Control method and apparatus for cleaning robot, and program product and cleaning robot

Abstract

Provided in the embodiments of the present application are a control method and apparatus for a cleaning robot, and a program product and a cleaning robot. The method comprises: when the distance between a cleaning robot and an obstacle is less than a clamping distance threshold, on the basis of the type of the obstacle, controlling a mechanical arm to move the obstacle; controlling the mechanical arm to reset to a center-of-gravity stable position; acquiring, from a first sensor system, a material detection result of the floor where the cleaning robot is currently located; and when the material detection result indicates that the floor is of a preset material, using a drive wheel module to drive a robot body to move, so as to resume a cleaning task. The method is used to achieve the effects of preventing side tilting or rear lifting of a robot body and improving the safety of a device.

Description

Control methods, devices, software products, and cleaning robots for cleaning robots

[0001] This application claims priority to Chinese Patent Application No. 202510303212.5, filed on March 14, 2025, entitled "Control Method, Apparatus, Program Product and Cleaning Robot", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of smart furniture technology, and in particular to a control method, device, program product, and cleaning robot for a cleaning robot. Background Technology

[0003] As cleaning robots become more and more common, more and more users are getting used to using them for indoor or outdoor cleaning tasks.

[0004] Existing cleaning robots are easily affected by complex indoor or outdoor terrain, which can lead to instability and tipping over. This can seriously affect the cleaning effect of the robot and ruin the user experience. Summary of the Invention

[0005] This application provides a control method, device, program product, and cleaning robot to achieve the effects of cleaning robot body stability and ensuring equipment safety.

[0006] In a first aspect, embodiments of this application provide a control method for a cleaning robot, which is applied to the cleaning robot. The cleaning robot is equipped with a robotic arm, a drive wheel module, and a first sensor system. The drive wheel module is used to drive the robot to move, and the first sensor system is used to detect the material of the ground.

[0007] The method includes:

[0008] When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the robotic arm is controlled to move the obstacle based on the type of the obstacle.

[0009] Control the robotic arm to reset to a stable position.

[0010] Obtain the material detection results of the ground where the cleaning robot is currently located by the first sensor system;

[0011] When the material detection result indicates that the ground is a preset material, the drive wheel module is used to drive the machine body to move in order to continue to perform the cleaning task.

[0012] In one possible implementation, before controlling the robotic arm to move the obstacle based on its type, the method further includes:

[0013] Lock the drive wheel module to prevent it from popping out;

[0014] Before using the drive wheel module to drive the machine body to move in order to continue performing the cleaning task, the method further includes:

[0015] Release the drive wheel.

[0016] In one possible implementation, the cleaning robot is also equipped with a second sensor system, which is used to detect the type of items.

[0017] When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the robotic arm is controlled to move the obstacle based on the type of the obstacle, including:

[0018] When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the type detection result of the obstacle by the second sensor system is obtained;

[0019] Based on the type of obstacle indicated by the type detection result, the robotic arm is controlled to move the obstacle.

[0020] In one possible implementation, acquiring the obstacle type detection result of the second sensor system includes:

[0021] Acquire the three-dimensional information of the obstacle collected by the second sensor system;

[0022] Based on the three-dimensional information, the type detection result of the obstacle is determined.

[0023] In one possible implementation, the type of obstacle includes one of the following: a preset grabbable obstacle type, a preset avoidable obstacle type, a preset pushable obstacle type, and a preset draggable obstacle type.

[0024] The step of controlling the robotic arm to move the obstacle based on the type of obstacle indicated by the type detection result includes:

[0025] When the type detection result indicates that the obstacle belongs to a preset graspable obstacle type, the robotic arm is controlled to grasp the obstacle;

[0026] When the type detection result indicates that the obstacle belongs to a preset avoidance obstacle type, an avoidance action is performed;

[0027] When the type detection result indicates that the obstacle belongs to a preset movable obstacle type, the robotic arm is controlled to move the obstacle.

[0028] When the type detection result indicates that the obstacle belongs to a preset draggable obstacle type, the robotic arm is controlled to drag the obstacle.

[0029] In one possible implementation, before controlling the robotic arm to grasp the obstacle, before controlling the robotic arm to push the obstacle, and before controlling the robotic arm to drag the obstacle, the method further includes:

[0030] Lock the drive wheel module to prevent it from popping out.

[0031] In one possible implementation, the step of using the drive wheel module to drive the machine body to move in order to continue performing the cleaning task further includes:

[0032] When the type detection result indicates that the obstacle belongs to a preset graspable obstacle type, the drive wheel module is used to drive the body to move until the distance between the cleaning robot and the first area is less than the clamping distance threshold.

[0033] The robotic arm is controlled to place the grasped obstacle into the first area;

[0034] The robotic arm is controlled to return to the stable position of the center of gravity, and the drive wheel module is used to drive the body to move back to the original area where the obstacle was located to continue the cleaning task.

[0035] In one possible implementation, the step of using the drive wheel module to drive the body to move until the distance between the cleaning robot and the first area is less than the clamping distance threshold further includes:

[0036] Release the drive wheel;

[0037] Before the step of controlling the robotic arm to place the grasped obstacle into the first area, the method further includes:

[0038] Lock the drive wheel module;

[0039] Before using the drive wheel module to drive the machine body to move back to the original area of ​​the obstacle to continue the cleaning task, the method further includes:

[0040] Release the drive wheel.

[0041] In one possible implementation, before controlling the robotic arm to return to a stable position, the method further includes:

[0042] Based on the type of obstacle, determine the stable position of the robot arm's center of gravity;

[0043] The control of the robotic arm to return to a stable position includes:

[0044] When the type detection result indicates that the obstacle belongs to a preset graspable obstacle type, the robotic arm is controlled to reset to the preset position of the robotic arm;

[0045] When the type detection result indicates that the obstacle belongs to a preset pushable obstacle type or a preset draggable obstacle type, the robotic arm is controlled to reset to its initial position.

[0046] In one possible implementation, the step of using the first sensor system to obtain the material detection result of the ground where the cleaning robot is currently located includes:

[0047] The first sensor system is used to transmit a detection signal to the ground and collect the reflected signal corresponding to the detection signal, wherein the detection signal is used to detect the ground material.

[0048] When the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, the material detection result of the ground indicates that the material of the ground is the preset material;

[0049] Otherwise, a reference height value of the first sensor system is obtained, and if the reference height value is less than a preset height value, the material detection result of the ground indicates that the material of the ground is not the preset material; wherein, the reference height value is the height of the first sensor system relative to the ground.

[0050] In one possible implementation, after releasing the drive wheel module, the method further includes:

[0051] When the material detection result indicates that the ground is not the preset material, the chassis of the machine body is raised using the drive wheel module.

