A cleaning device and obstacle crossing control method, medium, device and product thereof

Abstract

Embodiments of the present application disclose a cleaning device and an obstacle crossing control method, medium, device and product thereof. The cleaning device comprises an obstacle crossing component, a zero position detection component, a motor component, a sensing component and a control component. The zero position detection component is arranged on the action path of the obstacle crossing component. When the obstacle crossing component moves to the position corresponding to the zero position detection component, the zero position detection component generates a trigger signal. The motor component is used to drive the obstacle crossing component to move. The sensing component is used to monitor whether there is an obstacle on the driving path of the cleaning device and generate a sensing signal when an obstacle is detected on the driving path of the cleaning device. The control component is used to determine the zero position of the obstacle crossing component based on the trigger signal and control the motor component to drive the obstacle crossing component to move from the zero position when the sensing signal is received. The present application can improve the obstacle crossing ability, thereby improving the whole house cleaning coverage and reducing manual intervention.

Description

Technical Field

[0001] This application belongs to the field of cleaning equipment, and specifically relates to a cleaning device, an obstacle crossing control method for the cleaning device, a storage medium, an electronic device, and a computer program product. Background Technology

[0002] With the increasing popularity of automated cleaning equipment, users' demand for fully automated whole-house cleaning is rising. Existing cleaning equipment mostly uses a fixed chassis and ordinary drive wheels, whose obstacle-crossing height is limited by the wheel diameter. The laboratory limit for obstacle crossing is typically only 1.5cm to 2cm. However, current home environments commonly have obstacles with height differences, such as bathroom water barriers, balcony sliding door tracks, entrance thresholds, floor transition strips, and thick carpets, often reaching 3cm to 6cm. Multiple layers of obstacles are also common, far exceeding the obstacle-crossing capabilities of existing cleaning equipment. This results in surfaces in areas like bathrooms and balconies not being continuously covered, creating cleaning blind spots and preventing the equipment from achieving fully automated whole-house cleaning. Furthermore, when encountering obstacles exceeding the equipment's obstacle-crossing capacity, the cleaning equipment may experience issues such as the drive wheels spinning and jamming, repeated collisions before detouring, or becoming stuck and stopping. In these cases, manual intervention is required to move the equipment so it can continue operating, again preventing fully automated whole-house cleaning.

[0003] Therefore, how to improve the obstacle-crossing ability of cleaning equipment so that it can autonomously cross indoor height differences is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] The purpose of this application is to provide a cleaning device and its obstacle-crossing control method, medium, device and product, which can solve the problem that the existing cleaning devices have low obstacle-crossing ability, which makes it impossible for the cleaning devices to achieve automatic cleaning of the whole house.

[0005] In a first aspect, embodiments of this application provide a cleaning device, including: an obstacle-crossing component, a zero-position detection component, a motor component, a sensing component, and a control component; the control component is communicatively connected to the obstacle-crossing component, the zero-position detection component, the motor component, and the sensing component, and the motor component is connected to the obstacle-crossing component; The zero-position detection component is set on the action path of the obstacle crossing component. When the obstacle crossing component moves to the position corresponding to the zero-position detection component, the zero-position detection component is triggered to generate a trigger signal. The motor assembly is used to drive the obstacle-crossing assembly to move; The sensing component is used to monitor whether there are obstacles in the driving path of the cleaning equipment, and generates a sensing signal when an obstacle is detected in the driving path of the cleaning equipment; The control component is used to determine the zero position of the obstacle crossing component based on the trigger signal, and to control the motor component to drive the obstacle crossing component to start moving from the zero position when the sensing signal is received.

[0006] Optionally, the obstacle crossing assembly includes an obstacle crossing wheel leg, a drive wheel, and an obstacle crossing wheel; one end of the obstacle crossing wheel leg is rotatably mounted on the drive wheel, the other end of the obstacle crossing wheel leg is connected to the obstacle crossing wheel, the drive wheel meshes with the obstacle crossing wheel through a first gear set, and the motor assembly drives the obstacle crossing wheel leg, the drive wheel, and the obstacle crossing wheel respectively.

[0007] Optionally, the zero-position detection component includes an optical coupler detection board and a detection button disposed on the action path; when the obstacle-crossing wheel leg drives the obstacle-crossing wheel to the position corresponding to the detection button, the detection button is pressed to trigger the optical coupler detection board to generate the trigger signal.

[0008] Optionally, the motor assembly includes a drive motor and an obstacle-crossing motor; The drive motor meshes with the drive wheel through the second gear set, simultaneously driving the drive wheel and the obstacle-crossing wheel to move; The obstacle-crossing motor engages with the obstacle-crossing wheel leg via a third gear set, driving the obstacle-crossing wheel leg to move.

[0009] Secondly, embodiments of this application provide an obstacle-crossing control method for a cleaning device, applied to the cleaning device as described in the first aspect, the method comprising: In response to the sensing signal, the height and position information of the obstacle are extracted from the sensing signal; The target motion parameters are determined based on the height information and the position information; The cleaning equipment is controlled to cross the obstacle according to the target motion parameters.

[0010] Optionally, before extracting the height and location information of the obstacle from the sensing signal in response to the sensing signal, the method further includes: The obstacle-crossing wheel legs in the obstacle-crossing assembly are controlled to move clockwise until the signal of the optocoupler detection board in the zero-position detection assembly changes from the first level to the second level, at which point the obstacle-crossing wheel legs are controlled to stop moving. The obstacle-crossing wheel is controlled to rotate counterclockwise until the signal of the optocoupler detection board changes from the second level to the first level. Then, the obstacle-crossing wheel stops moving and the current position of the obstacle-crossing wheel is determined as the zero position.

[0011] Optionally, the target motion parameters include a first angle, a second angle, and a third angle, and controlling the cleaning device to pass over the obstacle according to the target motion parameters includes: The obstacle-crossing wheel legs in the obstacle-crossing assembly are controlled to rotate clockwise by the first angle, starting from the zero position. Control the rotation of the obstacle-crossing wheels in the obstacle-crossing assembly to make the cleaning device travel towards the obstacle until the omnidirectional wheels in the cleaning device are above the obstacle; The obstacle-crossing wheel legs are controlled to continue rotating clockwise by the second angle, so that the omnidirectional wheel presses against the upper surface of the obstacle; Control the rotation of the obstacle-crossing wheel to make the cleaning device continue to travel toward the obstacle, and control the obstacle-crossing wheel legs to rotate clockwise by the third angle until the drive wheel of the obstacle-crossing assembly is in close contact with the obstacle; Control the drive wheel to rotate until the drive wheel touches the top of the obstacle; Control the obstacle-crossing wheel leg to rotate counterclockwise until the obstacle-crossing wheel leg returns to the zero position.

