Cleaning robot

Abstract

The present application relates to a cleaning robot. The cleaning robot comprises a body, a driving wheel and a cleaning member, wherein the driving wheel and the cleaning member are both mounted on the body and rotationally connected to the body, and the rotation axis of the driving wheel is parallel to the rotation axis of the cleaning member. The cleaning robot has at least a reverse obstacle-surmounting mode and a forward obstacle-surmounting mode, wherein in the forward obstacle-surmounting mode, the front of the cleaning robot faces an obstacle, the driving wheel rotates forward, and the cleaning member rotates in a first direction that is the same as or opposite to the rotation direction of the driving wheel; and in the reverse obstacle-surmounting mode, the rear of the cleaning robot faces the obstacle, the driving wheel rotates in reverse, and the rotation direction of the cleaning member is the same as or opposite to the rotation direction of the cleaning member in the forward obstacle-surmounting mode. The obstacle-surmounting success rate of the cleaning robot can thus be ensured.

Description

Cleaning robot

[0001] Cross-reference to related applications

[0002] This application is based on the Chinese Patent Application No. 2024109936326 entitled "Cleaning robot" filed on July 23, 2024, which is incorporated by reference in its entirety into this application. TECHNICAL FIELD

[0003] The present application relates to the technical field of smart home devices, in particular to a cleaning robot. BACKGROUND

[0004] With the development of smart home technology, cleaning robots have emerged, which can realize automatic cleaning of indoor space by using cleaning robots.

[0005] At present, in the task process of the cleaning robot, entering a recessed area or crossing a threshold is a common scene, i.e., an obstacle crossing scene, for example, the cleaning robot crossing from the living room to the balcony is a common obstacle crossing scene.

[0006] However, based on the driving mode, self-weight and design structure of the cleaning robot and other factors, the cleaning robot usually has a certain upper limit of obstacle crossing ability. If the obstacle crossing ability required by the obstacle crossing scene exceeds or approaches the upper limit of the obstacle crossing ability of the cleaning robot, the cleaning robot is likely to be trapped due to obstacle crossing failure, resulting in a low obstacle crossing success rate of the cleaning robot. SUMMARY

[0007] Therefore, it is necessary to provide a cleaning robot which can improve the obstacle crossing success rate.

[0008] In a first aspect, the present application provides a cleaning robot, which comprises a machine body, a driving wheel and a cleaning element, the driving wheel and the cleaning element are both installed on the machine body and are rotationally connected with the machine body, the rotation axis of the driving wheel is parallel to the rotation axis of the cleaning element, and the cleaning robot has at least a reverse obstacle crossing mode and an advancing obstacle crossing mode, wherein,

[0009] In the advancing obstacle crossing mode, the head of the cleaning robot faces the obstacle, the driving wheel rotates forward, and the cleaning element rotates in a first direction, which is the same as or opposite to the rotation direction of the driving wheel;

[0010] In the reverse obstacle crossing mode, the tail of the cleaning robot faces the obstacle, the driving wheel rotates reversely, and the rotation direction of the cleaning element is the same as or opposite to that in the advancing obstacle crossing mode.

[0011] In an embodiment, the cleaning element comprises a rolling brush, which is used for dry cleaning of the working surface.

[0012] In the forward obstacle-crossing mode, the roller brush rotates forward;

[0013] In the backward obstacle-crossing mode, the roller brush rotates forward or reversely;

[0014] Alternatively,

[0015] In the forward obstacle-crossing mode, the roller brush reversely rotates;

[0016] In the backward obstacle-crossing mode, the roller brush reversely rotates.

[0017] In an embodiment, the cleaning member comprises a roller, and the roller is used for wet cleaning of the working surface;

[0018] In the forward obstacle-crossing mode, the roller rotates forward or reversely;

[0019] In the backward obstacle-crossing mode, the roller reversely rotates.

[0020] In an embodiment, the forward obstacle-crossing mode comprises a normal obstacle-crossing mode and a powerful obstacle-crossing mode, the cleaning member comprises a roller brush or a roller, the roller brush is used for dry cleaning of the working surface, and the roller is used for wet cleaning of the working surface;

[0021] In the normal obstacle-crossing mode, the cleaning member reversely rotates;

[0022] In the powerful obstacle-crossing mode, the cleaning member rotates forward;

[0023] Alternatively, the cleaning member comprises a roller brush and a roller, and the roller brush and the roller rotate forward in the powerful obstacle-crossing mode more than in the normal obstacle-crossing mode.

[0024] In an embodiment, the cleaning robot further comprises a processor, which is connected with the driving wheel and the cleaning member respectively;

[0025] The processor is configured to output a control instruction to the driving wheel and the cleaning member according to a target obstacle-crossing mode; the target obstacle-crossing mode comprises a backward obstacle-crossing mode or a forward obstacle-crossing mode, the forward obstacle-crossing mode comprises a normal obstacle-crossing mode and a powerful obstacle-crossing mode, and the driving wheel and the cleaning member rotate forward in the powerful obstacle-crossing mode more than in the normal obstacle-crossing mode;

[0026] The driving wheel and the cleaning member are configured to perform a rotating operation according to the control instruction.

[0027] In an embodiment, the processor is further configured to select the target obstacle-crossing mode from preconfigured obstacle-crossing modes according to attribute information of the obstacle; the preconfigured obstacle-crossing modes comprise the backward obstacle-crossing mode, the normal obstacle-crossing mode and the powerful obstacle-crossing mode.

[0028] In an embodiment, the processor is further configured to, in a case where the attribute information satisfies information conditions corresponding to the normal obstacle-crossing mode, take the normal obstacle-crossing mode in the preconfigured obstacle-crossing modes as the target obstacle-crossing mode.

[0029] In a case where the attribute information does not satisfy the information conditions corresponding to the normal obstacle-crossing mode, based on the attribute information and scene complexity of the obstacle-crossing scene in which the cleaning robot is located, take the reverse obstacle-crossing mode or the powerful obstacle-crossing mode as the target obstacle-crossing mode.

[0030] In an embodiment, the processor is further configured to, in a case where the scene complexity satisfies a preset condition, if the attribute information satisfies information conditions corresponding to the reverse obstacle-crossing mode, take the reverse obstacle-crossing mode as the target obstacle-crossing mode.

[0031] If the attribute information does not satisfy the information conditions corresponding to the reverse obstacle-crossing mode, take the powerful obstacle-crossing mode as the target obstacle-crossing mode.

[0032] In an embodiment, the processor is further configured to, in a case where the scene complexity does not satisfy the preset condition, send a mode selection request to the terminal device; and based on response information of a user to the mode selection request, take the reverse obstacle-crossing mode or the powerful obstacle-crossing mode as the target obstacle-crossing mode.

[0033] In an embodiment, the processor is further configured to, in a process in which the cleaning robot crosses the obstacle according to the normal obstacle-crossing mode, acquire a number of consecutive failures of the cleaning robot in obstacle-crossing; if the number of consecutive failures is greater than a first failure number threshold, take the reverse obstacle-crossing mode or the powerful obstacle-crossing mode as a new target obstacle-crossing mode; and control the cleaning robot to cross the obstacle in the new target obstacle-crossing mode.

[0034] In an embodiment, the processor is further configured to acquire a number of consecutive failures of the cleaning robot in obstacle-crossing according to the obstacle-crossing mode with the strongest obstacle-crossing capability; and if the number of consecutive failures is greater than a second failure number threshold, control the cleaning robot to enter a standby state and send an obstacle-crossing failure message.

[0035] In an embodiment, the processor is further configured to calculate an obstacle-crossing failure probability in the preconfigured obstacle-crossing modes according to the number of consecutive failures of the cleaning robot in obstacle-crossing; and update information conditions corresponding to the preconfigured obstacle-crossing modes according to the obstacle-crossing failure probability; the information conditions corresponding to the preconfigured obstacle-crossing modes are used to represent obstacle-crossing capabilities of the cleaning robot in different obstacle-crossing modes.

[0036] In an embodiment, the processor is further configured to, in a case where the cleaning robot fails to cross the obstacle according to the obstacle-crossing mode with the strongest obstacle-crossing capability, send an obstacle-crossing request and receive request response information fed back based on the obstacle-crossing request; and according to the request response information, control the cleaning robot to cross the obstacle according to the obstacle-crossing mode with the strongest obstacle-crossing capability, or control the cleaning robot to enter a standby state.

[0037] In a second aspect, the present application provides a computer readable storage medium, having stored thereon a computer program, which when executed by a processor implements the method for the cleaning robot to overcome the obstacle.

[0038] In a fifth aspect, the present application provides a computer program product, comprising a computer program which when executed by a processor implements the method for the cleaning robot to overcome the obstacle.

[0039] The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the application will be apparent from the description and drawings, and from the claims. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and should not be understood as any limitation to the present application. Those skilled in the art can also obtain other embodiments and drawings corresponding to other embodiments according to these drawings.