[0052] In one possible implementation, driving the fuselage to move using the drive wheel module includes:

[0053] When obstacle crossing is required during movement, the height of the object to be crossed must be identified.

[0054] When the height of the obstacle to be crossed is less than a preset height threshold, the drive wheel module is used to perform the first obstacle crossing action;

[0055] When the height of the obstacle to be crossed reaches the preset height threshold and the robotic arm does not hold the obstacle, the drive wheel module is used to perform the second obstacle crossing action.

[0056] When the height of the obstacle to be crossed reaches the preset height threshold and the robotic arm holds the obstacle, the robotic arm is controlled to place the obstacle in the second area, and the drive wheel module is used to perform the second obstacle crossing action.

[0057] In one possible implementation, after controlling the robotic arm to place the obstacle in the second area, the method further includes:

[0058] Control the robotic arm to reset to the stable position of the center of gravity.

[0059] In one possible implementation, after controlling the robotic arm to place the obstacle in the second area and performing the second obstacle-crossing action using the drive wheel module, the method further includes:

[0060] Control the robotic arm to grab the obstacle from the second area;

[0061] Control the robotic arm to reset to a stable position.

[0062] Secondly, this application provides a control device for a cleaning robot, which is applied to the cleaning robot. The cleaning robot has a robotic arm, a drive wheel module, a first sensor system, and a second sensor system on its body. The drive wheel module is used to drive the body to move. The first sensor system is used to detect the material of the ground. The second sensor system is used to detect the type of object of the obstacle.

[0063] The device includes:

[0064] A locking module is used to lock the drive wheel module when the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, so as to restrict the ejection of the drive wheel module;

[0065] The control module is used to control the robotic arm to move the obstacle based on the type of obstacle, and to control the robotic arm to return to a stable position.

[0066] The information acquisition module is used to acquire the material detection results of the cleaning robot's current location by the first sensor system, and the type detection results of the obstacle by the second sensor system;

[0067] The movement control module is used to release the drive wheel module and use the drive wheel module to drive the machine body to move when the material detection result indicates that the ground is a preset material, so as to continue to perform the cleaning task.

[0068] Thirdly, this application provides a cleaning robot, which is equipped with a controller, a robotic arm, a drive wheel module, a first sensor system and a second sensor system on its body. The controller is connected to the robotic arm, the drive wheel module, the first sensor system and the second sensor system respectively.

[0069] The drive wheel module is used to drive the fuselage to move;

[0070] The first sensor system is used to detect the ground material.

[0071] The second sensor system is used to detect the type of object in the obstacle;

[0072] The robotic arm is used to move the obstacle based on the type of the obstacle;

[0073] The controller is used to execute the first aspect and / or various possible methods of the first aspect as described above.

[0074] Fourthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0075] The control method, device, program product, and cleaning robot provided in this application embodiment can lock the drive wheel module when an obstacle is detected, preventing the drive wheel module from popping out. This locks the drive wheel module to counteract the reaction force generated by the drive wheel module during the robot arm's operation, keeping the cleaning robot stable and preventing tilting or tail-lifting. Furthermore, it can determine the ground surface where the cleaning robot is located and control the drive wheel module to unlock based on the determined ground material. This allows the cleaning robot to adapt to different ground characteristics, ensuring cleaning efficiency and equipment safety, thereby increasing the overall reliability of the machine and improving the user experience. Attached Figure Description

[0076] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0077] Figure 1 is a structural schematic diagram of the cleaning robot provided in this application;

[0078] Figure 2 is an enlarged structural diagram of part A in Figure 1;

[0079] Figure 3 is a structural schematic diagram of the drive wheel module and obstacle crossing module in the cleaning robot provided in this application;

[0080] Figure 4 is a flowchart illustrating the control method for the cleaning robot provided in this application;

[0081] Figure 5 is a schematic diagram of the control device for the cleaning robot provided in this application;

[0082] Figure 6 is a schematic diagram of the structure of the electronic device provided in this application.

[0083] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0084] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0085] The control method for the cleaning robot provided in this application embodiment can be applied to the cleaning robot 100 shown in FIG1.

[0086] The aforementioned cleaning robot 100 can specifically be a self-contained robot capable of autonomously moving and completing cleaning tasks within a work area without external human input or control. The work area can include indoor and outdoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc. Cleaning tasks can include sweeping (e.g., washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0087] The aforementioned cleaning robots 100 include, but are not limited to: sweeping robots, floor washing robots, sweeping and mopping robots, lawn mowing robots, snow removal robots, etc. The cleaning robots 100 can clean using either a front-sweeping-then-mopping method or a separate sweeping and mopping method. The front-sweeping-then-mopping method allows sweeping and mopping simultaneously, improving cleaning efficiency. The separate sweeping and mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness.

[0088] Specifically, the cleaning robot 100 includes at least a body 10, a controller (not shown in the figure), one or more cleaning components (not shown in the figure), a drive wheel module 20, a first sensor system (not shown in the figure), and a second sensor system (not shown in the figure). The drive wheel module 20 is located on one side of the body 10 and is used to drive the body 10 to move for cleaning operations.

[0089] The cleaning components mentioned above may specifically include one or more of the following: side brushes, main brushes (or roller brushes), and mop trays (or wiping trays). The shapes of these cleaning components can be circular, square, or other shapes (e.g., semi-circular, arc-shaped, triangular, etc.). Circular shapes facilitate rotating cleaning. Irregular shapes facilitate cleaning corner areas. The side brushes gather debris and move it towards the center of the bottom of the cleaning robot 100. The main brush sweeps up debris from the bottom of the cleaning robot 100, allowing it to enter the dust collection box through the suction port. The mop tray is used for wiping or mopping the floor.

[0090] Specifically, the aforementioned mop tray contains mops. The cleaning robot is equipped with a water tank. Water from the tank flows through holes to the mops, wetting them. The wet mops are then used for mopping the floor.

[0091] The main brush is located in the main brush chamber at the bottom of the body 10 of the cleaning robot 100. The main brush chamber is connected to the suction channel of the cleaning robot. Small debris such as dust and hair swept up by the main brush and / or side brushes will be sucked into the cleaning robot through the main brush chamber.

[0092] Specifically, the shape of the aforementioned fuselage 10 can be circular, square, or other shapes. For example, one part of the fuselage can be circular, and another part can be square.

[0093] The controller described above may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions.

[0094] The first sensor system and the second sensor system mentioned above can be respectively installed on the body 10 of the cleaning robot 100. The first sensor system can be, for example, an ultrasonic sensor, and the second sensor system can be one or more of the following types of sensors: monocular vision sensor, binocular vision sensor, line laser sensor, area laser sensor, LDS sensor, Dtof sensor, Itof sensor, etc.

