Cleaning device control method, apparatus, program product, storage medium, and cleaning device

Abstract

A cleaning device control method, an apparatus, a program product, a storage medium, and a cleaning device. A robotic arm is provided on a chassis of the cleaning device. The method comprises: if the cleaning device encounters, during movement, an obstacle to be crossed, controlling the cleaning device to execute an obstacle crossing action according to a target obstacle crossing strategy, the target obstacle crossing strategy comprising the robotic arm assisting the cleaning device in crossing said obstacle (200).

Description

Cleaning equipment control methods, devices, programs, storage media, and cleaning equipment

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese patent application No. 2024114977631, filed on October 24, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of cleaning equipment control technology, and in particular to a cleaning equipment control method, apparatus, program product, storage medium and cleaning equipment. Background Technology

[0004] Cleaning equipment (such as robotic vacuums and mops) is now widely used in households, replacing users in household chores and bringing great convenience. However, in performing cleaning tasks, these devices may need to navigate not only low obstacles like sliding door tracks but also higher obstacles such as thresholds or steps. Current cleaning equipment has a low success rate when navigating higher obstacles, impacting the user experience. Summary of the Invention

[0005] Embodiments of this disclosure provide a cleaning equipment control method, apparatus, program product, storage medium, and cleaning equipment, which can at least to some extent improve the reliability of the cleaning equipment in overcoming obstacles.

[0006] Other features and advantages of this disclosure will become apparent from the following detailed description, or may be learned in part from practice of this disclosure.

[0007] According to a first aspect of the present disclosure, a cleaning equipment control method is provided, wherein the chassis of the cleaning equipment is equipped with a robotic arm, the method comprising: if the cleaning equipment encounters an obstacle to be crossed during its movement, controlling the cleaning equipment to perform an obstacle-crossing action according to a target obstacle-crossing strategy, wherein the target obstacle-crossing strategy includes the robotic arm assisting the cleaning equipment in crossing the obstacle.

[0008] According to a second aspect of the present disclosure, a method for controlling a cleaning device is provided. The cleaning device has a chassis equipped with a robotic arm. The method includes: if the cleaning device encounters an obstacle to be crossed during its movement, controlling the cleaning device to perform an obstacle-crossing action according to a first obstacle-crossing strategy, the first obstacle-crossing strategy including the cleaning device crossing the obstacle by walking diagonally or in a serpentine manner; if the cleaning device fails to cross the obstacle according to the first obstacle-crossing strategy, controlling the cleaning device to perform an obstacle-crossing action according to a second obstacle-crossing strategy, the second obstacle-crossing strategy including the extension of the cleaning device's casters to lift the front side of the cleaning device's chassis to cross the obstacle, and after the front side of the chassis crosses the obstacle, the casters of the cleaning device retract and the walking wheels of the cleaning device extend to lift the rear side of the cleaning device's chassis to cross the obstacle, the front side of the chassis being the side of the cleaning device closest to the obstacle; if the cleaning device fails to cross the obstacle according to the second obstacle-crossing strategy, controlling the cleaning device to perform an obstacle-crossing action according to a target obstacle-crossing strategy.

[0009] According to a third aspect of the present disclosure, a method for controlling a cleaning device is provided. The cleaning device has a chassis equipped with a robotic arm. The method includes: if the cleaning device encounters an obstacle to be crossed during movement, obtaining the height of the obstacle; if the height of the obstacle is less than a first height threshold, controlling the cleaning device to perform an obstacle-crossing action according to a first obstacle-crossing strategy, the first obstacle-crossing strategy including the cleaning device crossing the obstacle by walking diagonally or in a serpentine manner; if the height of the obstacle is greater than or equal to the first height threshold and less than a second height threshold, controlling the cleaning device to perform an obstacle-crossing action according to a second obstacle-crossing strategy, the second obstacle-crossing strategy including the omnidirectional wheels of the cleaning device extending to lift the front side of the chassis of the cleaning device to cross the obstacle, and after the front side of the chassis crosses the obstacle, the omnidirectional wheels of the cleaning device retracting and the walking wheels of the cleaning device extending to lift the rear side of the chassis of the cleaning device to cross the obstacle, the front side of the chassis being the side of the chassis of the cleaning device closest to the obstacle; if the height of the obstacle is greater than or equal to the second height threshold, controlling the cleaning device to perform an obstacle-crossing action according to a target obstacle-crossing strategy.

[0010] According to a fourth aspect of the present disclosure, a cleaning equipment control device is provided, wherein the chassis of the cleaning equipment is equipped with a robotic arm, the device comprising: a control unit, configured to control the cleaning equipment to perform an obstacle-crossing action according to a target obstacle-crossing strategy if the cleaning equipment encounters an obstacle to be crossed during its movement, the target obstacle-crossing strategy including the robotic arm assisting the cleaning equipment in crossing the obstacle.

[0011] According to a fifth aspect of the present disclosure, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform an operation as described in any one of the embodiments of the first to third aspects above.

[0012] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, including at least one computer program instruction stored thereon, the at least one computer program instruction being loaded and executed by a processor to perform the operation as described in any one of the embodiments of the first to third aspects above.

[0013] According to a fifth aspect of the present disclosure, a cleaning device is provided, the cleaning device including one or more processors and one or more memories, the one or more memories storing at least one computer program instruction, the at least one computer program instruction being loaded and executed by the one or more processors to perform the operation performed by the method described in any one of the first to third aspects of the embodiments described above.

[0014] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0016] Figure 1 shows a side view of a cleaning device overcoming obstacles according to some embodiments of the present disclosure;

[0017] Figure 2 shows a flowchart of a cleaning equipment control method according to some embodiments of the present disclosure;

[0018] Figure 3 illustrates a scenario of a cleaning device overcoming obstacles according to some embodiments of this disclosure;

[0019] Figure 4 illustrates a scenario of a cleaning device overcoming obstacles according to some embodiments of this disclosure;

[0020] Figure 5 illustrates a scenario of a cleaning device overcoming obstacles according to some embodiments of this disclosure;

[0021] Figure 6 illustrates a scenario of a cleaning device overcoming obstacles according to some embodiments of this disclosure;

[0022] Figure 7 illustrates a scenario of a cleaning device overcoming obstacles according to some embodiments of this disclosure;

[0023] Figure 8 shows a block diagram of a cleaning equipment control device according to some embodiments of the present disclosure;

[0024] Figure 9 shows a schematic diagram of the structure of a cleaning device according to some embodiments of the present disclosure. Embodiments of the present invention

[0025] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0026] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0027] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices. It should also be noted that, for the sake of simplicity, certain components in the drawings that do not affect the interpretation of the technical solutions disclosed herein have been adaptively omitted.

