Obstacle cleaning method, cleaning robot and computer-readable storage medium

Abstract

An obstacle cleaning method, a cleaning robot and a computer-readable storage medium. The method is applied to a cleaning robot, which comprises a chassis and a wet cleaning member connected to the chassis. The method comprises: identifying information of an obstacle, when the height of the obstacle is greater than a first threshold value, executing an obstacle avoidance cleaning strategy, and when the height of the obstacle is less than a second threshold value, executing a low-obstacle cleaning strategy (S902), wherein the obstacle avoidance cleaning strategy involves cleaning edges of the obstacle, and the low-obstacle cleaning strategy involves adjusting an ascending and descending height of a chassis of a cleaning robot and / or an ascending and descending height of a wet cleaning member, so as to clean an upper surface of the obstacle. In this way, the cleaning coverage rate and the cleaning effect are improved.

Description

Obstacle cleaning methods, cleaning robots, and computer-readable storage media

[0001] This application claims priority to Chinese Patent Application No. 202510915382.9, filed on July 3, 2025, entitled "Method for cleaning obstacles, cleaning robot and computer-readable storage medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of cleaning robot technology, and in particular to an obstacle cleaning method, a cleaning robot, and a computer-readable storage medium. Background Technology

[0003] Cleaning robots can improve environmental hygiene while reducing labor. Therefore, with the continuous development of cleaning robot technology, cleaning robots are being widely used.

[0004] In traditional technology, cleaning robots are driven by drive wheels during daily cleaning, and then use dry and wet cleaning components located on the bottom of the robot to clean the floor. When encountering low obstacles, the cleaning robot will actively avoid them and continue cleaning.

[0005] However, there is also a need to clean low obstacles (such as floor sockets, thresholds, baseboards, etc.). In traditional technology, cleaning robots can only avoid obstacles, which means that current cleaning robots cannot meet the cleaning needs of low obstacles. Summary of the Invention

[0006] Therefore, it is necessary to provide an obstacle cleaning method, a cleaning robot, and a computer-readable storage medium to address the aforementioned technical problems.

[0007] In a first aspect, this application provides an obstacle cleaning method, the method being applied to a cleaning robot, the cleaning robot including a chassis and a wet cleaning component connected to the chassis, the method comprising:

[0008] Obstacle information is identified; when the height of the obstacle is greater than a first threshold, an obstacle avoidance and cleaning strategy is executed; when the height of the obstacle is less than a second threshold, a low obstacle cleaning strategy is executed.

[0009] The obstacle avoidance and cleaning strategy involves cleaning along the edges of the obstacle.

[0010] The low-profile obstacle cleaning strategy involves adjusting the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning component to maintain the cleanliness of the upper surface of the obstacle.

[0011] In one embodiment, the step of executing a low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0012] When the obstacle is in the edge position and the height of the obstacle is less than the second threshold, the wet cleaning component is controlled to clean the upper surface of the obstacle in the outward expansion state.

[0013] When the obstacle is in a non-edge position and the height of the obstacle is less than the second threshold, the wet cleaning component is controlled to clean the upper surface of the obstacle in either an inward or outward state.

[0014] In one embodiment, after executing the low obstacle cleaning strategy when the height of the obstacle is less than a second threshold, the method further includes:

[0015] By adjusting the positional relationship between the cleaning robot and the obstacle, the outward expansion state of the wet cleaning component, and one or more of the lifting height of the cleaning robot chassis and the lifting height of the wet cleaning component, the cleaning position of the wet cleaning component is readjusted, and the edge cleaning of the obstacle continues.

[0016] In one embodiment, the drive wheels of the cleaning robot are located within the chassis, and the wet cleaning component does not extend beyond the edge of the chassis when it is in a retracted state; wherein,

[0017] When the wet cleaning component is in its maximum stroke in the outward-expanding state, the length of the wet cleaning component extending beyond the edge of the chassis is the first effective length;

[0018] The distance from the outer side of the drive wheel of the cleaning robot near the obstacle to the end of the wet cleaning component when it is in its maximum stroke in the outward expansion state is the second effective length;

[0019] The second effective length is greater than the first effective length.

[0020] In one embodiment, the step of executing a low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0021] When the height of the obstacle is less than the second threshold and the width is less than the first effective length, the wet cleaning component is controlled to be in the cleaning position and the wet cleaning component is maintained in the outward expansion state.

[0022] Control the cleaning robot to move along the edge of the obstacle;

[0023] During the movement of the cleaning robot, the wet cleaning component located at the cleaning position cleans the upper surface of the obstacle.

[0024] In one embodiment, the step of executing a low obstacle cleaning strategy when the height of the obstacle is less than a threshold includes:

[0025] When the height of the obstacle is less than the second threshold and the width is greater than the first effective length but less than the second effective length, the wet cleaning component is controlled to be in the cleaning position and the wet cleaning component is maintained in the outward expansion state.

[0026] The cleaning robot is controlled to move along the edge of the obstacle from the outside of its drive wheels on the side closest to the obstacle.

[0027] During the movement of the cleaning robot, the wet cleaning component located at the cleaning position cleans the upper surface of the obstacle.

[0028] In one embodiment, the step of executing a low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0029] When the obstacle is in a non-edge position, if the height of the obstacle is less than the second threshold and the width is greater than the second effective length, the wet cleaning component is controlled to be in the cleaning position and the wet cleaning component is maintained in the outward expansion state.

[0030] The cleaning robot is controlled to move along the left and right edges of the obstacle; the movement along the left and right edges means that the wet cleaning component's contact with the edge of the obstacle is discontinuous.

[0031] During the movement of the cleaning robot, the wet cleaning component located at the cleaning position cleans the upper surface of the obstacle.

[0032] In one embodiment, the step of executing a low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0033] When the obstacle is in a non-edge position, if the height of the obstacle is less than the second threshold and the width is greater than the second effective length, the wet cleaning component is controlled to be in the cleaning position and the wet cleaning component is maintained in the outward expansion state.

[0034] The cleaning robot is controlled to move around the edge of the obstacle; the moving around the edge of the obstacle means that the wet cleaning component is in continuous contact with the edge of the obstacle;

[0035] During the movement of the cleaning robot, the wet cleaning component located at the cleaning position cleans the upper surface of the obstacle.

[0036] In one embodiment, the step of executing a low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0037] When the height of the obstacle is less than the second threshold and the width is less than the length of the wet cleaning component, the wet cleaning component is controlled to be in the cleaning position and kept in the retracted state; the length of the wet cleaning component is the straight-line distance between the left end and the right end of the wet cleaning component when it is kept in the retracted state.

[0038] The cleaning robot is controlled to cross the upper surface of the obstacle, thereby driving the wet cleaning component to clean the upper surface of the obstacle.

[0039] In one embodiment, controlling the wet cleaning component to be in the cleaning position includes at least one of the following steps:

[0040] The wet cleaning component is controlled to maintain a preset low-position cleaning state and the chassis of the cleaning robot is raised so that the wet cleaning component is at an effective cleaning height that is adapted to the surface to be cleaned.

[0041] The cleaning robot chassis is controlled to maintain its initial state and the wet cleaning component is raised so that the wet cleaning component is at an effective cleaning height that matches the surface to be cleaned.

[0042] The cleaning robot chassis and the wet cleaning component are raised together to bring the wet cleaning component to an effective cleaning height that matches the surface to be cleaned.

[0043] In one embodiment, the step of driving the cleaning robot to move, causing the wet cleaning component located at the cleaning position to clean the upper surface of the obstacle, includes:

[0044] As the cleaning robot moves along one side of the obstacle, it drives the wet cleaning component, located at the cleaning position, to clean the upper surface of the obstacle; or...

[0045] During the process of driving the cleaning robot to move back and forth along the obstacle, the wet cleaning component located at the cleaning position will move back and forth at least once to clean the upper surface of the obstacle.

[0046] In one embodiment, the step of driving the cleaning robot to move, causing the wet cleaning component located at the cleaning position to clean the upper surface of the obstacle, includes:

[0047] As the cleaning robot travels along the obstacle, its rear end is driven to deflect towards and swing away from the obstacle multiple times to clean the upper surface of the obstacle.

[0048] In one embodiment, the method further includes:

[0049] When the height of the obstacle is greater than the lifting height of the chassis of the cleaning robot or the lifting height of the wet cleaning component, but less than the maximum height that the cleaning robot can climb in an obstacle-crossing manner, the drive wheel of the cleaning robot on the side closest to the obstacle is controlled to climb to the upper surface of the obstacle in an obstacle-crossing manner.

[0050] The cleaning robot is driven forward by at least the drive wheel on the side away from the obstacle, and the wet cleaning component performs the cleaning operation on the upper surface of the obstacle.

[0051] In one embodiment, the step of executing a low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0052] When the height of the obstacle is less than the second threshold, the cleaning robot is controlled to move at a constant speed of the first speed.

[0053] Alternatively, the cleaning robot can be controlled to move at varying speeds within a preset speed range and execute the low obstacle cleaning strategy; the preset speed range is from zero to a first speed.

[0054] Wherein, the first speed is less than or equal to the travel speed of the cleaning robot in a non-clean state.

[0055] In one embodiment, the step of executing a low obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0056] When the height of the obstacle is less than the second threshold, the cleaning robot is controlled to stop moving and the wet cleaning component is controlled to be in the cleaning position so that the wet cleaning component continuously cleans the upper surface of the obstacle. Then the cleaning robot is controlled to continue moving.

[0057] In one embodiment, the vertical height of the upper surface of the obstacle from the ground is not fixed, and / or there are protrusions on the side of the obstacle. The step of executing a low-obstacle cleaning strategy when the height of the obstacle is less than a second threshold includes:

[0058] Obtain the height range information of the upper surface of the obstacle;

[0059] Based on the height range information, the wet cleaning component of the cleaning robot is dynamically adjusted to a cleaning position, so that the wet cleaning component in the cleaning position cleans the upper surface of the obstacle; and / or,

[0060] The robot's position and / or the outward extension of the wet cleaning component are dynamically adjusted to bypass the protruding parts on the side of the obstacle, and then the cleaning operation on the upper surface of the obstacle is resumed.

[0061] In one embodiment, the method further includes:

[0062] The cleaning robot is controlled to contact the end face of the obstacle, and then the wet cleaning component of the cleaning robot is controlled to perform a lifting operation, and / or the body of the cleaning robot is controlled to perform a reciprocating movement, so as to clean the end face of the obstacle.

[0063] In one embodiment, the first threshold is greater than or equal to the second threshold.

[0064] In a second aspect, this application also provides a cleaning robot, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the method described in any one of the first aspects.

[0065] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0066] Obstacle information is identified; when the height of the obstacle is greater than a first threshold, an obstacle avoidance and cleaning strategy is executed; when the height of the obstacle is less than a second threshold, a low obstacle cleaning strategy is executed.

[0067] The obstacle avoidance and cleaning strategy involves cleaning along the edges of the obstacle.

[0068] The low-profile obstacle cleaning strategy involves adjusting the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning component to maintain the cleanliness of the upper surface of the obstacle.

[0069] Fourthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0070] Obstacle information is identified; when the height of the obstacle is greater than a first threshold, an obstacle avoidance and cleaning strategy is executed; when the height of the obstacle is less than a second threshold, a low obstacle cleaning strategy is executed.

[0071] The obstacle avoidance and cleaning strategy involves cleaning along the edges of the obstacle.

[0072] The low-profile obstacle cleaning strategy involves adjusting the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning component to maintain the cleanliness of the upper surface of the obstacle.

[0073] The aforementioned obstacle cleaning method, cleaning robot, and computer-readable storage medium identify obstacle information. When the obstacle's height is greater than a first threshold, an obstacle avoidance cleaning strategy is executed; when the obstacle's height is less than a second threshold, a low obstacle cleaning strategy is executed. The first threshold is greater than or equal to the second threshold. The obstacle avoidance cleaning strategy involves cleaning along the edges of the obstacle. The low obstacle cleaning strategy involves adjusting the lifting height of the cleaning robot's chassis and / or the lifting height of the wet cleaning component to maintain cleanliness of the obstacle's upper surface. Using this method, by differentiating obstacles of different heights and adopting targeted cleaning strategies, deep cleaning of the upper surface of low obstacles can be achieved, avoiding cleaning blind spots. Simultaneously, higher obstacles are bypassed or cleaned along their edges, ensuring thorough cleaning of the entire house without dead angles, significantly improving cleaning coverage and precision. The chassis lifting and wet cleaning component height adjustment strategies designed for low obstacles allow the cleaning robot to flexibly handle complex terrain, reducing the risk of collisions and getting stuck, and enhancing environmental adaptability and operational stability. Attached Figure Description

[0074] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0075] Figure 1 is a top view of one embodiment of a cleaning robot;

[0076] Figure 2 is a bottom view of one embodiment of the cleaning robot;

[0077] Figure 3 is a top view of one embodiment of the cleaning robot;

[0078] Figure 4 is a structural schematic diagram of a wet cleaning module in one embodiment;

[0079] Figure 5 is a structural schematic diagram of a wet cleaning module in one embodiment;

[0080] Figure 6 is a structural schematic diagram of a lead screw drive mechanism in one embodiment;

[0081] Figure 7 is a structural schematic diagram of a wet cleaning module in one embodiment;

[0082] Figure 8 is a structural schematic diagram of a wet cleaning module in one embodiment;

[0083] Figure 9 is a flowchart illustrating an obstacle cleaning method in one embodiment;

[0084] Figure 10 is a flowchart illustrating the steps of a low obstacle cleaning strategy based on obstacle location and obstacle height in one embodiment;

[0085] Figure 11 is a flowchart illustrating the edge cleaning steps in one embodiment;

[0086] Figure 12 is a schematic diagram of the first effective length in one embodiment;

[0087] Figure 13 is a schematic diagram of the second effective length in one embodiment;

[0088] Figure 14 is a flowchart illustrating the steps of implementing a low obstacle cleaning strategy in one embodiment;

[0089] Figure 15 is a flowchart illustrating the steps of implementing a low obstacle cleaning strategy in one embodiment;

[0090] Figure 16 is a flowchart illustrating the steps of implementing a low obstacle cleaning strategy in one embodiment;

[0091] Figure 17 is a flowchart illustrating the steps of implementing a low obstacle cleaning strategy in one embodiment;

[0092] Figure 18 is a flowchart illustrating the steps of implementing a low obstacle cleaning strategy in one embodiment;

[0093] Figure 19 is a flowchart illustrating the steps of implementing a low obstacle cleaning strategy in one embodiment;

[0094] Figure 20 is a flowchart illustrating the steps of the low obstacle cleaning strategy in one embodiment when the obstacle is higher than the chassis lifting height or the wet cleaning component lifting height, but less than the maximum height that the cleaning robot can climb by overcoming obstacles.

