Obstacle-crossing carrier system for sweeping robot and control method thereof

Abstract

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

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511882159.5 (22) Application Date 2025.12.12 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 Applicant: Chase Technology (Suzhou) Co., Ltd. (72) Inventor: Qiu Weinan (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney: Li Hong (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 24 (2006.01) (54) Invention Title: An Obstacle-Crossing Vehicle System for a Sweeping Machine and Its Control Method (57) Abstract: This invention provides an obstacle-crossing vehicle system for a sweeping machine and its control method, belonging to the field of intelligent mobile cleaning equipment technology. The system includes: a vehicle chassis for contact with the ground; a drive unit disposed on the vehicle chassis for providing driving capability based on the movement requirements of the vehicle chassis; a lifting mechanism connected to the vehicle chassis for adjusting the lifting of the vehicle chassis and the structure containing the receiving cavity based on obstacle-crossing requirements; a receiving cavity disposed on the vehicle chassis for accommodating the sweeping machine and forming a defined space for positioning the sweeping machine; and a locking mechanism disposed within the receiving cavity for locking and fixing the sweeping machine after it enters the receiving cavity. This invention provides a stable obstacle-crossing vehicle for ordinary sweeping machines that can autonomously cross thresholds and height differences in real home terrain, so that the cleaning process is no longer interrupted by terrain. Claims 2 pages, Description 11 pages, Drawings 2 pages, CN 121489346 A 2026.02.10 CN 1 21 48 93 46 A 1. An obstacle-crossing vehicle system for a sweeper, characterized in that the system comprises: a vehicle chassis for contacting the ground; a drive unit disposed on the vehicle chassis for providing driving capability based on the movement requirements of the vehicle chassis; a lifting mechanism connected to the vehicle chassis for performing lifting and lowering adjustment of the vehicle chassis and the structure containing the receiving cavity based on obstacle-crossing requirements; a receiving cavity disposed on the vehicle chassis for accommodating the sweeper and forming a defined space for positioning the sweeper; a locking mechanism disposed within the receiving cavity for locking and fixing the sweeper after it enters the receiving cavity, and for releasing the locking state of the sweeper upon receiving a release control command. 2. The obstacle-crossing vehicle system for a sweeper according to claim 1, wherein the drive unit comprises either a tracked drive assembly or a wheeled drive assembly;The tracked drive assembly or the wheeled drive assembly is connected to the bottom of the vehicle chassis and forms a continuous contact path based on the motion posture of the vehicle chassis. 3. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that the lifting mechanism includes a rotating connection portion disposed between the vehicle chassis and the receiving cavity and a lifting drive assembly connected to the receiving cavity; the rotating connection portion is used to limit the receiving cavity to rotate relative to the vehicle chassis about a preset rotation axis, and the lifting drive assembly is used to drive the receiving cavity to switch between a contact state and a raised state relative to the vehicle chassis based on the obstacle-crossing height adjustment requirements. 4. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that the lifting mechanism is connected to the side wall structure of the receiving cavity and synchronously performs lifting adjustment on the receiving cavity based on the posture adjustment requirements of the receiving cavity. 5. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that a positioning structure for defining the entry position of the sweeper is provided at the bottom of the receiving cavity; the positioning structure includes any one of a guide protrusion or a limiting block, and forms an initial positioning reference for the sweeper based on the contact guidance effect when the sweeper enters the receiving cavity. 6. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that the locking mechanism includes any one of an electromagnetic telescopic pin assembly or a mechanical latch assembly; the electromagnetic telescopic pin assembly or the mechanical latch assembly is disposed on the side wall of the receiving cavity, and performs an extension action to insert into the structural joint of the sweeper based on a trigger signal after the sweeper reaches a preset position in the receiving cavity. 