[0028] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily need to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0029] In the description of this disclosure, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0030] To enable those skilled in the art to better understand this disclosure, the application scenarios involved in this disclosure will first be briefly explained with reference to Figure 1.

[0031] Referring to Figure 1, a side view of a cleaning device overcoming obstacles according to some embodiments of the present disclosure is shown.

[0032] In some embodiments, as shown in FIG1, the cleaning equipment 101 involved may be a sweeper, a mop, or a combined sweeper and mop. This disclosure does not specifically limit it.

[0033] In some embodiments, the chassis 101 of the cleaning equipment can move linearly along the x-axis and y-axis of the ground 100, or linearly along the z-axis (i.e., the extension and retraction of the wheels 105 and / or the casters 106), and can also rotate around the z-axis.

[0034] In some embodiments, as shown in FIG1, the cleaning device 101 may include a robotic arm 102 and a gripper 103.

[0035] In some embodiments, the robotic arm 102 may include multiple movable joints that allow the robotic arm 102 to extend out of the compartment (i.e., extend from the chassis 101) and retract into the compartment (i.e., retract into the chassis 101). After the robotic arm 102 extends out of the compartment, the joints may maintain a fixed angle to fix the position of the end of the robotic arm 102 away from the chassis 101 in space. A gripper 103 is disposed at the end of the robotic arm 102 away from the chassis of the cleaning device 101. The robotic arm 102 may be used to assist the cleaning device 101 in overcoming obstacles 104.

[0036] In some embodiments, the robotic arm 102 shown in FIG1 may be two degrees of freedom, three degrees of freedom, or four degrees of freedom. This disclosure does not specifically limit it.

[0037] In some implementations, referring to Figure 1, the cleaning device 101 moves in direction A. However, in some scenarios, the floor 100 in a user's room often contains obstacles 104 such as high thresholds and steps. To achieve a wider range of movement, the cleaning device 101 needs to overcome these higher obstacles. However, in this case, if the cleaning device directly overcomes the obstacle, it may fail to do so due to the obstacle being too high, thus affecting the reliability of obstacle-crossing and further impacting the efficiency of the cleaning device in performing cleaning tasks. In this situation, this disclosure proposes a cleaning device control method to improve the reliability of obstacle-crossing.

[0038] Referring to FIG2, a flowchart of a cleaning equipment control method according to some embodiments of the present disclosure is shown, wherein the chassis of the cleaning equipment is equipped with a robotic arm. Specifically, this method can be executed by a device with computing processing capabilities (such as the cleaning equipment shown in FIG1). Referring to FIG2, the cleaning equipment control method includes at least step 200, which is described in detail below.

[0039] Step 200: If the cleaning device encounters an obstacle to be crossed during its movement, control the cleaning device to perform an obstacle-crossing action according to a target obstacle-crossing strategy, wherein the target obstacle-crossing strategy includes the robotic arm assisting the cleaning device in crossing the obstacle.

[0040] In some implementations, the cleaning equipment can overcome obstacles with the assistance of a robotic arm. For example, a user's room may have high obstacles such as thresholds and steps. Also, there may be obstacles on the floor caused by randomly placed or fallen objects, making the floor situation complex. Therefore, in order to move over a wider area to perform cleaning tasks, the cleaning equipment needs to overcome obstacles blocking its cleaning path. Based on the technical solution proposed in this disclosure, the cleaning equipment can automatically identify obstacles on the ground during the cleaning process and overcome them with the assistance of a robotic arm.

[0041] In some embodiments, an image acquisition device may be installed on the cleaning equipment to acquire environmental images (which can be two-dimensional images or three-dimensional point cloud images) in the direction the cleaning equipment travels, so as to determine the position of obstacles based on the environmental images. The image acquisition device may be located at the end of the robotic arm furthest from the cleaning equipment body, or directly in front of the chassis of the cleaning equipment, or on the top of the chassis of the cleaning equipment. This disclosure does not impose further limitations on this.

[0042] Based on the technical solution proposed in this disclosure, if the cleaning equipment encounters an obstacle to be overcome during the cleaning process, the cleaning equipment can be controlled to perform an obstacle-crossing action according to the obstacle-crossing strategy of the robotic arm assisting the cleaning equipment in overcoming the obstacle. The advantages are that it can improve the success rate of the cleaning equipment in overcoming obstacles, thereby improving the reliability of the cleaning equipment in overcoming obstacles, allowing the cleaning equipment to move within a larger range, reducing the impact of obstacles in the user's home on the cleaning equipment when performing cleaning tasks, and preventing the cleaning equipment from being damaged by obstacles when it fails to overcome them, thereby extending the service life of the cleaning equipment.

[0043] In some embodiments, the cleaning equipment control method may include the following steps 201 to 203:

[0044] Step 201: If the cleaning device encounters an obstacle to be crossed during its movement, control the cleaning device to perform an obstacle-crossing action according to a first obstacle-crossing strategy. The first obstacle-crossing strategy includes the cleaning device crossing the obstacle by walking diagonally or in a serpentine manner.

[0045] Step 202: If the cleaning device fails to overcome the obstacle according to the first obstacle-crossing strategy, control the cleaning device to perform an obstacle-crossing action according to the second obstacle-crossing strategy. The second obstacle-crossing strategy includes extending the omnidirectional wheels of the cleaning device to lift the front side of the chassis of the cleaning device to cross the obstacle. After the front side of the chassis crosses the obstacle, the omnidirectional wheels of the cleaning device retract, and the driving wheels of the cleaning device extend to lift the rear side of the chassis of the cleaning device to cross the obstacle. The front side of the chassis is the side of the chassis of the cleaning device closest to the obstacle.