[0095] Specifically, the first sensor can detect the material of the ground where the fuselage 10 is located by sending detection signals to the ground.

[0096] Specifically, the second sensor system can, for example, employ a monocular vision sensor. A monocular vision sensor can acquire a projected image of the obstacle on a two-dimensional plane using a single camera. This image can carry information such as the obstacle's shape, color, texture, and size. Alternatively, the second sensor system can also employ a binocular vision sensor. A binocular vision sensor can simulate human vision, acquiring three-dimensional information about the obstacle using two cameras.

[0097] Furthermore, as shown in Figure 1, the cleaning robot 100 may also include a robotic arm 30, and correspondingly, a robotic arm storage slot 31 matching the robotic arm 30 may be provided on the body 10. The robotic arm 30 is located on the side of the body 10 away from the drive wheel module 20, so as to extend out of the body 10 to perform work. A rotating shaft may also be fixedly installed in the robotic arm storage slot 31, and the robotic arm 30 is connected to the rotating shaft.

[0098] Specifically, when not in use, the robotic arm 30 can be retracted and placed in the robotic arm storage slot 31.

[0099] When the robotic arm 30 is started, it can rotate and unfold around the pivot point, and then use the robotic arm 30 to complete specific actions, such as grasping and pushing.

[0100] Specifically, the aforementioned robotic arm 30 is equipped with at least a gripping part, such as a claw. Accordingly, the cleaning robot 100 can use the gripping part provided on the robotic arm 30 to grasp specific items.

[0101] The second sensor system can be mounted on the robotic arm 30 to acquire more comprehensive three-dimensional information about the obstacle.

[0102] It should be noted that the robotic arms and robotic arm storage slots listed above are merely illustrative. In actual implementation, depending on the specific application scenario and processing requirements, other types of robotic arms and other types of robotic arm storage slots may also be included. This manual does not limit this.

[0103] Furthermore, as shown in Figures 1 and 2, in another embodiment, the body 10 is also provided with a pop-out component 11, a locking component 12, and an obstacle-crossing component 40. The pop-out component 11 is connected to the drive wheel module 20 and is used to pop the drive wheel module 20 out of the body 10. The locking component 12 is used to lock the drive wheel module 20 when the robotic arm 30 is working, thereby restricting the pop-out of the drive wheel module 20.

[0104] That is, when the cleaning robot 100 is performing cleaning operations, the locking component 12 is not engaged, allowing the pop-out component 11 to provide suspension, shock absorption, maintain drive wheel pressure, or automatically adjust the height of the drive wheel module 20 when needed, such as walking on uneven ground, walking on inclined ground, crossing small obstacles, or transitioning from ground of different thicknesses or materials, thus popping the drive wheel module 20 out of the body 10 and enabling the cleaning robot 100 to move normally. When the robotic arm 30 is working, the locking component 12 is engaged, locking the drive wheel module 20 and preventing the pop-out component 11 from popping it out. This counteracts the reaction force generated by the setting of the pop-out component 11, making full use of the weight of the drive wheel module 20 itself, and solving the problems of the cleaning robot 100 tilting to one side and lifting its tail.

[0105] By installing a locking component 12 on the body 10, the drive wheel module 20 is locked during the process of the robotic arm 30 grasping an item. This locks the drive wheel in a raised state, preventing it from popping out, thus counteracting the reaction force generated by the pop-out component 11. This keeps the body 10 stable, preventing tilting or tail-lifting, increasing the reliability of the entire machine and improving the user experience. The coordinated operation of the pop-out component 11 and the locking component 12 allows the drive wheel module 20 to pop out when needed, ensuring the cleaning robot 100 maintains efficient and stable performance in different operating modes, enhancing the machine's adaptability. The locking component 12 has a simple structure and low manufacturing cost, reducing production costs and simplifying the equipment, thus improving maintainability. By fully utilizing the weight of the drive wheel module 20 itself to improve machine stability, rather than relying on additional counterweights, the machine's endurance and mobility efficiency are avoided due to increased overall weight.

[0106] Furthermore, the obstacle-crossing module 40 is rotatably mounted on the drive wheel module 20. The locking assembly 12 is used to engage with the obstacle-crossing module 40 when the obstacle-crossing module 40 rotates, thereby locking the obstacle-crossing module 40 and restricting the ejection of the drive wheel module 20 connected to the obstacle-crossing module 40.

[0107] The obstacle-crossing module 40 is designed to enable the cleaning robot 100 to cross obstacles more effectively, improving the adaptability of the cleaning robot 100, such as when encountering thresholds, carpet edges or other small obstacles in a home environment.

[0108] By locking the obstacle-crossing module 40 when it rotates, the locking component 12 can effectively limit the ejection of the drive wheel module 20. This helps the locking component 12 to lock the drive wheel module 20 when the robotic arm 30 is working, maintain the stability of the equipment, and prevent the equipment from tilting or lifting due to the reaction force generated by the ejection component 11.

[0109] The combination of locking assembly 12 and obstacle crossing module 40 allows for more precise control over the locking of drive wheel module 20. By limiting the pop-out action of drive wheel module 20, the device can maintain higher reliability when performing complex tasks (such as using a robotic arm to grasp objects) and reduce the risk of operational failure due to instability.

[0110] The combination of locking component 12 and obstacle crossing module 40 utilizes the existing obstacle crossing module 40 to lock the drive wheel module 20, avoiding additional complex structures or components, thus maintaining the simplicity and cost-effectiveness of the equipment.

[0111] As shown in Figure 2, in one possible implementation, the locking assembly 12 includes a locking bracket 121 and a locking roller 122. The locking bracket 121 is mounted on the main unit 10, and the locking roller 122 is rotatably mounted on the locking bracket 121. The obstacle-crossing module 40 is provided with a wheel leg groove 401. When the obstacle-crossing module 40 rotates, the locking roller 122 can slide into the wheel leg groove 401 to engage with it.

[0112] The locking roller 122 automatically slides into the wheel leg groove 401 when the obstacle-crossing module 40 rotates, achieving an automated locking process. The engagement of the locking roller 122 with the wheel leg groove 401 provides a robust locking mechanism, ensuring that the drive wheel module 20 is securely locked during equipment operation, especially when the robotic arm is working, preventing unnecessary ejection. Simultaneously, the design of the locking roller 122 allows for smooth rotation and engagement, reducing wear on components during locking and unlocking, thereby extending the equipment's lifespan.

[0113] The design of locking roller 122 and wheel leg groove 401 on obstacle crossing module 40 utilizes a simple mechanical structure, with the roller and groove achieving the locking function, maintaining the simplicity and ease of maintenance of the equipment.