[0012] Thirdly, embodiments of this application provide a storage medium that stores computer instructions, which, when executed by a computer, are used to perform the steps of the obstacle crossing control method for the cleaning equipment as described in the second aspect.

[0013] Fourthly, embodiments of this application provide an electronic device including at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the obstacle crossing control method for the cleaning device as described in the second aspect.

[0014] Fifthly, embodiments of this application provide a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the obstacle crossing control method for the cleaning equipment as described in the second aspect.

[0015] In this embodiment, an obstacle-crossing component, a zero-position detection component, a motor component, a sensing component, and a control component are configured. The zero-position detection component is positioned along the movement path of the obstacle-crossing component. When the obstacle-crossing component moves to the corresponding position, it triggers the zero-position detection component to generate a trigger signal. Based on this trigger signal, the control component determines a unique zero-position for the obstacle-crossing component. This ensures that the control component can know the precise starting posture of the obstacle-crossing component before each obstacle-crossing action, eliminating control deviations caused by uncertain start-up positions or cumulative errors from long-term operation. Simultaneously, the sensing component monitors the presence of obstacles on the cleaning equipment's travel path and generates a sensing signal when an obstacle is detected. Upon receiving this sensing signal, the control component drives the motor component to control the obstacle-crossing component to start moving from that zero-position. This ensures that each obstacle-crossing action starts from a consistent starting posture, providing a reliable benchmark for subsequent control. This allows the obstacle-crossing component to accurately cross indoor height differences, and the obstacle-crossing height is no longer limited by wheel diameter, thereby improving whole-house cleaning coverage and reducing manual intervention. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of an obstacle-crossing component provided in an embodiment of this application; Figure 3 This is a schematic diagram of the connection between an obstacle-crossing wheel leg and an obstacle-crossing wheel provided in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a wheel leg output tooth provided in an embodiment of this application; Figure 5 This is a schematic diagram of the transmission connection between a drive wheel and an obstacle-crossing wheel provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a zero-position detection component provided in an embodiment of this application; Figure 7 This is a schematic diagram of the trigger state of a zero-position detection component provided in an embodiment of this application; Figure 8 This is a schematic diagram of the connection between a drive motor and a drive wheel provided in an embodiment of this application; Figure 9 This is a schematic diagram illustrating the connection between an obstacle-crossing motor and obstacle-crossing wheel legs provided in an embodiment of this application; Figure 10 This is a flowchart illustrating the steps of an obstacle-crossing control method for cleaning equipment provided in an embodiment of this application; Figure 11 This is a schematic diagram illustrating the process of a cleaning device performing an obstacle-crossing action according to an embodiment of this application; Figure 12This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of this application; The attached diagram shows the following reference numerals: 1. Obstacle crossing component; 11. Obstacle crossing wheel leg; 111. Wheel leg output tooth; 1111. Wheel leg output tooth groove; 12. Drive wheel; 121. Drive wheel output tooth; 122. Drive wheel spline tooth; 123. Drive wheel secondary tooth; 124. Drive wheel tertiary tooth; 125. Drive wheel quaternary tooth; 126. Drive wheel quintile tooth; 127. Drive wheel bracket; 13. Obstacle crossing wheel; 131. Obstacle crossing wheel output tooth; 132. Obstacle crossing wheel transmission tooth; 133. Obstacle crossing wheel spline tooth; 134. Transmission mechanism; 2. Zero-position detection component; 21. Optical coupler detection board; 22. Detection button; 3. Motor component; 31. Drive motor; 311. Drive motor output tooth; 32. Obstacle crossing motor; 4. Sensing component; 5. Control component; 6. Angle sensor; 7. Omnidirectional wheel. Detailed Implementation

[0017] 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, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0018] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0019] The cleaning equipment and obstacle crossing control method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0020] The cleaning equipment in this application refers to automated cleaning equipment, such as robotic vacuum cleaners or vacuum-mopping combos. The core value of these devices lies in freeing users' hands and achieving automatic cleaning of the entire house in one go. However, existing cleaning equipment has significant shortcomings in obstacle-crossing capabilities, resulting in cleaning blind spots in areas with height differences, such as bathroom thresholds, balcony sliding door tracks, floor transition strips, and thick carpets. Users still need to manually move the equipment to complete the whole-house cleaning, which contradicts the original intention of fully automated cleaning products. Numerous user complaints and negative reviews focus on issues like "getting stuck on thresholds and missing areas," becoming key factors restricting the product's reputation and repurchase rate. Some manufacturers have offered remedial solutions such as ramp threshold mats, but these have problems such as poor aesthetics, obstructing the normal sliding of sliding doors, easy slippage, and incompatibility with thick carpets, representing only temporary solutions that do not address the root cause. Therefore, this application provides a self-developed native obstacle-crossing solution based on the underlying structure of the device.

[0021] Reference Figure 1 This is a schematic diagram of the structure of a cleaning device provided in an embodiment of this application, specifically including: an obstacle crossing component 1, a zero-position detection component 2, a motor component 3, a sensing component 4, and a control component 5; the control component 5 is communicatively connected to the obstacle crossing component 1, the zero-position detection component 2, the motor component 3, and the sensing component 4, respectively, and the motor component 3 is connected to the obstacle crossing component 1; The zero-position detection component 2 is disposed on the action path of the obstacle crossing component 1. When the obstacle crossing component 1 moves to the position corresponding to the zero-position detection component 2, the zero-position detection component 2 is triggered to generate a trigger signal. The motor assembly 3 is used to drive the obstacle-crossing assembly 1 to move; The sensing component 4 is used to monitor whether there are obstacles on the driving path of the cleaning equipment, and to generate a sensing signal when an obstacle is detected on the driving path of the cleaning equipment; The control component 5 is used to determine the zero position of the obstacle crossing component 1 based on the trigger signal, and to control the motor component 3 to drive the obstacle crossing component 1 to start moving from the zero position when the sensing signal is received.