[0046] Step 203: If the cleaning device fails to overcome the obstacle according to the second obstacle-overcoming strategy, control the cleaning device to perform the obstacle-overcoming action according to the target obstacle-overcoming strategy.

[0047] It should be noted that, for cleaning equipment, the oblique rushing mode refers to the cleaning equipment contacting the obstacle at a certain angle, and at this angle, controlling the cleaning equipment to rush up the obstacle and cross it at a certain walking speed (i.e., combined with a certain momentum); the serpentine walking mode is the cleaning equipment gradually shifting its center of gravity through a left-right swinging motion mode, thereby flexibly crossing obstacles in complex terrain.

[0048] Based on the technical solution proposed in this disclosure, a multi-layered obstacle-crossing strategy can comprehensively improve the obstacle-crossing capability and reliability of cleaning equipment in complex environments. Firstly, employing a first obstacle-crossing strategy, the cleaning equipment can flexibly overcome most common low obstacles by moving diagonally or serpentinely. This strategy is simple and efficient, ensuring the cleaning equipment can still move smoothly when encountering low obstacles, reducing time wasted due to jamming or stopping during obstacle crossing. When the first obstacle-crossing strategy fails to overcome higher obstacles, a second obstacle-crossing strategy is adopted. Through the coordinated movement of the casters and wheels, the front and rear chassis of the cleaning equipment are flexibly raised, enabling it to smoothly overcome higher obstacles. This ensures the overall stability and continued movement capability of the cleaning equipment, thereby expanding the applicable obstacle-crossing range and improving its obstacle-crossing reliability. If the cleaning equipment fails to overcome obstacles using both the first and second obstacle-crossing strategies, a target obstacle-crossing strategy assisted by a robotic arm can be used to enhance the adaptability of the cleaning equipment in extreme obstacle environments, further improving its obstacle-crossing reliability.

[0049] Overall, this solution, through a progressive obstacle-crossing strategy design, enhances the autonomy and stability of cleaning equipment in various complex environments, reduces the need for manual intervention, and extends the working time and lifespan of the cleaning equipment. Simultaneously, the multi-strategy switching mechanism ensures that the cleaning equipment can select the most suitable obstacle-crossing strategy under different obstacle conditions, significantly improving the reliability of obstacle crossing and the user experience.

[0050] In some embodiments, the cleaning equipment control method may further include the following steps 204 to 207:

[0051] Step 204: If the cleaning equipment encounters an obstacle to be crossed during its movement, obtain the height of the obstacle.

[0052] Step 205: If the height of the obstacle is less than a first height threshold, control the cleaning device to perform an obstacle-crossing action according to a first obstacle-crossing strategy. The first obstacle-crossing strategy includes the cleaning device crossing the obstacle by walking diagonally or in a serpentine manner.

[0053] Step 206: If the height of the obstacle is greater than or equal to the first height threshold and less than the second height threshold, control the cleaning device to perform an obstacle-crossing action according to the second obstacle-crossing strategy. The second obstacle-crossing strategy includes extending the omnidirectional wheels of the cleaning device to lift the front side of the chassis of the cleaning device to cross the obstacle. After the front side of the chassis crosses the obstacle, the omnidirectional wheels of the cleaning device retract, and the driving wheels of the cleaning device extend to lift the rear side of the chassis of the cleaning device to cross the obstacle. The front side of the chassis is the side of the chassis of the cleaning device closest to the obstacle.

[0054] Step 207: If the height of the obstacle is greater than or equal to the second height threshold, control the cleaning equipment to perform an obstacle-crossing action according to the target obstacle-crossing strategy.

[0055] In some implementations, a height detection device may be installed on the cleaning equipment. The height acquisition device may be located at the end of the robotic arm away from the chassis of the cleaning equipment, or it may be located on the top of the chassis of the cleaning equipment. It is used to detect the height of obstacles in the direction in which the cleaning equipment travels, so as to determine the obstacle-crossing strategy of the cleaning equipment based on the height.

[0056] In some embodiments, the first height threshold may be 2 cm and the second height threshold may be 4 cm. However, in some other embodiments, the first height threshold and the second height threshold may be specifically defined according to the structural characteristics of the cleaning equipment, and this disclosure will not impose further limitations on this.

[0057] Based on the technical solution proposed in this disclosure, the obstacle height recognition and graded obstacle crossing strategy can significantly improve the obstacle crossing ability and efficiency of cleaning equipment in complex environments. First, by detecting the height of obstacles, the cleaning equipment can determine the height of obstacles in front, providing a basis for the selection of subsequent obstacle crossing strategies. This ensures that the cleaning equipment can select the most suitable obstacle crossing strategy according to the specific situation, effectively improving the reliability of the cleaning equipment's obstacle crossing.

[0058] When the obstacle height is less than the first height threshold, the cleaning equipment can employ a first obstacle-crossing strategy, namely, a diagonal or serpentine movement. This simple and efficient strategy is suitable for low obstacles, ensuring the equipment can quickly and smoothly overcome them, reducing time wasted due to jamming or stopping during obstacle crossing. When the obstacle height is between the first and second thresholds, the cleaning equipment uses a second obstacle-crossing strategy. Through the coordinated movement of the casters and wheels, the front and rear chassis of the equipment are flexibly raised, enabling the cleaning equipment to overcome higher obstacles. This enhances the stability of obstacle crossing, expands the applicable environmental range, and improves the reliability of obstacle crossing in varied terrain. For obstacles with a height greater than or equal to the second height threshold, the cleaning equipment employs a target obstacle-crossing strategy, providing even stronger obstacle-crossing capabilities. With the assistance of a robotic arm, the cleaning equipment can handle complex obstacle situations, further improving its reliability in obstacle crossing.

[0059] Overall, this solution enhances the obstacle-crossing capability and reliability of cleaning equipment in various complex environments through obstacle height detection and a tiered obstacle-crossing strategy. This reduces the need for manual intervention and extends the equipment's working time and lifespan. Furthermore, the multi-level strategy switching mechanism ensures that the cleaning equipment selects the optimal obstacle-crossing strategy when encountering different obstacles, significantly improving user experience and the equipment's practical value.