[0095] Figure 21 is a schematic diagram of the movement mode of the cleaning robot in one embodiment;

[0096] Figure 22 is a schematic diagram of the movement mode of the cleaning robot in one embodiment;

[0097] Figure 23 is a flowchart illustrating the steps of implementing a low obstacle cleaning strategy for irregularly shaped obstacles in one embodiment;

[0098] Figure 24 is a schematic diagram of a cleaning robot cleaning irregularly shaped obstacles in one embodiment;

[0099] Figure 25 is a schematic diagram of a cleaning robot cleaning the end face of an obstacle in one embodiment;

[0100] Figure 26 is a flowchart illustrating the step of cleaning the end face of an obstacle in one embodiment.

[0101] Explanation of reference numerals in the attached drawings: 1. Body; 101. Front end; 102. Rear end; 103. Roller brush chamber; 104. Dust box chamber; 105. Extension opening; 201. Drive wheel; 202. Caster wheel; 301. Side brush; 302. Roller brush; 303. Dust box; 304. Rotary wet cleaning component; 305. Cleaning component bracket; 3051. Drive end; 3052. Extension end; 3023. Wastewater collection tank; 3024. Fourth drive assembly; 30241. Fourth drive motor; 3024 2. Fourth gearbox; 3025. Inner support bracket; 30251. Drive shaft; 30252. Driven shaft; 30261. Fifth drive motor; 30262. Fixed bracket; 30263. Moving bracket; 3027. Wiper component; 3028. Spray nozzle; 4. Guide rail; 401. First end; 402. Inclined section; 403. Second end; 404. Guide component; 5. Mounting plate; 501. Screw drive mechanism; 5011. Screw; 5012. Slider; 502. Clearance cavity. Detailed Implementation

[0102] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0103] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0104] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0105] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0106] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0107] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0108] In an exemplary embodiment, as shown in Figures 1 to 8, a cleaning robot is provided. The cleaning robot may be a sweeping robot, a mopping robot, a sweeping and mopping robot, a window cleaning robot, etc. As shown in Figures 1-8, the cleaning robot may include a body 1, a walking system, a sensing system, cleaning components, a control module, etc.

[0109] The walking system is mounted on the body 1 and is used to drive the body 1 to move on the working surface. The self-moving movement includes forward, backward, and turning. Along the forward direction of the body 1, the front end of the body 1 is the front end 101, and the rear end is the rear end 102. The width direction of the body 1 refers to the direction of the body 1 perpendicular to its forward direction.

[0110] The walking system generally includes a first drive assembly and a set of drive wheels 201. The set of drive wheels 201 includes drive wheels 201 and casters 202. The drive wheels 201 are rotatably mounted on the bottom of the body 1. Two drive wheels 201 are arranged opposite each other along the width direction of the body 1, and the two drive wheels 201 are located between the front end 101 and the rear end 102 of the body 1. The casters 202 are located on the bottom of the body 1. The casters 202 can be located at the front end 101 or the rear end 102 of the body 1. The casters 202 are located on the perpendicular bisector of the line connecting the two drive wheels 201. During the forward, backward, and turning movements of the body 1, the casters 202 play a supporting and assisting role in steering.

[0111] The first drive assembly includes a first drive motor and a first gearbox. The first drive assembly is located inside the machine body 1. There are two sets of the first drive assembly. Each set of the first drive assembly corresponds to each drive wheel 201. The output end of the first drive motor is connected to the input end of the first gearbox, and the output end of the first gearbox is connected to the drive wheel 201. The power of the first drive motor is transmitted to the drive wheel 201 through the first gearbox to drive the machine body 1 to move on the working surface.

[0112] When the walking system needs to drive the machine body 1 forward or backward, the two first drive motors rotate at the same speed, so that the two drive wheels 201 rotate at the same speed. This allows the machine body 1 to move forward or backward. When the walking system needs to drive the machine body 1 to turn, the two first drive motors rotate at different speeds, so that the two drive wheels 201 rotate at different speeds. Because of the speed difference between the two drive wheels 201, the machine body 1 turns. For example, along the forward direction of the machine body 1, when it is necessary to drive the machine body 1 to turn right, the speed of the right drive wheel 201 is controlled to be less than the speed of the left drive wheel 201; when it is necessary to drive the machine body 1 to turn left, the speed of the right drive wheel 201 is controlled to be greater than the speed of the left drive wheel 201.

[0113] Cleaning components include wet cleaning components with outward and inward states. Dry cleaning components are used to perform sweeping work, mainly removing dust and debris from the ground by scraping and vacuuming. Wet cleaning components are used to perform mopping work, mainly using water or detergent to wet the wet cleaning component and removing stains and dust from the ground by mopping.

[0114] The dry cleaning unit includes a side brush 301, a roller brush 302, a dust box 303, and a fan. A second drive assembly is provided within the body 1. The second drive assembly includes a second drive motor and a second gearbox. The output shaft of the second drive motor is connected to the input end of the second gearbox, and the output end of the second gearbox extends out of the bottom surface of the body 1 and is connected to the side brush 301. The side brush 301 is rotatably mounted on the bottom of the body 1 via the second drive assembly. The side brush 301 is located at the front end 101 of the body 1, and during rotation, its farthest point extends beyond the widest edge of the body 1. The widest edge of the body 1 refers to the edge of the body 1 corresponding to the widest portion along the direction perpendicular to the forward movement of the body 1. A third drive assembly is provided within the body 1. The third drive assembly includes a third drive motor and a third gearbox, and the output shaft of the third drive motor is connected to the input end of the third gearbox. A roller brush 302 cavity 103 is provided at the bottom of the body 1, and the roller brush 302 cavity 103 is located between two drive wheels 201. The side brush 301 is closer to the front end 101 of the body 1 than the roller brush 302 cavity 103 and the drive wheels 201. The output end of the third gearbox extends to the roller brush 302 cavity 103 and is connected to the roller brush 302. The roller brush 302 is rotatably disposed in the roller brush 302 cavity 103 via the third drive assembly. The side of the roller brush 302 cavity 103 facing the ground is open, and at least part of the side of the roller brush 302 facing the ground is exposed from the opening of the roller brush 302 cavity 103. The exposed part of the roller brush 302 is used to sweep up garbage on the ground. A suction port is provided on the inner wall of the roller brush 302 chamber 103, and a dust box 303 chamber 104 is provided on the body 1. The dust box 303 is detachably installed in the dust box 303 chamber 104. A dust inlet is provided on one side of the dust box 303, and an exhaust port is provided on the other side. The suction port of the roller brush 302 chamber 103 is connected to the dust inlet of the dust box 303, and the exhaust port of the dust box 303 is connected to the fan. The side brush 301 is closer to the front end 101 of the body 1 than the roller brush 302. In this way, during the cleaning robot's sweeping operation, the side brush 301 and the roller brush 302 rotate simultaneously. The side brush 301 gathers the debris towards the opening of the roller brush 302 cavity 103. Under the action of the fan, the roller brush 302 cavity 103 generates negative pressure. The debris gathered by the side brush 301 and the debris near the opening of the roller brush 302 cavity 103 are sucked into the dust box 303 under the action of the negative pressure, so as to achieve the collection of debris in the dust box 303.

[0115] To optimize airflow transmission between the dustbin 303 and the roller brush 302 chamber 103, the dustbin 303 and the roller brush 302 chamber 103 are staggered along the forward direction of the body 1. For example, along the forward direction of the body 1, the dustbin 303 is closer to the front end 101 of the body 1 than the roller brush 302 chamber 103; or along the forward direction of the body 1, the dustbin 303 is closer to the rear end 102 of the body 1 than the roller brush 302 chamber 103.

[0116] The wet cleaning component includes a rotary wet cleaning component 304, a cleaning component bracket 305, a wastewater collection tank 3023, a fourth drive assembly 3024, an internal support bracket 3025, and a fifth drive assembly.

[0117] The rotary wet cleaning component 304 can be either a tracked wet cleaning component or a roller-type wet cleaning component. Along the height direction, the projection of the rotary wet cleaning component 304 is rectangular. Along the height direction, the longitudinal section of the tracked wet cleaning component is an elongated hole shape, while the longitudinal section of the rotary wet cleaning component 304 is a circular hole shape. The interior of the rotary wet cleaning component 304 is hollow, and an internal support bracket 3025 is disposed within the cavity of the rotary wet cleaning component 304 to tension the rotary wet cleaning component 304. The inner support bracket 3025 has a drive shaft 30251 rotatably connected to one side of its length direction, and a driven shaft 30252 rotatably connected to the other side of its length direction. The drive shaft 30251 and the driven shaft 30252 are parallel to each other, and both the drive shaft 30251 and the driven shaft 30252 are parallel to the width direction of the body 1. The rotary wet cleaning component 304 is tensioned outside the drive shaft 30251 and the driven shaft 30252.

[0118] The length direction of the cleaning component bracket 305 is perpendicular or approximately perpendicular to the forward direction of the machine body 1. One end of the cleaning component bracket 305 along its length is the drive end 3051, and the other end is the extension end 3052. The cleaning component bracket 305 is movably mounted on the machine body 1. A cleaning component mounting cavity is provided on the side of the cleaning component bracket 305 facing the ground, and the rotary wet cleaning component 304 is detachably mounted in the cleaning component mounting cavity. The rotary wet cleaning component 304 is located near the rear end 102 of the machine body 1, and the roller brush 302 and two drive wheels 201 are located between the rotary wet cleaning component 304 and the side brush 301. A fourth drive assembly 3024 is mounted on the drive end 3051 of the cleaning bracket 305 and is used to drive the rotary wet cleaning component 304 to rotate, during which the rotary wet cleaning component 304 cleans the ground. The fourth drive assembly 3024 includes a fourth drive motor 30241 and a fourth gearbox 30242. The fourth gearbox 30242 is connected to the drive end 3051 of the cleaning bracket 305. The fourth motor is connected to the fourth gearbox 30242. The output shaft of the fourth motor is connected to the input end of the fourth gearbox 30242. The output end of the fourth gearbox 30242 extends to the cleaning component mounting cavity and is connected to the drive shaft 30251 of the inner support bracket 3025. The fourth motor drives the drive shaft 30251 of the inner support bracket 3025 to rotate through the transmission of the fourth gearbox 30242, so as to rotate the rotary wet cleaning component 304.

[0119] During rotation, the rotary wet cleaning component 304 moves in the direction of the rear end 102 of the body 1 towards the front end 101 of the body 1, while the side facing away from the ground moves in the direction of the front end 101 of the body 1 towards the rear end 102 of the body 1. A wastewater containing cavity is provided on the inner wall of the cleaning component mounting cavity, located near the rear end 102 of the body 1. A squeegee 3027 is fixed on the inner wall of the cleaning component mounting cavity, extending along the length of the cleaning component bracket 305. The squeegee 3027 protrudes from the inner wall of the mounting cavity and is located on the side of the wastewater containing cavity away from the front end 101 of the body 1.

[0120] Several water spray nozzles 3028 are provided on the inner wall of the cleaning component mounting cavity. These nozzles are distributed along the length of the cleaning component bracket 305 and are located near the front end 101 of the machine body 1 within the wet cleaning component mounting cavity. The outlets of the nozzles 3028 face the rotary wet cleaning component 304. A clean water tank is fixed inside the machine body 1, storing clean water for cleaning the rotary wet cleaning component 304. A clean water delivery pipeline connects the clean water tank and the water spray nozzles 3028. A water pump is installed on the clean water delivery pipeline, which sprays the clean water from the clean water tank onto the rotary wet cleaning component 304 to achieve self-cleaning of the rotary wet cleaning component 304.

[0121] Thus, during the cleaning process of the rotary wet cleaning component 304, the rotary wet cleaning component 304 is in a rotating state. After cleaning the dirt on the ground, a dirty area is formed on the surface of the rotary wet cleaning component 304. This dirty area first passes through several water spray nozzles 3028, which spray clean water onto the rotary wet cleaning component 304 to clean the dirty area, forming wastewater. Then, the wastewater passes through the squeegee 3027, which scrapes the wastewater during the rotation of the rotary wet cleaning component 304 to scrape the wastewater away into the wastewater receiving cavity.

[0122] The wastewater collection tank 3023 is fixed to the end of the cleaning component bracket 305 away from the fourth drive assembly 3024, that is, the wastewater collection tank 3023 is positioned near the protruding end 3052 of the cleaning component bracket 305. The wastewater collection tank 3023 is located on the side of the cleaning component bracket 305 opposite to the rotary wet cleaning component 304. A wastewater absorption pipe connects the wastewater collection tank 3023 to the wastewater receiving cavity, allowing the wastewater collection tank 3023 to absorb wastewater from the wastewater receiving cavity. The wastewater collection tank 3023 absorbs wastewater from the wastewater receiving cavity using a negative pressure principle. An air supply pipe is connected to the wastewater collection tank 3023, and a negative pressure pump is installed on the air supply pipe. The negative pressure pump, through the air supply pipe, can draw the wastewater collection tank 3023 into a negative pressure state, allowing the wastewater collection tank 3023 to absorb wastewater from the wastewater receiving cavity into itself under negative pressure.