[0022] In this embodiment, the cleaning device achieves the mechanical basis for crossing obstacles through the obstacle-crossing component 1, establishes a unique zero-position reference for the obstacle-crossing component 1 through the zero-position detection component 2, monitors obstacles on the driving path in real time through the sensing component 4, provides power to the obstacle-crossing component 1 through the motor component 3, and coordinates the operation of each component through the control component 5. The sensing component 4 includes a radar and a camera module. The camera module is composed of an AI camera and an infrared camera. Through algorithmic fusion processing of radar data and camera images, it can identify the height and position information of obstacles ahead and generate sensing signals. It should be noted that since the cleaning device is used to clean up ground debris, the obstacles here specifically refer to indoor obstacles with height differences, such as bathroom water barriers, balcony sliding door tracks, entrance thresholds, floor transition strips, or thick carpets, rather than insurmountable fixed obstacles such as walls or furniture, or small debris such as scraps of paper, dust, or particulate matter scattered on the ground.

[0023] Among them, the zero-position detection component 2 can realize zero-position detection through the swing arm method, which can be compactly arranged in the limited internal space of the cleaning equipment, saving structural space and enabling the zero-position detection function to be integrated in a limited space without occupying a large additional installation area.

[0024] Specifically, after the equipment is powered on, the control component 5 controls the motor component 3 to drive the obstacle crossing component 1 to move. When the obstacle crossing component 1 moves to the position of the zero position detection component 2, the zero position detection component 2 is triggered to generate a trigger signal. The control component 5 then determines the zero position of the obstacle crossing component 1 based on the trigger signal, and uses this as the starting reference for all subsequent obstacle crossing actions.

[0025] During the movement of the cleaning equipment, the sensing component 4 monitors the travel path in real time. When an obstacle is detected ahead, a sensing signal is generated and sent to the control component 5. The control component 5 receives the sensing signal because it indicates the presence of an obstacle to be crossed. Therefore, upon receiving the sensing signal, the control component 5 extracts the height and position information of the obstacle and determines the target motion parameters for the obstacle-crossing component 1 based on this information. Subsequently, the control component 5 controls the motor component 3 to drive the obstacle-crossing component 1 from its zero position to perform the obstacle-crossing action. This allows the obstacle-crossing component 1 to adjust its posture and move its position according to the target motion parameters, ultimately enabling the cleaning equipment to cross the obstacle. After the obstacle crossing is completed, the control component 5 returns the obstacle-crossing component 1 to its zero position.

[0026] In this embodiment, by setting up an obstacle-crossing component 1, a zero-position detection component 2, a motor component 3, a sensing component 4, and a control component 5, and placing the zero-position detection component 2 on the movement path of the obstacle-crossing component 1, the obstacle-crossing component 1 triggers the zero-position detection component 2 to generate a trigger signal when it moves to the corresponding position. Based on this trigger signal, the control component 5 determines a unique zero-position for the obstacle-crossing component 1, enabling the control component 5 to know the precise starting posture of the obstacle-crossing component 1 before each obstacle-crossing action, eliminating control deviations caused by uncertain start-up positions or cumulative errors from long-term operation. Simultaneously, the sensing component 4 monitors whether there are obstacles on the path of the cleaning equipment and generates a sensing signal when an obstacle is detected. When the control component 5 receives the sensing signal, it drives the motor component 31 to control the obstacle-crossing component 1 to start moving from the zero-position, thereby ensuring that each obstacle-crossing action starts from a consistent starting posture, providing a reliable benchmark for subsequent control, enabling the obstacle-crossing component 1 to accurately cross indoor height differences, and the obstacle-crossing height is no longer limited by the wheel diameter, thereby improving the whole-house cleaning coverage and reducing manual intervention.

[0027] Reference Figure 2 This is a schematic diagram of an obstacle crossing component provided in an embodiment of this application. The obstacle crossing component 1 includes an obstacle crossing wheel leg 11, a drive wheel 12, and an obstacle crossing wheel 13. One end of the obstacle crossing wheel leg 11 is rotatably mounted on the drive wheel 12, and the other end of the obstacle crossing wheel leg 11 is connected to the obstacle crossing wheel 13. The drive wheel 12 meshes with the obstacle crossing wheel 13 through a first gear set. The motor assembly 3 drives the obstacle crossing wheel leg 11, the drive wheel 12, and the obstacle crossing wheel 13 respectively.

[0028] like Figure 2 As shown, the obstacle crossing assembly 1 mainly consists of three parts: obstacle crossing wheel legs 11, drive wheels 12, and obstacle crossing wheels 13. The obstacle crossing wheel legs 11 serve as support and force transmission components, with their two ends connected to the drive wheels 12 and obstacle crossing wheels 13, respectively. The drive wheels 12 mesh with the obstacle crossing wheels 13 via a first gear set. At this time, the motor assembly 13 can drive both the obstacle crossing wheel legs 11 and the drive wheels 12. Based on the first gear set, the motor assembly 13 can also drive the obstacle crossing wheels 13.

[0029] Specifically, one end of the obstacle-crossing wheel leg 11 is rotatably mounted on the drive wheel 12. That is, the obstacle-crossing wheel leg 11 is rotatably connected to the axle or wheel frame of the drive wheel 12 via a connecting structure at its end, allowing the obstacle-crossing wheel leg 11 to rotate relative to the axis of the drive wheel 12 or the connecting point. The other end of the obstacle-crossing wheel leg 11 is connected to the obstacle-crossing wheel 13. That is, the obstacle-crossing wheel 13 is mounted on the other end of the obstacle-crossing wheel leg 11 via an axle or other means. The connection between the two is either fixed or rotatable. Under this connection relationship, the obstacle-crossing wheel leg 11 and the drive wheel 12 are rotatably connected, while the obstacle-crossing wheel 13 and the obstacle-crossing wheel leg 11 are mounted.