[0060] In some embodiments, controlling the cleaning device to perform obstacle-crossing actions according to the target obstacle-crossing strategy may include the following steps 210 to 220:

[0061] Step 210: Control the end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support it on the ground, so as to drive the front side of the chassis of the cleaning equipment to cross the obstacle. The front side of the chassis is the side of the chassis of the cleaning equipment that is closer to the obstacle.

[0062] Step 220: After the front side of the chassis passes the obstacle, control the walking wheels of the cleaning equipment to extend and move towards the obstacle, so as to lift the rear side of the chassis of the cleaning equipment to pass the obstacle.

[0063] In this application, the robotic arm is controlled to cross the obstacle and support itself on the ground at one end, away from the chassis of the cleaning equipment. This drives the front side of the chassis of the cleaning equipment to cross the obstacle, raising it to a greater height, thus enabling the front side of the chassis to successfully cross the obstacle. Then, the wheels of the cleaning equipment are extended to raise the rear side of the chassis and drive the wheels towards the obstacle, enabling the cleaning equipment to successfully cross higher obstacles. This solution improves the success rate of the cleaning equipment crossing higher obstacles, expands its movable range, and thus enhances the reliability of obstacle crossing.

[0064] Based on the technical solution proposed in this disclosure, by controlling the end of the robotic arm furthest from the cleaning equipment to cross obstacles and support itself on the ground, the safety of the cleaning equipment during obstacle crossing can be ensured. Specifically, during the cleaning process, if the cleaning equipment needs to cross obstacles, instability often occurs during the lifting process due to a shift in its center of gravity, leading to tipping over. This not only interrupts the cleaning work but may also damage the cleaning equipment. However, by controlling the robotic arm to cross obstacles and support itself on the ground, the weight of the cleaning equipment is distributed, stabilizing its center of gravity. In this way, the cleaning equipment can maintain a relatively stable state during obstacle crossing, preventing tipping and ensuring efficient and safe cleaning.

[0065] In some embodiments of this disclosure, before controlling one end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support itself on the ground, the following step 230 may be included:

[0066] Step 230: Control the walking wheels of the cleaning device to walk a first distance toward the obstacle, so that the distance between the cleaning device and the obstacle is less than a preset distance.

[0067] It is understood that in this application, if the distance between the cleaning device and the obstacle is too large, the robotic arm may not be able to assist the cleaning device in overcoming the obstacle by crossing it and supporting itself on the ground. Therefore, after the cleaning device detects the obstacle, it needs to control the walking wheels of the cleaning device to move towards the obstacle a first distance, so that the distance between the cleaning device and the obstacle is less than a preset distance, ensuring that the robotic arm of the cleaning device can cross the obstacle and support itself on the ground, thereby assisting the cleaning device in crossing the obstacle. The first distance can be determined based on the extendable length of the robotic arm and the distance between the cleaning device and the obstacle.

[0068] To enable those skilled in the art to better understand the technical solutions of this disclosure, a specific embodiment will be described below in conjunction with Figures 3 and 4.

[0069] Referring to Figure 3, a scenario demonstration diagram of a cleaning device overcoming obstacles according to some embodiments of the present disclosure is shown.

[0070] As shown in Figure 3, the cleaning device 101 moves in direction A. After detecting the obstacle 104 ahead, it will determine the distance between the cleaning device 101 and the obstacle 104. If the distance between the cleaning device 101 and the obstacle 104 is greater than a preset distance, it means that the robotic arm 102 of the cleaning device 101 may not be able to cross the obstacle 104 and support itself on the ground. It is necessary to continue to control the walking wheel 105 to move forward a first distance so that the robotic arm 102 can cross the obstacle 104.

[0071] Referring to Figure 4, a scenario demonstration diagram of a cleaning device overcoming obstacles according to some embodiments of the present disclosure is shown.

[0072] As shown in Figure 4, after determining that the robotic arm 102 has crossed the obstacle 104, the cleaning equipment 101 can control the robotic arm 102 to cross the obstacle 104 and support it on the ground with the gripper 103, so as to ensure that the cleaning equipment can successfully cross the obstacle in the future.

[0073] In some embodiments, the process of lifting the front side of the chassis of the cleaning equipment over the obstacle may include the following step 211:

[0074] Step 211: Control the wheels of the cleaning equipment to travel a second distance toward the obstacle, so that the front side of the chassis of the cleaning equipment is raised and passes over the obstacle under the support of the robotic arm.

[0075] In some embodiments, the cleaning device can lift the front side of its chassis by driving its wheels toward the obstacle, supported by a robotic arm; alternatively, it can lift the front side of its chassis by driving the robotic arm to retract (i.e., adjusting the angles of the joints in the robotic arm) (at which point the wheels of the cleaning device also move toward the obstacle), allowing the front side of the cleaning device's chassis to pass over the obstacle; or it can simultaneously drive the wheels toward the obstacle and retract the robotic arm to achieve the purpose of lifting the front side of the cleaning device's chassis over the obstacle.

[0076] In some embodiments, the second distance can be positively correlated with the height of the obstacle; that is, the higher the obstacle, the longer the second distance. The advantage of this is that after the robotic arm of the cleaning device crosses the obstacle and supports itself on the ground, the longer the second distance the cleaning device's wheels travel towards the obstacle, the higher the front of the cleaning device's chassis will rise, thus enabling it to traverse higher obstacles. In other embodiments, the second distance can also be a pre-set fixed distance; this disclosure does not specifically limit this.

[0077] To enable those skilled in the art to better understand the technical solutions of this disclosure, a specific embodiment will be described below based on Figures 3 and 4, in conjunction with Figure 5.

[0078] Referring to Figure 5, a scenario demonstration diagram of a cleaning device overcoming obstacles according to some embodiments of this disclosure is shown.

[0079] As shown in Figure 5, after the cleaning device 101 controls the robotic arm 102 to cross the obstacle and support itself on the ground, it can continue to control the walking wheels 105 to walk a second distance toward the obstacle 104, so that the front side of the chassis of the cleaning device 101 is raised and crosses the obstacle 104 with the support of the robotic arm 102.