[0123] The bottom of the body 1 is provided with a cleaning component bracket 305 mounting cavity. The cleaning component bracket 305 is movably installed in the cleaning component bracket 305 mounting cavity. A fifth drive assembly is connected between the body 1 and the cleaning component bracket 305. The fifth drive assembly is used to drive the cleaning component bracket 305 to produce four actions: lifting, lowering, extending, and retracting. Among them, the lifting action refers to the cleaning component bracket 305 moving in the height direction; the lowering action refers to the cleaning component bracket 305 moving downward in the height direction. When the cleaning component bracket 305 is maintained in the lowered state, the rotary wet cleaning component 304 performs mopping operations; the extending action refers to the extended end 3052 of the cleaning component bracket 305 extending out of the edge of the body 1 along the width direction; the retracting action refers to the extended end 3052 of the cleaning component bracket 305 retracting from the outside of the edge of the body 1 to the inside of the edge of the body 1 along the width direction. The mounting cavity of the cleaning component bracket 305 has an extension opening 105 near the extension end 3052 of the cleaning component bracket 305. During the extension process, the cleaning component bracket 305 moves in the direction from the drive end 3051 of the cleaning component bracket 305 to the extension end 3052. The extension opening 105 is used to avoid the extension end 3052 of the cleaning component bracket 305. During the retraction process, the wet cleaning component moves in the direction from the extension end 3052 of the cleaning component bracket 305 to the drive end 3051. The rotary wet cleaning component 304 is installed in the wet cleaning component mounting cavity of the cleaning component bracket 305. Therefore, during the movement of the cleaning component bracket 305, the rotary wet cleaning component 304 will move with the cleaning component bracket 305.

[0124] The fifth drive assembly includes a fifth drive motor 30261, a fixed bracket 30262, a movable bracket 30263, and a transmission assembly. The fixed bracket 30262 is fixed to the cleaning component bracket 305, and the movable bracket 30263 is movably mounted on the fixed bracket 30262. The fifth drive motor 30261 drives the transmission assembly to move, and the transmission assembly acts on the fixed bracket 30262 to drive the fixed bracket 30262 to move relative to the movable bracket 30263. A guide rail 4 is provided on one of the movable bracket 30263 and the fixed bracket 30262, and a guide member 404 is provided on the other of the movable bracket 30263 and the fixed bracket 30262. The guide member 404 is linked to the guide rail 4 and, under the action of the transmission assembly, drives the cleaning component bracket 305 to move.

[0125] For example, the guide rail 4 is disposed on the fixed bracket 30262, and the guide member 404 is fixed on the movable bracket 30263. The guide rail 4 is a groove formed on the fixed bracket 30262, and includes a first end 401, an inclined section 402, and a second end 403. Along the height direction of the body 1, the second end 403 is higher than the first end 401, that is, the distance between the second end 403 and the rotary wet cleaning member 304 is greater than the distance between the first end 401 and the rotary wet cleaning member 304. Along the width direction of the body 1, the second end 403 is closer to the protruding end 3052 of the cleaning member bracket 305 than the first end 401. The inclined section 402 is disposed between the first end 401 and the second end 403, and the first end 401, the inclined section 402, and the second end 403 form a continuous groove structure. A movable cavity is provided on the side of the fixed bracket 30262 opposite to the cleaning component bracket 305, and at least a portion of the movable bracket 30263 is disposed within the movable cavity. Along the width direction of the body 1, the size of the movable bracket 30263 is smaller than the size of the movable cavity, allowing the movable bracket 30263 to slide within the movable cavity along the width direction of the body 1. A guide member 404 is a shaft, fixedly connected to the side wall of the movable bracket 30263 facing the guide rail 4. The end of the guide member 404 away from the movable bracket 30263 passes through the guide rail 4, and the guide member 404 slides within the guide rail 4, allowing it to slide within the first end 401, the inclined section 402, and the second end 403. A mounting plate 5 is fixed inside the body 1, located above the movable bracket 30263. A lead screw 5011 drive mechanism 501 is provided on the side of the mounting plate 5 facing the moving bracket 30263. The mounting plate 5 has a clearance on the side facing the moving bracket 30263. The lead screw 5011 drive mechanism 501 includes a lead screw 5011 and a slider 5012, both of which are located within the clearance cavity 502. The lead screw 5011 is arranged along the width direction of the machine body 1 and is rotatably connected between two opposite side walls of the clearance cavity 502. A fifth drive motor 30261 is fixed on the mounting plate 5, and the output shaft of the fifth drive motor 30261 is connected to the lead screw 5011. The slider 5012 has a feed hole extending along the width direction of the machine body 1, through which the lead screw 5011 passes, and the lead screw 5011 is threadedly engaged with the feed hole. The clearance cavity 502 has a limiting groove on its inner wall facing the cleaning component bracket 305. The slider 5012 has a limiting protrusion on its side away from the cleaning component bracket 305. The limiting protrusion slides in the limiting groove. The cooperation between the limiting groove and the limiting protrusion has a limiting effect, preventing the slider 5012 from rotating along with the lead screw 5011 during its rotation. The slider 5012 is relatively fixed to the moving bracket 30263. During the movement of the slider 5012 driven by the lead screw 5011, the slider 5012 can drive the moving bracket 30263 to move synchronously.

[0126] The side of the sewage collection tank 3023 facing away from the fourth drive assembly 3024 does not exceed the end face of the protruding end 3052 of the cleaning component bracket 305, and the distance between the side of the sewage collection tank 3023 facing away from the fourth drive assembly 3024 and the end face of the protruding end 3052 is equal to the maximum extension distance of the cleaning component bracket 305.

[0127] In other embodiments, the distance between the side of the wastewater collection tank 3023 facing away from the fourth drive assembly 3024 and the end face of the protruding end 3052 is greater than the maximum extension distance of the cleaning component bracket 305. In this case, the protruding opening 105 is used to avoid the protruding end 3052 of the cleaning component bracket 305. A first limiting part is provided at the protruding opening 105, and a first mating part is provided on the side of the wastewater collection tank 3023 facing away from the fourth drive assembly 3024. When the cleaning component bracket 305 extends to its maximum extension distance, the first limiting part and the first mating part abut against each other to limit further extension of the cleaning component bracket 305. A second limiting part is provided at the end of the mounting cavity of the cleaning component bracket 305 near the driving end 3051 of the cleaning component bracket 305, and a second mating part is provided on the side of the fourth drive assembly 3024 facing away from the wastewater collection tank 3023. When the cleaning component bracket 305 retracts to its retracted state, the second limiting part and the second mating part abut against each other to limit further retraction of the cleaning component bracket 305. The first limiting part and the first mating part, the second limiting part and the second mating part can be a groove and a protrusion mating, or a surface and a surface mating, which is not limited here.

[0128] Thus, the fifth drive motor 30261 drives the lead screw 5011 to rotate in the first direction, causing the slider 5012 to move along the direction from the drive end 3051 of the cleaning component bracket 305 to the extension end 3052. The slider 5012 is relatively fixed to the movable bracket 30263, so the slider 5012 drives the movable bracket 30263 to move along the same direction from the drive end 3051 of the cleaning component bracket 305 to the extension end 3052. During the movement of the movable bracket 30263, the guide member 404 near the side wall of the extension end 3052 of the cleaning component bracket 305 pushes the inclined section 402 near the inner side wall of the extension end 3052 of the cleaning component bracket 305, causing the fixed bracket 30262 to move along the direction from the drive end 3051 of the cleaning component bracket 305 to the extension end 3052. Since the fixed bracket 30262 is fixedly connected to the cleaning component bracket 305, the movement of the fixed bracket 30262 causes the cleaning component bracket 305 to extend. When the cleaning component bracket 305 reaches its maximum extension distance, the first limiting part and the first mating part abut against each other, and the cleaning component bracket 305 cannot continue to extend. The fifth drive motor 30261 drives the lead screw 5011 to rotate in the first direction, and the fixed bracket 30262 will move downward along the tilt direction of the inclined section 402, so that the cleaning component bracket 305 completes the descent action in the extended state. In this state, the rotary wet cleaning component 304 is in the state of mopping the floor in the extended state.

[0129] The fifth drive motor 30261 drives the lead screw 5011 to rotate in the second direction, causing the slider 5012 to move along the direction from the protruding end 3052 of the cleaning component bracket 305 towards the driving end 3051. The slider 5012 is relatively fixed to the movable bracket 30263, so the slider 5012 drives the movable bracket 30263 to move along the same direction from the protruding end 3052 of the cleaning component bracket 305 towards the driving end 3051. During the movement of the movable bracket 30263, the guide member 404, near the side wall of the driving end 3051 of the cleaning component bracket 305, pushes the inclined section 402 near the inner side wall of the driving end 3051 of the cleaning component bracket 305, causing the fixed bracket 30262 to move along the direction from the protruding end 3052 of the cleaning component bracket 305 towards the driving end 3051. Since the fixed bracket 30262 is fixedly connected to the cleaning component bracket 305, the movement of the fixed bracket 30262 causes the cleaning component bracket 305 to retract. When the cleaning component bracket 305 reaches the retracted state, the second limiting part and the second mating part abut against each other, preventing the cleaning component bracket 305 from retracting further. In this state, the rotary wet cleaning component 304 is in the retracted state and is mopping the floor. The fifth drive motor 30261 drives the lead screw 5011 to rotate in the second direction, causing the fixed bracket 30262 to move upward along the tilt direction of the inclined section 402. This allows the cleaning component bracket 305 to complete the lifting action in the retracted state. In this state, the rotary wet cleaning component 304 is in the lifted and non-operating state.

[0130] A spring is also provided between the transmission assembly and the cleaning component bracket 305. The spring force acts on the rotary wet cleaning component 304 through the cleaning component bracket 305 to provide an upward pulling force to the rotary wet cleaning component 304. For example, the spring is located between the moving bracket 30263 and the cleaning component bracket 305. Along the height direction of the machine body 1, one end of the spring is connected to the fixed bracket 30262, and the other end is connected to the cleaning component bracket 305. When the rotary wet cleaning component 304 is not in contact with the ground, the spring is in a stretched state.

[0131] On the cleaning component bracket 305, the fourth drive assembly 3024 and the wastewater collection tank 3023 are spaced apart, with the transmission assembly located between them. This arrangement, where the fourth drive assembly 3024 and the wastewater collection tank 3023 are simultaneously fixed to the cleaning component bracket 305, improves the modularity of the wet cleaning component, facilitating later disassembly and maintenance, and also simplifying the use of the internal space of the machine body 1. Furthermore, during the cleaning robot's operation, the wastewater in the wastewater collection tank 3023 continuously increases. The wastewater-containing collection tank 3023 acts as a counterweight, preventing excessive weight on the drive end 3051 of the cleaning component bracket 305 where the fourth drive assembly 3024 is mounted. This prevents an imbalance in weight between the drive end 3051 and the extended end 3052 of the cleaning component bracket 305, thus improving the weight balance along the length of the cleaning component bracket 305.

[0132] To improve the space utilization above the cleaning component bracket 305, the size ratio of the wastewater collection tank 3023 to the wet cleaning component is 1 / 6 to 1 / 3 along the length of the cleaning component bracket 305, for example, the length ratio of the wastewater collection tank 3023 to the wet cleaning component is 1 / 6, 1 / 5, 1 / 4, 1 / 3, etc.; along the width of the cleaning component bracket 305, the size ratio of the wastewater collection tank 3023 to the wet cleaning component is 1 / 5 to 1, for example, the length ratio of the wastewater collection tank 3023 to the wet cleaning component is 1 / 5, 1 / 4, 1 / 3, 1 / 2, 1, etc.; along the height of the cleaning component bracket 305, the size ratio of the wastewater collection tank 3023 to the fourth drive assembly 3024 is 1 / 5 to 1, for example, the length ratio of the wastewater collection tank 3023 to the fourth drive assembly 3024 is 1 / 5, 1 / 4, 1 / 3, 1 / 2, 1, etc.

[0133] During the process of the cleaning robot controlling the rotation of the rotary wet cleaning component 304 to perform mopping operations, there are usually two mopping scenarios: an edge-following scenario and a non-edge-following scenario. In the edge-following scenario, the cleaning robot moves along the edge of an obstacle (such as a wall, table, chair, coffee table, etc.). During this movement, the extended end 3052 of the cleaning component support 305 extends out of the edge of the body 1 and abuts against the edge of the obstacle. The rotary wet cleaning component 304 follows the cleaning component support 305 out of the edge of the body 1, so that the end of the rotary wet cleaning component 304 away from the fourth drive component 3024 approaches the edge of the obstacle. The cleaning robot performs the mopping operation in the edge-following scenario while the cleaning component support 305 is in a descending and extending state. In the case of mopping operations in non-edge scenarios, the cleaning component bracket 305 is generally kept in a lowered state, and the extended end 3052 of the cleaning component bracket 305 is retracted to the edge of the body 1. The cleaning robot performs mopping operations in non-edge scenarios while the cleaning component bracket 305 is lowered and retracted. Of course, in special cases, the cleaning component bracket 305 will also drive the wet cleaning component to perform mopping operations in non-edge scenarios in a lowered and outward-expanded state, such as wide and low obstacles, that is, when the height of the obstacle is less than the second threshold and the width is greater than the second effective length.