[0030] Reference Figure 3 This is a schematic diagram illustrating the connection between an obstacle-crossing wheel leg and an obstacle-crossing wheel according to an embodiment of this application. The obstacle-crossing wheel 13 is provided with an obstacle-crossing wheel output tooth 131, which meshes with an obstacle-crossing wheel transmission tooth 132. The obstacle-crossing wheel transmission tooth 132 is connected to an obstacle-crossing wheel spline tooth 133. The obstacle-crossing wheel leg 11 is also provided with a transmission mechanism 134, which is connected to the tooth groove of the wheel leg output tooth 111 and is used to receive the torque transmitted by the wheel leg output tooth 111 to drive the obstacle-crossing wheel leg 11 to swing or rotate. For ease of description, the tooth groove of the wheel leg output tooth 111 is collectively referred to as the wheel leg output tooth groove 1111.

[0031] Reference Figure 4 This is a schematic diagram of the structure of a wheel leg output tooth provided in an embodiment of this application. The wheel leg output tooth 111 has four evenly distributed wheel leg output tooth grooves 1111, which are connected to the obstacle crossing wheel leg 11 and are used to output the torque transmitted by the wheel leg output tooth 111 to the obstacle crossing wheel leg 11, thereby driving the entire obstacle crossing wheel leg 11 to swing.

[0032] Reference Figure 5 This is a schematic diagram of the transmission connection between a drive wheel and an obstacle-crossing wheel according to an embodiment of this application. The first gear set includes a drive wheel output tooth 121, a drive wheel spline tooth 122, and an obstacle-crossing wheel spline tooth 133. Specifically, the drive wheel 12 has a drive wheel output tooth 121, which meshes with the drive wheel spline tooth 122. The drive wheel spline tooth 122 is connected to the obstacle-crossing wheel spline tooth 133 via splines, and the obstacle-crossing wheel spline tooth 133 is connected to the obstacle-crossing wheel 13. The power of the drive motor 31 is transmitted from the drive wheel output tooth 121 to the drive wheel spline tooth 122, and then to the obstacle-crossing wheel spline tooth 133 via splines, thereby driving the obstacle-crossing wheel 13 to rotate. When the drive motor 31 rotates in any direction, the drive wheel 12 and the obstacle-crossing wheel 13 rotate in the same direction.

[0033] When the obstacle-crossing motor 32 drives the obstacle-crossing wheel leg 11 to rotate around the connection point with the drive wheel 12, the obstacle-crossing wheel leg 11 drives the obstacle-crossing wheel 13 at the other end to swing around the connection point, thereby changing the spatial position of the obstacle-crossing wheel 13 relative to the drive wheel 12, causing the obstacle-crossing wheel 13 to rise or fall, thus realizing the obstacle-crossing action of the cleaning equipment.

[0034] Preferably, since the obstacle-crossing wheel 13 mainly serves as an auxiliary support point to connect with the surface of the obstacle during the obstacle-crossing process, it does not need to provide driving force, and the smaller radius is conducive to flexibly adjusting the attitude angle of the wheel legs in a limited space, so that the obstacle-crossing wheel 13 can swing into place more smoothly at the edge of the step. Therefore, the radius of the obstacle-crossing wheel 13 can be set to be smaller than the radius of the drive wheel 12.

[0035] Reference Figure 6This is a schematic diagram of a zero-position detection component provided in an embodiment of this application. The zero-position detection component 2 includes an optical coupler detection board 21 and a detection button 22 disposed on the action path. When the obstacle-crossing wheel leg 11 drives the obstacle-crossing wheel 13 to move to the position corresponding to the detection button 22, the detection button 22 is pressed to trigger the optical coupler detection board 21 to generate the trigger signal.

[0036] like Figure 6 As shown, the zero-position detection component 2 mainly consists of two parts: an optical coupler detection board 21 and a detection button 22. The detection button 22 is located on the movement path of the obstacle-crossing wheel leg 11, and the optical coupler detection board 21 is located next to the detection button 22 and is linked to the detection button 22 through a lever mechanism.

[0037] Specifically, during operation, the obstacle-crossing wheel 11 drives the obstacle-crossing wheel 13 to swing together. When the obstacle-crossing wheel 11 swings to the position of the detection button 22, the obstacle-crossing wheel 11 or the obstacle-crossing wheel 13 contacts and presses the detection button 22. After the detection button 22 is pressed, it drives the light-shielding plate on the optocoupler detection board 21 to move through the lever mechanism, so that the light-shielding plate is inserted into the optical path of the optocoupler detection board 21, thereby causing the output level of the optocoupler detection board 21 to jump and generating a trigger signal. After the control component 5 detects the trigger signal, it determines that the current position of the obstacle-crossing wheel 11 is the zero position. When the obstacle-crossing wheel 11 continues to move and leaves the detection button 22, the detection button 22 resets, and the output level of the optocoupler detection board 21 jumps again. The control component 5 can then confirm that the obstacle-crossing wheel 11 has left the zero position.

[0038] Reference Figure 7 This is a schematic diagram of the trigger state of a zero-position detection component 2 provided in an embodiment of this application. Figure 7 As shown in (a), when the obstacle-crossing wheel leg 11 does not contact the detection button 22, the detection button 22 is in the released state. The lever mechanism drives the light-shielding plate on the optocoupler detection board 21 to block the light path of the optocoupler detection board 21, and the optocoupler detection board 21 outputs a first level, such as a high level 1; Figure 7 As shown in (b), when the obstacle-crossing wheel leg 11 moves to the position of the detection button 22, the detection button 22 is pressed. The detection button 22 drives the light-shielding plate to move through the lever mechanism, so that the light-shielding plate moves away from the optical path of the optical coupler detection board 21. The optical coupler detection board 21 outputs a second level, such as a low level, thereby generating a trigger signal and sending it to the control component 5. The control component 5 determines the zero position of the obstacle-crossing wheel leg 11 according to the change of the level.

[0039] In one embodiment of this application, the motor assembly 3 includes a drive motor 31 and an obstacle-crossing motor 32; The drive motor 31 meshes with the drive wheel 12 through the second gear set, and simultaneously drives the drive wheel 12 and the obstacle-crossing wheel 13 to move. The obstacle-crossing motor 32 engages with the obstacle-crossing wheel leg 11 via a third gear set, driving the obstacle-crossing wheel leg 11 to move.