7. The obstacle-crossing vehicle system for a sweeper according to claim 1, characterized in that an adjustment structure for forming a locking fit gap is provided between the locking mechanism and the side wall structure of the receiving cavity; the adjustment structure includes any one of a sliding groove or an elastic limiting member, used to compensate for the extension position of the locking mechanism based on the stroke change of the locking mechanism. 8. The obstacle-crossing vehicle system for a sweeping machine according to claim 1, characterized in that the inner wall of the receiving cavity is provided with a sensing component for detecting the positioning state of the sweeping machine; the sensing component includes any one of a photoelectric sensor or a pressure sensor, used to output signal parameters for triggering the locking mechanism after the sweeping machine enters the receiving cavity and makes contact with the sensing component. 9. The obstacle-crossing vehicle system for a sweeping machine according to claim 1, characterized in that the front end of the vehicle chassis is provided with a front-end detection unit for constructing an obstacle contact detection path, the front-end detection unit is signal-connected to the lifting mechanism (claim 1 / 2 page 2 CN 121489346 A), and provides trigger input for the lifting action of the lifting mechanism based on changes in obstacle contact.10. A control method for an obstacle-crossing vehicle system for a sweeper, characterized in that the method is applied to the obstacle-crossing vehicle system for a sweeper according to any one of claims 1-9, the method comprising: acquiring operating information of each operating component in the obstacle-crossing vehicle system; generating obstacle-crossing control information based on the operating information and obstacle detection information, the obstacle-crossing control information being used to limit lifting adjustment and displacement adjustment; outputting control commands to a lifting mechanism and a drive unit based on the obstacle-crossing control information to cause the lifting mechanism and the drive unit to perform obstacle-crossing actions; and outputting control commands to a locking mechanism based on positioning information after the obstacle-crossing action is completed to release the locking and fixing of the sweeper. 11. The control method for an obstacle-crossing vehicle system for a sweeper according to claim 10, characterized in that acquiring the operating information of each operating component in the obstacle-crossing vehicle system comprises: collecting status information characterizing the respective operating states from the vehicle chassis, lifting mechanism, drive unit, locking mechanism, and the sweeper located within the receiving cavity, and aggregating the status information to generate the operating information. 12. The control method for an obstacle-crossing vehicle system for a sweeper according to claim 10, characterized in that generating obstacle-crossing control information based on the operating information and obstacle detection information includes: performing joint processing on the operating information and the obstacle detection information to obtain environmental feature data characterizing the obstacle-crossing environment; determining corresponding lifting adjustment parameters and displacement adjustment parameters based on the environmental feature data; and constructing the obstacle-crossing control information based on the lifting adjustment parameters and the displacement adjustment parameters. 13. The control method for an obstacle-crossing vehicle system for a sweeper according to claim 10, characterized in that outputting control commands to a lifting mechanism and a drive unit based on the obstacle-crossing control information to cause the lifting mechanism and the drive unit to perform obstacle-crossing actions includes: parsing the obstacle-crossing control information to obtain lifting control commands characterizing lifting actions and displacement control commands characterizing displacement actions; sending the lifting control commands to the lifting mechanism to drive the lifting mechanism to perform lifting adjustment on the vehicle chassis and the structure containing the receiving cavity; and sending the displacement control commands to the drive unit to drive the drive unit to perform obstacle-crossing displacement on the vehicle chassis. 14. A computer-readable storage medium, characterized in that the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the control method for an obstacle-crossing vehicle system for a sweeping robot according to any one of claims 10-13. 15. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the...Claim 10-13. A control method for an obstacle-crossing vehicle system for a sweeping robot as described in any one of claims 10-13. 16. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements the control method for an obstacle-crossing vehicle system for a sweeping robot as described in any one of claims 10-13. Claims 2 / 2 pages 3 CN 121489346 A An obstacle-crossing vehicle system for a sweeping robot and its control method Technical Field