[0134] When mopping along edges, due to the width limitation of the machine body 1, the maximum extension distance of the cleaning component bracket 305 is set to 30mm-50mm to allow the rotary wet cleaning component 304 to get closer to the edge of the obstacle and improve the cleaning coverage. For example, the maximum extension distance of the cleaning component bracket 305 can be 30mm, 35mm, 40mm, 45mm, 50mm, etc. Furthermore, when the cleaning component bracket 305 is at its maximum extension distance, the minimum distance between the end face of the extended end 3052 of the cleaning component bracket 305 and the machine body 1 is 5mm-15mm. For example, the minimum distance between the end face of the extended end 3052 of the cleaning component bracket 305 and the machine body 1 is 5mm, 6mm, 7mm, 8mm, 9mm, 10mm, 15mm, etc.

[0135] The perception system may include one or more of the following: AI camera, binocular camera, tri-lens camera, line laser sensor, area laser sensor, LiDAR, DTOF, ITOF, and ultrasonic sensor. Among these, the AI ​​camera, binocular camera, and tri-lens camera can be used to acquire image information of the cleaning robot's environment; the binocular camera, tri-lens camera, line laser sensor, area laser sensor, LiDAR, DTOF, and ITOF can be used to acquire distance information of obstacles in the cleaning robot's environment; and the ultrasonic sensor can be used to identify floor materials such as carpets, floors, and tiles. The control module is located inside the robot body 1. After combining image information, depth information, and floor material information, the control module controls the cleaning robot to perform corresponding actions, including edge cleaning, obstacle crossing, and cleaning mode selection.

[0136] In an exemplary embodiment, as shown in FIG9, an obstacle cleaning method is provided. Taking the application of this method to a cleaning robot as an example, the cleaning robot includes a chassis and a wet cleaning component connected to the chassis, including the following steps 902.

[0137] in:

[0138] Step 902: Identify obstacle information. When the height of the obstacle is greater than the first threshold, execute the obstacle avoidance and cleaning strategy. When the height of the obstacle is less than the second threshold, execute the low obstacle cleaning strategy.

[0139] The obstacle avoidance cleaning strategy involves cleaning along the edges of obstacles. The low obstacle cleaning strategy involves adjusting the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning components to keep the upper surface of the obstacle clean.

[0140] It should be noted that the first threshold can be greater than the second threshold; for example, the first threshold could be 3cm and the second threshold could be 2cm. In practice, other cleaning logic can be set when the height of the obstacle is greater than 2cm but less than 3cm. Furthermore, the first threshold can be equal to the second threshold, for example, both being 3cm. In this case, based on the judgment logic, either the obstacle avoidance cleaning strategy or the low obstacle cleaning strategy will be executed.

[0141] During operation, the cleaning robot scans various objects in the home environment using its built-in sensing system (such as lidar, line laser sensors, area laser sensors, or vision cameras). It captures the shape, size, and location information of obstacles within the cleaning area in real time and accurately measures their height. When the height of an obstacle exceeds a pre-set threshold, the robot activates an obstacle avoidance cleaning strategy. For example, for obstacles such as refrigerators and walls that can be cleaned along their edges, the robot moves slowly close to the edge, using the rotation of its side brushes to sweep corner dust into the suction port, achieving edge cleaning of the obstacle and ensuring thorough cleaning of the entire house.

[0142] If the height of an obstacle is detected to be less than a threshold, the obstacle is considered a low obstacle, such as a threshold, baseboard, or floor socket. The cleaning robot will automatically switch to a low obstacle cleaning strategy. Specifically, the cleaning robot uses the first drive motor in its walking system to drive the drive wheel assembly to flexibly adjust its position relative to the obstacle, such as moving sideways to the obstacle or away from it. Simultaneously, the cleaning robot precisely controls the height of its chassis based on the obstacle's height to prevent collisions. The lifting of the robot's chassis also adjusts the height of the wet cleaning component located on the chassis. This component can also be independently raised and lowered to ensure it closely adheres to the obstacle's surface. Furthermore, the cleaning robot can control the expansion or contraction of the wet cleaning component. For example, the wet cleaning component can be a tracked cloth that can expand or contract to cover a larger area of ​​the obstacle's surface. Through the rotation and friction of the tracked cloth, the cleaning robot efficiently completes the cleaning task on the surface of low obstacles.

[0143] In the aforementioned obstacle cleaning method, by differentiating obstacles of different heights and adopting targeted cleaning strategies, deep cleaning of the upper surface of low obstacles can be achieved, avoiding cleaning blind spots; simultaneously, edge cleaning is performed on higher obstacles, ensuring thorough cleaning of the entire house without dead corners, significantly improving cleaning coverage and precision. Strategies such as chassis lifting and wet cleaning component posture adjustment designed for low obstacles allow the cleaning robot to flexibly handle complex terrain, reducing the risk of collisions and getting stuck, and enhancing environmental adaptability and operational stability. For example, the obstacle height threshold can be 0.5cm or 1cm. Of course, other height parameters can be set based on the obstacle-crossing height of the cleaning robot and the lifting height of the wet cleaning component; this embodiment does not limit this. Edge cleaning refers to a cleaning mode of the sweeping robot that can clean close to walls and other obstacles, ensuring that dirt in the edge areas of obstacles such as corners is thoroughly removed.

[0144] In an exemplary embodiment, as shown in FIG10, step 902 includes at least one of step 1001 or step 1002.

[0145] in:

[0146] Step 1001: When the obstacle is in the edge position and the height of the obstacle is less than the second threshold, control the wet cleaning component to clean the upper surface of the obstacle in the outward expansion state.

[0147] In practice, during the cleaning operation of the cleaning robot, in addition to formulating cleaning strategies based on the height of obstacles in the cleaning area, the location of the obstacles can also be considered to comprehensively plan the cleaning scheme and achieve comprehensive cleaning of the area to be cleaned. Specifically, when the cleaning robot is working, it continuously scans the surrounding environment using a perception system composed of built-in 3D structured light sensors, vision cameras, and other sensing devices. When an obstacle appears in the robot's path, the robot senses the obstacle's position and height information in real time. If the obstacle is located at the edge and its height is less than a second threshold, the cleaning robot controls the wet cleaning component to continuously or intermittently maintain an outward-expanding cleaning position for low obstacles at the edge. As the cleaning robot moves along the edge of the low obstacle, it can drive the wet cleaning component in the cleaning position to clean the upper surface of the low obstacle. Among them, obstacles with a height less than the second threshold are called low obstacles.

[0148] In this embodiment, when the obstacle is located along the edge and its height is less than the second threshold, the wet cleaning component is controlled to clean it from its expanded cleaning position. This effectively expands the cleaning range, fills the cleaning blind spots on the upper surface of the obstacle in the traditional cleaning mode, and ensures that even corners are thoroughly cleaned. The expanded state of the wet cleaning component increases the contact area with the upper surface of the obstacle. Combined with the action of the cleaning liquid, it can remove stubborn stains more efficiently and improve the cleaning effect.

[0149] For example, when an obstacle is detected in a corner of a room, along a wall, or at a height below a preset second threshold, the cleaning robot immediately initiates a targeted cleaning program. Through precise path planning, the robot's side is brought close to the edge of the obstacle, ensuring that the cleaning components can fully contact the upper surface of the obstacle. Subsequently, the cleaning robot's control module issues a command to drive the wet cleaning components to switch from an inward-retracted state to an outward-expanding state. For example, the outward-expanding tracked cloth, with its larger coverage area, covers the upper surface of the obstacle. As the cleaning robot slowly moves along the edge, the tracked cloth thoroughly removes dust, dirt, and other grime from the obstacle through high-speed rotation and friction.

[0150] Optionally, the cleaning robot's side brushes, roller brushes, and other dry cleaning components can also use powerful suction to suck debris into the dustbin, achieving efficient cleaning of the surface of low obstacles along the edges and effectively avoiding the creation of cleaning blind spots.

[0151] Step 1002: When the obstacle is in a non-edge position and the height of the obstacle is less than the second threshold, control the wet cleaning component to clean the upper surface of the obstacle in either an inward or outward state.

[0152] During implementation, the cleaning robot uses a perception system comprised of built-in 3D structured light sensors, visual cameras, and other sensing devices to scan and analyze the entire house environment in real time, accurately locating the spatial position and height parameters of obstacles. When an obstacle is detected to be in a non-edge position (e.g., in the center of the room) and its height is less than a second threshold, the cleaning robot can control the wet cleaning component to maintain either an inward or outward cleaning position to clean the upper surface of the obstacle.

[0153] In this context, "non-edge location" refers to a spatial position within the cleaning area where the obstacle maintains a certain distance from obvious boundary lines such as room boundaries, walls, and furniture edges, and is not located in special boundary areas such as corners or narrow passages. For example, obstacles are usually located in the middle or open areas of the cleaning space, do not directly contact any physical boundaries, have no obvious boundary lines around them, and the space is relatively open, allowing the cleaning robot to pass freely on both sides of obstacles in non-edge locations.

[0154] For example, when faced with obstacles located in non-edge areas such as the center of a room or a passageway, and whose height is less than a preset second threshold, the cleaning robot quickly initiates a non-edge low obstacle cleaning strategy. First, the cleaning robot plans a cleaning path using an algorithm and smoothly approaches the obstacle along that path. Then, the robot's control module issues commands to adjust the chassis height and / or the lifting angle of the tracked mop, keeping the tracked mop in a retracted cleaning position. Next, the cleaning robot moves along the edge of the obstacle, ensuring the tracked mop is tightly pressed against the obstacle's surface. The retracted tracked mop then effectively removes dust and dirt from the obstacle through high-speed rotation and friction, and the powerful suction system collects the debris, thus cleaning the surface of the non-edge low obstacle. Alternatively, for obstacles in non-edge areas such as the center of a room, where the obstacle's height is less than a preset second threshold, the cleaning robot plans a cleaning path using an algorithm. Following this path, the robot smoothly approaches the obstacle. The robot's control module then issues commands to adjust the chassis height and / or the lifting angle of the tracked mop, ensuring the mop remains in an outward-expanding cleaning position. The robot then moves along the edge of the obstacle, ensuring the tracked mop, in its outward-expanding cleaning position, is tightly fitted to the obstacle's surface, cleaning it.

[0155] Optionally, regardless of whether the obstacle is located along the edge or not, during the cleaning process, the cleaning robot can perform a single cleaning of the obstacle's upper surface in a single movement, or it can move back and forth multiple times to drive the wet cleaning component to clean the obstacle's upper surface multiple times. These two cleaning methods will be described in detail in the following embodiments and will not be repeated here.

[0156] In this embodiment, by accurately identifying and differentiating the location and height of obstacles, cleaning efficiency and effectiveness are significantly improved. When the obstacle is located along the edge and is relatively low, the wet cleaning component is controlled to expand outward, making full use of its larger coverage area to effectively remove dirt from the upper surface of the obstacle along the edge. When the obstacle is located outside the edge and is relatively low, the wet cleaning component is controlled to retract inward, cleaning the upper surface of the obstacle. This not only ensures the cleaning robot's flexible operation in complex home environments but also achieves thorough cleaning of the entire house without blind spots, improving cleaning coverage.

[0157] In an exemplary embodiment, as shown in FIG11, after step 902, the method further includes:

[0158] Step 1101: By adjusting one or more of the following: the positional relationship between the cleaning robot and the obstacle, the outward expansion state of the wet cleaning component, the lifting height of the cleaning robot chassis, and the lifting height of the wet cleaning component, the cleaning position of the wet cleaning component is readjusted, and the edge cleaning of the obstacle continues.

[0159] In implementation, for obstacles with a height less than the second threshold, after cleaning the upper surface of the obstacle, the cleaning robot can turn back to continue cleaning the surrounding area along the edge, reducing blind spots. Therefore, the cleaning robot's control module issues commands to control the robot to turn back. When the robot approaches the edge of the obstacle, it dynamically adjusts one or more of the following: the robot's pose, the outward expansion state of the wet cleaning component, the robot's chassis height, and the height of the wet cleaning component. This allows the robot to approach the obstacle edge at a precise angle and distance, ensuring the cleaning path perfectly matches the obstacle's contour. This allows the robot to move along the obstacle edge, driving the wet cleaning component in its outward expansion state to continue cleaning the obstacle's edge through high-speed rotation and friction. For example, by adjusting the pose relationship between the cleaning robot and the obstacle, adjusting the robot's chassis to its initial height, the wet cleaning component to its cleaning position height, and the wet cleaning component to its outward expansion state to clean the obstacle's edge, it ensures that both the upper surface and the edge of the obstacle are cleaned.

[0160] It is understandable that the positional relationship between the cleaning robot and the obstacle includes, but is not limited to, the distance relationship between the cleaning robot and the obstacle, the angle relationship between the cleaning robot and the obstacle, and the orientation relationship between the cleaning robot and the obstacle.

[0161] Optionally, during the cleaning process of the cleaning robot cleaning the edges of obstacles, the cleaning robot can "twist" its body to increase the cleaning area between the wet cleaning components and the edge of the obstacle, get closer to the edge of the obstacle, and clean the edges of the obstacle, reducing blind spots.

[0162] In this embodiment, after cleaning the upper surface of low obstacles, the cleaning robot's posture and / or the expansion or contraction of the wet cleaning component are controlled to complete the edge cleaning task of the obstacle, ensuring that every detail of the home environment is clean and without dead corners, improving the cleaning coverage and thus enhancing the cleaning effect.

[0163] In an exemplary embodiment, regarding the components of the cleaning robot and the relationships between them, specifically, the drive wheels of the cleaning robot are located within the chassis, and the wet cleaning component does not extend beyond the edge of the chassis when it is in a retracted state. Based on this, the cleaning robot has two corresponding effective lengths, specifically:

[0164] First effective length: refers to the maximum stroke that the wet cleaning component can achieve when it is in the outward expansion state, that is, the maximum length of the wet cleaning component beyond the edge of the chassis. As shown in Figure 12, the wet cleaning component 304 is in the outward expansion state. At this time, the maximum length of the wet cleaning component 304 beyond the edge of the chassis is the distance shown as D1 in Figure 12.