[0114] In one possible implementation, the wheel leg groove 401 on the obstacle-crossing module 40 is an arc-shaped groove with openings on both sides, and the locking roller 122 can slide into the wheel leg groove 401. This allows the locking roller 122 to slide into the wheel leg groove 401 from the opening when the obstacle-crossing module 40 rotates, thus locking it in place.

[0115] As shown in Figure 3, in one possible implementation, the drive wheel module 20 includes a drive wheel bracket 21 and a drive wheel 22. The drive wheel bracket 21 is located on one side of the fuselage 10, and the drive wheel 22 is rotatably mounted on the drive wheel bracket 21. The ejection assembly 11 is connected to the drive wheel bracket 21, and the ejection assembly 11 is used to eject the drive wheel bracket 21 from the fuselage 10, and the obstacle-crossing module 40 is rotatably mounted on the drive wheel bracket 21.

[0116] The combination of the pop-out assembly 11 and the drive wheel bracket 21 allows the drive wheel 22 to pop out when needed to adapt to uneven ground or cross obstacles. This flexibility improves the stability and adaptability of the equipment in various environments.

[0117] The obstacle crossing module 40 is directly mounted on the drive wheel bracket 21, which allows the device to respond more flexibly to changes in terrain. When the device encounters an obstacle, it can more effectively adjust the position of the drive wheel 22, thereby improving its obstacle crossing ability.

[0118] Integrating the obstacle-crossing module 40 and the drive wheel 22 onto the drive wheel bracket 21 helps optimize the use of internal space and reduces the overall size of the device. The drive wheel bracket 21, as a separate module, integrates the drive wheel 22, the pop-out assembly 11, and the obstacle-crossing module 40. This integrated design simplifies the manufacturing and maintenance process, making it easier to replace or repair any part.

[0119] In one possible implementation, the pop-out component 11 is a tension spring, but it is not limited to this.

[0120] In one possible implementation, the obstacle-crossing module 40 includes a wheel leg base 41, a wheel leg cover plate 42, and a wheel leg drive component 43. The wheel leg base 41 is rotatably connected to the drive wheel bracket 21. The wheel leg cover plate 42 is located on the side of the wheel leg base 41 away from the drive wheel bracket 21, and the wheel leg cover plate 42 has a wheel leg groove 401. The wheel leg drive component 43 is located on the drive wheel bracket 21, and the wheel leg drive component 43 is used to drive the wheel leg base 41 to rotate, thereby driving the wheel leg cover plate 42 to rotate.

[0121] When the wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate, the wheel leg groove 401 on the wheel leg cover plate 42 rotates accordingly, causing the locking roller 122 to slide into the wheel leg groove 401 and engage with the wheel leg groove 401, thereby locking the wheel leg cover plate 42, locking the wheel leg base 41 and drive wheel bracket 21 connected to it, and locking the drive wheel module 20.

[0122] The design of the wheel leg base 41 and wheel leg cover 42 allows the equipment to effectively adjust and cross obstacles. Driven by the wheel leg drive unit 43, the obstacle-crossing wheel leg can flexibly change its angle and position to adapt to obstacles of different heights and shapes. It can also cooperate with the locking roller 122 to lock the drive wheel module 20, thereby enabling the robotic arm module 30 to work.

[0123] The wheel leg drive unit 43 provides precise control over the wheel leg base 41 and wheel leg cover plate 42, enabling the equipment to adjust the position and angle of the obstacle-crossing wheel legs according to real-time environmental conditions. This allows the equipment to maintain better balance and stability, reducing the risk of overturning due to imbalance.

[0124] Integrating obstacle-crossing functionality into a single obstacle-crossing module 40 makes the design more modular, simplifies manufacturing, assembly, and maintenance, and reduces equipment complexity. The wheel leg base 41 and wheel leg cover 42 are compactly designed to provide obstacle-crossing functionality without increasing the overall size of the equipment.

[0125] In one possible implementation, the wheel-leg drive component 43 is a motor.

[0126] The specific motion logic of the aforementioned cleaning robot 100 is as follows:

[0127] The driving wheel module 20 has a locking function: the wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate forward, causing the obstacle-crossing module 40 to rotate from its initial position to the locked position. The locking roller 122 engages with the wheel leg groove 401 to lock the driving wheel module 20. At this time, the robotic arm module 30 can begin operation. After completion, the wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate in reverse, returning the obstacle-crossing module 40 to its initial position for reset.

[0128] Chassis lifting function: The wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate in the opposite direction, causing the obstacle crossing module 40 to rotate from the initial position to the lifting position. At this time, the drive wheel module 20 is slightly ejected under the action of the obstacle crossing module 40 and the pop-out component 11, thereby lifting the chassis of the fuselage 10. After completion, the wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate in the forward direction, causing the obstacle crossing module 40 to return to the initial position for reset.

[0129] Obstacle-crossing function: The wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate forward, causing the obstacle-crossing module 40 to rotate from the initial position past the locked position to the obstacle-crossing position. At this time, the obstacle-crossing module 40 pops out and can perform obstacle-crossing operations. It continues to rotate forward to reach the obstacle-crossing end position, and the obstacle-crossing ends. After completion, the wheel leg drive unit 43 drives the wheel leg cover plate 42 to rotate in the opposite direction, causing the obstacle-crossing module 40 to return to the initial position for reset.

[0130] In one possible implementation, the chassis lifting function can raise the drive wheel module 20 by a height ranging from 5mm to 20mm. The obstacle-crossing function can raise the drive wheel module 20 to a height ranging from 5cm to 10cm for obstacle crossing.

[0131] In one possible implementation, the body 10 may also be equipped with casters, caster leg drives, and a transmission assembly. The casters are positioned near the front end of the body 10 and are used to change the direction of travel of the cleaning robot 100. The transmission assembly connects the caster leg drives and the casters, converting the rotational motion of the caster leg drives into linear motion. Driven by the caster leg drives, the casters can be flexibly extended or retracted to adapt to different terrains and environments. On complex terrain (such as thresholds or carpet edges), the caster leg drives can extend the casters through the transmission assembly, thereby increasing the support points of the cleaning robot 100, lowering its center of gravity, and preventing it from tipping over. On flat ground, the caster leg drives can retract the casters through the transmission assembly, preventing the front of the robot from tilting due to the extension of the casters, thus ensuring the stability of the cleaning robot 100 when moving on flat ground.

[0132] The caster leg drive provides precise control over the casters, enabling the equipment to adjust the position of the casters according to real-time environmental conditions. This allows the equipment to maintain better balance and stability, reducing the risk of tipping over due to imbalance.