[0041] Fig. 1 is a structural side view of a cleaning robot in an embodiment;

[0042] Fig. 2 is a structural bottom view of a cleaning robot in an embodiment;

[0043] Fig. 3 is a structural bottom view of a cleaning robot in an embodiment;

[0044] Fig. 4 is a structural bottom view of a cleaning robot in an embodiment;

[0045] Fig. 5 is an internal structure diagram of a processor in a cleaning robot in an embodiment.

[0046] Legend of reference signs: 10: cleaning robot; 11: body; 12: driving wheel; 13: cleaning element; 131: roller brush; 132: roller; 14: processor; 20: obstacle. DETAILED DESCRIPTION

[0047] In order to make the purposes, technical solutions and advantages of the present application more clear, the present application will be further described in detail in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and should not be used to limit the present application.

[0048] Generally, the main task of a cleaning robot is to clean the ground. Therefore, the cleaning robot has a normal cleaning mode when it is shipped, in which the cleaning robot can perform cleaning work on the ground. At this time, the driving wheel of the cleaning robot rotates forward, and the cleaning element can rotate forward or backward according to the actual design of different cleaning robots.

[0049] During the execution of the cleaning task by the cleaning robot, it is a common scenario to encounter a recessed area or cross a threshold, i.e., an obstacle-crossing scenario, for example, a cleaning robot in a home environment crossing from a living room to a balcony is a common obstacle-crossing scenario.

[0050] For a relatively simple obstacle-crossing scenario, the cleaning robot can cross the obstacle in the obstacle-crossing scenario in the normal cleaning mode. However, based on the driving mode, self-weight, and design structure of the cleaning robot, the cleaning robot usually has an upper limit of obstacle-crossing ability. If the obstacle-crossing ability required by the obstacle-crossing scenario exceeds or approaches the upper limit of the obstacle-crossing ability of the cleaning robot, on the one hand, the cleaning robot is likely to be trapped due to failure to cross the obstacle, and the success rate of the cleaning robot to cross the obstacle is not high, and on the other hand, the cleaning robot is likely to attempt to cross the obstacle several times to successfully cross the obstacle, and the efficiency of the cleaning robot to cross the obstacle is not high.

[0051] To solve the above problems, the present application provides a cleaning robot, which has the ability to cross a plurality of obstacles of different difficulties by switching the orientation of the cleaning robot and the obstacle, adjusting the rotation direction of the driving wheel and the cleaning element in the original normal cleaning mode, so as to improve the success rate of obstacle crossing. Of course, the technical solutions provided in the embodiments of the present application are not limited to solving only the above problems, but also have other technical effects. For details, please refer to the following embodiment description. Next, the technical solutions of the present application will be described in detail.

[0052] In an exemplary embodiment, as shown in FIG. 1, a cleaning robot 10 is provided, which includes a body 11, a driving wheel 12, and a cleaning element 13. The driving wheel 12 and the cleaning element 13 are both mounted on the body 11 and are rotationally connected with the body 11. The rotation axis of the driving wheel 12 is parallel to the rotation axis of the cleaning element 13. The cleaning robot 10 has at least a reverse obstacle-crossing mode and an advancing obstacle-crossing mode, wherein,

[0053] In the advancing obstacle-crossing mode, the head of the cleaning robot 10 is oriented towards the obstacle 20, the driving wheel 12 rotates forward, and the cleaning element 13 rotates in a first direction, which is the same as or opposite to the rotation direction of the driving wheel 12;

[0054] In the reverse obstacle-crossing mode, the tail of the cleaning robot 10 faces the obstacle 20, the driving wheel 12 reverses, and the steering of the cleaning element 13 is the same as or opposite to that in the forward obstacle-crossing mode.

[0055] The application scenarios of the cleaning robot 10 are very wide, including home environment, office, commercial place and many other fields. For any scenario, the cleaning robot 10 needs to have the functions of cleaning and / or mopping.

[0056] For the cleaning robot 10 with the cleaning function, the cleaning element 13 in the cleaning robot 10 refers to a roller brush 131, which is used for dry cleaning of the working surface. Dry cleaning refers to cleaning the garbage on the ground, which does not wet the ground. During the movement of the cleaning robot 10 driven by the driving wheel 12, the roller brush 131 cleans the ground. For the cleaning robot 10 with only the mopping function, the cleaning element 13 in the cleaning robot 10 refers to a roller 132, which is used for wet cleaning of the working surface. Wet cleaning refers to cleaning the ground by using the wet roller 132. During the movement of the cleaning robot 10 driven by the driving wheel 12, the roller 132 mops the ground. For the cleaning robot 10 with the functions of cleaning and mopping integrated, the cleaning element 13 in the cleaning robot 10 includes the roller brush 131 and the roller 132. During the movement of the cleaning robot 10 driven by the driving wheel 12, the roller brush 131 arranged in the front cleans the ground, and then the roller 132 arranged in the rear mops the ground. It should be noted that for the cleaning robot 10 with the functions of cleaning and mopping integrated, the roller 132 for mopping can also be other types of mop, such as a mop with the rotation axis perpendicular to the ground or a flat mop.

[0057] The cleaning robot 10 can include obstacle-crossing modes with multiple obstacle-crossing capabilities to ensure that the cleaning robot 10 can cross obstacles 20 of different difficulties. The obstacle-crossing modes with multiple obstacle-crossing capabilities are mainly determined by the orientation of the cleaning robot 10 relative to the obstacle 20, the rotation direction of the driving wheel 12 and the cleaning element 13.

[0058] Taking the head of the cleaning robot 10 facing the obstacle 20 as an example, the driving wheel 12 of the cleaning robot 10 rotates forward, and the head of the cleaning robot 10 moves in the direction of the obstacle 20 when crossing the obstacle 20. In this case, the rotation direction of the cleaning element 13 determines the forward driving force of the cleaning robot 10.

[0059] If the cleaning member 13 comprises one of the rolling brush 131 or the rolling cylinder 132, and in the normal cleaning mode, the cleaning member 13 of the cleaning robot 10 rotates forward, when the cleaning robot 10 is crossing the obstacle 20, the cleaning member 13 continues to rotate forward. If in the normal cleaning mode, the cleaning member 13 of the cleaning robot 10 rotates reversely, when the cleaning robot 10 is crossing the obstacle 20, facing the obstacle 20 with smaller crossing difficulty, the cleaning member 13 can maintain the reverse rotation. While facing the obstacle 20 with larger crossing difficulty, the cleaning member 13 can switch to forward rotation, to provide more forward driving force for the cleaning robot 10.

[0060] If the cleaning member 13 of the cleaning robot 10 comprises the rolling brush 131 and the rolling cylinder 132, and in the normal cleaning mode, the rolling brush 131 and the rolling cylinder 132 both rotate forward, when the cleaning robot 10 is crossing the obstacle 20, the rolling brush 131 and the rolling cylinder 132 both maintain forward rotation, to make the driving force of the cleaning robot 10 the strongest, so that the cleaning robot 10 can cross the obstacle 20 with larger crossing difficulty. If in the normal cleaning mode, one of the rolling brush 131 and the rolling cylinder 132 rotates forward, and the other rotates reversely, when the cleaning robot 10 is crossing the obstacle 20, facing the obstacle 20 with smaller crossing difficulty, the rolling brush 131 and the rolling cylinder 132 can maintain the rotation direction in the normal cleaning mode, while facing the obstacle 20 with larger crossing difficulty, the rolling brush 131 and the rolling cylinder 132 both can rotate forward. If in the normal cleaning mode, the rolling brush 131 and the rolling cylinder 132 both rotate reversely, when the cleaning robot 10 is crossing the obstacle 20, facing the obstacle 20 with smaller crossing difficulty, the rolling brush 131 and the rolling cylinder 132 can maintain the rotation direction in the normal cleaning mode, i.e. both keep reverse rotation, or change the rotation direction of one of them, i.e. one of the rolling brush 131 and the rolling cylinder 132 maintains reverse rotation, and the other switches to forward rotation. While facing the obstacle 20 with larger crossing difficulty, the rolling brush 131 and the rolling cylinder 132 both can switch to forward rotation.

[0061] In general, in the forward crossing mode, the cleaning robot 10 can select a suitable crossing mode according to the actual design of the cleaning member 13 and the actual situation of the obstacle 20 to be crossed, such as the type, height and width of the obstacle 20, such as the normal crossing mode and the strong crossing mode. In the normal crossing mode, the rotation direction of the cleaning member 13 is the same as that in the normal cleaning mode, and in the strong crossing mode, the number of forward rotations of the cleaning member 13 and the driving wheel 12 is greater than that in the normal cleaning mode, so that the forward driving force of the cleaning robot 10 in the strong crossing mode is stronger than that in the normal crossing mode, and the cleaning robot 10 can cross the obstacle 20 with higher crossing difficulty.