[0040] In this embodiment, the motor assembly 3 mainly consists of a drive motor 31 and an obstacle-crossing motor 32. The drive motor 31 is connected to the drive wheel 12 and the obstacle-crossing wheel 13. While driving the drive wheel 12 to move and cross obstacles, it can also drive the obstacle-crossing wheel 13 to rotate, supporting the obstacle-crossing wheel legs 11 after they support the ground. The obstacle-crossing motor 32 is connected to the obstacle-crossing wheel legs 11 and is responsible for driving the 360° rotation of the obstacle-crossing wheel legs 11. Specifically, the drive motor 31 meshes with the drive wheel through a second gear set. Based on the power transmission of the second gear set, it can drive the drive wheel to move. Simultaneously, based on the meshing relationship between the drive wheel and the obstacle-crossing wheel, the drive motor 31 can also drive the obstacle-crossing wheel to move. The obstacle-crossing motor 32 meshes with the obstacle-crossing wheel legs 11 through a third gear set. Based on the power transmission of the third gear set, it can drive the obstacle-crossing wheel to move.

[0041] Reference Figure 8 This is a schematic diagram of the connection between a drive motor and a drive wheel provided in an embodiment of this application. The drive motor 31 is mainly used to drive the drive wheel 12 to move. The second gear set includes a drive motor output tooth 311, a drive wheel output tooth 121, a drive wheel secondary tooth 123, a drive wheel tertiary tooth 124, a drive wheel quaternary tooth 125, and a drive wheel quinary tooth 126. Specifically, the drive motor 31 is connected to the drive wheel bracket 127, and the drive motor 31 is connected to the drive wheel 12 through a multi-stage gear transmission mechanism. The drive motor 31 has a drive motor output tooth 311 on its power output shaft, and the drive wheel 12 has a drive wheel output tooth 121. The drive motor output tooth 311 and the drive wheel output tooth 121 are sequentially meshed with the drive wheel secondary tooth 123, drive wheel tertiary tooth 124, drive wheel quaternary tooth 125, and drive wheel quinary tooth 126. The power of the drive motor 31 is transmitted to the drive wheel output tooth 121 through the drive motor output tooth 311, and sequentially through the drive wheel secondary tooth 123, drive wheel tertiary tooth 124, drive wheel quaternary tooth 125, and drive wheel quinary tooth 126, thereby driving the drive wheel 12 to rotate forward or backward, realizing the forward, backward, and obstacle-crossing movements of the cleaning equipment.

[0042] Reference Figure 9This is a schematic diagram of the connection between an obstacle-crossing motor and an obstacle-crossing wheel leg provided in an embodiment of this application. The third gear set includes a wheel leg output tooth 111 and a spur gear transmission mechanism. The obstacle-crossing motor 32 is connected to the drive wheel bracket 127 and is mainly used to drive the obstacle-crossing wheel leg 11 to swing or rotate. The power output shaft of the obstacle-crossing motor 32 transmits power to the spur gear transmission mechanism via a worm gear transmission, and then transmits torque to the wheel leg output tooth 111 via the spur gear transmission. The wheel leg output tooth 111 is connected to the obstacle-crossing wheel leg 11, thereby driving the obstacle-crossing wheel leg 11 to swing or rotate around its axis, realizing the attitude adjustment of the obstacle-crossing wheel leg 11.

[0043] like Figure 9 As shown, an angle sensor 6 is also installed on the power output shaft of the obstacle-crossing motor 32. The angle sensor 6 is used to detect the rotation angle of the obstacle-crossing motor 32 in real time and feeds back the detected angle signal to the control component 5 to determine the current rotation angle of the obstacle-crossing wheel leg 11. The angle sensor 6 can be a magnetic encoder or a photoelectric encoder, and this embodiment does not specifically limit it.

[0044] In one embodiment, the control component 5 controls the obstacle-crossing motor 32 to drive the obstacle-crossing wheel leg 11 to move clockwise, and the obstacle-crossing wheel leg 11 drives the obstacle-crossing wheel 13 to swing together; when the obstacle-crossing wheel leg 11 moves to the position corresponding to the detection button 22, the detection button 22 is pressed, such as... Figure 7 As shown, the detection button 22 triggers the optocoupler detection board 21 through a lever mechanism, causing the output level of the optocoupler detection board 21 to jump from the first level to the second level (1→0). At this time, the control component 5 controls the obstacle crossing motor 32 to stop, and the obstacle crossing wheel leg 11 is near the zero position. Subsequently, the control component 5 controls the obstacle crossing motor 32 to drive the obstacle crossing wheel leg 11 to move in a counterclockwise direction. When the detection button 22 is reset and the output level of the optocoupler detection board 21 jumps from the second level back to the first level (0→1), the control component 5 controls the obstacle crossing motor 32 to stop again. At the same time, the zero position detection component 2 generates a trigger signal and sends it to the control component 5. The trigger signal is used to feedback that the current position of the obstacle crossing wheel leg 11 is the zero position. Therefore, based on the received trigger signal, the control component 5 can determine the zero position of the obstacle crossing wheel leg 11.

[0045] After determining the zero position, the cleaning equipment moves normally. Sensing component 4 monitors the cleaning equipment's path in real time for any obstacles. When sensing component 4 detects an obstacle, it generates a sensing signal and sends it to control component 5. Upon receiving the sensing signal, control component 5 extracts the obstacle's height and position information and determines the target motion parameters based on this information. Subsequently, the control component 5 controls the obstacle-crossing motor 32 to drive the obstacle-crossing wheel leg 11 to rotate clockwise by a first angle from the zero position, causing the obstacle-crossing wheel 13 to swing towards the obstacle; it controls the drive motor 31 to drive the drive wheel 12 towards the obstacle until the obstacle-crossing wheel 13 is above the obstacle; it controls the obstacle-crossing motor 32 to drive the obstacle-crossing wheel leg 11 to continue rotating clockwise by a second angle, shifting the center of gravity of the cleaning equipment forward and pressing the obstacle-crossing wheel 13 against the upper surface of the obstacle; it controls the drive motor 31 to continue driving the drive wheel 12 towards the obstacle, while simultaneously controlling the obstacle-crossing motor 32 to drive the obstacle-crossing wheel leg 11 to rotate counterclockwise by a third angle, causing the drive wheel 12 to climb onto the upper surface of the obstacle; it controls the obstacle-crossing motor 32 to drive the obstacle-crossing wheel leg 11 to rotate back to the zero position, completing the obstacle crossing.