[0133] It should be noted that the cleaning robot 100 described above is applied to a structure that provides a cleaning robot capable of implementing the following control method. The control method of the cleaning robot in this application does not limit the specific structure of the cleaning robot, as long as it can lift the chassis of the cleaning robot, overcome obstacles, and lock the drive wheel module.

[0134] In one embodiment, a control method for a cleaning robot is provided. This embodiment illustrates the application of the control method to the controller of the cleaning robot, as shown in Figure 4. The control method includes:

[0135] Step 402: When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, control the robotic arm to move the obstacle based on the type of obstacle.

[0136] Specifically, the aforementioned movement of the cleaning robot can be a process where the robot moves and cleans simultaneously, or a process where the robot only moves without cleaning, etc. Furthermore, this movement can be along a straight path, a curved path, or a path along an irregular shape, etc.

[0137] In this embodiment, the cleaning robot uses a second sensor system to detect whether there are obstacles in the area ahead in real time or periodically during its movement.

[0138] Alternatively, the controller can use an additional distance sensor on the cleaning robot to accurately locate obstacles. The distance sensor can be, for example, an infrared sensor, and can be located on the side of the robot's forward direction.

[0139] The gripping distance threshold can be preset based on the maximum extension distance of the robotic arm on the cleaning robot, and the gripping distance threshold is less than or equal to the maximum extension distance of the robotic arm.

[0140] Step 404: Control the robotic arm to reset to a stable position.

[0141] A stable center of gravity position could be, for example, the position of the robotic arm when it retracts to its maximum extent. When the robotic arm is in a stable center of gravity position, its center of gravity can be aligned with the center of gravity of the robot body after it has shifted back, thus keeping the center of gravity of the cleaning robot in the center position and keeping the robot body stable, preventing the cleaning robot from tilting to the side or lifting its tail.

[0142] As an example, when the robotic arm is in a stable position, the angle between the upper arm, which is connected to the body, and the horizontal plane is approximately 55°.

[0143] Step 406: Use the first sensor system to obtain the material detection results of the ground where the cleaning robot is currently located.

[0144] Step 408: When the material detection result indicates that the ground is the preset material, the drive wheel module is used to drive the machine body to move in order to continue to perform the cleaning task.

[0145] The processor can use a first sensor system to detect the material of the ground on which the machine is located, and thus select different control strategies to deal with obstacles for different ground materials.

[0146] When detecting the ground material where the cleaning robot is currently located, the first sensor system can use a sensing sensor (e.g., an ultrasonic sensor) to send detection signals to the ground to detect the ground material and obtain the detection result. The aforementioned detection signal is used for ground material detection. The sensing sensor can transmit detection signals to the ground and receive the reflected signals generated by the ground reflection of the detection signals, and detect the ground material based on the signal strength value of the reflected signals.

[0147] For example, cleaning robots are usually equipped with ultrasonic material detection sensors to detect the material of the ground.

[0148] There are one or more ways for a cleaning robot to acquire reflected signals. It can receive reflected signals through a sensing sensor, or through other receiving devices on the cleaning robot (e.g., synthetic aperture radar), or through other means. This embodiment does not limit the methods used.

[0149] Alternatively, the first sensor system can also employ one of the following: an infrared sensor, a line laser sensor, or a ToF sensor. When the first sensor system uses an infrared sensor, it can emit infrared light to the ground and receive the infrared light reflected by the ground, using the different reflectivities of different ground materials to distinguish different materials. When the first sensor system uses a line laser sensor, it can emit a line laser and receive the reflected light from the ground to construct a three-dimensional contour of the ground surface, using the different surface textures and roughness of different ground materials to distinguish different materials based on the different three-dimensional contours formed by the reflected light. When the first sensor system uses a ToF sensor, it can construct a depth image of the ground by measuring the laser's time of flight and identify the material based on the depth information.

[0150] Alternatively, in this embodiment, the ground material can be indirectly determined by detecting the operating current of the cleaning components on the cleaning robot. Different ground materials exert varying resistance on the cleaning components, resulting in different motor loads and ultimately reflected in changes in the operating current. For example, if the operating current of the roller brush on the cleaning robot changes abnormally and remains high for a period of time, it can be assumed that the roller brush is currently experiencing significant resistance, indicating that the ground surface the cleaning robot is currently on is relatively rough, thus enabling the determination of the ground material.

[0151] This application does not limit the method for detecting the material of the ground, as long as it can detect the material of the ground where the cleaning robot is located based on one or more components mounted on the cleaning robot.

[0152] Preset materials can include, for example, hardwood flooring, tile, or short-pile carpet.

[0153] When the controller determines that the ground where the cleaning robot is currently located is a preset material based on the material detection results of the first sensor system, the drive wheel module can be used to drive the robot body to move in order to continue to perform the cleaning task.

[0154] In one possible implementation, when the material detection result indicates that the ground is not a preset material, for example, it can be determined that the cleaning robot is on a thick carpet. At this time, the controller can control the drive wheel module to raise the robot body, and further use the drive wheel module to drive the robot body to move in order to move the obstacle.

[0155] The aforementioned control method for the cleaning robot can determine the ground where the robot is located when an obstacle is detected, and control the drive wheel module to continue moving the robot based on the determined ground material. This allows the cleaning robot to adapt to the characteristics of different ground surfaces, ensuring cleaning efficiency and equipment safety, thereby increasing the reliability of the entire machine and improving the user experience.

[0156] In one possible implementation, before controlling the robotic arm to move the obstacle based on the type of obstacle in step 402, the following is also included:

[0157] Lock the drive wheel module to prevent it from popping out;

[0158] Before step 408, which involves using a drive wheel module to move the machine body to continue the cleaning task, the following steps are also included:

[0159] Release the drive wheel module.

[0160] In step 402, during the movement of the cleaning robot, when the second sensor system on the cleaning robot detects an obstacle and the distance between the obstacle and the robot body is less than the clamping distance threshold, the obstacle-crossing module on the cleaning robot is controlled to rotate from the initial position to the locked position. When the obstacle-crossing module rotates, the locking component on the cleaning robot engages with the obstacle-crossing module, thereby locking the obstacle-crossing module and restricting the ejection of the drive wheel module connected to the obstacle-crossing module. This counteracts the reaction force generated by the ejection component in the cleaning robot, making full use of the weight of the drive wheel module itself, and solving the problems of the cleaning robot tilting and tail lifting.

[0161] In step 408, when the controller determines that the ground where the cleaning robot is currently located is a preset material according to the material detection results of the first sensor system, it can control the drive wheel module to unlock and use the drive wheel module to drive the robot body to move in order to continue to perform the cleaning task.