[0062] Taking the case that the tail of the cleaning robot 10 faces the obstacle 20 as an example, the driving wheel 12 of the cleaning robot 10 rotates reversely, and the tail of the cleaning robot 10 moves towards the obstacle 20 when crossing the obstacle 20. In this case, the rotation direction of the cleaning member 13 determines the crossing driving force of the cleaning robot 10.

[0063] If the cleaning member 13 includes one of the roller brush 131 or the roller 132, and the cleaning member 13 of the cleaning robot 10 is reversed in the normal cleaning mode, the cleaning member 13 can continue to be reversed when the cleaning robot 10 is crossing obstacles. If the cleaning member 13 of the cleaning robot 10 is forward in the normal cleaning mode, the cleaning member 13 can maintain forward when the cleaning robot 10 is crossing obstacles facing obstacles 20 with smaller crossing difficulty. While facing obstacles 20 with larger crossing difficulty, the cleaning member 13 can be switched to reverse to provide more driving force for the cleaning robot 10.

[0064] If the cleaning member 13 of the cleaning robot 10 includes the roller brush 131 and the roller 132, and the roller brush 131 and the roller 132 are both reversed in the normal cleaning mode, the roller brush 131 and the roller 132 both maintain reverse when the cleaning robot 10 is crossing obstacles, so that the driving force of the cleaning robot 10 is the strongest, and the cleaning robot 10 can cross obstacles 20 with larger crossing difficulty. If one of the roller brush 131 and the roller 132 is forward and the other is reversed in the normal cleaning mode, the roller brush 131 and the roller 132 can maintain the direction of rotation in the normal cleaning mode when the cleaning robot 10 is crossing obstacles facing obstacles 20 with smaller crossing difficulty, and both the roller brush 131 and the roller 132 can be reversed when facing obstacles 20 with larger crossing difficulty. If the roller brush 131 and the roller 132 are both forward in the normal cleaning mode, the roller brush 131 and the roller 132 can maintain the direction of rotation in the normal cleaning mode when the cleaning robot 10 is crossing obstacles facing obstacles 20 with smaller crossing difficulty, that is, both remain forward, or one of the roller brush 131 and the roller 132 can change the direction of rotation, that is, one of the roller brush 131 and the roller 132 maintains forward and the other is switched to reverse. While facing obstacles 20 with larger crossing difficulty, the roller brush 131 and the roller 132 can both be switched to reverse.

[0065] In general, the cleaning robot 10 can select the reverse obstacle crossing mode or the forward obstacle crossing mode according to the actual design of the cleaning element 13 and the actual situation of the obstacle 20 to be crossed, such as the type, height, width, etc. of the obstacle 20. For example, in an embodiment, the cleaning robot 10 includes a rolling brush 131 and a rolling cylinder 132, and in the normal cleaning mode, the rolling brush 131 rotates forward and the rolling cylinder 132 rotates reversely. Changing the rotation direction of the rolling brush 131 and the rolling cylinder 132 can cause the cleaning robot 10 to spit out garbage and dirt, and the cleaning robot 10 is prone to tilting forward in the forward obstacle crossing mode due to the rear center of gravity, both of which can reduce the success rate of the cleaning robot 10 in crossing the obstacle in the forward obstacle crossing mode. Therefore, the cleaning robot 10 of this embodiment will preferentially adopt the reverse obstacle crossing mode, i.e. the cleaning robot 10 turns 180° so that the tail is directed towards the obstacle 20, and the driving wheel 12 is controlled to rotate reversely, while the rolling brush 131 is maintained to rotate forward and the rolling cylinder 132 is maintained to rotate reversely, thereby improving the success rate of crossing the obstacle. Of course, in other embodiments, the cleaning robot 10 can be designed with structures to prevent spitting out garbage and dirt, so that the cleaning robot 10 has more options when crossing obstacles.

[0066] It is worth mentioning that all the above-mentioned forward rotation and reverse rotation are based on the rotation direction of the driving wheel 12 when the cleaning robot 10 moves forward. When the cleaning robot 10 moves forward, the driving wheel 12 rotates forward, and the same rotation direction as the driving wheel 12 when moving forward is forward rotation, and the opposite rotation direction is reverse rotation.

[0067] The above-mentioned cleaning robot 10 includes a body 11, a driving wheel 12 and a cleaning element 13, the driving wheel 12 and the cleaning element 13 are both mounted on the body 11 and are rotationally connected with the body 11, the rotation axis of the driving wheel 12 is parallel to the rotation axis of the cleaning element 13, and the cleaning robot 10 has at least a reverse obstacle crossing mode and a forward obstacle crossing mode. In the forward obstacle crossing mode, the head of the cleaning robot 10 is directed towards the obstacle 20, the driving wheel 12 rotates forward, and the cleaning element 13 rotates in a first direction, which is the same as or opposite to the rotation direction of the driving wheel 12. In the reverse obstacle crossing mode, the tail of the cleaning robot 10 is directed towards the obstacle 20, and the driving wheel 12 rotates reversely, and the rotation direction of the cleaning element 13 is the same as or opposite to the rotation direction of the cleaning element 13 in the forward obstacle crossing mode. By switching the orientation of the cleaning robot 10 and the obstacle 20, the forward obstacle crossing mode and the reverse obstacle crossing mode can be divided. And in the forward obstacle crossing mode and the reverse obstacle crossing mode, by setting the rotation direction of the driving wheel 12 and the cleaning element 13, the cleaning robot 10 can cross the obstacle 20 with different driving forces and speeds. That is, the cleaning robot 10 can cross obstacles 20 of different difficulties in multiple different obstacle crossing modes, which further improves the obstacle crossing ability of the cleaning robot 10 and ensures the success rate of the cleaning robot 10 in crossing obstacles.

[0068] Next, the case where the cleaning member 13 is a roller brush 131, a roller 132, or a combination of the roller brush 131 and the roller 132 is introduced respectively.

[0069] In one embodiment, as shown in FIG. 2, the case where the cleaning member 13 is the roller brush 131 is introduced in detail.

[0070] In the forward obstacle-crossing mode, the roller brush 131 rotates forward.

[0071] In the backward obstacle-crossing mode, the roller brush 131 rotates forward or reversely.

[0072] Alternatively,

[0073] In the forward obstacle-crossing mode, the roller brush 131 reversely rotates.

[0074] In the backward obstacle-crossing mode, the roller brush 131 reversely rotates.

[0075] During the operation of the cleaning robot 10, since the cleaning robot 10 is configured to roll garbage into the cavity for loading garbage by rotating the roller brush 131 forward, the garbage in the cavity is likely to be rolled out (ejected) when the roller brush 131 reversely rotates. Therefore, the cleaning robot 10 is usually equipped with a structure for preventing the garbage from being ejected when the roller brush 131 reversely rotates.

[0076] For the forward obstacle-crossing mode, the driving wheel 12 rotates forward, and the roller brush 131 can rotate forward or reversely. When the roller brush 131 rotates forward, the driving force of the cleaning robot 10 includes the driving force generated by the rotation of the driving wheel 12 and the roller brush 131. In this case, the driving force of the cleaning robot 10 is strong, and the cleaning robot 10 can cross obstacles with a large difficulty. When the roller brush 131 reversely rotates, the driving force of the cleaning robot 10 includes the difference between the driving force of the driving wheel 12 and the driving force of the roller brush 131. In this case, the driving force of the cleaning robot 10 is weak, and the cleaning robot 10 can cross obstacles with a small difficulty.

[0077] Further, in the normal obstacle-crossing mode, the roller brush 131 reversely rotates, and in the strong obstacle-crossing mode, the roller brush 131 rotates forward.

[0078] For the backward obstacle-crossing mode, the driving wheel 12 reversely rotates, and the roller brush 131 can rotate forward or reversely. When the roller brush 131 rotates forward, the driving force of the cleaning robot 10 includes the difference between the driving force of the driving wheel 12 and the driving force of the roller brush 131. In this case, the driving force of the cleaning robot 10 is weak, and the cleaning robot 10 can cross obstacles with a small difficulty. When the roller brush 131 reversely rotates, the driving force of the cleaning robot 10 includes the driving force generated by the rotation of the driving wheel 12 and the roller brush 131. In this case, the driving force of the cleaning robot 10 is strong, and the cleaning robot 10 can cross obstacles with a large difficulty.

[0079] Next, the case where the cleaning member 13 is the roller 132 is described in detail. In one embodiment, as shown in FIG. 3,

[0080] In the forward obstacle-crossing mode, the roller 132 rotates in the forward direction or the reverse direction.

[0081] In the backward obstacle-crossing mode, the roller 132 rotates in the reverse direction.