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

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

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

[0004] Another practical problem is that robotic vacuum cleaners have almost no adaptability to complex terrain. Taking duplex houses or homes with stairs as examples, existing products not only cannot autonomously cross the differences in stair steps, but also often require additional anti-fall algorithms to avoid slipping off the edge of the steps. The height difference between carpet and tile, or an irregular slope, is enough to make the machine repeatedly try to cross. For users, these are not "extreme scenarios," but for existing robots, they represent terrain changes that cannot be reliably handled.

[0005] Some specialized "stair-climbing robots" or transport platforms have appeared on the market, but most of them operate independently and are positioned for specific scenarios of transport. They lack interfaces and collaboration methods with mainstream robotic vacuum cleaners, let alone forming a coherent cleaning process in a home environment. Users ultimately have to choose between "buying a more expensive and complex new robotic vacuum cleaner" and "accepting that the existing robotic vacuum cleaner cannot cross the threshold."

[0006] Therefore, without purchasing a new machine, how to give existing robotic vacuum cleaners more stable cross-domain capabilities is a key issue.Enabling it to move smoothly in the real terrain of a typical home remains a long-standing problem in the industry.

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

[0008] To achieve the above objective, the first aspect of this invention provides an obstacle-crossing vehicle system for a robotic vacuum cleaner, the system comprising: a vehicle chassis for contact with the ground; a drive unit disposed on the vehicle chassis for providing drive capability based on the movement requirements of the vehicle chassis; a lifting mechanism connected to the vehicle chassis for performing lifting and lowering adjustments on the vehicle chassis and the structure containing the receiving cavity based on obstacle-crossing requirements; a receiving cavity disposed on the vehicle chassis for accommodating the robotic vacuum cleaner and forming a defined space for positioning the robotic vacuum cleaner; and a locking mechanism disposed within the receiving cavity for locking and fixing the robotic vacuum cleaner after it enters the receiving cavity. Instruction Manual 1 / 11 Page 4 CN 121489346 A

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

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

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

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

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

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

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

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

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

[0018] Optionally, outputting control commands to the lifting mechanism and the drive unit based on the obstacle crossing control information to cause the lifting mechanism and the drive unit to perform obstacle crossing actions includes: parsing the obstacle crossing control information to obtain lifting control commands characterizing lifting actions and displacement control commands characterizing displacement actions; sending the lifting control commands to the lifting mechanism to drive the lifting mechanism to perform lifting adjustment on the structure where the vehicle chassis and the receiving cavity are located; and sending the displacement control commands to the drive unit to drive the drive unit to perform obstacle crossing displacement on the vehicle chassis.

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

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

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

[0022] Through the above technical solutions, the present invention, by introducing a cooperative structure of a vehicle chassis, a drive unit, a lifting mechanism, a receiving cavity, and a locking mechanism, can provide a stable carrying platform and obstacle-crossing support path for the sweeping machine without altering its own structure. The chassis ensures continuous contact with the ground, the drive unit provides mobility for the whole, and the lifting mechanism is used to adjust the device's posture when encountering height differences, keeping the sweeper in a controllable spatial position. The receiving cavity provides a clear entry and positioning interface for the sweeper, avoiding deviation or relative displacement with the carrier during obstacle crossing; the locking mechanism further fixes the sweeper in the receiving cavity, keeping it stable when lifted or passing obstacles. Through this structural collaboration, the sweeper, which was originally unable to independently cross thresholds or height differences, has reliable obstacle crossing ability, reducing interruptions in the cleaning process and enabling it to adapt to more real terrains in home environments.

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

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

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

[0026] As shown in Figure 1, an embodiment of the present invention provides an obstacle-crossing vehicle system for a sweeper, the system includingIncludes: a vehicle chassis for contact with the ground; a drive unit, disposed on the vehicle chassis, for providing driving capability based on the movement requirements of the vehicle chassis; a lifting mechanism, connected to the vehicle chassis, for performing lifting and lowering adjustment of the vehicle chassis and the structure containing the receiving cavity based on obstacle crossing requirements; a receiving cavity, disposed on the vehicle chassis, for accommodating the sweeper and forming a defined space for positioning the sweeper; and a locking mechanism, disposed within the receiving cavity, for locking and fixing the sweeper after it enters the receiving cavity.

[0027] In this embodiment of the invention, the present invention addresses the practical pain point of insufficient obstacle crossing ability of sweepers in the home environment by constructing an obstacle-crossing vehicle system that can provide structural support for sweepers. The vehicle chassis, as the bearing foundation in direct contact with the ground, provides a stable support surface for the whole; the drive unit is installed on the vehicle chassis to meet the system's movement needs, enabling the vehicle to advance on different terrains; the connection between the lifting mechanism and the vehicle chassis allows the device to rise or fall according to the height difference of obstacles, thereby creating the necessary space conditions for obstacle crossing; the receiving cavity provides a clear entry area and positioning benchmark for the sweeper, preventing the sweeper from shaking or deviating during obstacle crossing; the locking mechanism forms a fixed position after the sweeper enters the receiving cavity, keeping the sweeper and the vehicle as an integrated structure. Through the coordinated configuration of the above components, the embodiment of the present invention can supplement ordinary sweepers with stable and continuous obstacle crossing channels, significantly enhancing their terrain adaptability in real home environments.

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

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

[0030] In another embodiment, the configuration of the wheeled drive assembly is slightly different. The wheel size, tire rubber thickness, and the torque output curve of the wheel core directly affect the ability to grip obstacles. Generally, a slight outward flare angle is designed for the front wheel or both side wheels to make the landing point more stable. The wheel set is usually rigidly connected to the chassis, and the drive motor...The output shaft drives the wheel set to rotate synchronously through a reduction mechanism, thus forming a relatively smooth power link during continuous propulsion.