[0080] In step 220 above, before controlling the walking wheels of the cleaning equipment to extend and move towards the obstacle, the method can also be specifically performed according to step 240 as follows:

[0081] Step 240: Control the end of the robotic arm away from the chassis of the cleaning equipment to lift up.

[0082] It is understandable that in this application, if the end of the robotic arm away from the chassis of the cleaning equipment is not raised, and the walking wheels of the cleaning equipment are directly extended and moved towards the obstacle, the front side of the chassis of the cleaning equipment will continue to rise because the gripper of the robotic arm is not off the ground. This may cause the center of gravity of the cleaning equipment to become unstable, resulting in the cleaning equipment tipping over. Therefore, before controlling the walking wheels of the cleaning equipment to extend and move towards the obstacle, raising the end of the robotic arm away from the chassis of the cleaning equipment to a safe height can ensure that the cleaning equipment can move smoothly when extending the walking wheels towards the obstacle, thereby improving the safety of the cleaning equipment in overcoming obstacles.

[0083] To enable those skilled in the art to better understand the technical solutions of this disclosure, a specific embodiment will be described below in conjunction with Figures 6 and 7.

[0084] Referring to Figure 6, a scenario demonstration diagram of a cleaning device overcoming obstacles according to some embodiments of the present disclosure is shown.

[0085] As shown in Figure 6, the cleaning equipment 101 controls the end of the robotic arm 102 away from the chassis of the cleaning equipment to lift off the ground, then controls the walking wheel 105 to extend to raise the rear side of the chassis of the cleaning equipment 101, and finally controls the walking wheel 105 to continue walking in direction A until the walking wheel 105 crosses the obstacle 104.

[0086] In this application, it is understood that after the walking wheels extend and raise the rear of the cleaning equipment chassis, the chassis will tilt forward. However, if the obstacle is wide, the cleaning equipment chassis may remain level. Controlling the lifting of the walking wheels has the advantage of facilitating obstacle clearance and increasing the success rate.

[0087] Referring to Figure 7, a scenario demonstration diagram of a cleaning device overcoming obstacles according to some embodiments of the present disclosure is shown.

[0088] As shown in Figure 7, after the cleaning device 101 passes over the obstacle 104, it retracts its wheels 105 to restore the chassis of the cleaning device to a horizontal state.

[0089] Based on the technical solution proposed in this disclosure, if the cleaning equipment encounters an obstacle that needs to be overcome during the cleaning task, the robotic arm is controlled to cross the obstacle and support itself on the ground at the end furthest from the chassis. Then, the wheels are controlled to move towards the obstacle, and the front of the chassis is lifted by the support of the robotic arm to cross the obstacle. The end of the robotic arm furthest from the chassis is then lifted, and the wheels extend to lift the rear of the chassis as well. Finally, the wheels are controlled to continue moving towards the obstacle to cross it. The advantages of this approach are twofold: First, by using a robotic arm to assist the cleaning equipment in overcoming obstacles, it can overcome some higher obstacles, improving the reliability of obstacle-crossing, increasing the range of motion of the cleaning equipment, allowing it to adapt to more complex working environments, and improving the user experience. Second, by supporting the robotic arm on the ground during obstacle-crossing, the stability of the cleaning equipment during the process can be improved, preventing tilting due to instability and extending the service life of the cleaning equipment.

[0090] The following describes an embodiment of the apparatus disclosed herein, which can be used to execute the cleaning equipment control method in the above embodiments of the present disclosure. For details not disclosed in the apparatus embodiments of the present disclosure, please refer to the embodiments of the cleaning equipment control method described above.

[0091] Referring to Figure 8, a block diagram of a cleaning equipment control device according to some embodiments of the present disclosure is shown, wherein the chassis of the cleaning equipment is equipped with a robotic arm.

[0092] As shown in FIG8, the cleaning equipment control device 800 according to an embodiment of the present disclosure includes: a control unit 801.

[0093] The control unit 801 is used to control the cleaning equipment to perform obstacle-crossing actions according to a target obstacle-crossing strategy if the cleaning equipment encounters an obstacle to be crossed during its movement. The target obstacle-crossing strategy includes the robotic arm assisting the cleaning equipment to cross the obstacle.

[0094] In some embodiments, the control unit 801 may be configured to: if the cleaning device encounters an obstacle to be crossed during its movement, control the cleaning device to perform an obstacle-crossing action according to a first obstacle-crossing strategy, the first obstacle-crossing strategy including the cleaning device crossing the obstacle by walking diagonally or in a serpentine manner; if the cleaning device fails to cross the obstacle according to the first obstacle-crossing strategy, control the cleaning device to perform an obstacle-crossing action according to a second obstacle-crossing strategy, the second obstacle-crossing strategy including the omnidirectional wheels of the cleaning device extending to lift the front side of the chassis of the cleaning device to cross the obstacle, and after the front side of the chassis crosses the obstacle, the omnidirectional wheels of the cleaning device retracting and the walking wheels of the cleaning device extending to lift the rear side of the chassis of the cleaning device to cross the obstacle, the front side of the chassis being the side of the chassis of the cleaning device closest to the obstacle; if the cleaning device fails to cross the obstacle according to the second obstacle-crossing strategy, control the cleaning device to perform an obstacle-crossing action according to the target obstacle-crossing strategy.

[0095] In some embodiments, the control unit 801 may be configured to: if the cleaning device encounters an obstacle to be crossed during its movement, obtain the height of the obstacle; if the height of the obstacle is less than a first height threshold, control the cleaning device to perform an obstacle-crossing action according to a first obstacle-crossing strategy, the first obstacle-crossing strategy including the cleaning device crossing the obstacle by walking diagonally or in a serpentine manner; if the height of the obstacle is greater than or equal to the first height threshold and less than a second height threshold, control the cleaning device to perform an obstacle-crossing action according to a second obstacle-crossing strategy, the second obstacle-crossing strategy including the omnidirectional wheels of the cleaning device extending to lift the front side of the chassis of the cleaning device to cross the obstacle, after the front side of the chassis crosses the obstacle, the omnidirectional wheels of the cleaning device retracting, and the walking wheels of the cleaning device extending to lift the rear side of the chassis of the cleaning device to cross the obstacle, the front side of the chassis being the side of the chassis of the cleaning device closest to the obstacle; if the height of the obstacle is greater than or equal to the second height threshold, control the cleaning device to perform an obstacle-crossing action according to a target obstacle-crossing strategy.

