage.

7. The obstacle crossing control method for cleaning equipment according to claim 1, characterized in that, The cleaning device includes a drive assembly, which is drively connected to the first obstacle-crossing component and the second obstacle-crossing component. Controlling the coordinated action of the first obstacle-crossing component and the second obstacle-crossing component includes: The control drive component drives the first obstacle-crossing component and the second obstacle-crossing component to operate synchronously. Alternatively, the control drive component can be used to drive the first obstacle-crossing component and the second obstacle-crossing component to operate asynchronously.

8. The obstacle crossing control method for cleaning equipment according to claim 1, characterized in that, The cleaning device includes a first drive assembly and a second drive assembly. The first drive assembly is driveably connected to the first obstacle-crossing component, and the second drive assembly is driveably connected to the second obstacle-crossing component. Controlling the coordinated action of the first obstacle-crossing component and the second obstacle-crossing component includes: Control the first drive component to drive the first obstacle-crossing member to move, and control the second drive component to drive the second obstacle-crossing member to move.

9. The obstacle crossing control method for cleaning equipment according to claim 7 or 8, characterized in that, When the second obstacle-crossing component rotates, the method further includes: The second obstacle-crossing component is controlled to move according to target conditions, which include at least one or more of displacement information, rotation speed, rotation angle and rotation direction.

10. The obstacle crossing control method for cleaning equipment according to claim 1, characterized in that, Controlling the coordinated action of the first obstacle-crossing component and the second obstacle-crossing component includes: The second obstacle-crossing component is rotated so that the height of its end relative to the body of the cleaning device gradually increases.

11. The obstacle crossing control method for cleaning equipment according to claim 1, characterized in that, The method further includes: Determine whether the cleaning equipment has passed the obstacle; If so, control the first obstacle-crossing component to reset, or control both the first obstacle-crossing component and the second obstacle-crossing component to reset.

12. The obstacle crossing control method for cleaning equipment according to claim 11, characterized in that, Controlling the reset of the first obstacle-crossing component and the second obstacle-crossing component includes: first controlling the reset of the second obstacle-crossing component, and then controlling the reset of the first obstacle-crossing component.

13. The obstacle crossing control method for cleaning equipment according to claim 1, characterized in that, Controlling the coordinated action of the first obstacle-crossing component and the second obstacle-crossing component includes: controlling the second obstacle-crossing component to move from the storage position to the obstacle-crossing position.

14. The obstacle crossing control method for cleaning equipment according to claim 13, characterized in that, Controlling the second obstacle-crossing member to contact and grip the obstacle includes: controlling the second obstacle-crossing member to rotate so that the curved portion at its end hooks onto the edge of the obstacle.

15. The obstacle crossing control method for cleaning equipment according to claim 14, characterized in that, During the movement of the second obstacle-crossing component from the storage position to the obstacle-crossing position, the height of the curved portion relative to the body of the cleaning device increases proportionally to the rotation angle of the second obstacle-crossing component.

16. A cleaning device, characterized in that, include: A first obstacle-crossing component and a second obstacle-crossing component, wherein the first obstacle-crossing component is used to lift the body of the cleaning equipment, and the second obstacle-crossing component is used to contact and grab the obstacle during the obstacle-crossing process; The controller is connected to the first obstacle-crossing component and the second obstacle-crossing component respectively, and is used to execute the obstacle-crossing control method of the cleaning equipment according to any one of claims 1-15.

17. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the obstacle crossing control method for the cleaning equipment according to any one of claims 1-15.

18. A computer program product, comprising a computer program, characterized in that, When executed by a processor, the computer program implements the steps of the obstacle crossing control method for the cleaning equipment according to any one of claims 1-15.

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