[0165] The second effective length refers to the straight-line distance from the outer side of the drive wheel 201 on the side of the cleaning robot closest to the obstacle to the end of the wet cleaning component on that side when it is in its maximum outward stroke state, and this second effective length is greater than the first effective length. As shown in Figure 13, the cleaning robot moves forward in the forward direction, and the obstacle extends beyond the edge of the robot chassis when the wet cleaning component 304 of the cleaning robot is in its outward stroke state. The second effective length is the straight-line distance from the outer side of the drive wheel 201 on the side closest to the obstacle to the end of the wet cleaning component when it is in its maximum outward stroke state, which is the distance shown as D2 in Figure 13.

[0166] In the following embodiments describing specific cleaning scenarios, when limiting conditions such as the first effective length and the second effective length are involved, they will not be repeated.

[0167] In some of the following embodiments, the process of the cleaning robot executing the low obstacle strategy is given under different specific cleaning environments, depending on the location, height, and width of the obstacle:

[0168] In an exemplary embodiment, as shown in FIG14, the specific processing procedure of step 902 includes:

[0169] Step 1401: When the height of the obstacle is less than the threshold and the width is less than the first effective length, control the wet cleaning component to be in the cleaning position and maintain the wet cleaning component in the outward expansion state.

[0170] During implementation, the cleaning robot's perception system continuously scans the working environment 360 degrees using sensors such as LiDAR, visual cameras, and infrared sensors, acquiring obstacle information in real time, such as obstacle height, width, and location. When the robot's perception system detects an obstacle at an edge position, and the obstacle's height is below a preset threshold, and its lateral width is less than the first effective length beyond the chassis edge in the expanded state of the wet cleaning component, the control module in the cleaning robot immediately initiates a targeted cleaning program. Specifically, the cleaning robot first adjusts its posture by steering and moving its drive wheels, bringing its side close to the obstacle; simultaneously, the control module sends a command to drive the wet cleaning component to expand to its outward state, ensuring that the wet cleaning component fully covers the obstacle's surface for cleaning.

[0171] Thus, when the height of the obstacle is less than the threshold and the width is less than the first effective length, controlling the wet cleaning component to be in the cleaning position and maintained in the outward expansion state can significantly improve the cleaning effect and efficiency. The wet cleaning component in the outward expansion state can effectively increase the contact area with the surface of the obstacle, making the cleaning coverage wider and avoiding cleaning blind spots.

[0172] Step 1402: Control the cleaning robot to move along the edge of the obstacle.

[0173] In practice, when the control module in the cleaning robot identifies an obstacle that needs to be cleaned along its edge, it controls the robot to move along the edge of the obstacle. During this movement, the sensing system continuously monitors the distance between the robot and the obstacle and feeds the data back to the control module in real time to ensure that the cleaning robot always maintains a fixed or approximately fixed distance along the edge.

[0174] Step 1403: During the process of driving the cleaning robot to move, the wet cleaning component in the cleaning position is driven to clean the upper surface of the obstacle.

[0175] During implementation, as the cleaning robot moves, the drive motor inside its wet cleaning component starts running at high speed, causing the component to rotate and rub against the surface for cleaning. This, combined with the evenly sprayed cleaning solution from the cleaning liquid spraying system, cleans dust and stains from the obstacle's surface. Throughout the cleaning process, the robot also uses a sensing system to monitor the contact angle between the wet cleaning component and the obstacle's surface in real time, dynamically adjusting the cleaning intensity to ensure efficient, comprehensive, and thorough cleaning without leaving any blind spots.

[0176] In this embodiment, for low obstacles along the edge, the wet cleaning component is kept in an outward-expanding state to make full use of its maximum coverage area, ensuring comprehensive cleaning of the upper surface of the obstacle and avoiding cleaning dead spots caused by insufficient cleaning range; in conjunction with the cleaning robot's movement along the edge, deep cleaning of dirt on the obstacle surface is achieved.

[0177] In an exemplary embodiment, as shown in FIG15, the specific processing procedure of step 902 includes:

[0178] Step 1501: When the height of the obstacle is less than the second threshold and the width is greater than the first effective length but less than the second effective length, control the wet cleaning component to be in the cleaning position and maintain the wet cleaning component in the outward expansion state.

[0179] In practice, when dealing with obstacles located along the edge, the cleaning robot's perception system determines that the height of the obstacle is lower than a preset second threshold, and its width is greater than the first effective length beyond the edge of the chassis where the maximum outward stroke of the wet cleaning component extends, and less than the second effective length from the outside of the driving wheel on the side of the cleaning robot closest to the obstacle to the end of the maximum outward stroke of the wet cleaning component. At this time, the cleaning robot's control module responds quickly, drives the wet cleaning component to adjust to the cleaning position, and stably maintains it in the outward extension state, maximizing the cleaning coverage area.

[0180] Step 1502: Control the cleaning robot to move along the edge of the obstacle from the outside of the drive wheel on the side closest to the obstacle.

[0181] In practice, the cleaning robot precisely controls the speed difference between its left and right drive wheels, allowing the outer side of the drive wheel closest to the obstacle to travel along the obstacle's edge at a constant speed and distance. During travel, the sensing system continuously monitors the robot's relative position to the obstacle; if any deviation occurs, the data is immediately fed back to the control module for timely adjustments to its posture.

[0182] Step 1503: During the process of driving the cleaning robot to move, the wet cleaning component in the cleaning position is driven to clean the upper surface of the obstacle.

[0183] During implementation, as the cleaning robot moves, the outward-expanding wet cleaning unit begins its efficient operation, propelled by the robot's movement. Using a pre-set cleaning mode and the powerful suction of its built-in vacuum system, the wet cleaning unit quickly removes dust, debris, and other dirt from the surface of obstacles and sucks them into the dustbin. This ensures that the cleaning robot can maintain a tight fit with the wet cleaning unit on both flat surfaces and surfaces with subtle grooves, achieving comprehensive and thorough cleaning of the obstacle's surface.

[0184] In this embodiment, when the obstacle is low in height and its width is within a specific range, the wet cleaning component is kept in an outward-expanding state, and the cleaning robot is controlled to move along the edge of the drive wheel close to the obstacle. This not only makes full use of the safety distance advantage of the second effective length to ensure that the robot moves smoothly and avoids collisions, but also allows the outward-expanding wet cleaning component to closely fit the surface of the obstacle, improve cleaning efficiency, and achieve deep cleaning of the obstacle.

[0185] In an exemplary embodiment, when the obstacle is in a non-edge position, for example, in the center of the room, the wet cleaning component of the wet cleaning robot can maintain its retracted cleaning position to clean the upper surface of the obstacle. However, if the obstacle is wide, for example, wider than the second effective length, this embodiment provides two cleaning methods for wider obstacles, as follows:

[0186] Method 1, as shown in Figure 16, includes the following specific processing steps in step 902:

[0187] Step 1601: When the obstacle is in a non-edge position, if the height of the obstacle is less than the second threshold and the width is greater than the second effective length, control the wet cleaning component to be in the cleaning position and maintain the wet cleaning component in the outward expansion state.

[0188] Step 1602: Control the cleaning robot to move along the left and right edges of the obstacle respectively.

[0189] Among them, the travel on the left and right sides refers to the discontinuous contact process between the wet cleaning component and the edge of the obstacle.

[0190] Step 1603: During the process of driving the cleaning robot to move, the wet cleaning component in the cleaning position is driven to clean the upper surface of the obstacle.

[0191] In practice, when the sensing system on the cleaning robot detects an obstacle that is not located along the edge, and whose height is below a preset second threshold and whose width exceeds the second effective length from the outer edge of the driving wheel on the side of the cleaning robot closest to the obstacle to the maximum extension end of the wet cleaning component (i.e., a relatively wide obstacle), the cleaning robot's control module quickly activates a targeted cleaning strategy and sends control commands to keep the wet cleaning component in a retracted cleaning position, reducing the lateral size of the cleaning component and avoiding collisions with obstacles during movement. Subsequently, while the wet cleaning component remains in the retracted cleaning position, for wider obstacles, the cleaning robot cleans the wider obstacles by cleaning both sides separately. For example, the cleaning robot can first be controlled to move along the left edge of the obstacle, and then the cleaning robot can be controlled to turn its orientation so that the wet cleaning component moves away from the obstacle, and then moves along the right edge of the obstacle to re-contact the obstacle. In this way, by moving along both edges of the obstacle, the wet cleaning component in the cleaning position cleans the upper surface of the wider obstacle, achieving comprehensive cleaning of the upper surface of the obstacle.

[0192] The process of the cleaning robot controlling the wet cleaning component to clean the upper surface of the obstacle in a preset cleaning method has been described in the above embodiments and will not be repeated here.

[0193] Optionally, during the cleaning of the upper surface of the obstacle, the cleaning robot can perform a single cleaning of one side of the upper surface of the obstacle by moving in a single step, or it can perform multiple cleanings of one side of the upper surface of the obstacle by moving back and forth multiple times, thereby further improving the cleaning effect of the upper surface of the obstacle. This application embodiment does not limit this.

[0194] In this embodiment, the cleaning robot is controlled to move sequentially along the left and right edges of the obstacle. The dual-path coverage ensures that the upper surface of the obstacle is thoroughly cleaned, avoiding blind spots caused by insufficient cleaning path in a single cleaning. During the movement, the retracted wet cleaning component closely fits the surface of the obstacle. Combined with the preset cleaning method, it can efficiently remove stubborn stains and dust, achieving fine and deep cleaning.

[0195] Method 2, as shown in Figure 17, includes the following specific processing steps in step 902:

[0196] Step 1701: When the obstacle is in a non-edge position, if the height of the obstacle is less than the second threshold and the width is greater than the second effective length, control the wet cleaning component to be in the cleaning position and maintain the wet cleaning component in the outward expansion state.

[0197] Step 1702: Control the cleaning robot to move around the edge of the obstacle. Moving around the edge of the obstacle means that the wet cleaning component is in continuous contact with the edge of the obstacle.

[0198] Step 1703: During the process of driving the cleaning robot to move, the wet cleaning component in the cleaning position is driven to clean the upper surface of the obstacle.

[0199] During implementation, the cleaning robot's sensing system continuously scans the working environment from all angles, acquiring multi-dimensional data such as the spatial position, height, and width of obstacles in real time. When the sensing system detects an obstacle in a non-edge area such as the center of a room or a passageway, and its height is below a preset second threshold while its width exceeds the second effective length of the cleaning robot (i.e., the obstacle is relatively wide), the control module immediately initiates a response program and sends control commands to keep the wet cleaning component in a retracted cleaning position. Then, based on the 3D model of the obstacle constructed by the sensing system, the control module uses a path planning algorithm to generate the optimal travel route around the obstacle's edge. Subsequently, through the precise differential rotation of the drive wheels and the coordinated action of the chassis steering system, the robot adjusts its posture and slowly approaches the obstacle. Under the precise control of the control module, it moves stably along the path around the obstacle's edge. Simultaneously, the wet cleaning component, which is in the cleaning position and maintained in a retracted state, enters the working mode. Based on the obstacle surface undulation data fed back by the sensing system, the control module dynamically adjusts the lifting height and tilt angle of the wet cleaning component to ensure that the wet cleaning component closely adheres to the obstacle's upper surface. The wet cleaning unit cleans the upper surface of obstacles using a preset cleaning method.

[0200] Optionally, as the cleaning robot moves around the edge of an obstacle and drives the wet cleaning component to clean the upper surface of the obstacle, in order to ensure that the wet cleaning component fully covers the upper surface of the obstacle and reduce the position adjustment of the cleaning robot, the wet cleaning component can be controlled to not leave the upper surface of the low obstacle during the process of moving around the obstacle, thereby reducing the position adjustment operations such as backward movement and swinging back of the cleaning robot and continuously cleaning the upper surface.

[0201] In this embodiment, for low-lying, large obstacles that are not along the edge, the cleaning efficiency and safety are significantly improved through deep coordination of wet cleaning component state adjustment and path planning. By keeping the wet cleaning component in an inward-retracted state and controlling the cleaning robot to move around the edge of the obstacle, combined with real-time monitoring and dynamic path adjustment by the perception system, it is possible to ensure that the wet cleaning component fully covers the upper surface of the obstacle, completely eliminating cleaning blind spots on the upper surface of the obstacle; thus improving cleaning efficiency and cleaning effect in complex scenarios.

[0202] In an exemplary embodiment, as shown in FIG18, the specific processing procedure of step 902 includes:

[0203] Step 1801: When the height of the obstacle is less than the second threshold and the width is less than the length of the wet cleaning component, control the wet cleaning component to be in the cleaning position and keep the wet cleaning component in the retracted state.

[0204] The length of the wet cleaning component is the straight-line distance between the left and right ends of the wet cleaning component when it is in the retracted state. As shown in Figure 2, the total length of the wet cleaning component 304 in the retracted state, from left to right, is within the edge of the cleaning robot chassis.

[0205] In practice, when the height of an obstacle is less than a second threshold and the width is less than the length of the wet cleaning component, the cleaning robot can clean the upper surface of the obstacle by stepping over it. Specifically, when the cleaning robot starts and detects that the obstacle's height is lower than the preset second threshold and its width is less than the length of the wet cleaning component, the cleaning robot sends a control signal to drive the wet cleaning component to adjust from its initial position to a cleaning position, for example, to a low-position cleaning state, to ensure that it can carry out cleaning work normally. At the same time, the cleaning robot maintains the retracted state of the wet cleaning component, effectively protecting the cleaning robot's safe movement while ensuring cleaning effectiveness.