[0096] In some embodiments, the control unit 801 may be configured to: control one end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support it on the ground, so as to drive the front side of the chassis of the cleaning equipment to cross the obstacle, wherein the front side of the chassis is the side of the chassis of the cleaning equipment closest to the obstacle; after the front side of the chassis crosses the obstacle, control the walking wheels of the cleaning equipment to extend and walk toward the obstacle, so as to lift the rear side of the chassis of the cleaning equipment to cross the obstacle.

[0097] In some embodiments, the control unit 801 may be configured to control the walking wheels of the cleaning device to walk a first distance toward the obstacle, such that the distance between the cleaning device and the obstacle is less than a preset distance.

[0098] In some embodiments, the control unit 801 may be configured to control the walking wheels of the cleaning device to travel a second distance toward the obstacle, such that the front side of the chassis of the cleaning device is raised and passes over the obstacle under the support of the robotic arm.

[0099] In some implementations, the second distance is positively correlated with the height of the obstacle.

[0100] In some embodiments, the control unit 801 may be configured to control the end of the robotic arm away from the chassis of the cleaning equipment to lift up.

[0101] Based on the same inventive concept, this disclosure provides a computer program product including computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having the processor to perform the operations performed by the cleaning equipment control method as described above.

[0102] Based on the same inventive concept, embodiments of this disclosure provide a computer-readable storage medium including at least one computer program instruction stored thereon, the at least one computer program instruction being loaded and executed by a processor to implement the operations performed by the cleaning equipment control method as described above.

[0103] Based on the same inventive concept, this disclosure also provides a cleaning device. Referring to FIG9, a schematic diagram of the structure of a cleaning device according to some embodiments of this disclosure is shown. The cleaning device includes one or more memories 904, one or more processors 902, and at least one computer program (computer program instruction) stored in the memory 904 and executable on the processor 902. When the processor 902 executes the computer program, it implements the cleaning device control method as described above.

[0104] In Figure 9, a bus architecture (represented by bus 900) is shown. Bus 900 may include any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 902 and memory represented by memory 904. Bus 900 may also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 905 provides an interface between bus 900 and receiver 901 and transmitter 903. Receiver 901 and transmitter 903 may be the same element, i.e., a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 902 is responsible for managing bus 900 and general processing, while memory 904 can be used to store data used by processor 902 during operation.

[0105] According to a first aspect of the present disclosure, a cleaning equipment control method is provided, wherein the chassis of the cleaning equipment is equipped with a robotic arm, the method comprising: if the cleaning equipment encounters an obstacle to be crossed during its movement, controlling the cleaning equipment to perform an obstacle-crossing action according to a target obstacle-crossing strategy, wherein the target obstacle-crossing strategy includes the robotic arm assisting the cleaning equipment in crossing the obstacle.

[0106] In some embodiments, controlling the cleaning equipment to perform obstacle-crossing actions according to a target obstacle-crossing strategy includes: controlling one end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support it on the ground, so as to drive the front side of the chassis of the cleaning equipment to cross the obstacle, wherein the front side of the chassis is the side of the chassis of the cleaning equipment closest to the obstacle; after the front side of the chassis crosses the obstacle, controlling the walking wheels of the cleaning equipment to extend and walk towards the obstacle, so as to lift the rear side of the chassis of the cleaning equipment to cross the obstacle.

[0107] In some embodiments, before controlling the end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support itself on the ground, the method further includes: controlling the wheels of the cleaning equipment to travel a first distance toward the obstacle, such that the distance between the cleaning equipment and the obstacle is less than a preset distance.

[0108] In some embodiments, the method of driving the front side of the chassis of the cleaning equipment to move past the obstacle includes: controlling the wheels of the cleaning equipment to move a second distance toward the obstacle, so that the front side of the chassis of the cleaning equipment is lifted and moves past the obstacle under the support of the robotic arm.

[0109] In some implementations, the second distance is positively correlated with the height of the obstacle.

[0110] In some embodiments, the method further includes, before controlling the walking wheels of the cleaning equipment to extend and move toward the obstacle, controlling one end of the robotic arm away from the chassis of the cleaning equipment to lift.

[0111] According to a second aspect of the present disclosure, a method for controlling a cleaning device is provided. The cleaning device has a chassis equipped with a robotic arm. The method includes: if the cleaning device encounters an obstacle to be crossed during its movement, controlling the cleaning device to perform an obstacle-crossing action according to a first obstacle-crossing strategy, the first obstacle-crossing strategy including the cleaning device crossing the obstacle by walking diagonally or in a serpentine manner; if the cleaning device fails to cross the obstacle according to the first obstacle-crossing strategy, controlling the cleaning device to perform an obstacle-crossing action according to a second obstacle-crossing strategy, the second obstacle-crossing strategy including the extension of the cleaning device's casters to lift the front side of the cleaning device's chassis to cross the obstacle, and after the front side of the chassis crosses the obstacle, the casters of the cleaning device retract and the walking wheels of the cleaning device extend to lift the rear side of the cleaning device's chassis to cross the obstacle, the front side of the chassis being the side of the cleaning device closest to the obstacle; if the cleaning device fails to cross the obstacle according to the second obstacle-crossing strategy, controlling the cleaning device to perform an obstacle-crossing action according to a target obstacle-crossing strategy.

[0112] In some embodiments, controlling the cleaning equipment to perform obstacle-crossing actions according to a target obstacle-crossing strategy includes: controlling one end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support it on the ground, so as to drive the front side of the chassis of the cleaning equipment to cross the obstacle, wherein the front side of the chassis is the side of the chassis of the cleaning equipment closest to the obstacle; after the front side of the chassis crosses the obstacle, controlling the walking wheels of the cleaning equipment to extend and walk towards the obstacle, so as to lift the rear side of the chassis of the cleaning equipment to cross the obstacle.