[0031] Regardless of the form chosen, the drive component is always attached to the underside of the chassis, establishing a continuous contact path along the chassis's motion posture. The continuity of the path is of great significance to the obstacle crossing process, because the change of the drive component at the contact point directly affects the attitude adjustment space. In other words, as long as the contact path remains stable, the vehicle's movement when crossing height differences is easier to predict and control.

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

[0033] In this embodiment of the invention, the specific configuration of the lifting mechanism determines the attitude stability and obstacle crossing continuity of the vehicle when crossing the height difference region. This embodiment uses multiple independent electric push rod assemblies as the core unit of the lifting drive assembly. Each electric push rod assembly is arranged at multiple support positions on the vehicle chassis, and can be distributed in a four-point or six-point pattern depending on the structural shape of the chassis. The rated stroke and thrust level of each electric push rod assembly have been determined during the design stage, and a safety margin for obstacle crossing redundancy has been reserved to avoid jamming or overload when passing through thresholds or uneven ground.

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

[0035] From the perspective of the action mode, the lifting behavior is similar to the attitude adjustment process of a multi-point support platform: when the electric push rod assembly extends, the height of the corresponding support point increases, and the chassis attitude rises accordingly; when the push rod assembly retracts, the support point sinks, and the chassis falls back to the fit state. Since the drive of each push rod is completely independent, the height adjustment can adapt to the geometry of different obstacles, and subdivided attitude control can be completed without additional mechanical coordination mechanisms. Overall, this distributed lifting method provides a larger attitude adjustment window for obstacle crossing actions, enabling the vehicle to have a smoother crossing ability when facing different height differences, and alsoTo ensure a more stable and flexible response from the chassis when the load changes.

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

[0037] In this embodiment of the invention, the connection method between the lifting mechanism and the receiving cavity usually determines the posture boundary when crossing obstacles, which is very intuitive in actual structures. The side wall of the receiving cavity provides a relatively stable force-bearing surface. In engineering, the upper end of the lifting mechanism is often fixed to the reinforced section of the side wall. This position is generally made into a closed frame with a slightly thicker wall to absorb the axial force of the push rod or other lifting components. The connection point often uses threaded columns or embedded reinforcing blocks to avoid loosening under repeated extension and retraction.

[0038] The receiving cavity itself undertakes the positioning function of the sweeper, so the rigidity of the side wall cannot be too weak. A common practice in design is to keep a certain height of the side wall in the longitudinal direction so that the lifting mechanism can directly drive the cavity to move as a whole when pulling up or falling. In this way, the posture change of the cavity is synchronized with the stroke of the lifting mechanism, and there will be no lag or slight turbulence in the cavity.

[0039] The need for posture adjustment comes from the geometric characteristics of the obstacle and the preset angle range of the chassis. The lifting mechanism only needs to extend and retract according to the height change, and the side wall connection section will produce a constant amplitude displacement accordingly. The response of each side wall point is relatively consistent, so that the cavity can maintain relative balance during the dynamic process. This consistency is important for the obstacle crossing process, because the posture of the cavity directly affects the stability of the sweeper in the cavity. Overall, this type of side wall connection structure makes posture adjustment more direct and also makes the obstacle crossing action have better continuity and controllability at the structural level.

[0040] In another possible implementation, the lifting mechanism adopts a ring swing arm structure instead of a push rod component. The swing arm is arranged along the outer edge of the cavity and is close to a semi-ring shape, used to drive the cavity to move up and down through rotational motion. The swing arm and the chassis are connected by an eccentric shaft, and the eccentricity is fixedly calibrated to ensure that the swing arm can produce a considerable lifting stroke when rotating at a small angle. Rotational drive is usually provided by a small geared motor, which is fixed on a reinforcing plate under the chassis. The torque is transmitted to the swing arm along the eccentric shaft.

[0041] The outer edge of the swing arm is often made into an arc segment. The arc profile can keep the side wall relatively stable when sweeping through different angles. In order to avoid lateral swaying of the cavity, a limiting guide rail is often added to the swing arm in the design, so that the swing arm slides along the trajectory during rotation. The guide rail is generally attached to the outer ring of the cavity. The structure is not complicated, but it can significantly improve the consistency of posture. The rotation angle of the swing arm does not need to be large. A dozen degrees is sufficient to deal with common threshold height differences.