[0162] Correspondingly, in one possible implementation, when the material detection result indicates that the ground is not a preset material, for example, it can be determined that the cleaning robot is on a thick carpet. At this time, the controller can control the drive wheel module to unlock and control the drive wheel module to raise the body, and further use the drive wheel module to drive the body to move in order to move the obstacle.

[0163] The aforementioned control method for the cleaning robot can lock the drive wheel module when an obstacle is detected, preventing it from popping out. This locks the drive wheel module to counteract the reaction force generated by the drive wheel module during the robot's operation. Furthermore, the method can determine the surface on which the cleaning robot is located and unlock the drive wheel module based on the determined surface material. This allows the cleaning robot to adapt to the characteristics of different surfaces, ensuring cleaning efficiency and equipment safety, thereby increasing the reliability of the entire machine and improving the user experience.

[0164] In one possible implementation, step 402 includes:

[0165] When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the second sensor system is used to obtain the obstacle type detection result;

[0166] Based on the type of obstacle indicated by the type detection result, the robotic arm is controlled to move the obstacle.

[0167] When the second sensor system on the cleaning robot detects an obstacle and the distance between the obstacle and the robot body is less than the clamping distance threshold, the controller further uses the second sensor system to detect the type of the obstacle.

[0168] When the second sensor system is mounted on the robotic arm, the controller can control the robotic arm to perform operations such as extending, retracting, and rotating. This allows for flexible adjustment of the robotic arm's pose relative to obstacles, enabling precise and flexible adjustment of the second sensor system's pose over a wide range. For example, the height of the second sensor system can be made higher than the obstacle. By adjusting the robotic arm, the second sensor system can cover areas that were previously easily obscured or ignored, such as the area above or behind the obstacle. Therefore, relatively complete and detailed data related to the obstacle can be accurately obtained through the obstacle mounted on the robotic arm.

[0169] Specifically, the second sensor system is used to obtain the obstacle type detection results, including: using the second sensor system to obtain the three-dimensional information of the obstacle; and determining the obstacle type detection results based on the three-dimensional information.

[0170] The types of obstacles can include one of the following: preset grabbable obstacle types, preset avoidable obstacle types, preset pushable obstacle types, and preset draggable obstacle types.

[0171] The three-dimensional information can include information such as the height, width, and depth of the obstacle.

[0172] In this embodiment, the controller may first compare the height of the obstacle with a preset grasping height threshold and the width of the obstacle with a preset grasping width threshold. The grasping height threshold is used to indicate the minimum height that can be grasped by the gripping part of the robotic arm, and the grasping width threshold is used to indicate the maximum width that the gripping part of the robotic arm can grasp.

[0173] For example, the controller can determine the type of obstacle based on the detection results of the three-dimensional information. The controller can extract the graphic features and graphic size relationships of the obstacle from the three-dimensional information.

[0174] When the height of an obstacle does not reach the grasping height threshold, but the width of the obstacle exceeds the grasping width threshold, the controller can match the graphic features and dimensions of the obstacle with a preset graphic parameter template for a pre-defined obstacle avoidance type. If the match is successful, it can be concluded that the type detection result indicates that the obstacle belongs to the preset obstacle avoidance type. In this case, the robotic arm does not need to grasp, drag, or push / pull the obstacle; the cleaning robot performs an avoidance action based on the type detection result. The preset obstacle avoidance type is used to indicate large or fixed obstacles, such as walls and furniture. The avoidance action is used to instruct the cleaning robot not to collide with obstacles of the preset obstacle avoidance type and to continue the cleaning task. Avoidance actions can include, for example, reversing in place or cleaning around obstacles.

[0175] When the height of an obstacle reaches the grasping height threshold and the width of the obstacle is not greater than the grasping width threshold, the controller considers the obstacle's size suitable for the robotic arm to grasp. At this point, the controller matches the obstacle's graphic features and dimensions with preset graphic parameter templates for graspable, pushable, and draggable obstacle types. Alternatively, if the obstacle's graphic features and dimensions fail to match the preset obstacle avoidance graphic parameter template, the controller further matches these parameters with preset graphic parameter templates for graspable, pushable, and draggable obstacle types, and determines whether the obstacle belongs to one of these types based on the matching result.

[0176] Furthermore, if the graphic features and size relationship of the obstacle successfully match the graphic parameter template of the preset graspable obstacle type, it can be concluded that the type detection result indicates that the obstacle type belongs to the preset graspable obstacle type, and the controller can use a robotic arm to grasp the obstacle.

[0177] If the graphic features and dimensions of the obstacle match the preset graphic parameter template of the preset movable obstacle type, it can be concluded that the type detection result indicates that the obstacle belongs to the preset movable obstacle type. At this time, the controller can use a robotic arm to move the obstacle.

[0178] If the graphic features and dimensions of the obstacle match the preset graphic parameter template of the draggable obstacle type, it can be concluded that the type detection result indicates that the obstacle belongs to the preset draggable obstacle type. At this time, the controller can use a robotic arm to drag the obstacle.

[0179] If the graphic features and size relationship of the obstacle fail to match the graphic parameter template of the preset obstacle avoidance type, it can be concluded that the type detection result indicates that the type of the obstacle does not belong to the preset obstacle avoidance type. At this time, the robotic arm may be able to grab, drag or push the obstacle.

[0180] The control method of the cleaning robot described above uses a second sensor system to identify the type of obstacle, thereby achieving rapid and accurate identification of obstacles. When faced with obstacles that cannot be grasped, the cleaning robot can directly perform a bypass action to avoid wasting time trying to grasp, drag, or push them, thus saving the obstacle handling response time.

[0181] In one possible implementation, before controlling the robotic arm to grasp the obstacle, before controlling the robotic arm to push the obstacle, and before controlling the robotic arm to drag the obstacle, the following steps are also included:

[0182] Lock the drive wheel module to prevent it from popping out.

[0183] In this embodiment, after the controller matches the graphic features and graphic size relationship of the obstacle with the preset graphic parameter templates of preset grabbable obstacle types, preset pushable obstacle types, and preset draggable obstacle types, if the graphic features and graphic size relationship of the obstacle successfully match the preset graphic parameter template of the preset grabbable obstacle type, it can be concluded that the type detection result indicates that the type of the obstacle belongs to the preset grabbable obstacle type. At this time, the controller can lock the drive wheel module to restrict the ejection of the drive wheel module and use a robotic arm to grab the obstacle.

[0184] If the graphic features and dimensions of the obstacle match the preset graphic parameter template of the preset movable obstacle type, it can be concluded that the type detection result indicates that the obstacle belongs to the preset movable obstacle type. At this time, the controller can lock the drive wheel module to restrict the ejection of the drive wheel module and use a robotic arm to push the obstacle.