[0206] Step 1802: Control the cleaning robot to cross the upper surface of the obstacle and drive the wet cleaning component to clean the upper surface of the obstacle.

[0207] During implementation, when the obstacle is not located along its edge, and the cleaning robot detects that the obstacle's height is within its traversable range and its width does not exceed the robot's cleaning coverage area, the robot initiates a traversal cleaning program. Based on the obstacle's 3D data, it plans the optimal traversal path and adjusts the power output of the wheel drive unit to allow the robot to climb at a smooth tilt angle, ensuring a stable center of gravity. During the traversal, the wet cleaning component is precisely applied to the obstacle's surface, and the tracked mop rotation function is activated simultaneously, along with continuous spraying of cleaning fluid, to achieve deep cleaning. After the cleaning robot has completely traversed the obstacle, it can also reverse to perform edge cleaning along the obstacle's edge.

[0208] In this embodiment, by setting a second threshold and the length of the wet cleaning component as the judgment criteria, when the height and width of the obstacle meet the conditions, the cleaning robot can intelligently control the wet cleaning component to be in the cleaning position and maintain an inward state, avoiding collisions between the wet cleaning component and the obstacle. This protects the cleaning robot from damage and ensures operational safety. Simultaneously, after confirming that the obstacle can be crossed, the cleaning robot automatically crosses the upper surface of the obstacle and drives the wet cleaning component to clean, fully utilizing the working performance of the wet cleaning component to achieve effective cleaning of obstacle surfaces in complex environments, greatly improving cleaning coverage and efficiency.

[0209] In one exemplary embodiment, controlling the wet cleaning component to be in the cleaning position can be achieved in any of the following ways:

[0210] Method 1: Control the wet cleaning component to maintain a preset low-position cleaning state and raise the chassis of the cleaning robot so that the wet cleaning component is at an effective cleaning height that matches the surface to be cleaned.

[0211] Method 2: Control the cleaning robot chassis to maintain its initial state and raise the wet cleaning component so that the wet cleaning component is at an effective cleaning height that matches the surface to be cleaned.

[0212] Method 3: Control the cleaning robot chassis and wet cleaning components to lift together, so that the wet cleaning components are at an effective cleaning height that matches the surface to be cleaned.

[0213] The preset low-position cleaning location is the mopping position corresponding to the wet cleaning component of the cleaning robot in normal cleaning mode.

[0214] In practice, during the cleaning operation of the cleaning robot, the wet cleaning component needs to be adjusted to a suitable cleaning position for cleaning. For example, when the cleaning robot is cleaning the ground, it controls the wet cleaning component to be in a preset low cleaning position so that the wet cleaning component is in close contact with the ground. As the cleaning robot moves, it drives the wet cleaning component to clean the ground. When the cleaning robot is cleaning the upper surface of a low obstacle, the control module controls the wet cleaning component to be slowly raised to a high cleaning position, which can be in close contact with the upper surface of the low obstacle. Thus, the cleaning robot can drive the wet cleaning component to clean the upper surface of the low obstacle as it moves. Specifically, the control module flexibly selects three height adjustment strategies based on preset logic and real-time data: First, for the upper surface of low obstacles with good flatness, the control module sends a command to keep the wet cleaning component in a preset low cleaning state, while simultaneously driving the hydraulic or electric lifting mechanism under the chassis to smoothly lift it. This precisely adjusts the overall height of the machine, ensuring the wet cleaning component is in close contact with the surface to be cleaned (i.e., the upper surface of the low obstacle), while avoiding collisions with the wet cleaning component. Second, if the surface to be cleaned has localized protrusions or areas with minimal height variation, the control module maintains... The chassis remains in its initial state, but the wet cleaning component is raised to adaptively adjust to the optimal cleaning height, ensuring that the wet cleaning component maintains appropriate pressure on the surface to be cleaned. Thirdly, when facing low obstacles with significant height differences, the control module synchronously controls the chassis and wet cleaning component of the cleaning robot to lift together. The chassis and wet cleaning component are raised and lowered synchronously through a precise linkage mechanism, ensuring continuous operation of the wet cleaning component while maintaining the stability of the entire machine, until the wet cleaning component reaches an effective cleaning height that matches the surface to be cleaned, thus cleaning the upper surface of the low obstacle.

[0215] In an exemplary embodiment, during the process of driving the cleaning robot to move in steps 1403, 1503, 1603, and 1703, the wet cleaning component in the cleaning position is driven to clean the upper surface of the obstacle. The specific processing can be implemented in any of the following ways:

[0216] Method 1: As the cleaning robot moves along one side of the obstacle, it drives the wet cleaning component in the cleaning position to clean the upper surface of the obstacle.

[0217] During implementation, upon receiving an edge-cleaning command, the cleaning robot's onboard perception system immediately activates, performing a comprehensive scan of the obstacle to accurately construct its 3D contour model. Once it confirms that the obstacle meets the unilateral cleaning requirements, the control module quickly plans the optimal cleaning path and drives the robot towards the obstacle. During movement, the robot utilizes the differential rotation of its drive wheels to bring the outer edge of the drive wheel closest to the obstacle closer to its edge, maintaining a constant or nearly constant speed and distance for unilateral movement. Simultaneously, the wet cleaning component, positioned at the cleaning location, enters its working state. Adjusted to a suitable height, the wet cleaning component closely adheres to the upper surface of the obstacle, cleaning it. To ensure cleaning effectiveness, the robot can also control its travel speed to achieve thorough cleaning of every area on the obstacle's upper surface.

[0218] Optionally, the travel speed of the cleaning robot during a single cleaning cycle on one side is less than or equal to the travel speed of the cleaning robot in the non-cleaning state. The purpose of the travel speed being less than the travel speed in the non-cleaning state is to extend the cleaning time and improve the cleaning effect.

[0219] Method 2: During the process of driving the cleaning robot to move back and forth along the obstacle, the wet cleaning component in the cleaning position is driven to clean the upper surface of the obstacle at least once.

[0220] In practice, the cleaning robot's perception system accurately maps the shape and size of obstacles and transmits the data to the control module to generate a reciprocating cleaning path. When the drive wheels propel the robot along one edge of the obstacle for the first time, the wet cleaning component in the cleaning position cleans the upper surface of the obstacle. When the cleaning robot reaches the end of the path (i.e., the edge of the obstacle), it turns 180° using differential speed and begins to move in the opposite direction. During the second movement along the edge, the wet cleaning component readjusts its operating parameters to enhance cleaning intensity. If the obstacle surface is heavily soiled, the control module will instruct the cleaning robot to perform a third, fourth, or even more reciprocating cleaning cycles based on a preset program or real-time monitoring data. With each cycle, the cleaning mode of the wet cleaning component is dynamically adjusted; for example, by adjusting the contact pressure between the wet cleaning component and the obstacle surface, a comprehensive cleaning of the upper surface of the obstacle can be achieved.

[0221] In this embodiment, the dual-mode collaboration of "unilateral cleaning" and "reciprocating cleaning" significantly improves the adaptability and cleaning efficiency of the cleaning robot in different scenarios. The intelligent switching and complementarity of the two modes ensures both high efficiency in daily cleaning and meets the refined needs of complex cleaning scenarios, achieving a balance between cleaning efficiency and cleaning effect.

[0222] In an exemplary embodiment, as shown in FIG19, during the process of driving the cleaning robot to move in steps 1403, 1503, 1603, and 1703, the wet cleaning component in the cleaning position is driven to clean the upper surface of the obstacle. The specific processing can also be implemented in the following ways:

[0223] Step 1901: As the cleaning robot moves along the obstacle, the rear end of the cleaning robot is driven to deflect towards the obstacle and swing away from the obstacle multiple times in order to clean the upper surface of the obstacle.

[0224] In practice, as the cleaning robot moves along the edge of an obstacle, its built-in control module and sensing system work closely together to dynamically adjust the cleaning path. The sensing system monitors the outline and distance of the obstacle as it passes and transmits the data to the control module. Based on a preset algorithm, the control module periodically sends commands to the drive wheels and steering mechanism during the robot's movement. This causes the rear drive wheels to rotate at different speeds as the robot moves forward, resulting in a deflection motion of the robot's rear end towards the obstacle. This causes the wet cleaning component, positioned in the cleaning position, to more closely adhere to the obstacle's edge and upper surface, cleaning the obstacle's upper surface using a preset cleaning method. Subsequently, the control module adjusts the drive wheel speed, causing the robot's rear end to swing back away from the obstacle while maintaining continuous operation of the wet cleaning component. This process is repeated multiple times; through the rhythmic deflection and swing of the rear end, the cleaning robot can perform comprehensive and thorough cleaning of the obstacle's upper surface, ensuring a complete and effective cleaning.

[0225] In this embodiment, as the cleaning robot moves along an obstacle, the periodic deflection motion of its rear end drives the wet cleaning components to actively conform to the edges and uneven areas of the obstacle's surface. This allows the cleaning brushes, suction ports, and other components to more fully cover blind spots, achieving deep cleaning, especially for dust and debris in narrow gaps and irregular corners. The swinging motion ensures that the robot effectively avoids collision risks while approaching the work area, guaranteeing safe operation. This reciprocating dynamic cleaning mode achieves efficient cleaning without multiple trips, significantly saving cleaning time and energy consumption. Furthermore, its flexible posture adjustment adapts to obstacles of different shapes, avoiding decreased cleaning efficiency due to repetitive paths, providing users with a more intelligent, efficient, and safe cleaning solution.

[0226] In an exemplary embodiment, as shown in FIG20, the method further includes:

[0227] Step 2001: When the height of the obstacle is greater than the lifting height of the chassis of the cleaning robot or the lifting height of the wet cleaning component, but less than the maximum height that the cleaning robot can climb by overcoming obstacles, control the drive wheel of the cleaning robot on the side closest to the obstacle to climb to the upper surface of the obstacle by overcoming obstacles.

[0228] In practice, the cleaning robot also includes obstacle-crossing wheels, which are connected to the body via an independent suspension system. These wheels allow for free swinging at multiple angles, ensuring adaptive conformity to terrain changes when encountering obstacles such as steps and thresholds. When the robot's sensing system detects an obstacle height greater than the target height, the control module immediately initiates the obstacle-crossing procedure: switching the robot to obstacle-crossing mode. In this mode, the control module sends commands to the motors of the obstacle-crossing wheels and drive wheels. The obstacle-crossing wheels first contact the obstacle surface, their densely packed anti-slip serrations providing strong grip. Combined with the high torque output of the motors, this drives the drive wheels closest to the obstacle upwards. The chassis's hydraulic or electric lifting mechanism slowly raises the robot, while the wet cleaning components automatically switch to a retracted state to reduce obstacle-crossing resistance. During the climbing process, the sensing system monitors data such as the friction between the drive wheels and the obstacle surface, and the robot's center of gravity shift in real time, feeding this information back to the control module. The control module dynamically adjusts the drive wheel speed and chassis tilt angle to ensure the cleaning robot maintains balance.

[0229] Step 2002: Control the drive wheel on the side of the cleaning robot away from the obstacle to drive the cleaning robot forward and drive the wet cleaning component to perform cleaning operation on the upper surface of the obstacle.

[0230] During implementation, once the drive wheel on one side of the cleaning robot successfully grips the surface of the obstacle and gradually climbs upwards until the entire robot smoothly reaches the top surface of the obstacle, the cleaning robot immediately resumes its normal operating mode. The single-sided wet cleaning component, now on the top surface of the obstacle, begins cleaning it. Simultaneously, the drive wheel on the side away from the obstacle continues to propel the cleaning robot forward along a preset distance along the side edge of the obstacle, thereby driving the wet cleaning component on the top surface of the obstacle to continue cleaning the surface.

[0231] In this embodiment, the cleaning strategy significantly improves the cleaning robot's ability to cope with complex scenarios and its cleaning efficiency through the coordinated use of intelligent obstacle crossing and unilateral driving cleaning.

[0232] In an exemplary embodiment, as shown in FIG21, the method further includes:

[0233] Step 2101: When the height of the obstacle is less than the second threshold, control the cleaning robot to move at a constant speed at the first speed, or control the cleaning robot to move at varying speeds within a preset speed range and execute the low obstacle cleaning strategy.

[0234] The preset speed range is from zero to the first speed.

[0235] Among them, the first speed is less than or equal to the travel speed of the cleaning robot in the non-clean state.

[0236] In implementation, for obstacles with a height below a threshold (i.e., low obstacles), the cleaning robot executes a low obstacle cleaning strategy, cleaning the upper surface of the low obstacles. Specifically, the above embodiments have already given the specific implementation process of the cleaning robot executing the low obstacle cleaning strategy under different environments (different obstacle positions, widths, etc.), and will not be repeated here. In this process, the cleaning robot increases the contact time between the wet cleaning component and the low obstacle by setting different travel speed modes, thereby improving the cleaning effect on the upper surface of the obstacle. Specifically, if the dust and dirt on the upper surface of the obstacle are evenly distributed, the control module will control the cleaning robot to travel at a constant first speed, thereby driving the wet cleaning component to clean the upper surface of the obstacle at a constant first speed. The first speed is strictly controlled within the travel speed of the cleaning robot in the non-cleaning state to ensure the contact time between the wet cleaning component and the upper surface of the obstacle. If the dust, dirt, etc. on the surface of the obstacle are unevenly distributed, the control module will drive the cleaning robot to move flexibly within a preset speed range from zero to the first speed: for example, when approaching a densely dirty area, the cleaning robot will automatically reduce its speed, giving the wet cleaning components more time to perform deep cleaning; when cleaning a relatively clean area, the speed will be appropriately increased to improve cleaning efficiency.

[0237] Optionally, for the variable speed movement mode of the cleaning robot, the cleaning robot can also follow modes such as fast first and then slow, slow first and then fast, or gradual speed. The speed control of the cleaning robot is performed within a preset speed range from zero to the first speed. The specific rules for the variable speed mode of the cleaning robot are not limited in the embodiments of this application.