[0042] The feature of this swing arm lifting is that the action is more continuous and the stroke curve is smoother, which is suitable for scenarios that require a faster pace. The swing arm structure reduces the point force common in linear push rods, so that the cavity presents a more continuous motion during lifting.A smoother movement trend helps maintain the stable posture of the sweeper within the cavity. Overall, this implementation provides a lifting strategy different from the push rod structure, and has a certain degree of creativity in structural form.

[0043] Preferably, the bottom of the receiving cavity is provided with a positioning structure for defining the entry position of the sweeper; the positioning structure includes either a guide protrusion or a limiting block, and forms the initial positioning reference of the sweeper based on the contact guidance effect when the sweeper enters the receiving cavity. Specification 5 / 11 pages 8 CN 121489346 A

[0044] In the embodiments of the present invention, the positioning structure is usually placed at the bottom of the receiving cavity, which makes it easier to grasp the posture change of the sweeper when it enters. A common practice is to set a low guide protrusion, which is somewhat similar in shape to two shallow slopes. The guide surface extends along the entrance of the receiving cavity, and the sweeper will slide towards the center line along the slope after the front edge of the sweeper contacts it. The height of the guide protrusion does not need to be too large, as long as it can generate a little lateral component when the wheel assembly contacts, the machine body can automatically approach the preset center.

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

[0046] The difference between these two positioning methods is mainly reflected in the stability and error tolerance of the entry stage. The guide protrusion is more gentle, and can bring the robot back to the center even when there are slight particles on the ground or the wheels are slightly off-center. The block is more direct and suitable for scenarios with compact space and the need to quickly determine the position. Regardless of which method is used, the bottom positioning structure will provide a clear initial reference, and the obstacle-crossing action will have a more reliable starting point.

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

[0048] In this embodiment of the invention, the locking mechanism is generally placed on the side wall of the receiving cavity, where it is easier to obtain a stable force point. A common practice is to use an electromagnetic telescopic pin, which is not complicated in structure. The coil is embedded in the side wall reinforcement block, maintaining a right angle with the bottom plate. After being powered on, the telescopic pin slides out along the guide hole, and the pin diameter is usually precisely matched with the joint hole at the bottom of the sweeper, so that it is neither too tight nor too loose to affect positioning. When the power is off, the return spring pulls the pin back into the side wall, the action is crisp and without lag.

[0049] The path of the mechanical latch is slightly different. The latch mostly uses a sheet structure, and the rotating shaft is installed in the groove of the side wall.When the preset position is reached, the contact piece will be pressed down a few millimeters, and the spring piece will then flip with the latch, and the latch will engage with the groove on the side edge of the sweeper. The release action is achieved by the outer reset rod, which pushes the latch back, allowing the sweeper to exit the receiving cavity.

[0050] The source of the trigger signal is relatively direct, mostly photoelectric or pressure-sensitive elements. After the signal arrives, the electromagnetic pin or latch will perform a specific extension action, forming an engagement relationship with the structural joint of the sweeper. This engagement point is crucial because all posture changes during obstacle crossing will transmit force here. A stable engagement means that the sweeper will not shake in the cavity, nor will it shift its position due to local off-center loading. Overall, this type of locking structure can provide a reliable fixed reference for subsequent lifting and lowering actions.

[0051] In another possible implementation, the locking mechanism uses a sealed airbag structure instead of relying on mechanical pins or latches. The airbag is usually arranged in the inner lining of the side wall of the receiving cavity, positioned along the contact area of ​​the sweeper's outer shell. The airbag is made of flexible rubber and coated with a wear-resistant coating to resist repeated compression. The airbag has an independent sealed cavity, which is connected to the inflation / deflation unit on the outer side wall via a thin-diameter air tube.

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

[0053] The unlocking action relies on deflation. After the deflation valve is opened, the airbag quickly retracts, the side wall gap is released again, and the sweeper can exit the receiving cavity. No rigid contact parts are involved in the entire process, so there is almost no problem of insertion / removal jamming or biased engagement. The airbag structure is more like a "flexible locking" mechanism, which has good adaptability to different models of sweeping machines. It also reduces the risk of concentrated local force during obstacle crossing.

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

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

[0056] The approach of the elastic limiting component is different. The common practice is to add a rubber gasket or a thin metal sheet to give the locking mechanism a flexible allowance during the extension process. The elastic material has a fast recovery speed, and the deviation caused by the stroke change will be absorbed by this elastic range. The limiting component is often pressed on the side of the locking mechanism housing, which can provide a contact fulcrum and keep the structure compact.