[0185] If the graphic features and size relationship of the obstacle successfully match the graphic parameter template of the preset draggable obstacle type, it can be concluded that the type detection result indicates that the obstacle type belongs to the preset draggable obstacle type. At this time, the controller can lock the drive wheel module to restrict the ejection of the drive wheel module and use a robotic arm to drag the obstacle.

[0186] The controller can, for example, drive the wheel cover plate to rotate forward using the wheel drive component in the cleaning robot, so that the obstacle-crossing module rotates from the initial position to the locked position. The drive wheel module is locked by the cooperation of the locking roller and the wheel groove.

[0187] The control method of the aforementioned cleaning robot can lock the drive wheel module when it detects an obstacle belonging to one of the preset grabbable, pushable, or draggable obstacle types, preventing the drive wheel module from popping out. Then, the robotic arm grabs, pushes, or drags the preset grabbable, pushes, or drags the obstacle accordingly. During the operation of the robotic arm, locking the drive wheel module counteracts the reaction force generated by the drive wheel module, avoiding overall vibration and positional deviation of the robotic arm caused by the dynamic interference of the reaction force, thereby improving the positioning accuracy of the robotic arm. At the same time, it can keep the body of the cleaning robot stable and prevent tilting or tail lifting.

[0188] In one possible implementation, before step 206, the following is also included:

[0189] Determine the stable position of the robotic arm's center of gravity based on the type of obstacle;

[0190] Step 206 includes:

[0191] When the type detection result indicates that the obstacle belongs to the preset graspable obstacle type, control the robotic arm to reset to the preset position of the robotic arm;

[0192] When the type detection result indicates that the obstacle belongs to the preset pushable obstacle type or the preset draggable obstacle type, control the robotic arm to reset to the initial position of the robotic arm.

[0193] Determining the stable position of the robotic arm's center of gravity based on the type of obstacle can include, for example: when the type detection result indicates that the obstacle belongs to a preset graspable obstacle type, the stable position of the center of gravity is confirmed to be the preset position of the robotic arm; when the type detection result indicates that the obstacle belongs to a preset pushable obstacle type or a preset draggable obstacle type, the stable position of the center of gravity is confirmed to be the initial position of the robotic arm.

[0194] The preset position could be, for example, the position when the robotic arm retracts to its maximum extent, while the initial position refers to the position when the robotic arm is stored in the robotic arm storage slot.

[0195] When the robotic arm is in the preset position, its center of gravity shifts back to be on the same vertical line as the body's center of gravity, keeping the cleaning robot's center of gravity in the center position. This ensures the robot remains stable and prevents it from tilting or lifting its tail.

[0196] As an example, when the robotic arm is in the preset position, the angle between the upper arm, which is connected to the body, and the horizontal plane is approximately 55°.

[0197] When the type detection result indicates that the obstacle belongs to the preset graspable obstacle type, the controller can control the robotic arm storage slot to rotate and open the hatch, allowing the robotic arm to extend from the body to grasp the obstacle. After the robotic arm grasps the obstacle, the controller can control the robotic arm to return to the preset position. At this time, the robotic arm moves the grasped obstacle above the body, ensuring that the center of gravity of the robotic arm and the obstacle is aligned with the center of gravity of the body, thus maintaining stability. When the type detection result indicates that the obstacle belongs to the preset pushable obstacle type or the preset draggable obstacle type, the controller can control the robotic arm storage slot to rotate and open the hatch, allowing the robotic arm to extend from the body to drag or push / pull the obstacle. After the robotic arm completes the dragging or pushing / pulling process, the controller can control the robotic arm to retract into the robotic arm storage slot and control the robotic arm storage slot to rotate and close the hatch. This ensures the stability of the body while saving space occupied by the cleaning robot, maintaining a neat and aesthetically pleasing appearance, and enhancing the product's visual appeal.

[0198] In one possible implementation, step 406 includes:

[0199] The first sensor system transmits detection signals to the ground and collects the reflected signals corresponding to the detection signals. The detection signals are used to detect the ground material.

[0200] When the signal strength value of the reflected signal is greater than or equal to the preset strength threshold, the ground material detection result indicates that the ground material is the preset material;

[0201] Otherwise, the reference height value of the first sensor system is obtained, and if the reference height value is less than the preset height value, the ground material detection result indicates that the ground material is not the preset material; wherein, the reference height value is the height of the first sensor system relative to the ground.

[0202] Since different floor materials absorb reflected signals at varying intensities, the floor material on which the cleaning robot is positioned can be determined based on the signal strength value of the reflected signal. For some floor materials with weak signal absorption (e.g., floorboards or thin carpets), the reflected signal strength value is relatively high. A preset intensity threshold can be set in advance. The cleaning robot can determine the signal strength value of the reflected signal and its relationship to the preset intensity threshold. If the reflected signal strength value is greater than or equal to the preset intensity threshold, the floor material can be identified as the preset material. Furthermore, by lowering or raising the preset intensity threshold, dynamic adjustment can be achieved to classify thin carpets as a preset material.

[0203] For some floor materials that strongly absorb detection signals (e.g., thick carpets), the cleaning robot receives a low signal strength value for the reflected signal. In certain scenarios, due to the angle between the reflecting surface and the emission direction of the detection signal, the received reflected signal strength value may also be low. Therefore, relying solely on the condition that the received reflected signal strength value is less than a preset strength threshold is insufficient to determine whether the detected material is a floor material with strong absorption of the detection signal or a special scenario.

[0204] In this regard, the cleaning robot can also obtain a reference height value of the first sensor system, which is the height of the first sensor system relative to the ground. The reference height value can be obtained in one or more ways. It can be determined based on the transmission time of the detection signal and the reception time of the reflected signal; it can also be determined by combining the height of the first sensor system relative to the ground detected by other detection components (the height of other detection components relative to the ground is determined by combining the height difference between the other detection components and the sensing sensor); or it can be obtained through other methods, which are not limited in this embodiment.

[0205] A method for obtaining the reference altitude value of the first sensor system may be, for example, determining the time difference between the time when the first sensor system transmits a detection signal to the ground and the time when it receives the reflected signal; and determining the reference altitude value based on the time difference and the preset transmission speed of the detection signal.

[0206] The preset height value can be obtained while the cleaning robot is in the locked state of its drive wheel module at the base station. The controller can determine the time difference between the time the first sensor system transmits a detection signal to the ground and the time it receives the reflected signal while the cleaning robot is in the locked state at the base station; based on the time difference and the preset transmission speed of the detection signal, the preset height value is determined. The preset height value represents the distance between the first sensor system and the ground at the cleaning robot's base station.