[0082] For the forward obstacle-crossing mode, the driving wheel 12 rotates in the forward direction, and the roller 132 rotates in the forward direction or the reverse direction. When the roller 132 rotates in the forward direction, the driving force of the cleaning robot 10 includes the driving force generated by the rotation of the driving wheel 12 and the roller 132. In this case, the driving force of the cleaning robot 10 is strong, and the cleaning robot 10 can cross obstacles with a large difficulty. When the roller 132 rotates in the reverse direction, the driving force of the cleaning robot 10 includes the difference between the driving force of the driving wheel 12 and the driving force of the roller 132. In this case, the driving force of the cleaning robot 10 is weak, and the cleaning robot 10 can cross obstacles with a small difficulty.

[0083] Further, in the normal obstacle-crossing mode, the roller 132 rotates in the reverse direction, and in the strong obstacle-crossing mode, the roller 132 rotates in the forward direction.

[0084] For the backward obstacle-crossing mode, the driving wheel 12 rotates in the reverse direction, and the roller 132 rotates in the reverse direction. The driving force of the cleaning robot 10 includes the driving force generated by the rotation of the driving wheel 12 and the roller 132. In this case, the driving force of the cleaning robot 10 is strong, and the cleaning robot 10 can cross obstacles with a large difficulty.

[0085] Finally, the case where the cleaning member 13 includes the roller brush 131 and the roller 132 is described in detail. In one embodiment, as shown in FIG. 4, the cleaning member 13 includes the roller brush 131 and the roller 132, and the number of times that the roller brush 131 and the roller 132 rotate in the forward direction in the strong obstacle-crossing mode is greater than the number of times that the roller brush 131 and the roller 132 rotate in the forward direction in the normal obstacle-crossing mode.

[0086] In the case where the cleaning member 13 includes the roller brush 131 and the roller 132, the number of rotating components is three. If the number of times that the rotating components rotate in the forward direction in the strong obstacle-crossing mode is three, then the number of times that the rotating components rotate in the forward direction in the normal obstacle-crossing mode can be two or one. For example, in the strong obstacle-crossing mode, the driving wheel 12, the roller brush 131, and the roller 132 all rotate in the forward direction. In the normal obstacle-crossing mode, the driving wheel 12 and one of the roller brush 131 and the roller 132 can rotate in the forward direction, or the driving wheel 12 can rotate in the forward direction, and the roller brush 131 and the roller 132 can rotate in the reverse direction.

[0087] If the number of forward rotations of the driving wheel 12, the cleaning member 13 and the roller 132 in the powerful obstacle-crossing mode is at least two, the number of forward rotations of the driving wheel 12, the cleaning member 13 and the roller 132 in the normal obstacle-crossing mode can be one. For example, in the powerful obstacle-crossing mode, the driving wheel 12, the cleaning member 13 and the roller 132 all rotate forward, or the driving wheel 12 and one of the cleaning member 13 and the roller 132 rotate forward; in the normal obstacle-crossing mode, the driving wheel 12 rotates forward, and the cleaning member 13 and the roller 132 both rotate reversely.

[0088] It can be understood that the obstacle-crossing ability of the cleaning robot 10 in the powerful obstacle-crossing mode is greater than that in the normal obstacle-crossing mode, and the obstacle-crossing ability in the backward obstacle-crossing mode is different according to the rotation directions of the driving wheel 12 and the cleaning member 13 in each mode. In some embodiments, the obstacle-crossing ability of the cleaning robot 10 in the backward obstacle-crossing mode is between that in the normal obstacle-crossing mode and that in the powerful obstacle-crossing mode.

[0089] In an exemplary embodiment, the cleaning robot 10 further comprises a processor 14 connected with the driving wheel 12 and the cleaning member 13 respectively.

[0090] The processor 14 is configured to output control instructions to the driving wheel 12 and the cleaning member 13 according to a target obstacle-crossing mode; the target obstacle-crossing mode comprises the backward obstacle-crossing mode or the forward obstacle-crossing mode, the forward obstacle-crossing mode comprises the normal obstacle-crossing mode and the powerful obstacle-crossing mode, and the number of forward rotations of the driving wheel 12 and the cleaning member 13 in the powerful obstacle-crossing mode is greater than that in the normal obstacle-crossing mode.

[0091] The driving wheel 12 and the cleaning member 13 are configured to perform rotation operations according to the control instructions.

[0092] In the embodiments of the present application, when the cleaning robot 10 needs to cross the obstacle 20, the processor 14 in the cleaning robot 10 can determine the difficulty of the cleaning robot 10 crossing the obstacle 20 according to the attribute information of the obstacle 20. Then, based on the difficulty of the cleaning robot 10 crossing the obstacle 20, the obstacle-crossing mode corresponding to the difficulty is selected as the target obstacle-crossing mode. For example, the powerful obstacle-crossing mode can cross the obstacle 20 with the greatest difficulty, the backward obstacle-crossing mode can cross the obstacle 20 with moderate difficulty, and the normal obstacle-crossing mode can cross the obstacle 20 with the least difficulty. The attribute information can be one or more of height information, width information, shape information and number of thresholds information of the obstacle 20.

[0093] As an example, the obstacle 20 can be a convex region (a threshold) or a concave region in the working space of the cleaning robot 10; if the obstacle 20 is a convex region, the height information of the obstacle 20 can be the convex height, the width information of the obstacle 20 can be the width of the convex position, the shape information of the obstacle 20 can be the convex shape of the convex position (for example, can be circular or square), and the threshold number information of the obstacle 20 can be the number of convex positions of the convex region (for example, assuming that the obstacle 20 is the threshold of a sliding door, the threshold number information can be the number of convex paths of the sliding door sliding movement); if the obstacle 20 is a concave region, the height information of the obstacle 20 can be the concave depth, the width information of the obstacle 20 can be the concave width of the concave position, the shape information of the obstacle 20 can be the concave shape of the concave position (for example, can be circular or square), and the threshold number information of the obstacle 20 can be the number of concave positions of the concave region.

[0094] Optionally, when the cleaning robot 10 needs to cross the obstacle 20, the processor 14 of the cleaning robot 10 can select the obstacle-crossing mode corresponding to the lowest difficulty as the target obstacle-crossing mode, regardless of the difficulty of the obstacle 20. In the case of failure to cross, the obstacle-crossing mode corresponding to the moderate difficulty is switched from the obstacle-crossing mode corresponding to the lowest difficulty, and the obstacle-crossing mode corresponding to the moderate difficulty is continuously selected as the target obstacle-crossing mode. If the crossing still fails on this basis, the obstacle-crossing mode corresponding to a greater difficulty is continuously switched until the cleaning robot 10 completes the crossing of the obstacle 20. If the cleaning robot 10 still fails to cross the obstacle 20 in the obstacle-crossing mode corresponding to the highest difficulty, it means that the obstacle 20 has exceeded the crossing range of the cleaning robot 10, at which time the cleaning robot 10 can be controlled to stop crossing.

[0095] After the processor 14 determines the target obstacle-crossing mode, the processor 14 can generate a control instruction based on the target obstacle-crossing mode and send the control instruction to the driving wheel 12 and the cleaning element 13. The driving wheel 12 and the cleaning element 13 perform corresponding rotation operations based on the control instruction. For example, if the target obstacle-crossing mode is the forward obstacle-crossing mode, the driving wheel 12 and the cleaning element 13 both perform forward rotation operations, so that the head of the cleaning robot 10 is directed toward the obstacle 20, and the cleaning robot 10 can cross the obstacle 20 with a large crossing difficulty.

[0096] Next, the specific content of selecting the target obstacle-crossing mode according to the attribute information will be introduced through an embodiment, which includes:

[0097] The processor 14 is further configured to select the target obstacle-crossing mode from the preconfigured obstacle-crossing modes according to the attribute information of the obstacle 20; the preconfigured obstacle-crossing modes include the backward obstacle-crossing mode, the normal obstacle-crossing mode, and the powerful obstacle-crossing mode.

[0098] In one case, the cleaning robot 10 is provided with a detection sensor on the body of the cleaning robot 10, and the cleaning robot 10 can perceive the surrounding environment by using the detection sensor. The processor 14 can perform target detection on the information collected by the detection sensor, such as images, to determine whether there is an obstacle 20 in front of the cleaning robot 10. If it is determined that there is an obstacle 20, the collected information is further analyzed to determine the height information, width information, shape information, and number of thresholds information of the obstacle 20, and the information is taken as the attribute information of the obstacle 20.

[0099] In another case, the processor 14 of the cleaning robot 10 can be connected with a detection sensor, such as an indoor monitoring camera, arranged in the cleaning environment, and the processor 14 determines the attribute information of the obstacle 20 by analyzing the images collected by the detection sensor arranged in the cleaning environment.