[0238] Optionally, in addition to controlling and adjusting the robot's speed within a preset speed range, the control module can also flexibly switch between uniform speed mode and variable speed mode to perform deep cleaning for complex cleaning environments.

[0239] In this embodiment, a constant first speed ensures stable contact between the wet cleaning component and the obstacle surface, guaranteeing cleaning power and coverage. Meanwhile, a variable-speed mode within a preset speed range precisely adapts to complex cleaning scenarios, achieving both deep cleaning and time savings, thus optimizing overall operational efficiency. The flexible switching between constant and variable speed modes significantly improves cleaning efficiency and resource utilization.

[0240] In an exemplary embodiment, when the cleaning robot described in step 2101 of the above embodiment cleans the surface of an obstacle, it can use either a constant-speed travel mode or a variable-speed travel mode. The variable-speed travel mode includes a special case where the speed change is 0, meaning the cleaning robot uses a "stop-and-go" mode to drive the wet cleaning component during the cleaning operation. Specifically, as shown in Figure 22, the specific processing steps of step 902 include:

[0241] Step 2201: When the height of the obstacle is less than the second threshold, control the cleaning robot to stop moving and maintain the wet cleaning component in the cleaning position so that the wet cleaning component can continuously clean the upper surface of the obstacle. Then control the cleaning robot to continue moving.

[0242] In practice, for obstacles whose height is below the second threshold, if the obstacle needs to be deeply cleaned, the cleaning robot is controlled to stop moving to extend the cleaning time of the wet cleaning component at the same position. In other words, the upper surface of the obstacle is thoroughly cleaned by "walking and stopping".

[0243] In this embodiment, when a low obstacle is detected, the cleaning robot is controlled to stop moving in time and maintain the wet cleaning component in the cleaning position and continue to work. This allows components such as the cleaning brush and suction port to adhere stably to the surface of the obstacle for a long time, performing deep cleaning of stubborn stains and fine dust. Compared with cleaning in a moving state, this effectively reduces cleaning blind spots and improves cleaning coverage and cleanliness. At the same time, when the robot is stationary, the working parameters of the wet cleaning component can be flexibly adjusted according to the surface condition of the obstacle to achieve fine cleaning, which not only ensures the cleaning effect but also reduces energy consumption.

[0244] In an exemplary embodiment, in addition to considering low-lying obstacles with regular shapes, for complex cleaning scenarios, if the obstacle is an irregularly shaped obstacle, for example, the vertical height of the upper surface of the obstacle from the ground is not fixed, and / or there are protrusions on the side of the obstacle, this embodiment can also adjust the posture of the cleaning robot, the lifting height of the wet cleaning component, the outward or inward expansion state of the wet cleaning component, etc., so that the cleaning robot can clean the irregular upper surface of the obstacle, while accurately avoiding the side protrusions of the irregularly shaped obstacle. As shown in Figure 23, the specific processing of step 902 includes:

[0245] Step 2301: Obtain the height range information of the upper surface of the obstacle.

[0246] In practice, for situations where the vertical height of the upper surface of an obstacle from the ground is not fixed, as shown in Figure 24, if the upper surface of the obstacle gradually rises, the cleaning robot uses a sensing system to scan and detect the upper surface of the obstacle to obtain and acquire information on the height range of the upper surface. Specifically, the cleaning robot's sensing system can accurately acquire the vertical distance data between each point on the upper surface of the obstacle and the ground through technologies such as emitting laser beams, capturing reflected signals, and image recognition. For special cases where the upper surface height is not fixed, such as step-like objects that rise one step at a time or a gradually rising slope, the sensors continuously collect data from multiple points to construct a continuous height change curve, which is then integrated to form complete height range information.

[0247] Step 2302: Based on the height range information, dynamically adjust the wet cleaning component of the cleaning robot to the cleaning position so that the wet cleaning component in the cleaning position can clean the upper surface of the obstacle.

[0248] In implementation, after receiving the height range information of the obstacle's upper surface, the cleaning robot's control module performs in-depth analysis of the height data contained in the height range information based on its built-in intelligent algorithm, calculating the optimal working parameters for the wet cleaning component to perform the cleaning task. Subsequently, the control module sends instructions to the drive mechanism of the wet cleaning component, which, through precision components such as an electric telescopic rod and a hydraulic lifting device, adjusts to a cleaning position adapted to the height changes of the obstacle's upper surface. At this cleaning position, the upper surface of the obstacle is cleaned. Simultaneously, the sensing system detects the height changes of the obstacle's upper surface in real time, and the height and angle of the wet cleaning component are dynamically adjusted according to the height range information to ensure that the wet cleaning component always maintains the optimal contact distance and pressure with the obstacle's upper surface. Optionally, if the upper surface of the obstacle is gradually descending, the application principle is similar to that if the upper surface of the obstacle is gradually rising; this embodiment will not elaborate further. Whether facing a stepped obstacle that rises gradually or a sloping object that descends gradually, the wet cleaning component can closely adhere to the surface and efficiently clean the upper surface of the obstacle using a preset cleaning method, achieving comprehensive removal of stains and dust.

[0249] Step 2303: Dynamically adjust the pose of the cleaning robot and / or the outward extension length of the wet cleaning component to bypass the protruding parts on the side of the obstacle, and then resume cleaning the upper surface of the obstacle.

[0250] In practice, if the obstacle's sides are uneven, such as having protrusions, the cleaning robot's perception system continuously monitors the obstacle's contour information as it moves along the obstacle's surface. Once a protrusion is detected, the control module immediately initiates an obstacle avoidance program. Based on the protrusion's shape, size, and location, combined with the cleaning robot's current pose and a complex path planning algorithm, it generates an optimal detour. Based on this optimal detour, the control module controls the cleaning robot's drive wheels to rotate at different speeds, working in conjunction with the chassis steering mechanism to precisely adjust the robot's pose, enabling it to flexibly bypass the protrusion; and / or, depending on the actual cleaning environment, it sends commands to the extension mechanism of the wet cleaning component to adjust the component's outward extension length in real time, preventing collisions between the wet cleaning component and protrusions. After the cleaning robot successfully bypasses the protrusion, the control module adjusts the robot's posture based on the height range information of the obstacle's upper surface, returning it to the cleaning path. It also controls the wet cleaning component to return to its normal extended length and continues to clean the obstacle's upper surface, ensuring that the entire cleaning process is continuous, efficient, and leaves no blind spots.

[0251] In this embodiment, the position of the wet cleaning component is adaptively adjusted based on the height range information to ensure that the wet cleaning component is in close contact with the obstacle surface throughout the process, avoiding cleaning blind spots caused by height changes, and achieving efficient cleaning of irregular surfaces. By flexibly controlling the robot's posture and the outward extension length of the wet cleaning component, it can cleverly bypass the side protrusions and quickly resume cleaning operations after obstacle avoidance, ensuring the continuity of the cleaning work.

[0252] In an exemplary embodiment, in addition to cleaning the upper surface of the cleaning robot, the end face of the obstacle can also be cleaned to reduce blind spots. The end face of the obstacle is the surface area perpendicular or approximately perpendicular to the ground (or cleaning reference plane) at the start and end positions of the cleaning robot's travel path as it moves along the obstacle's edge. As shown in Figure 25(a), the cleaning robot's wet cleaning component contacts the end face of the obstacle, and then the wet cleaning component is controlled to perform a lifting operation, and / or the cleaning robot's body is controlled to perform a reciprocating movement to clean the end face of the obstacle. The end face of the obstacle is the contact surface adjacent to the upper surface of the obstacle, located at both ends in the cleaning robot's forward direction. Then, after cleaning one end face of the obstacle, as shown in Figure 25(b), the cleaning robot further raises the wet cleaning component and moves along the obstacle's edge to clean the upper surface of the obstacle. Figure 25(c) is a left view, which shows the cleaning process of the cleaning robot cleaning the upper surface of the obstacle. That is, the cleaning robot lifts the wet cleaning component to fit the upper surface of the obstacle and cleans the upper surface of the obstacle while the cleaning robot is moving.

[0253] Specifically, as shown in Figure 26, the method also includes:

[0254] Step 2601: Control the cleaning robot to contact the end face of the obstacle, then control the wet cleaning component of the cleaning robot to perform a lifting operation, and / or control the body of the cleaning robot to perform a reciprocating motion, so as to clean the end face of the obstacle.

[0255] In practice, when the cleaning robot detects an obstacle during operation, the control module, based on a preset path planning algorithm, drives the robot to approach the obstacle at a precise angle and speed until the robot's wet cleaning component makes stable contact with the obstacle's end face, at which point the robot's movement stops. After stable contact is established, the control module immediately initiates the cleaning operation program. This can be achieved by controlling the lifting and lowering of the wet cleaning component to clean the obstacle's end face, or by the robot's reciprocating motion to move the wet cleaning component.

[0256] For example, when a cleaning robot is working in a room, its onboard sensing system scans the environment in real time. When it suddenly detects a target obstacle, the tracked cleaning cloth on the side of the robot gently touches the vertical end face of the table leg. After the pressure sensor senses a stable contact force, the drive wheels immediately stop rotating, and the cleaning robot stops moving. Then, depending on the height of the obstacle's end face, the cleaning robot raises or lowers the wet cleaning component to clean the entire end face. For example, the tracked cleaning cloth is lowered by 2 centimeters to fit closely to the bottom area of ​​the end face. The tracked cleaning cloth rotates at a high speed of 800 revolutions per minute, and at the same time, the strong suction of the built-in suction port rolls the dust and hair attached to the bottom of the end face into the dust box. Subsequently, the control module instructs the cleaning robot to reciprocate back and forth at a speed of 5 centimeters per second. By adjusting the robot's posture, the side brushes are repeatedly wiped and cleaned on the end face of the obstacle by "twisting" the robot body. When encountering stubborn stains, the robot will automatically reduce its speed and increase the cleaning time until every part of the table leg end face is cleaned, demonstrating its efficient cleaning ability on the end face of complex obstacles.

[0257] In this embodiment, the cleaning robot is controlled to precisely contact the end face of the obstacle, ensuring that the wet cleaning component establishes an effective contact point with the end face. Then, through the lifting operation of the wet cleaning component and / or the reciprocating movement of the robot body, the dust, stains and other debris on the end face of the obstacle are deeply cleaned. This not only ensures the comprehensiveness and thoroughness of the cleaning effect, but also improves the applicability of the cleaning robot in complex home environments, reduces the need for manual intervention, and brings users an efficient and intelligent cleaning experience.

[0258] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0259] Based on the same inventive concept, this application also provides an obstacle cleaning device for implementing the obstacle cleaning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations of one or more obstacle cleaning device embodiments provided below can be found in the limitations of the obstacle cleaning method described above, and will not be repeated here.

[0260] In one exemplary embodiment, an obstacle cleaning device is provided, comprising: an execution module, wherein:

[0261] The execution module is used to identify obstacle information. When the height of the obstacle is greater than the first threshold, the obstacle avoidance and cleaning strategy is executed. When the height of the obstacle is less than the second threshold, the low obstacle cleaning strategy is executed.

[0262] Among them, the obstacle avoidance cleaning strategy is to avoid obstacles by going around them or cleaning along the edges;

[0263] The low obstacle cleaning strategy involves adjusting the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning components to keep the upper surface of the obstacle clean.

[0264] In one embodiment, the execution module is specifically used to control the wet cleaning component to clean the upper surface of the obstacle when the obstacle is in the edge position and the height of the obstacle is less than the second threshold.

[0265] When the obstacle is in a non-edge position and the height of the obstacle is less than the second threshold, the wet cleaning component is controlled to clean the upper surface of the obstacle in either an inward or outward state.

[0266] In one embodiment, the execution module is specifically used to readjust the cleaning position of the wet cleaning component by adjusting one or more of the following: the pose relationship between the cleaning robot and the obstacle, the outward expansion state of the wet cleaning component, the lifting height of the cleaning robot chassis, and the lifting height of the wet cleaning component, so as to continue cleaning the obstacle along the edge.

[0267] In one embodiment, the drive wheels of the cleaning robot are located within the chassis, and the wet cleaning component does not extend beyond the edge of the chassis when it is in a retracted state; wherein,

[0268] When the wet cleaning component is in its maximum stroke in the outward-expanding state, the length of the wet cleaning component extending beyond the edge of the chassis is the first effective length.

[0269] The distance from the outer side of the drive wheel of the cleaning robot near the obstacle to the end of the wet cleaning component when it is in its maximum stroke in the outward-expanded state is the second effective length;

[0270] The second effective length is greater than the first effective length.

[0271] In one embodiment, the execution module is specifically used to control the wet cleaning component to be in the cleaning position and to maintain the wet cleaning component in the outward expansion state when the height of the obstacle is less than the second threshold and the width is less than the first effective length.

[0272] Control the cleaning robot to move along the edge of the obstacle;

[0273] As the cleaning robot moves, it drives the wet cleaning component in the cleaning position to clean the upper surface of the obstacle.

[0274] In one embodiment, the execution module is specifically used to control the wet cleaning component to be in the cleaning position and maintain the wet cleaning component in the outward expansion state when the height of the obstacle is less than the second threshold and the width is greater than the first effective length and less than the second effective length.

[0275] Control the cleaning robot to move along the edge of the obstacle by controlling the outer side of the drive wheel on the side closest to the obstacle;

[0276] As the cleaning robot moves, it drives the wet cleaning component in the cleaning position to clean the upper surface of the obstacle.

[0277] In one embodiment, the execution module is specifically used to control the wet cleaning component to be in the cleaning position and maintain the wet cleaning component in the outward expansion state when the obstacle is in a non-edge position and the height of the obstacle is less than the second threshold and the width is greater than the second effective length.