[0113] In some embodiments, before controlling the end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support itself on the ground, the method further includes: controlling the wheels of the cleaning equipment to travel a first distance toward the obstacle, such that the distance between the cleaning equipment and the obstacle is less than a preset distance.

[0114] In some embodiments, the method of driving the front side of the chassis of the cleaning equipment to move past the obstacle includes: controlling the wheels of the cleaning equipment to move a second distance toward the obstacle, so that the front side of the chassis of the cleaning equipment is lifted and moves past the obstacle under the support of the robotic arm.

[0115] In some implementations, the second distance is positively correlated with the height of the obstacle.

[0116] In some embodiments, the method further includes, before controlling the walking wheels of the cleaning equipment to extend and move toward the obstacle, controlling one end of the robotic arm away from the chassis of the cleaning equipment to lift.

[0117] According to a third aspect of the present disclosure, a method for controlling a cleaning device is provided. The cleaning device has a chassis equipped with a robotic arm. The method includes: if the cleaning device encounters an obstacle to be crossed during movement, obtaining the height of the obstacle; if the height of the obstacle is less than a first height threshold, controlling the cleaning device to perform an obstacle-crossing action according to a first obstacle-crossing strategy, the first obstacle-crossing strategy including the cleaning device crossing the obstacle by walking diagonally or in a serpentine manner; if the height of the obstacle is greater than or equal to the first height threshold and less than a second height threshold, controlling the cleaning device to perform an obstacle-crossing action according to a second obstacle-crossing strategy, the second obstacle-crossing strategy including the extension of the cleaning device's casters to lift the front side of the cleaning device's chassis to cross the obstacle, and after the front side of the chassis crosses the obstacle, the casters of the cleaning device retract and the walking wheels of the cleaning device extend to lift the rear side of the cleaning device's chassis to cross the obstacle, the front side of the chassis being the side of the cleaning device closest to the obstacle; if the height of the obstacle is greater than or equal to the second height threshold, controlling the cleaning device to perform an obstacle-crossing action according to a target obstacle-crossing strategy.

[0118] In some embodiments, controlling the cleaning equipment to perform obstacle-crossing actions according to a target obstacle-crossing strategy includes: controlling one end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support it on the ground, so as to drive the front side of the chassis of the cleaning equipment to cross the obstacle, wherein the front side of the chassis is the side of the chassis of the cleaning equipment closest to the obstacle; after the front side of the chassis crosses the obstacle, controlling the walking wheels of the cleaning equipment to extend and walk towards the obstacle, so as to lift the rear side of the chassis of the cleaning equipment to cross the obstacle.

[0119] In some embodiments, before controlling the end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support itself on the ground, the method further includes: controlling the wheels of the cleaning equipment to travel a first distance toward the obstacle, such that the distance between the cleaning equipment and the obstacle is less than a preset distance.

[0120] In some embodiments, the method of driving the front side of the chassis of the cleaning equipment to move past the obstacle includes: controlling the wheels of the cleaning equipment to move a second distance toward the obstacle, so that the front side of the chassis of the cleaning equipment is lifted and moves past the obstacle under the support of the robotic arm.

[0121] In some implementations, the second distance is positively correlated with the height of the obstacle.

[0122] In some embodiments, the method further includes, before controlling the walking wheels of the cleaning equipment to extend and move toward the obstacle, controlling one end of the robotic arm away from the chassis of the cleaning equipment to lift.

[0123] Based on the technical solution proposed in this disclosure, by using a robotic arm to assist cleaning equipment in overcoming obstacles, the failure of the cleaning equipment to overcome obstacles due to their height can be avoided, thereby improving the success rate of the cleaning equipment in overcoming obstacles and thus avoiding affecting the reliability of the cleaning equipment in overcoming obstacles. In this way, the technical solution proposed in this disclosure can improve the reliability of the cleaning equipment in overcoming obstacles.

[0124] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this disclosure and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0125] In the several embodiments provided in this disclosure, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0126] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0127] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0128] The above description is merely an embodiment of this disclosure and is not intended to limit this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of the claims of this disclosure.

Claims

1. A method for controlling a cleaning device, wherein the chassis of the cleaning device is equipped with a robotic arm, the method comprising: If the cleaning equipment encounters an obstacle to be overcome during its movement, the cleaning equipment is controlled to perform an obstacle-crossing action according to a target obstacle-crossing strategy, which includes the robotic arm assisting the cleaning equipment in overcoming the obstacle.

2. The method according to claim 1, wherein, The control of the cleaning equipment to perform obstacle-crossing actions according to the target obstacle-crossing strategy includes: Control the end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support it on the ground, so as to drive the front side of the chassis of the cleaning equipment to cross the obstacle. The front side of the chassis is the side of the chassis of the cleaning equipment that is closer to the obstacle. After the front side of the chassis passes the obstacle, the walking wheels of the cleaning equipment are controlled to extend and move toward the obstacle, so as to lift the rear side of the chassis of the cleaning equipment to pass the obstacle.

3. The method according to claim 2, wherein, The method further includes, before controlling the end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support itself on the ground: The cleaning equipment is controlled to move its wheels toward the obstacle a first distance, such that the distance between the cleaning equipment and the obstacle is less than a preset distance.

4. The method according to claim 2, wherein, The method of driving and lifting the front side of the chassis of the cleaning equipment over the obstacle includes: The cleaning equipment's wheels are controlled to travel a second distance toward the obstacle, so that the front side of the cleaning equipment's chassis is raised and passes over the obstacle under the support of the robotic arm.

5. The method according to claim 4, wherein, The second distance is positively correlated with the height of the obstacle.

6. The method according to claim 2, wherein, Before controlling the walking wheels of the cleaning device to extend and move toward the obstacle, the method further includes: The robotic arm is controlled to lift the end away from the chassis of the cleaning equipment.