[0057] The existence of the adjustment structure makes the position compensation more direct, especially when the travel of the telescopic pin is inconsistent or there is a tolerance in the connecting hole of the sweeper. The locking action requires a stable endpoint, which cannot be constrained by the installation error. The slight degree of freedom provided by the adjustment structure solves this problem. During the obstacle crossing process, the force distribution on the locking point will also be more uniform. Overall, this type of adjustment mechanism is more like a buffer zone, making the landing point of the locking action more controllable and making the fixing relationship of the entire receiving cavity more stable.

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

[0059] In this embodiment of the invention, the sensing component is usually hidden in the inner wall of the receiving cavity, which makes it easier to capture the entry state of the sweeper. Photoelectric solutions are more commonly used, and the components are generally placed in alignment slots on both sides. The slots are not very deep, but they can block stray light from above. A narrow slit is left between the transmitting end and the receiving end. As long as the leading edge of the sweeper cuts into the light beam, the signal will change significantly. Such a structure does not have high requirements for position repeatability, and the debugging process is not troublesome.

[0060] The arrangement of the pressure sensor is slightly different. Commonly, a thin film pressure plate is attached to the lower part of the inner wall. When the sweeper moves forward, it will cause a slight deformation, and the trigger threshold is usually within a few Newtons. A buffer pad is added behind the pressure plate to make the force more even and avoid misjudgment caused by local hard collision. The pressure structure has better adaptability to the tolerance of the robot vacuum cleaner shell, and can be reliably triggered even with a slight curvature of the shell.

[0061] The signal output is generally directly connected to the control unit of the locking mechanism. This path is relatively direct and there is no complicated intermediate processing. The sensing component is only responsible for telling the device "the position has been reached", and the subsequent locking action will be based on this point. This trigger point is very critical because the locking mechanism needs to complete the positioning before the robot vacuum cleaner shakes. Overall, this type of sensing configuration provides a clear starting condition for obstacle crossing action, making the entire locking process cleaner and more controllable.

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

[0063] In this embodiment of the invention, the front detection unit is usually placed at the front edge of the chassis. This position is the first to contact the obstacle and can best reflect the height change. The structure is generally made into a narrow strip support plate, with a flexible material wrapped on the outside, which can form a contact surface and avoid generating unnecessary noise during impact. A displacement element is placed behind the support plate, commonly a micro stroke instruction manual 7 / 11 page 10 CN 121489346 A switch or Hall displacement plate. The stroke change is limited to a few millimeters and is used to determine the point of change in contact state.

[0064] The wiring of the detection unit is relatively compact. The signal line usually turns along the chassis to the middle and then connects to the control unit of the lifting mechanism. The advantage of this arrangement is that it reduces the number of bends and makes the signal path cleaner. The trigger point is generally set in the light touch area. As long as the front edge is slightly lifted or pressed, the displacement element will output a clear jump. The significance of the jump is not to determine the size of the obstacle, but to tell the lifting mechanism that there is a height difference in front and that preparation can begin.

[0065] After receiving the trigger input, the lifting mechanism will enter the lifting stage according to the preset rhythm. The action is not necessarily an immediate lift, but rather the chassis posture is confirmed first, and then the corresponding support points are adjusted. The whole process depends on the contact starting point provided by the detection unit, which determines the timing of the obstacle crossing action. Overall, this front-end detection design provides an intuitive path for the identification of height differences and also leaves sufficient buffer space for the subsequent lifting response.

[0066] In another possible implementation, the front-end detection unit adopts a segmented flexible beam structure instead of a traditional displacement trigger. The flexible beam is laid in three segments along the front edge of the chassis, with each segment having slightly different stiffness. The first segment is the softest, and the third segment is the hardest, forming a progressive contact response. The beam is made of composite elastic material, with a thin optical fiber sandwiched inside. After strain, it can leave a clear intensity change in the optical path. The advantage of fiber optic sensing is that it has a fast response, more continuous deformation distribution, and does not rely on metal contacts.

[0067] An additional limiting band is set below the beam to limit the maximum deflection angle of the beam and avoid excessive deflection. The signal end of the optical fiber is connected to the outside of the control module, and the refraction change will fluctuate in a stepwise manner with the increase or decrease of the pressing force. The optical signal frequency characteristics of the three beam segments are slightly different, and the device can determine the approximate location of the contact point based on this, without the need for a complex shape recognition algorithm.