[0100] It should be noted that, whether it is the detection sensor arranged on the body of the cleaning robot 10 or the detection sensor arranged in the cleaning environment, the detection sensor can be a radar, a camera, etc. The images collected by the detection sensor can be the images captured by a monocular camera, or the images captured by a binocular camera, or three-dimensional point cloud data measured by a radar, etc. The processor 14 can detect whether there is a target obstacle 20 to be crossed on the moving path of the cleaning robot 10 according to the detection data; if it is detected that there is a target obstacle 20 to be crossed by the cleaning robot 10, the attribute information of the target obstacle 20 is identified according to the detection data of the detection sensor.

[0101] As an example, if the detection data is monocular camera detection data, a plurality of frames of captured images of the monocular camera are obtained; and whether there is an obstacle 20 to be crossed by the cleaning robot 10 is detected by fusing the plurality of frames of captured images; in addition, three-dimensional reconstruction can be performed according to the plurality of frames of captured images by multi-view geometric mapping, and three-dimensional point cloud data is generated, so that the attribute information of the obstacle 20 can be detected according to the three-dimensional point cloud data.

[0102] As an example, if the detection data is binocular camera detection data, one frame of captured image of the binocular camera is obtained; whether there is an obstacle 20 to be crossed by the cleaning robot 10 can be detected by using the one frame of captured image; in addition, three-dimensional reconstruction can be performed according to the one frame of captured image by multi-view geometric mapping, and three-dimensional point cloud data is generated, so that the attribute information of the obstacle 20 can be detected according to the three-dimensional point cloud data.

[0103] As an example, if the detection data is three-dimensional point cloud data measured by a radar, whether there is an obstacle 20 to be crossed by the cleaning robot 10 can be directly detected according to the three-dimensional point cloud data, and the attribute information of the obstacle 20 can be detected.

[0104] Further, the cleaning robot 10 is provided with different obstacle crossing modes, and the obstacle crossing abilities and the obstacle crossing efficiencies of the different obstacle crossing modes are different. Generally speaking, the stronger the obstacle crossing ability of an obstacle crossing mode, the higher the obstacle crossing efficiency of the obstacle crossing mode. For example, in the powerful obstacle crossing mode, the obstacle crossing ability and the obstacle crossing efficiency of the cleaning robot 10 are the highest; in the backward obstacle crossing mode, the obstacle crossing ability and the obstacle crossing efficiency of the cleaning robot 10 are the second; in the normal obstacle crossing mode, the obstacle crossing ability and the obstacle crossing efficiency of the cleaning robot 10 are the weakest.

[0105] Therefore, in the embodiment, the obstacle crossing mode with the obstacle crossing ability that can overcome the obstacle crossing difficulty of the obstacle 20 is selected, and the obstacle crossing mode with the higher obstacle crossing efficiency is selected as much as possible, so that the obstacle crossing success rate and the obstacle crossing efficiency are taken into account.

[0106] The cleaning robot 10 has different obstacle crossing abilities in different obstacle crossing modes, that is, there is a mapping relationship between the obstacle crossing mode and the obstacle crossing ability. Then, the processor 14 of the cleaning robot 10 can match the attribute information of the obstacle 20 with the attribute information corresponding to different obstacle crossing abilities to determine the obstacle crossing ability required by the obstacle 20. Then, based on the obstacle crossing ability required by the obstacle 20, the target obstacle crossing mode matched with the obstacle crossing ability is selected from the preconfigured obstacle crossing modes.

[0107] As an example, the attribute information includes the height of the obstacle 20, and the attribute information corresponding to different obstacle crossing abilities includes two height thresholds. For example, the obstacle crossing height of the powerful obstacle crossing mode can be 1 cm-1.5 cm; the obstacle crossing height of the backward obstacle crossing mode can be 0.5 cm-1 cm; and the obstacle crossing height of the normal obstacle crossing mode can be 0.5 cm or less. The above specific content of selecting the target obstacle crossing mode from the preconfigured obstacle crossing modes according to the attribute information of the obstacle 20 includes: selecting the target obstacle crossing mode from different obstacle crossing modes according to the height of the obstacle 20 and the two height thresholds.

[0108] The processor 14 of the cleaning robot 10 is further configured to select the target obstacle crossing mode from the preconfigured obstacle crossing modes according to the attribute information of the obstacle 20; the preconfigured obstacle crossing modes include the backward obstacle crossing mode, the normal obstacle crossing mode, and the powerful obstacle crossing mode. According to the attribute information, the most suitable obstacle crossing mode is selected as the target obstacle crossing mode, which can select the obstacle crossing mode with the higher obstacle crossing efficiency and without affecting the cleaning efficiency on the basis of ensuring that the obstacle crossing ability of the cleaning robot 10 in the selected target obstacle crossing mode can overcome the obstacle crossing difficulty of the obstacle 20, so that the obstacle crossing success rate, the obstacle crossing efficiency, and the cleaning efficiency of the cleaning robot 10 can be taken into account.

[0109] In an embodiment, the specific content of determining the target obstacle crossing mode is further introduced, which includes the following steps:

[0110] The processor 14 is further configured to select the normal obstacle crossing mode as the target obstacle crossing mode from the pre-configured obstacle crossing modes if the attribute information satisfies the information condition corresponding to the normal obstacle crossing mode.

[0111] If the attribute information does not satisfy the information condition corresponding to the normal obstacle crossing mode, the processor 14 is configured to select the reverse obstacle crossing mode or the powerful obstacle crossing mode as the target obstacle crossing mode based on the attribute information and the scene complexity of the obstacle crossing scene in which the cleaning robot 10 is located.

[0112] The scene complexity refers to the complexity of the environment in which the cleaning robot 10 crosses the obstacle 20. The scene complexity is generally related to at least one of the obstacle 20 and the travel path of the cleaning robot 10 to the obstacle 20, for example, the higher the obstacle 20, the higher the scene complexity can be considered, and for example, the more the number of other obstacles 20 near the travel path of the cleaning robot 10 to the obstacle 20, the higher the scene complexity can be considered.

[0113] In the embodiments of the present application, the processor 14 can match the attribute information of the obstacle 20 with the information condition corresponding to the normal obstacle crossing mode, and determine whether the attribute information of the obstacle 20 satisfies the information condition corresponding to the normal obstacle crossing mode according to the matching result.

[0114] As an example, the attribute information can be the height of the obstacle 20, and the information condition corresponding to the normal obstacle crossing mode can be a first height threshold. Then, if the height of the obstacle 20 is less than the first height threshold, it means that the attribute information matches the height condition corresponding to the normal obstacle crossing mode, and therefore the normal obstacle crossing mode can be selected as the target obstacle crossing mode.

[0115] As an example, the attribute information can be the width of the obstacle 20, and the information condition corresponding to the normal obstacle crossing mode can be a first width threshold. If the width of the obstacle 20 is less than the first width threshold, it means that the attribute information matches the first obstacle 20 parameter corresponding to the normal obstacle crossing mode, and therefore the normal obstacle crossing mode is selected as the target obstacle crossing mode.

[0116] If the attribute information of the obstacle 20 does not satisfy the information condition corresponding to the normal obstacle crossing mode, the processor 14 can determine the obstacle crossing difficulty of the cleaning robot 10 in combination with the scene complexity of the obstacle crossing scene in which the cleaning robot 10 is located and the attribute information of the obstacle 20. And based on the obstacle crossing difficulty, the target obstacle crossing mode is selected from the reverse obstacle crossing mode and the powerful obstacle crossing mode.

[0117] Optionally, in a case where the scene complexity of the obstacle-crossing scene where the cleaning robot 10 is located meets a preset condition, it is indicated that the cleaning robot 10 has the ability to cross the obstacle 20. In this case, the processor 14 can match the attribute information of the obstacle 20 with the information condition corresponding to the reverse obstacle-crossing mode, and if the matching is successful, the reverse obstacle-crossing mode is taken as the target obstacle-crossing mode; if the matching is not successful, the powerful obstacle-crossing mode is taken as the target obstacle-crossing mode. In a case where the scene complexity of the obstacle-crossing scene where the cleaning robot 10 is located does not meet the preset condition, it is indicated that the cleaning robot 10 is more difficult to cross the obstacle 20, and at this time, the user can remotely control the cleaning robot 10 to attempt to cross the obstacle.

[0118] The processor 14 of the cleaning robot 10 described above is further configured to select a target obstacle-crossing mode from the preconfigured obstacle-crossing modes according to the attribute information of the obstacle 20, wherein the preconfigured obstacle-crossing modes include the reverse obstacle-crossing mode, the normal obstacle-crossing mode, and the powerful obstacle-crossing mode. According to the attribute information, the processor 14 can select a target obstacle-crossing mode that is more suitable for the obstacle 20 from different obstacle-crossing modes, and the target obstacle-crossing mode has a higher degree of adaptation to the obstacle 20, which can ensure that the cleaning robot 10 accurately and efficiently crosses the obstacle 20, and the success rate and efficiency of obstacle crossing of the cleaning robot 10 are higher.