[0046] Reference Figure 10 This is a flowchart illustrating the steps of an obstacle-crossing control method for cleaning equipment provided in this application embodiment, specifically including the following steps: Step 101: In response to the sensing signal, extract the height information and position information of the obstacle from the sensing signal; Step 102: Determine the target motion parameters based on the height information and the position information; Step 103: Control the cleaning equipment to cross the obstacle according to the target motion parameters.

[0047] In this embodiment, during the movement of the cleaning equipment, the sensing component 4 monitors the equipment's path in real time. When the sensing component 4 detects an obstacle ahead, it generates a sensing signal and sends it to the control component 5. Upon receiving the sensing signal, the control component 5 processes it to extract the obstacle's height and location information. The height information represents the obstacle's vertical height, and the location information represents the obstacle's distance and orientation relative to the cleaning equipment. The sensing component 4 includes a radar and a camera module. The camera module is composed of an AI camera and an infrared camera. Through algorithmic fusion processing of radar data and camera images, it can identify the height and location information of obstacles ahead.

[0048] Subsequently, the control component 5 determines the target action parameters required for the obstacle-crossing component 1 to complete obstacle crossing based on the extracted obstacle height and position information. Different obstacle heights and positions correspond to different target action parameters. The control component 5 calculates or matches the target action parameters corresponding to the current obstacle information according to a preset algorithm or mapping relationship.

[0049] After the control component 5 determines the target action parameters, it controls the motor component 3 to drive the obstacle-crossing component 1 to perform the corresponding obstacle-crossing action according to the determined target action parameters. Specifically, the control component 5 controls the obstacle-crossing motor 32 to drive the obstacle-crossing wheel leg 11 to rotate to the target angle, and controls the drive motor 31 to drive the drive wheel 12 to travel the target distance. Through the attitude adjustment of the obstacle-crossing wheel leg 11 and the movement of the drive wheel 12, the cleaning equipment crosses the obstacle, and after the obstacle crossing is completed, it controls the obstacle-crossing wheel leg 11 to return to the zero position.

[0050] In one embodiment of this application, before extracting the height and location information of the obstacle from the sensing signal in response to the sensing signal, the method further includes: The obstacle-crossing wheel 11 in the obstacle-crossing assembly 1 is controlled to move clockwise until the signal of the optocoupler detection board 21 in the zero-position detection assembly 2 changes from the first level to the second level, and then the obstacle-crossing wheel 11 is controlled to stop moving. Control the obstacle-crossing wheel 11 to rotate in the counterclockwise direction until the signal of the optocoupler detection board 21 changes from the second level to the first level, then control the obstacle-crossing wheel 11 to stop moving, and determine the current position of the obstacle-crossing wheel 11 as the zero position.

[0051] Specifically, the cleaning equipment needs to determine the zero position of the obstacle-crossing wheel leg 11 upon first startup or after each start-up to avoid control deviations caused by uncertain positions of the obstacle-crossing wheel leg 11 at startup or by cumulative errors from long-term operation. Control component 5 controls the obstacle-crossing motor 32 to drive the obstacle-crossing wheel leg 11 in a clockwise direction, causing the obstacle-crossing wheel 13 to swing together. When the obstacle-crossing wheel leg 11 moves to the position of the detection button 22, it presses the detection button 22, as if... Figure 7 As shown in (b), the detection button 22 triggers the optocoupler detection board 21 via a lever mechanism, causing the output level of the optocoupler detection board 21 to jump from the first level to the second level. At this time, the control component 5 controls the obstacle-crossing motor 32 to stop, and the obstacle-crossing wheel leg 11 is near the zero position. Subsequently, the control of the obstacle-crossing motor 32 drives the obstacle-crossing wheel leg 11 to move in a counterclockwise direction, as shown in (b). Figure 7As shown in (a), when the detection button 22 is reset, the output level of the optocoupler detection board 21 will switch from the second level back to the first level. At this time, the control component 5 generates a trigger signal based on this level switch and determines the current position of the obstacle-crossing wheel leg 11 as the zero position according to the trigger signal, which serves as the angle reference for all subsequent obstacle-crossing actions. As an example, the first level can be a high level 1 and the second level can be a low level 0, but this application is not limited to this.

[0052] This application embodiment uses a zero-position calibration method that involves first crossing and then returning, and utilizes the return clearance of the mechanical structure to achieve higher repeatability of the zero-position positioning, thus providing a precise and reliable angle reference for subsequent obstacle-crossing actions.

[0053] In one embodiment, determining the target motion parameters based on the height information and the position information includes: The first angle is determined based on the height information, the position information, and the geometric parameters of the obstacle-crossing wheel 11; The second angle is determined based on the height information and the attitude parameters of the obstacle-crossing wheel leg 11; The third angle is determined based on the height information, the geometric parameters, and the position of the drive wheel 12; The first angle, the second angle, and the third angle are determined as the target motion parameters.

[0054] Specifically, the first angle mentioned above is the relative rotation angle based on the zero position, that is, the angle at which the obstacle-crossing wheel leg 11 rotates clockwise from the zero position; the second angle is the angle at which the obstacle-crossing wheel leg 11 continues to rotate clockwise based on the first angle; and the third angle is the angle at which the obstacle-crossing wheel leg 11 continues to rotate clockwise based on the second angle.

[0055] The geometric parameters include the length of the obstacle-crossing wheel leg 11, the radius of the drive wheel 12, and the radius of the obstacle-crossing wheel 13. Position information is used to determine the horizontal distance between the cleaning equipment and the obstacle, in order to determine the angle of rotation required for the obstacle-crossing wheel 13 to swing from the zero position to the initial posture. Based on the obstacle height, the distance between the cleaning equipment and the obstacle, the wheel leg length, and the relative positional relationship between the drive wheel 12 and the obstacle-crossing wheel 13, the control component 5 uses geometric calculations to determine the angle of rotation required for the obstacle-crossing wheel leg 11 to swing towards the obstacle to the initial posture. The required first angle varies depending on the height of the obstacle or the proximity of the cleaning equipment to the obstacle.