7. A method for controlling cleaning equipment, wherein the chassis of the cleaning equipment is equipped with a robotic arm, the method comprising: If the cleaning device encounters an obstacle to be crossed during its movement, the cleaning device is controlled to perform an obstacle-crossing action according to a first obstacle-crossing strategy. The first obstacle-crossing strategy includes the cleaning device crossing the obstacle by walking diagonally or in a serpentine manner. If the cleaning device fails to overcome an obstacle according to the first obstacle-crossing strategy, the cleaning device is controlled to perform an obstacle-crossing action according to the second obstacle-crossing strategy. The second obstacle-crossing strategy includes extending the omnidirectional wheels of the cleaning device to lift the front side of the chassis of the cleaning device to overcome the obstacle. After the front side of the chassis overcomes the obstacle, the omnidirectional wheels of the cleaning device retract, and the driving wheels of the cleaning device extend to lift the rear side of the chassis of the cleaning device to overcome the obstacle. The front side of the chassis is the side of the chassis of the cleaning device closest to the obstacle. If the cleaning device fails to overcome an obstacle according to the second obstacle-overcoming strategy, the cleaning device is controlled to perform an obstacle-overcoming action according to the target obstacle-overcoming strategy.

8. The method according to claim 7, wherein, The control of the cleaning equipment to perform obstacle-crossing actions according to the target obstacle-crossing strategy includes: Control the end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support it on the ground, so as to drive the front side of the chassis of the cleaning equipment to cross the obstacle. The front side of the chassis is the side of the chassis of the cleaning equipment that is closer to the obstacle. After the front side of the chassis passes the obstacle, the walking wheels of the cleaning equipment are controlled to extend and move toward the obstacle, so as to lift the rear side of the chassis of the cleaning equipment to pass the obstacle.

9. The method according to claim 8, wherein, The method further includes, before controlling the end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support itself on the ground: The cleaning equipment is controlled to move its wheels toward the obstacle a first distance, such that the distance between the cleaning equipment and the obstacle is less than a preset distance.

10. The method according to claim 8, wherein, The method of driving and lifting the front side of the chassis of the cleaning equipment over the obstacle includes: The cleaning equipment's wheels are controlled to travel a second distance toward the obstacle, so that the front side of the cleaning equipment's chassis is raised and passes over the obstacle under the support of the robotic arm.

11. The method according to claim 10, wherein, The second distance is positively correlated with the height of the obstacle.

12. The method according to claim 8, wherein, Before controlling the walking wheels of the cleaning device to extend and move toward the obstacle, the method further includes: The robotic arm is controlled to lift the end away from the chassis of the cleaning equipment.

13. A method for controlling a cleaning device, wherein the chassis of the cleaning device is equipped with a robotic arm, the method comprising: If the cleaning equipment encounters an obstacle to be overcome during its movement, the height of the obstacle is obtained; If the height of the obstacle is less than a first height threshold, the cleaning device is controlled to perform an obstacle-crossing action according to a first obstacle-crossing strategy. The first obstacle-crossing strategy includes the cleaning device crossing the obstacle by walking at an angle or by walking in a serpentine manner. If the height of the obstacle is greater than or equal to the first height threshold and less than the second height threshold, the cleaning device is controlled to perform an obstacle-crossing action according to a second obstacle-crossing strategy. The second obstacle-crossing strategy includes extending the omnidirectional wheels of the cleaning device to lift the front side of the chassis of the cleaning device to cross the obstacle, and after the front side of the chassis crosses the obstacle, retracting the omnidirectional wheels of the cleaning device and extending the driving wheels of the cleaning device to lift the rear side of the chassis of the cleaning device to cross the obstacle. The front side of the chassis is the side of the chassis of the cleaning device closest to the obstacle. If the height of the obstacle is greater than or equal to the second height threshold, the cleaning equipment is controlled to perform an obstacle-crossing action according to the target obstacle-crossing strategy.

14. The method according to claim 13, wherein, The control of the cleaning equipment to perform obstacle-crossing actions according to the target obstacle-crossing strategy includes: Control the end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support it on the ground, so as to drive the front side of the chassis of the cleaning equipment to cross the obstacle. The front side of the chassis is the side of the chassis of the cleaning equipment that is closer to the obstacle. After the front side of the chassis passes the obstacle, the walking wheels of the cleaning equipment are controlled to extend and move toward the obstacle, so as to lift the rear side of the chassis of the cleaning equipment to pass the obstacle.

15. The method according to claim 14, wherein, The method further includes, before controlling the end of the robotic arm away from the chassis of the cleaning equipment to cross the obstacle and support itself on the ground: The cleaning equipment is controlled to move its wheels toward the obstacle a first distance, such that the distance between the cleaning equipment and the obstacle is less than a preset distance.

16. The method of claim 14, wherein, The method of driving and lifting the front side of the chassis of the cleaning equipment over the obstacle includes: The cleaning equipment's wheels are controlled to travel a second distance toward the obstacle, so that the front side of the cleaning equipment's chassis is raised and passes over the obstacle under the support of the robotic arm.

17. The method according to claim 16, wherein, The second distance is positively correlated with the height of the obstacle.

18. The method according to claim 14, wherein, Before controlling the walking wheels of the cleaning device to extend and move toward the obstacle, the method further includes: The robotic arm is controlled to lift the end away from the chassis of the cleaning equipment.

19. A control device for cleaning equipment, wherein the chassis of the cleaning equipment is equipped with a robotic arm, the device comprising: The control unit is configured to, if the cleaning equipment encounters an obstacle to be overcome during its movement, control the cleaning equipment to perform an obstacle-crossing action according to a target obstacle-crossing strategy, wherein the target obstacle-crossing strategy includes the robotic arm assisting the cleaning equipment in overcoming the obstacle.

20. A computer program product comprising computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a computer device having said processor to perform the method as claimed in any one of claims 1 to 18.

21. A computer-readable storage medium comprising at least one piece of program code stored thereon, said at least one piece of program code being loaded and executed by a processor to implement the method as claimed in any one of claims 1 to 18.

22. A cleaning device comprising one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, the at least one piece of program code being loaded and executed by the one or more processors to implement the method as claimed in any one of claims 1 to 18.

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