[0068] In the obstacle crossing action initiation stage, the deformation of the flexible beam will occur before the chassis structure, so the trigger point is relatively earlier and smoother. The response combination of different beam segments can often give the basic outline of the obstacle's slope, rounded corners or right angles in the early stage, making the preparation range of the lifting action wider. The entire structure is lightweight, does not increase the extra thickness of the chassis, and does not rely on high-precision mechanical parts. Overall, this scheme forms a new path in the triggering mechanism and provides a more flexible detection approach for the utilization of continuous deformation.

[0069] In one specific implementation, Figure 2 shows a more intuitive obstacle-crossing process. In the scenario shown in Figure 2(a), the vehicle chassis approaches the threshold in a straight line, and the front end of the track just touches the position where the height changes. The contact point usually appears in the rounded corner section of the track, which can provide a slight upward push. The front detection unit captures a small lifting signal at this moment, and the contact path immediately confirms that the height difference has entered the trigger range. At this time, the chassis still maintains a horizontal posture and does not lift immediately, mainly to stabilize the contact pressure of the track.

[0070] Figure 2(b) describes the next stage of the action. The lifting mechanism begins to extend outward at a preset rhythm. The stroke of each support point is generally not completely synchronized, but is allocated with different amplitudes according to the chassis angle requirements. The frontmost support points usually extend faster, allowing the front edge of the chassis to gain height first. As the stroke increases, the chassis gradually lifts off the ground, and the ground clearance exceeds the threshold height in a short time. The middle section of the track begins to bear the main force, the contact point moves to a more rearward area, and the chassis posture forms a gentle tilt angle. Once the ground clearance reaches the safety threshold, the drive unit continues to advance, the track crosses the top of the threshold, and the rear edge of the chassis then flips over. The entire process utilizes front-end triggering and segmented lifting coordination, with a clear action path and no need for additional mechanical auxiliary structures.

[0071] Figure 3 is a flowchart of the steps of a control method for an obstacle-crossing vehicle system for a sweeper provided by an embodiment of the present invention. As shown in Figure 3, an embodiment of the present invention provides a control method for an obstacle-crossing vehicle system for a sweeper, the method including: Step S10: Obtain the operating information of each operating component in the obstacle-crossing vehicle system. Specification 8 / 11 pages 11 CN 121489346 A

[0072] Specifically, state information characterizing the respective operating states is collected from the vehicle chassis, lifting mechanism, drive unit, locking mechanism, and sweeper located in the receiving cavity, and the state information is aggregated to generate the operating information.

[0073] Specifically, the collection of operating information usually starts from the vehicle chassis. The chassis structure is in contact with the ground, so the state quantities are mainly concentrated on attitude, contact point pressure, and small angle changes. Attitude data can be obtained from tilt sensors, installed near the chassis's central axis, which have a fast response speed and are suitable for capturing slight ground undulations. Pressure information is obtained through thin-film pressure plates, which are attached to the bottom of the chassis to determine pressure changes in local contact areas. This set of basic data helps to depict the chassis's real-time support status.

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

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

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

[0077] The state of the sweeper within the accommodating cavity is captured by sensing components, including the positioning signal, position offset, and entry speed. All collected state information is finally aggregated into a structured dataset, providing a basic framework for subsequent actions.

[0078] Step S20: Generate obstacle-crossing control information based on the aforementioned operating information and obstacle detection information. The obstacle-crossing control information is used to limit lifting adjustment and displacement adjustment.

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

[0080] Specifically, the generation of obstacle crossing control information depends on the joint processing of operation information and obstacle detection information. Operation information provides the real-time status of the chassis, lifting mechanism, and drive unit, while obstacle detection information indicates the specific features of the terrain ahead. The combination of the two types of data helps to construct a more complete description of environmental features. The processing flow usually starts with time alignment, organizing the two types of data in the same window according to time nodes to avoid phase deviation during analysis.

[0081] The construction of environmental feature data requires filtering out signals that can truly reflect obstacle crossing requirements. For example, chassis lifting trend, drive torque fluctuation pattern, and trigger amplitude of the front detection unit. These signals have limited meaning when viewed individually, but when placed in a large combination, they can depict the outline of the obstacle. If the front-end detection unit continuously triggers the output, it may indicate a high step; if the torque suddenly rises and falls rapidly, it may indicate that the leading edge has just touched the height difference.