[0119] Next, the manner of obtaining the scene complexity will be described in detail through an embodiment. The processor 14 detects the height information, width information, shape information, and number of thresholds information of the obstacle 20, and detects the obstacle-crossing path information of the cleaning robot 10 according to the scene image of the obstacle-crossing scene, and detects the scene complexity of the obstacle-crossing scene where the cleaning robot 10 is located according to the obstacle-crossing path information of the cleaning robot 10 and the height information, width information, shape information, and number of thresholds information of the obstacle 20.

[0120] The scene complexity is usually related to the characteristics of the obstacle 20 itself and the characteristics of the obstacle-crossing path between the cleaning robot 10 and the obstacle 20. The characteristics of the obstacle 20 itself can be the height, width, shape, and number of thresholds of the obstacle 20, and the characteristics of the obstacle-crossing path can be the path length, path curvature, and number of obstacles 20 near the path.

[0121] As an example, the height information, the width information, the shape information and the number of thresholds information of the obstacle 20 are obtained by image detection on the scene image; the path length information, the path curvature information and the number of adjacent obstacles 20 information are obtained by image detection on the scene image; and the path length information, the path curvature information and the number of adjacent obstacles 20 information are combined into the obstacle-crossing path information.

[0122] In the embodiment of the present application, the obstacle-crossing path information of the cleaning robot 10 and the height information, the width information, the shape information and the number of thresholds information of the obstacle 20 are combined to obtain the scene complexity detection information; the scene complexity detection information is feature extracted to obtain the scene complexity feature; and the scene complexity of the obstacle-crossing scene where the cleaning robot 10 is located is detected according to the scene complexity feature.

[0123] As an example, the scene complexity feature can be a vector feature, and the scene complexity of the obstacle-crossing scene where the cleaning robot 10 is located can be generated by full connection of the scene complexity feature.

[0124] The processor 14 detects the height information, the width information, the shape information and the number of thresholds information of the obstacle 20 and the obstacle-crossing path information of the cleaning robot 10 according to the scene image of the obstacle-crossing scene; and detects the scene complexity of the obstacle-crossing scene where the cleaning robot 10 is located according to the obstacle-crossing path information of the cleaning robot 10 and the height information, the width information, the shape information and the number of thresholds information of the obstacle 20. The scene complexity of the obstacle-crossing scene where the cleaning robot 10 is located is detected by comprehensively considering the height, the width, the shape and the number of thresholds of the obstacle 20 and considering the path length, the path curvature and the number of adjacent obstacles 20 of the obstacle-crossing path, thereby providing a reliable basis for detecting the scene complexity and improving the accuracy of detecting the scene complexity.

[0125] Next, the case where the scene complexity meets the preset condition and the case where the scene complexity does not meet the preset condition are described respectively.

[0126] The case where the scene complexity meets the preset condition is described by an embodiment first. The processor 14 of the cleaning robot 10 is further configured to, in the case where the scene complexity meets the preset condition, if the attribute information meets the information condition corresponding to the reverse obstacle-crossing mode, taking the reverse obstacle-crossing mode as the target obstacle-crossing mode; and if the attribute information does not meet the information condition corresponding to the reverse obstacle-crossing mode, taking the powerful obstacle-crossing mode as the target obstacle-crossing mode.

[0127] In the embodiment of the present application, if the scene complexity meets the preset condition, it indicates that the cleaning robot 10 is not prone to collision when crossing the obstacle 20, and the obstacle crossing mode can be autonomously selected by the cleaning robot 10. In this case, the processor 14 can match the attribute information of the obstacle 20 with the information condition corresponding to the reverse obstacle crossing mode. If the matching is successful, it indicates that the crossing difficulty of the obstacle 20 is moderate, and the reverse obstacle crossing mode can be selected as the target obstacle crossing mode. If the matching is not successful, it indicates that the crossing difficulty of the obstacle 20 is large, and the powerful obstacle crossing mode can be selected as the target obstacle crossing mode.

[0128] For example, the height condition corresponding to the reverse obstacle crossing mode is 0.5 cm-1 cm. If the height of the obstacle 20 is 0.9 cm, the reverse obstacle crossing mode can be selected as the target obstacle crossing mode. If the height of the obstacle 20 is 1.3 cm, the powerful obstacle crossing mode needs to be selected as the target obstacle crossing mode.

[0129] The number of thresholds corresponding to the reverse obstacle crossing mode is 3 or less. If the number of thresholds of the obstacle 20 is 2, the reverse obstacle crossing mode can be selected as the target obstacle crossing mode. If the number of thresholds of the obstacle 20 is 4, the powerful obstacle crossing mode needs to be selected as the target obstacle crossing mode.

[0130] The above processor 14 is further configured to, in the case that the scene complexity meets the preset condition, if the attribute information meets the information condition corresponding to the reverse obstacle crossing mode, select the reverse obstacle crossing mode as the target obstacle crossing mode; if the attribute information does not meet the information condition corresponding to the reverse obstacle crossing mode, select the powerful obstacle crossing mode as the target obstacle crossing mode. In this way, when the scene complexity is low, the processor 14 can accurately determine which obstacle crossing mode to select as the target obstacle crossing mode based on the matching result of the attribute information of the obstacle 20 and the information condition corresponding to the reverse obstacle crossing mode.

[0131] Next, an embodiment of the case where the scene complexity does not meet the preset condition is described. The processor 14 is further configured to, in the case that the scene complexity does not meet the preset condition, send a mode selection request to the terminal device; and select the reverse obstacle crossing mode or the powerful obstacle crossing mode as the target obstacle crossing mode based on response information of the user to the mode selection request.

[0132] In the embodiment of the present application, if the scene complexity does not meet the preset condition, it indicates that the cleaning robot 10 is prone to collision when crossing the obstacle 20, and at this time user intervention is needed, so as to send a mode selection request to the terminal device and receive response information of the terminal device based on the mode selection request, and select the reverse obstacle crossing mode or the powerful obstacle crossing mode as the target obstacle crossing mode.

[0133] The mode selection request can be sent to the terminal device in the form of an APP pop-up window, a short message, or a voice call. The user can input information for selecting the target obstacle mode on the terminal device by dragging, clicking, text input, or voice input.

[0134] The processor 14 is further configured to send a mode selection request to the terminal device if the scene complexity does not meet the preset condition, and select the reverse obstacle mode or the powerful obstacle mode as the target obstacle mode based on the response information of the user to the mode selection request. When the scene complexity is high, the user can assist the cleaning robot 10 to accurately determine which obstacle mode to select as the target obstacle mode, thereby improving the accuracy of obstacle mode selection.

[0135] The above embodiments are all processes of determining the target obstacle mode based on the attribute information of the obstacle 20. The cleaning robot 10 can also try to cross the obstacle in order from small to large obstacle ability. Next, the process of multiple attempts to cross the obstacle will be described in detail, which includes:

[0136] The processor 14 is further configured to obtain the number of consecutive failures of the cleaning robot 10 to cross the obstacle 20 in the process of crossing the obstacle 20 in the normal obstacle mode, and select the reverse obstacle mode or the powerful obstacle mode as a new target obstacle mode if the number of consecutive failures is greater than a first failure threshold. The cleaning robot 10 is controlled to cross the obstacle 20 in the new target obstacle mode.

[0137] The cleaning robot 10 can select the normal obstacle mode as the default obstacle mode. When the cleaning robot 10 encounters an obstacle 20 in front, the cleaning robot 10 does not need to identify the attribute information of the obstacle 20, and directly crosses the obstacle 20 in the default obstacle mode. It should be noted that the cleaning robot 10 can also set a failure threshold in the default obstacle mode. If the cleaning robot 10 can cross the obstacle 20 within the failure threshold in the default obstacle mode, it means that the obstacle 20 has a small obstacle difficulty. For example, the failure threshold in the default obstacle mode can be 3 times, 4 times, or 6 times, etc.

[0138] If the cleaning robot 10 cannot cross the obstacle 20 within the failure threshold in the default obstacle mode, it means that the obstacle 20 has a large obstacle difficulty, and a target obstacle mode with strong obstacle ability needs to be selected.

[0139] Further, if the cleaning robot 10 cannot cross the obstacle 20 in the default obstacle mode, one of the reverse obstacle mode and the powerful obstacle mode needs to be selected as a new target obstacle mode. The processor 14 controls the cleaning robot 10 to cross the obstacle 20 in the new target obstacle mode.

[0140] It can be understood that the obstacle crossing ability of the normal obstacle crossing mode is the weakest, the obstacle crossing ability of the reverse obstacle crossing mode is moderate, and the obstacle crossing ability of the powerful obstacle crossing mode is the strongest. Therefore, the processor 14 can use the normal obstacle crossing mode, the reverse obstacle crossing mode and the powerful obstacle crossing mode in turn according to the order of the obstacle crossing ability until the cleaning robot 10 crosses the obstacle 20.