[0056] The attitude parameters include the current position angle of the obstacle-crossing wheel leg 11, i.e., the attitude after the first angle is determined, and the contact state between the obstacle-crossing wheel 13 and the upper surface of the obstacle. After the obstacle-crossing wheel 13 has been attached to the upper surface of the obstacle, the control component 5 determines the angle of further rotation required to shift the center of gravity of the cleaning equipment forward and press the obstacle-crossing wheel 13 firmly against the upper surface of the obstacle, based on the height of the obstacle and the current attitude of the obstacle-crossing wheel leg 11. The value of the second angle must ensure that sufficient positive pressure is generated between the obstacle-crossing wheel 13 and the upper surface of the obstacle so that the obstacle-crossing wheel 13 will not slip during the subsequent climbing process of the drive wheel 12.

[0057] After the drive wheel 12 is in close contact with the edge of the obstacle, the control component 5 determines the wheel rotation angle required for the drive wheel 12 to climb to the upper surface of the obstacle through geometric calculations, based on the height of the obstacle, the length of the obstacle-crossing wheel leg 11, the radius of the drive wheel 12, and the current relative position of the drive wheel 12 to the obstacle edge. The value of the third angle must ensure that the drive wheel 12 obtains sufficient lift during the climbing process, so that the drive wheel 12 can successfully cross the obstacle edge.

[0058] In one embodiment of this application, the target motion parameters include a first angle, a second angle, and a third angle, and controlling the cleaning device to pass over the obstacle according to the target motion parameters includes: The obstacle-crossing wheel 11 in the obstacle-crossing assembly 1 is controlled to rotate clockwise by the first angle starting from the zero position; Control the rotation of the obstacle-crossing wheel 13 in the obstacle-crossing assembly 1 so that the cleaning device moves toward the obstacle until the omnidirectional wheel 7 in the cleaning device is above the obstacle; Control the obstacle-crossing wheel leg 11 to continue rotating clockwise by the second angle, so that the omnidirectional wheel 7 presses against the upper surface of the obstacle; Control the obstacle-crossing wheel 13 to rotate so that the cleaning device continues to travel toward the obstacle, and control the obstacle-crossing wheel leg 11 to rotate clockwise by the third angle until the drive wheel 12 of the obstacle-crossing assembly 1 is in close contact with the obstacle; Control the drive wheel 12 to rotate until the drive wheel 12 is placed on top of the obstacle; Control the obstacle-crossing wheel 11 to rotate counterclockwise until the obstacle-crossing wheel 11 returns to the zero position.

[0059] In this embodiment of the application, the cleaning equipment also includes omnidirectional wheels 7 for auxiliary support and balance. During obstacle crossing, the omnidirectional wheels 7 serve to follow, support, and stabilize the vehicle's posture, ensuring that the cleaning equipment maintains balance during obstacle crossing and preventing tilting or overturning.

[0060] Reference Figure 11 This is a schematic diagram illustrating the process of a cleaning device performing an obstacle-crossing action according to an embodiment of this application, demonstrating the complete obstacle-crossing process of the cleaning device crossing a step obstacle.

[0061] like Figure 11 As shown in (a), after the zero-position calibration is completed, the cleaning equipment is in normal walking mode, and the obstacle-crossing wheel leg 11 is in the zero position. When the sensing component 4 detects a step obstacle in front, it sends the height and position information of the obstacle to the control component 5. The control component 5 determines the target motion parameters, including the first angle, the second angle, and the third angle, based on the above information, and begins to execute the obstacle-crossing action.

[0062] It should be noted that although the second and third angles are rotational actions performed in subsequent steps, the control component 5, based on the obstacle height information obtained by the sensing component 4, combined with the wheel leg geometry parameters and the current position of the drive wheel 12, can pre-calculate the complete target action parameters, including the first, second, and third angles, before the obstacle-crossing action begins. In other words, the control component 5 can predict the required rotation angles for subsequent steps based on the obstacle height at the beginning of the obstacle-crossing stage, thereby ensuring that the rotation angles of each step in the entire obstacle-crossing process are coordinated, allowing the cleaning equipment to complete the obstacle-crossing action according to the preset trajectory.

[0063] like Figure 11 As shown in (b), the control component 5 controls the obstacle crossing motor 32 to drive the obstacle crossing wheel leg 11 to rotate clockwise from the zero position by a first angle, for example, 117°, so that the obstacle crossing wheel 13 swings toward the step to the obstacle crossing starting posture.

[0064] like Figure 11 As shown in (c), the control component 5 controls the obstacle-crossing wheel 13 to move towards the step via the drive motor 31 until the omnidirectional wheel 7 is above the step. At this time, the omnidirectional wheel 7 has been attached to the upper surface of the step, and the cleaning equipment forms an inclined posture with the front higher than the back.

[0065] like Figure 11 As shown in (d), the control component 5 controls the obstacle crossing motor 32 to drive the obstacle crossing wheel leg 11 to continue rotating clockwise by a second angle, for example, 30°, so that the center of gravity of the cleaning equipment moves forward and presses the caster 7 against the upper surface of the step, ensuring that there is sufficient positive pressure between the caster 7 and the step, providing stable support for the subsequent drive wheel 12 to climb.

[0066] like Figure 11 As shown in (e), the control component 5 controls the drive motor 31 to continue driving the drive wheel 12 toward the step, while controlling the obstacle crossing motor 32 to drive the obstacle crossing wheel leg 11 to rotate clockwise by a third angle, for example, 293°, so that the drive wheel 12 is in close contact with the edge of the step.

[0067] like Figure 11 As shown in (f), the control component 5 controls the drive motor 31 to continue driving the drive wheel 12 to rotate until the drive wheel 12 contacts the upper surface of the step. During this process, the obstacle-crossing wheel 13 remains in contact with the upper surface of the step and rolls as the cleaning equipment moves forward, providing a stable front support point for the drive wheel 12 to climb.

[0068] like Figure 11 As shown in (g), after the drive wheel 12 is fully positioned on the step, the cleaning equipment will fall horizontally onto the step under the influence of gravity. At this time, the control component 5 controls the obstacle-crossing motor 32 to drive the obstacle-crossing wheel leg 11 to rotate to the zero position, and the cleaning equipment returns to its normal walking posture, completing the obstacle crossing. At this point, both the drive wheel 12 and the obstacle-crossing wheel 13 are located on the upper surface of the step, and the entire cleaning equipment has completely crossed the obstacle, allowing it to continue with subsequent cleaning operations.