[0082] The determination of the lifting adjustment parameters will refer to the inference about the height difference in the environmental characteristic data. Some embodiments use a fixed step curve and select a preset lifting curve according to the approximate height of the obstacle. Other embodiments dynamically adjust through trend analysis, and the stroke is no longer fixed, but is continuously corrected according to real-time feedback. The generation of displacement adjustment parameters is more biased towards the configuration of driving capability, such as propulsion speed, propulsion angle and the force point of the wheel set or track.

[0083] The obstacle crossing control information is ultimately a set of parameters, including lifting timing, displacement rhythm, support point priority, etc. Its function is to clarify the boundary of the executed action and allow the lifting and displacement actions to be carried out along a more stable path.Instruction Manual Page 9 / 11 12 CN 121489346 A

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

[0085] Specifically, the obstacle crossing control information is parsed to obtain lifting control commands for characterizing lifting actions and displacement control commands for characterizing displacement actions; the lifting control commands are sent to the lifting mechanism to drive the lifting mechanism to perform lifting adjustment on the structure where the vehicle chassis and the cavity are located; the displacement control commands are sent to the drive unit to drive the drive unit to perform obstacle crossing displacement on the vehicle chassis.

[0086] Specifically, command parsing usually starts from the decomposition of basic fields. The obstacle crossing control information contains a variety of parameters, which need to be separated into two core items: lifting control commands and displacement control commands. The parsing process reads the lifting adjustment parameters item by item and establishes the stroke path of the push rod or swing arm. The path is essentially a discrete control sequence, which unfolds according to the response cycle of the lifting mechanism. The control sequence includes the starting position, stroke increment, and target height.

[0087] The parsing of displacement control commands is mainly done by the propulsion unit. Tracked drive structures will adjust the output difference between the left and right tracks according to the command, thereby changing the propulsion angle. If a wheeled drive is used, a similar effect is produced by adjusting the power distribution of the front and rear wheels or the left and right wheels. This type of displacement command emphasizes continuity because the obstacle crossing process requires smooth drive output and should not have large fluctuations.

[0088] The execution of the lifting mechanism depends on the parsed lifting control command. The push rod or swing arm performs a fixed increment of extension and retraction in each cycle until the predetermined height is reached. If the chassis attitude change is detected to exceed the threshold during the process, some embodiments will automatically reduce the command increment to avoid tilting.

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

[0090] The whole process emphasizes "parallel lifting and propulsion". The two commands need to be executed synchronously and there should be no obvious disconnection, otherwise jamming or forward tilting may occur. Through instruction parsing and continuous output, the entire obstacle-crossing action can unfold along a stable trajectory.

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

[0092] Specifically, the judgment after the obstacle-crossing action is completed comes from the positioning information. The positioning information includes the chassis attitude stability signal, the drive torque drop status, and the lifting mechanism stroke return status. Attitude stability often means that the chassis has crossed the obstacle and formed a new force balance on the new ground. Torque drop indicates that the drive unit no longer bears additional climbing load, and the propulsion environment has returned to flatness.

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

[0094] Releasing the lock allows the sweeper to regain a small degree of freedom of movement within the receiving cavity, which is crucial for subsequent exit actions. If the locking mechanism is released at the wrong time, it may cause the sweeper to shake within the receiving cavity, affecting the final positional deviation.

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

[0096] A fourth aspect of the present invention provides an electronic device, the electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program specification page 10 / 11 13 CN 121489346 A, implements the above-described control method for an obstacle-crossing vehicle system for a sweeping machine.

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

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

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

[0100] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the embodiments of the present invention, they should also be regarded as the content disclosed by the embodiments of the present invention. Instruction Manual 11 / 11 Page 14 CN 121489346 A Figure 1 Figure 2 Instruction Drawing 1 / 2 Page 15 CN 121489346 A Figure 3 Instruction Drawing 2 / 2 Page 16 CN 121489346 A OBSTACLE-CROSSING CARRIER SYSTEM FOR SWEEPING ROBOT AND CONTROL METHOD THEREOF Abstract Embodiments of the The invention provides an obstacle-crossing carrier system for a sweeping robot and a control method thereof, belonging to the technical field of intelligent mobile cleaning equipment. accommodate thesweeping robot and form a limited space for positioning the sweeping robot; and a locking mechanism disposed in the accommodation cavity and configured to perform locking and fixing on the sweeping robot after the sweeping robot enters the accommodation cavity. The solution of the present invention constructs a stable obstacle-crossing carrier for an ordinary sweeping robot, which can autonomously cross thresholds and height differences in a real home terrain, so that the cleaning process is no longer interrupted due to the terrain.

Claims

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Images