[0141] The processor 14 of the cleaning robot 10 described above is further configured to acquire a continuous failure number of the cleaning robot 10 in crossing the obstacle 20 in the normal obstacle crossing mode, and if the continuous failure number is greater than a first failure number threshold, the reverse obstacle crossing mode or the powerful obstacle crossing mode is selected as a new target obstacle crossing mode, and the cleaning robot 10 is controlled to cross the obstacle 20 in the new target obstacle crossing mode. In the process of crossing the obstacle 20, the normal obstacle crossing mode is used as a default obstacle crossing mode, so that the cleaning robot 10 can cross most of the obstacles 20, and for other obstacles 20 that are difficult to cross, a more difficult obstacle crossing mode is selected to cross, avoiding frequent switching of the driving wheels 12 and the cleaning element 13, and saving the obstacle crossing cost.

[0142] When the cleaning robot 10 still fails to cross the obstacle 20 in the obstacle crossing mode with the strongest obstacle crossing ability, it means that the probability of the cleaning robot 10 crossing the obstacle 20 is small. At this time, the cleaning robot 10 can be controlled to process a standby state to avoid damage to the cleaning robot 10 caused by multiple attempts to cross the obstacle. In an embodiment, the processor 14 is further configured to acquire a continuous failure number of the cleaning robot 10 in crossing the obstacle in the obstacle crossing mode with the strongest obstacle crossing ability, and if the continuous failure number is greater than a second failure number threshold, the cleaning robot 10 is controlled to enter the standby state and send an obstacle crossing failure message. Of course, this method is also applicable to matching the corresponding target obstacle crossing mode based on the attribute information of the obstacle 20 and the scene complexity of the obstacle crossing scene where the cleaning robot 10 is located, and if the attribute information of the obstacle 20 and the scene complexity of the obstacle crossing scene where the cleaning robot 10 is located match the obstacle crossing mode with the strongest obstacle crossing ability, and the continuous obstacle crossing failure number of the cleaning robot 10 in the strongest obstacle crossing mode is greater than the second failure number, the cleaning robot 10 is controlled to enter the standby state and send an obstacle crossing failure message.

[0143] The failure number thresholds corresponding to the multiple obstacle crossing modes of the cleaning robot 10 can be set in advance, and the failure number thresholds corresponding to different obstacle crossing modes can be the same or different. For example, the failure number threshold corresponding to the normal obstacle crossing mode can be 5 times, the failure number threshold corresponding to the reverse obstacle crossing mode can be 3 times, and the failure number threshold corresponding to the powerful obstacle crossing mode can be 2 times.

[0144] In the process that the cleaning robot 10 performs obstacle crossing in the obstacle crossing mode with the strongest obstacle crossing ability (i.e., the powerful obstacle crossing mode), the processor 14 can acquire the number of consecutive failures of obstacle crossing. When the number of consecutive failures is greater than the second failure number threshold, it indicates that the cleaning robot 10 has a small probability of crossing the obstacle 20. At this time, the processor 14 can send a stop instruction to the driving wheel 12 and the cleaning element 13, and the driving wheel 12 and the cleaning element 13 stop rotating after receiving the stop instruction, so that the cleaning robot 10 enters the standby state. Meanwhile, the processor 14 can also send an obstacle crossing failure message to the remote user terminal, or the processor 14 controls the voice device on the cleaning robot 10 to output an obstacle crossing failure reminder message.

[0145] The processor 14 of the cleaning robot 10 described above is further configured to acquire the number of consecutive failures of obstacle crossing of the cleaning robot 10 in the obstacle crossing mode with the strongest obstacle crossing ability, and control the cleaning robot 10 to enter the standby state and send an obstacle crossing failure message if the number of consecutive failures is greater than the second failure number threshold. In this way, the cleaning robot 10 can be prevented from being damaged due to the low success rate of obstacle crossing, and the user can be reminded of the obstacle crossing failure of the cleaning robot 10 in time.

[0146] The obstacle crossing abilities of the plurality of obstacle crossing modes of the cleaning robot 10 can be updated based on the performance of the cleaning robot 10 in the actual obstacle crossing process, so that the cleaning robot 10 can cross the obstacle 20 more accurately. Therefore, in an embodiment, the processor 14 is further configured to calculate an obstacle crossing failure probability of a preconfigured obstacle crossing mode according to the number of consecutive failures of obstacle crossing of the cleaning robot 10, update information conditions corresponding to the preconfigured obstacle crossing mode according to the obstacle crossing failure probability, and use the information conditions corresponding to the preconfigured obstacle crossing mode to represent the obstacle crossing abilities of the cleaning robot 10 in different obstacle crossing modes.

[0147] In the embodiments of the present application, for any obstacle crossing mode, if the cleaning robot 10 fails to cross the obstacle in the obstacle crossing mode, the total number of obstacle crossings and the number of consecutive failures of obstacle crossing are acquired, the ratio of the number of consecutive failures of obstacle crossing to the total number of obstacle crossings is calculated, and the ratio is taken as the obstacle crossing failure probability in the obstacle crossing mode.

[0148] Further, the processor 14 can compare the obstacle crossing failure probability with a preset failure probability threshold. If the obstacle crossing failure probability is greater than the preset failure probability threshold, it indicates that the setting of the information conditions corresponding to the preconfigured obstacle crossing mode is unreasonable. At this time, the information conditions corresponding to the preconfigured obstacle crossing mode need to be reduced. For example, the height in the information conditions corresponding to the normal obstacle crossing mode is 5 cm, and the failure probability of the cleaning robot 10 in the normal obstacle crossing mode reaches 80%. At this time, the height in the information conditions corresponding to the normal obstacle crossing mode can be adjusted to 3 cm.

[0149] The processor 14 of the cleaning robot 10 is further configured to calculate a preconfigured obstacle-crossing failure probability in the obstacle-crossing mode according to a number of consecutive failures of the cleaning robot 10 in the obstacle-crossing mode, update the information condition corresponding to the preconfigured obstacle-crossing mode according to the obstacle-crossing failure probability, and use the information condition corresponding to the preconfigured obstacle-crossing mode to represent the obstacle-crossing ability of the cleaning robot 10 in different obstacle-crossing modes. For each obstacle-crossing mode, the obstacle-crossing failure probability in the obstacle-crossing mode is updated in real time, and the information condition corresponding to the obstacle-crossing mode is continuously adjusted according to the obstacle-crossing failure probability in the obstacle-crossing mode, so that the information condition corresponding to the obstacle-crossing mode is more and more accurate, which helps to improve the accuracy of the cleaning robot 10 in selecting a target obstacle-crossing mode.

[0150] When the cleaning robot 10 still fails to cross the obstacle 20 in the obstacle-crossing mode with the strongest obstacle-crossing ability (i.e., the powerful obstacle-crossing mode), the user needs to decide whether to continue the obstacle-crossing. In an embodiment, the processor 14 is further configured to send an obstacle-crossing request and receive a request response message based on the feedback of the obstacle-crossing request when the cleaning robot 10 fails to cross the obstacle 20 in the obstacle-crossing mode with the strongest obstacle-crossing ability, and control the cleaning robot 10 to cross the obstacle 20 in the obstacle-crossing mode with the strongest obstacle-crossing ability or enter a standby state according to the request response message. The sending mode of the obstacle-crossing request can be an APP pop-up reminder, a short message, or a voice call.

[0151] When the cleaning robot 10 still fails to cross the obstacle 20 in the powerful obstacle-crossing mode, the processor 14 can send an obstacle-crossing request to a remote user terminal. The user can decide whether to continue the obstacle-crossing based on the actual obstacle-crossing situation. If it is decided to continue the obstacle-crossing, a request response message is fed back to the processor 14, which is used to control the cleaning robot 10 to continue the obstacle-crossing in the powerful obstacle-crossing mode. If it is decided to stop the obstacle-crossing, a request response message is fed back to the processor 14, which is used to control the cleaning robot 10 to enter a standby state.

[0152] When the user and the cleaning robot 10 are in the same cleaning space, the cleaning robot 10 can also output a voice prompt message through its own voice device. For example, the voice prompt message can be: Obstacle-crossing failure, please confirm whether to continue the obstacle-crossing. If the processor 14 of the cleaning robot 10 receives a user confirmation obstacle-crossing message, it controls the cleaning robot 10 to continue the obstacle-crossing in the powerful obstacle-crossing mode. If no user confirmation obstacle-crossing message is received or a user stop obstacle-crossing message is received, the cleaning robot 10 is controlled to enter a standby state.