[0069] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of this application.

[0070] This application also provides a storage medium that stores computer instructions. When the computer executes the computer instructions, it is used to execute various processes of the obstacle crossing control method embodiment of the above-described cleaning equipment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0071] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0072] This application also provides an electronic device, including a processor 12010, a memory 1209, and a program or instructions stored in the memory 1209 and executable on the processor 12010. When the program or instructions are executed by the processor 12010, they implement the various processes of the obstacle crossing control method embodiment of the cleaning device described above and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0073] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0074] Figure 12 A schematic diagram of the hardware structure of an electronic device to implement an embodiment of this application.

[0075] The electronic device 1200 includes, but is not limited to, components such as: radio frequency unit 1201, network module 1202, audio output unit 1203, input unit 1204, sensor 1205, display unit 1206, user input unit 1207, interface unit 1208, memory 1209, and processor 12010.

[0076] Those skilled in the art will understand that the electronic device 1200 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 12010 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 12 The electronic device structure shown does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0077] This application also provides a computer program product, including a computer program / instruction. When the computer program / instruction is executed by a processor, it implements the various processes of the obstacle crossing control method embodiment of the above-described cleaning equipment and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0078] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0079] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. 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 software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0080] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A cleaning device, characterized in that, include: The obstacle crossing component (1), the zero-position detection component (2), the motor component (3), the sensing component (4), and the control component (5) are respectively connected to the obstacle crossing component (1), the zero-position detection component (2), the motor component (3), and the sensing component (4), and the motor component (3) is connected to the obstacle crossing component (1). The zero-position detection component (2) is set on the action path of the obstacle crossing component (1). When the obstacle crossing component (1) moves to the position corresponding to the zero-position detection component (2), the zero-position detection component (2) is triggered to generate a trigger signal. The motor assembly (3) is used to drive the obstacle crossing assembly (1) to move; The sensing component (4) is used to monitor whether there are obstacles on the driving path of the cleaning equipment, and to generate a sensing signal when an obstacle is detected on the driving path of the cleaning equipment; The control component (5) is used to determine the zero position of the obstacle crossing component (1) based on the trigger signal, and to control the motor component (3) to drive the obstacle crossing component (1) to start moving from the zero position when the sensing signal is received.

2. The cleaning equipment according to claim 1, characterized in that, The obstacle crossing assembly (1) includes an obstacle crossing wheel leg (11), a drive wheel (12), and an obstacle crossing wheel (13); one end of the obstacle crossing wheel leg (11) is rotatably mounted on the drive wheel (12), and the other end of the obstacle crossing wheel leg (11) is connected to the obstacle crossing wheel (13). The drive wheel (12) meshes with the obstacle crossing wheel (13) through a first gear set. The motor assembly (3) drives the obstacle crossing wheel leg (11), the drive wheel (12), and the obstacle crossing wheel (13) respectively.

3. The cleaning equipment according to claim 2, characterized in that, The zero-position detection component (2) includes an optical coupler detection board (21) and a detection button (22) set on the action path; when the obstacle-crossing wheel leg (11) drives the obstacle-crossing wheel (13) to move to the position corresponding to the detection button (22), the detection button (22) is pressed to trigger the optical coupler detection board (21) to generate the trigger signal.

4. The cleaning equipment according to claim 2, characterized in that, The motor assembly (3) includes a drive motor (31) and an obstacle-crossing motor (32). The drive motor (31) meshes with the drive wheel (12) through the second gear set, and simultaneously drives the drive wheel (12) and the obstacle-crossing wheel (13) to move; The obstacle-crossing motor (32) engages with the obstacle-crossing wheel leg (11) through the third gear set, driving the obstacle-crossing wheel leg (11) to move.

5. A method for obstacle crossing control of cleaning equipment, characterized in that, The cleaning device described in any one of claims 1-4 comprises: In response to the sensing signal, the height and position information of the obstacle are extracted from the sensing signal; The target motion parameters are determined based on the height information and the position information; The cleaning equipment is controlled to cross the obstacle according to the target motion parameters.

6. The obstacle crossing control method according to claim 5, characterized in that, Before extracting the height and position information of the obstacle from the sensing signal in response to the sensing signal, the method further includes: The obstacle-crossing wheel (11) in the obstacle-crossing assembly (1) is controlled to move clockwise until the signal of the optocoupler detection board (21) in the zero-position detection assembly (2) changes from the first level to the second level, and then the obstacle-crossing wheel (11) is controlled to stop moving. Control the obstacle-crossing wheel (11) to rotate in the counterclockwise direction until the signal of the optocoupler detection board (21) changes from the second level to the first level. Then control the obstacle-crossing wheel (11) to stop moving and determine the current position of the obstacle-crossing wheel (11) as the zero position.

7. The obstacle crossing control method according to claim 5, characterized in that, The target motion parameters include a first angle, a second angle, and a third angle. Controlling the cleaning equipment to overcome the obstacle based on the target motion parameters includes: The obstacle-crossing wheel (11) in the obstacle-crossing assembly (1) is controlled to rotate clockwise by the first angle starting from the zero position; Control the obstacle-crossing wheel (13) in the obstacle-crossing assembly (1) to rotate so that the cleaning device moves toward the obstacle until the universal wheel (7) in the cleaning device is above the obstacle; Control the obstacle-crossing wheel leg (11) to continue rotating in the clockwise direction at the second angle so that the omnidirectional wheel (7) presses against the upper surface of the obstacle; Control the obstacle-crossing wheel (13) to rotate so that the cleaning device continues to travel toward the obstacle, and control the obstacle-crossing wheel leg (11) to rotate the third angle in the clockwise direction until the drive wheel (12) of the obstacle-crossing assembly (1) is in close contact with the obstacle; Control the drive wheel (12) to rotate until the drive wheel (12) touches the top of the obstacle; Control the obstacle-crossing wheel (11) to rotate counterclockwise until the obstacle-crossing wheel (11) returns to the zero position.

8. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform an obstacle-crossing control method for a cleaning device as described in any one of claims 5-7.

9. An electronic device, characterized in that, Includes at least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform an obstacle crossing control method for a cleaning device as described in any one of claims 5-7.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement an obstacle crossing control method for a cleaning device as described in any one of claims 5-7.

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