[0278] The cleaning robot is controlled to move along the left and right edges of the obstacle; moving along the left and right edges means that the contact process between the wet cleaning component and the edge of the obstacle is discontinuous.

[0279] As the cleaning robot moves, it drives the wet cleaning component in the cleaning position to clean the upper surface of the obstacle.

[0280] In one embodiment, the execution module is specifically used to control the wet cleaning component to be in the cleaning position and maintain the wet cleaning component in the outward expansion state when the obstacle is in a non-edge position and the height of the obstacle is less than the second threshold and the width is greater than the second effective length.

[0281] Controlling the cleaning robot to move around the edge of an obstacle; moving around the edge of an obstacle refers to the wet cleaning component making continuous contact with the edge of the obstacle;

[0282] As the cleaning robot moves, it drives the wet cleaning component in the cleaning position to clean the upper surface of the obstacle.

[0283] In one embodiment, the execution module is specifically used to control the wet cleaning component to be in a cleaning position and maintain the wet cleaning component in an inward state when the height of the obstacle is less than a second threshold and the width is less than the length of the wet cleaning component; the length of the wet cleaning component is the straight-line distance between the left end and the right end of the wet cleaning component when it is maintained in the inward state.

[0284] Control the cleaning robot to cross the upper surface of the obstacle, and drive the wet cleaning component to clean the upper surface of the obstacle.

[0285] In one embodiment, the execution module is specifically used to control the wet cleaning component to maintain a preset low-position cleaning state and raise the chassis of the cleaning robot so that the wet cleaning component is at an effective cleaning height that is adapted to the surface to be cleaned.

[0286] The cleaning robot chassis is controlled to maintain its initial state and the wet cleaning component is raised so that the wet cleaning component is at an effective cleaning height that matches the surface to be cleaned.

[0287] The cleaning robot chassis and wet cleaning components are raised together to position the wet cleaning components at an effective cleaning height that matches the surface to be cleaned.

[0288] In one embodiment, the execution module is specifically used to drive a wet cleaning component positioned at a cleaning location to clean the upper surface of the obstacle while the cleaning robot is moving along one side of the obstacle; or...

[0289] As the cleaning robot moves back and forth along the obstacle, the wet cleaning component in the cleaning position moves back and forth at least once to clean the upper surface of the obstacle.

[0290] In one embodiment, the execution module is specifically configured to drive the rear end of the cleaning robot to generate multiple deflections toward the obstacle and swings away from the obstacle as the cleaning robot moves along the obstacle, so as to clean the upper surface of the obstacle.

[0291] In one embodiment, the obstacle cleaning device further includes:

[0292] The first control module is used to control the drive wheel of the cleaning robot on the side closest to the obstacle to climb to the upper surface of the obstacle in an obstacle-crossing manner when the height of the obstacle is greater than the lifting height of the chassis of the cleaning robot or the lifting height of the wet cleaning parts, but less than the maximum height that the cleaning robot can climb in an obstacle-crossing manner.

[0293] The cleaning module is used to control the drive wheels of the cleaning robot on the side away from the obstacle to drive the cleaning robot forward and drive the wet cleaning component to perform cleaning operations on the upper surface of the obstacle.

[0294] In one embodiment, the execution module is specifically configured to control the cleaning robot to move at a constant speed at a first speed when the height of the obstacle is less than a second threshold.

[0295] Alternatively, the cleaning robot can be controlled to move at varying speeds within a preset speed range and to execute a low-obstacle cleaning strategy; the preset speed range is from zero to the first speed.

[0296] Among them, the first speed is less than or equal to the travel speed of the cleaning robot in the non-clean state.

[0297] In one embodiment, the execution module is specifically configured to control the cleaning robot to stop moving when the height of the obstacle is less than a second threshold, maintain the wet cleaning component in the cleaning position so that the wet cleaning component can continue to clean the upper surface of the obstacle, and then control the cleaning robot to continue moving.

[0298] In one embodiment, the vertical height of the upper surface of the obstacle from the ground is not fixed, and / or there are protrusions on the side of the obstacle. The execution module is specifically used to obtain the height range information of the upper surface of the obstacle.

[0299] Based on the height range information, the wet cleaning component of the cleaning robot is controlled to be in a cleaning position, so that the wet cleaning component in the cleaning position cleans the upper surface of the obstacle; and / or,

[0300] Control the pose of the cleaning robot and / or the outward extension of the wet cleaning component to bypass the protrusions on the side of the obstacle, and then resume cleaning the upper surface of the obstacle.

[0301] In one embodiment, the obstacle cleaning device further includes:

[0302] The second control module is used to control the end face of the cleaning robot that contacts the obstacle, and then control the wet cleaning component of the cleaning robot to perform lifting and lowering operations, and / or control the body of the cleaning robot to perform reciprocating motion, so as to clean the end face of the obstacle.

[0303] In one embodiment, the first threshold is greater than or equal to the second threshold.

[0304] Each module in the aforementioned obstacle cleaning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0305] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

[0306] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc. The storage medium can also include combinations of the above types of memory.

[0307] Any references to memory, database, or other media used in the embodiments provided in this application may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in this application may include at least one of relational databases and non-relational databases. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0308] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0309] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method of cleaning an obstruction, characterized by, The method is applied to a cleaning robot, the cleaning robot comprising a chassis and a wet cleaning element connected to the chassis, the method comprising: identifying obstacle information, when the height of the obstacle is greater than a first threshold value, executing an obstacle avoidance cleaning strategy, when the height of the obstacle is less than a second threshold value, executing a low obstacle cleaning strategy; the obstacle avoidance cleaning strategy is edge cleaning for the obstacle; the low obstacle cleaning strategy is to adjust the lifting height of the cleaning robot chassis and / or the lifting height of the wet cleaning element to maintain the cleaning of the upper surface of the obstacle.

2. The method of claim 1, wherein, the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold value comprises: when the obstacle is in an edge position and the height of the obstacle is less than the second threshold value, controlling the wet cleaning element to clean the upper surface of the obstacle in a cleaning position in an extended state; when the obstacle is in a non-edge position and the height of the obstacle is less than the second threshold value, controlling the wet cleaning element to clean the upper surface of the obstacle in a cleaning position in an extended state or a retracted state.

3. The method according to claim 1 or 2, characterized in that, after the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold value, the method further comprises: by adjusting one or more of the pose relationship between the cleaning robot and the obstacle, the extended state of the wet cleaning element, the lifting height of the cleaning robot chassis, and the lifting height of the wet cleaning element, readjusting the cleaning position of the wet cleaning element, and continuing to clean the obstacle.

4. The method of claim 2, wherein, the drive wheels of the cleaning robot are located in the chassis, and when the wet cleaning element is in a retracted state, the wet cleaning element does not exceed the edge of the chassis; wherein, when the wet cleaning element is in an extended state with a maximum stroke, the length of the wet cleaning element exceeding the edge of the chassis is a first effective length; the distance from the outside of the drive wheel on the side of the cleaning robot close to the obstacle to the end of the wet cleaning element in the extended state with a maximum stroke is a second effective length; the second effective length is greater than the first effective length.

5. The method of claim 4, wherein, the low obstacle cleaning strategy when the height of the obstacle is less than the second threshold value, comprising: when the height of the obstacle is less than the second threshold value and the width is less than the first effective length, controlling the wet cleaning element to be in a cleaning position and maintaining the wet cleaning element in an extended state; controlling the cleaning robot to travel along the edge of the obstacle; in the process of driving the cleaning robot to move, the wet cleaning element in the cleaning position cleans the upper surface of the obstacle.

6. The method of claim 4, wherein, the low obstacle cleaning strategy when the height of the obstacle is greater than the second threshold value, comprising: when the height of the obstacle is less than the second effective length and the width is greater than the first effective length, controlling the wet cleaning element to be in a cleaning position and maintaining it in an extended state; controlling the cleaning robot to travel along the edge of the obstacle on the side of the obstacle close to the outside of the drive wheel; in the process of driving the cleaning robot to move, the wet cleaning element in the cleaning state cleans the upper surface of the obstacle.

7. The method of claim 4, wherein, The low obstacle cleaning strategy is executed when the height of the obstacle is less than a second threshold value, comprising: For the case that the obstacle is in a non-along-side position, when the height of the obstacle is less than a second threshold value and the width is greater than a second effective length, the wet cleaning member is controlled to be in a cleaning position and maintained in an outwardly expanded state; The cleaning robot is controlled to travel along the left and right side edges of the obstacle respectively, and the left and right side edge traveling refers to the process that the wet cleaning member is discontinuously in contact with the edge of the obstacle; In the process of driving the cleaning robot to move, the wet cleaning member in the cleaning position is used to clean the upper surface of the obstacle.

8. The method of claim 4, wherein, The low obstacle cleaning strategy is executed when the height of the obstacle is less than a second threshold value, comprising: For the case that the obstacle is in a non-along-side position, when the height of the obstacle is less than a second threshold value and the width is greater than a second effective length, the wet cleaning member is controlled to be in a cleaning position and maintained in an outwardly expanded state; The cleaning robot is controlled to travel along the left and right side edges of the obstacle respectively, and the left and right side edge traveling refers to the process that the wet cleaning member is discontinuously in contact with the edge of the obstacle; In the process of driving the cleaning robot to move, the wet cleaning member in the cleaning position is used to clean the upper surface of the obstacle.

9. The method of claim 4, wherein, The low obstacle cleaning strategy is implemented when the height of the obstacle is less than a second threshold value, comprising: When the height of the obstacle is less than a second threshold value and the width is less than the length of the wet cleaning member, the wet cleaning member is controlled to be in a cleaning position and maintained in an inwardly retracted state; the length of the wet cleaning member is the straight-line distance between the left end and the right end of the wet cleaning member maintained in the inwardly retracted state; The cleaning robot is controlled to cross the upper surface of the obstacle, and the wet cleaning member is used to clean the upper surface of the obstacle.

10. The method of any one of claims 2 or 4-9, wherein, The control of the wet cleaning member in the cleaning position comprises at least one of the following steps: The wet cleaning member is controlled to be maintained in a preset low-position cleaning state, and the cleaning robot chassis is lifted, so that the wet cleaning member is in an effective cleaning height adapted to the surface to be cleaned; The cleaning robot chassis is controlled to be maintained in an initial state, and the wet cleaning member is lifted, so that the wet cleaning member is in an effective cleaning height adapted to the surface of the cleaning robot chassis; The cleaning robot chassis and the wet cleaning member are controlled to be lifted together, so that the wet cleaning member is in an effective cleaning height adapted to the surface to be cleared.

11. The method according to any one of claims 5 to 9, characterized in that, The control of the wet cleaning member in the cleaning position comprises at least one of the following: In the process of driving the cleaning robot to move along the obstacle, the wet cleaning member in the cleaning position is used to clean the upper surface of the obstacle; or, In the process of driving the cleaning robot to move along the obstacle, the wet cleaning member in a cleaning position is used to clean the upper surface of the obstacle at least once.

12. The method of any one of claims 2 or 4-9, wherein, The wet cleaning element in the cleaning position is driven to clean the upper surface of the obstacle during the driving of the cleaning robot. The method further comprises:

13. The method of claim 1, wherein, The method further comprises: When the height of the obstacle is greater than the lifting height of the chassis of the cleaning robot or the lifting height of the wet cleaning element, and less than the maximum height of the cleaning robot climbing over the obstacle, the driving wheel on the side of the cleaning robot close to the obstacle is controlled to climb over the obstacle to the upper surface of the obstacle in an obstacle-climbing manner. The driving wheel on the side of the cleaning robot away from the obstacle is controlled to drive the cleaning robot to move forward, and the wet cleaning element is driven to perform the cleaning operation on the upper surface of the obstacle.

14. The method of claim 1, wherein, The low obstacle cleaning strategy is executed when the height of the obstacle is less than the second threshold value, comprising: When the height of the obstacle is less than the second threshold value, the cleaning robot is controlled to move at a first speed, Or, the cleaning robot is controlled to move at a variable speed within a preset speed range, and the low obstacle cleaning strategy is executed; the preset speed range is zero to the first speed. The first speed is less than or equal to the moving speed of the cleaning robot in a non-cleaning state.

15. The method of claim 1, wherein, The low obstacle cleaning strategy is executed when the height of the obstacle is less than the second threshold value, comprising: When the height of the obstacle is less than the second threshold value, the cleaning robot is controlled to stop moving, and the wet cleaning element is controlled to be in the cleaning position, so that the wet cleaning element continuously cleans the upper surface of the obstacle, and then the cleaning robot is controlled to continue moving.

16. The method of claim 1, wherein, The vertical height of the upper surface of the obstacle from the ground is not fixed, and / or there is a protrusion on the side of the obstacle, and the low obstacle cleaning strategy is executed when the height of the obstacle is less than the second threshold value. Obtain the height range information of the upper surface of the obstacle; According to the height range information, the wet cleaning element of the cleaning robot is dynamically adjusted to be in the cleaning position, so that the wet cleaning element in the cleaning position cleans the upper surface of the obstacle; and / or, The pose of the cleaning robot and / or the extension length of the wet cleaning element are dynamically adjusted to bypass the protruding part of the side of the obstacle, and then the cleaning operation on the upper surface of the obstacle is resumed.

17. The method of claim 1, wherein, The method further comprises: The cleaning robot is controlled to contact the end surface of the obstacle, and then the wet cleaning element of the cleaning robot is controlled to perform a lifting operation, and / or the body of the cleaning robot is controlled to perform a reciprocating movement, so that the end surface of the obstacle is cleaned.

18. The method of claim 1, wherein, The first threshold value is greater than or equal to the second threshold value.

19. A cleaning robot comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to realize the steps of the method of any one of claims 1 to 18.

20. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method of any one of claims 1 to 18.

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