[0153] The processor 14 is further configured to send an obstacle-crossing request and receive a request response based on the obstacle-crossing request in a case that the cleaning robot 10 fails to cross the obstacle 20 in the obstacle-crossing mode with the strongest obstacle-crossing capability, and control the cleaning robot 10 to cross the obstacle 20 in the obstacle-crossing mode with the strongest obstacle-crossing capability or enter a standby state according to the request response. In a case that the cleaning robot 10 still fails to cross the obstacle 20 in the powerful obstacle-crossing mode, it can be determined whether to continue or stop the obstacle-crossing through the indication of the user, so as to avoid the cleaning robot 10 from being damaged in a case that the obstacle-crossing success rate is not high.

[0154] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0155] In an exemplary embodiment, a computer device, which can be a server, is provided, and an internal structure diagram of the computer device can be as shown in FIG. 5. The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the computer device is configured to store data in an obstacle-crossing process of a cleaning robot. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with terminals outside through a network connection. The computer program is executed by the processor to implement an obstacle-crossing method of a cleaning robot.

[0156] Those skilled in the art can understand that the structure shown in FIG. 5 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. Specifically, the computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0157] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0158] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0159] The above embodiments only express several implementation ways of the present application, and the description is specific and detailed, but it should not be understood as a limitation to the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A cleaning robot, wherein, The cleaning robot comprises a body, a driving wheel and a cleaning element, the driving wheel and the cleaning element are both mounted on the body and are rotationally connected with the body, the rotation axis of the driving wheel is parallel to the rotation axis of the cleaning element, the cleaning robot has at least a reverse obstacle-crossing mode and an advancing obstacle-crossing mode, wherein, in the advancing obstacle-crossing mode, the head of the cleaning robot faces the obstacle, the driving wheel rotates forward, and the cleaning element rotates in a first direction, which is the same as or opposite to the rotation direction of the driving wheel; in the reverse obstacle-crossing mode, the tail of the cleaning robot faces the obstacle, the driving wheel rotates reversely, and the rotation direction of the cleaning element is the same as or opposite to that in the advancing obstacle-crossing mode. 2.The cleaning robot according to claim 1, wherein, The cleaning element comprises a roller brush, which is used for dry cleaning of the working surface; in the advancing obstacle-crossing mode, the roller brush rotates forward; in the reverse obstacle-crossing mode, the roller brush rotates forward or reversely; or, in the advancing obstacle-crossing mode, the roller brush rotates reversely; in the reverse obstacle-crossing mode, the roller brush rotates reversely. 3.The cleaning robot according to claim 1 or 2, wherein The cleaning element comprises a roller, which is used for wet cleaning of the working surface; in the advancing obstacle-crossing mode, the roller rotates forward or reversely; in the reverse obstacle-crossing mode, the roller rotates reversely. 4.The cleaning robot according to claim 1, wherein, The advancing obstacle-crossing mode comprises a normal obstacle-crossing mode and a powerful obstacle-crossing mode, and the obstacle-crossing ability of the cleaning robot in the powerful obstacle-crossing mode is greater than that in the normal obstacle-crossing mode. 5.The cleaning robot according to claim 1, wherein, The advancing obstacle-crossing mode comprises a normal obstacle-crossing mode and a powerful obstacle-crossing mode, and the obstacle-crossing ability of the cleaning robot in the reverse obstacle-crossing mode is between that in the normal obstacle-crossing mode and that in the powerful obstacle-crossing mode. 6.The cleaning robot according to claim 1, wherein, The advancing obstacle-crossing mode comprises a normal obstacle-crossing mode and a powerful obstacle-crossing mode, and the cleaning element comprises a roller brush or a roller, the roller brush is used for dry cleaning of the working surface, and the roller is used for wet cleaning of the working surface; in the normal obstacle-crossing mode, the cleaning element rotates reversely; in the powerful obstacle-crossing mode, the cleaning element rotates forward; or, the cleaning element comprises the roller brush and the roller, and the number of forward rotations of the roller brush and the roller in the powerful obstacle-crossing mode is greater than that in the normal obstacle-crossing mode. 7.The cleaning robot according to claim 1, wherein, The cleaning robot further comprises a processor, which is connected with the driving wheel and the cleaning element respectively; the processor is configured to output a control instruction to the driving wheel and the cleaning element according to a target obstacle-crossing mode, the target obstacle-crossing mode comprises a reverse obstacle-crossing mode or an advancing obstacle-crossing mode, the advancing obstacle-crossing mode comprises a normal obstacle-crossing mode and a powerful obstacle-crossing mode, and the number of forward rotations of the driving wheel and the cleaning element in the powerful obstacle-crossing mode is greater than that in the normal obstacle-crossing mode; the driving wheel and the cleaning element are configured to perform a rotation operation according to the control instruction. 8.The cleaning robot according to claim 7, wherein, The processor is further configured to cross an arbitrary obstacle in each obstacle-crossing mode in sequence.

9. The cleaning robot according to claim 8, wherein the order of the respective obstacle-crossing modes is normal obstacle-crossing mode, reverse obstacle-crossing mode, and strong obstacle-crossing mode. 10.The cleaning robot according to claim 7, wherein, The processor is further configured to determine whether the obstacle exists in front of the cleaning robot according to a target detection result of a detection sensor arranged on the cleaning robot body, and determine the target obstacle-crossing mode based on the obstacle if the obstacle exists. 11.The cleaning robot according to claim 7, wherein, The processor is further configured to select the target obstacle-crossing mode from preconfigured obstacle-crossing modes according to attribute information of the obstacle, wherein the preconfigured obstacle-crossing modes include the normal obstacle-crossing mode, the reverse obstacle-crossing mode, and the strong obstacle-crossing mode. 12.The cleaning robot according to claim 11, wherein, The processor is further configured to determine a difficulty of the cleaning robot in crossing the obstacle according to the attribute information of the obstacle, and select an obstacle-crossing mode matching the difficulty as the target obstacle-crossing mode.

13. The cleaning robot according to claim 11, wherein The processor is further configured to select the normal obstacle-crossing mode as the target obstacle-crossing mode from the preconfigured obstacle-crossing modes if the attribute information satisfies information conditions corresponding to the normal obstacle-crossing mode. The processor is further configured to select the reverse obstacle-crossing mode or the strong obstacle-crossing mode as the target obstacle-crossing mode based on the attribute information and a scene complexity of an obstacle-crossing scene in which the cleaning robot is located if the attribute information does not satisfy the information conditions corresponding to the normal obstacle-crossing mode. 14.The cleaning robot according to claim 13, wherein, The processor is further configured to select the reverse obstacle-crossing mode as the target obstacle-crossing mode if the attribute information satisfies information conditions corresponding to the reverse obstacle-crossing mode when the scene complexity satisfies a preset condition. The processor is further configured to select the strong obstacle-crossing mode as the target obstacle-crossing mode if the attribute information does not satisfy the information conditions corresponding to the reverse obstacle-crossing mode. 15.The cleaning robot according to claim 14, wherein The processor is further configured to send a mode selection request to a terminal device if the scene complexity does not satisfy the preset condition. The processor is further configured to select the reverse obstacle-crossing mode or the strong obstacle-crossing mode as the target obstacle-crossing mode based on response information of a user to the mode selection request. 16.The cleaning robot according to claim 7, wherein, The processor is further configured to obtain a number of consecutive failures of the cleaning robot in obstacle crossing if the cleaning robot crosses the obstacle in the normal obstacle-crossing mode, and select the reverse obstacle-crossing mode or the strong obstacle-crossing mode as a new target obstacle-crossing mode if the number of consecutive failures is greater than a first failure number threshold, and control the cleaning robot to cross the obstacle in the new target obstacle-crossing mode. 17.The cleaning robot according to claim 7, wherein, The processor is further configured to obtain a number of consecutive failures of the cleaning robot in obstacle crossing in an obstacle-crossing mode with the strongest obstacle-crossing capability, and control the cleaning robot to enter a standby state and send an obstacle-crossing failure message if the number of consecutive failures is greater than a second failure number threshold. 18.The cleaning robot according to claim 7, wherein, The processor is further configured to calculate a failure probability of the preconfigured obstacle surmounting mode according to a number of consecutive failures of the cleaning robot in surmounting obstacles, and update information conditions corresponding to the preconfigured obstacle surmounting mode according to the failure probability, wherein the information conditions corresponding to the preconfigured obstacle surmounting mode are used to represent the obstacle surmounting capability of the cleaning robot in different obstacle surmounting modes. 19.The cleaning robot according to claim 7, wherein, The processor is further configured to send an obstacle surmounting request and receive request response information fed back based on the obstacle surmounting request in a case that the cleaning robot fails to cross an obstacle in the obstacle surmounting mode with the strongest obstacle surmounting capability, and control the cleaning robot to cross the obstacle in the obstacle surmounting mode with the strongest obstacle surmounting capability or enter a standby state according to the request response information.

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