[0207] If the reference height value is less than the preset height value, it can be determined that the distance between the first sensor system on the cleaning robot and the current ground is less than the distance between the first sensor system on the cleaning robot and the ground at the base station. It can be assumed that the current ground is higher than the ground at the base station, for example, it could be a thick carpet.

[0208] It should be noted that when the signal strength of the reflected signal is less than a preset strength threshold and the reference height of the first sensor system is greater than a preset height, the controller can obtain the previous material detection result of the first sensor system and determine the current material detection result based on the previous result. For example, if the previous material detection result indicates that the ground material is a preset material, then in the current ground material detection, if the signal strength of the reflected signal is less than the preset strength threshold and the reference height of the first sensor system is greater than the preset height, the controller can directly determine that the current material detection result indicates that the ground material is the preset material. Alternatively, if the previous material detection result indicates that the ground material is not the preset material, then in the current ground material detection, if the signal strength of the reflected signal is less than the preset strength threshold and the reference height of the first sensor system is greater than the preset height, the controller can directly determine that the current material detection result indicates that the ground material is not the preset material.

[0209] The control method for the cleaning robot described above can quickly determine the material of the ground by comparing the signal strength value of the reflected signal with a preset strength threshold and by determining that the distance between the first sensor system on the cleaning robot and the current ground is less than the distance between the first sensor system on the cleaning robot and the ground at the base station, thereby improving the convenience of ground material detection.

[0210] In one possible implementation, after step 406, the following is also included:

[0211] When the type detection result indicates that the obstacle belongs to the preset graspable obstacle type, the drive wheel module is used to drive the body to move until the distance between the cleaning robot and the first area is less than the gripping distance threshold.

[0212] A robotic arm is used to place the grasped obstacle into the first area;

[0213] The robotic arm is controlled to return to a stable position, and the drive wheel module is used to move the body back to the original area where the obstacle was located to continue the cleaning task.

[0214] The first area can be a specific area that is predetermined, or it can be any area where the cleaning robot has already completed its cleaning action.

[0215] In this embodiment, obstacles can be accurately placed in the first area; and after the obstacles are placed in the first area, the robotic arm can be stored in the robotic arm storage slot so that the center of gravity of the cleaning robot is kept in the center position, thereby keeping the body stable and preventing the cleaning robot from tilting or lifting its tail.

[0216] In one possible implementation, the robot body is moved using a drive wheel module until the distance between the cleaning robot and the first area is less than a clamping distance threshold, and the following is also included:

[0217] Release the drive wheels;

[0218] Before the robotic arm places the grasped obstacle into the first area, the following steps are also included:

[0219] Lock drive wheel module;

[0220] Before using drive wheel modules to move the machine back to the original area of ​​the obstacle to continue the cleaning task, the following steps are also included:

[0221] Release the drive wheels.

[0222] The aforementioned control method for the cleaning robot can lock the drive wheel module before placing the obstacle in the first area to counteract the reaction force generated by the drive wheel module, thereby keeping the cleaning robot's body stable and preventing it from tilting or lifting its tail. After placing the obstacle in the first area, the robot arm can be stored in the robot arm storage slot to keep the cleaning robot's center of gravity in the center position, thus keeping the body stable and preventing the cleaning robot from tilting or lifting its tail.

[0223] In one possible implementation, after releasing the drive wheel module, it also includes:

[0224] When the material test results indicate that the ground is not the preset material, the chassis of the machine body is raised using the drive wheel module.

[0225] In this embodiment, the action of releasing the drive wheel module can occur after the robotic arm grasps the obstacle, after the robotic arm pushes the obstacle, after the robotic arm drags the obstacle, or after the robotic arm places the obstacle into the first area. Regardless of whether the robotic arm grasps, drags, or pushes / pulls the obstacle, the control method in this application can lock the drive wheel module before the robotic arm processes the obstacle, and after processing, based on the ground material, if the ground material is not a preset material, control the chassis to rise.

[0226] When the material detection result indicates that the ground is not the preset material, such as a thick carpet, the controller can drive the wheel leg cover to rotate in the opposite direction via the wheel leg drive component. This causes the obstacle-crossing module to rotate from its initial position to the raised position. At this time, the drive wheel module, under the action of the obstacle-crossing module and the pop-out component, pops out slightly, thereby raising the chassis of the machine. After completion, the wheel leg cover is driven to rotate clockwise via the wheel leg drive component, causing the obstacle-crossing module to return to its initial position for reset.

[0227] Because thick carpet fibers are long and dense, they can easily get tangled in the cleaning components at the bottom of the machine or clog the vacuum port at the bottom of the machine. By raising the machine body, the distance between the cleaning components and the vacuum port and the thick carpet can be increased, reducing the risk of tangling and clogging, and ensuring cleaning results.

[0228] In one possible implementation, the process of using a drive wheel module to drive the fuselage movement includes:

[0229] When obstacle crossing is required during movement, the height of the object to be crossed must be identified.

[0230] When the height of the obstacle to be crossed is less than the preset height threshold, the drive wheel module is used to perform the first obstacle crossing action;

[0231] When the height of the object to be crossed reaches a preset height threshold and the robotic arm is not holding the obstacle, the drive wheel module is used to perform the second obstacle crossing action.

[0232] When the height of the obstacle to be crossed reaches a preset height threshold and the robotic arm is holding the obstacle, the robotic arm is controlled to place the obstacle in the second area and the drive wheel module is used to perform the second obstacle crossing action.

[0233] In this embodiment, the action of using the drive wheel module to drive the body to move can occur after the robotic arm grabs the obstacle, after the robotic arm pushes the obstacle, after the robotic arm drags the obstacle, or after the robotic arm places the obstacle into the first area. The control method in this embodiment can enable the robot to cross the obstacle regardless of whether the cleaning robot has grabbed the obstacle.

[0234] During the movement of the cleaning robot, when the second sensor system on the cleaning robot detects an object that needs to be crossed, it can further obtain the three-dimensional information of the object to obtain its height.

[0235] It should be noted that the controller also needs to use the drive wheel module to cross the obstacle only when the three-dimensional information collected by the second sensor system indicates that the obstacle to be crossed meets the obstacle crossing conditions.

[0236] Obstacle-crossing conditions are the conditions that allow the cleaning robot to overcome obstacles, and these conditions are specifically related to the obstacle-crossing settings on the robot. For example, this could include ensuring that the robot can pass over the obstacle without affecting its normal movement. Another example is that the obstacle's overhead space is greater than or equal to a preset height, and the height difference between the upper surface behind the obstacle and the upper surface of the obstacle itself is less than the preset height difference. The preset height can be the sum of the robot's body height and the height at a fixed distance from the body.

[0237] For example, the area above the obstacle can be an open space without other obstacles, or it can have other obstacles, but these other obstacles should not affect the cleaning robot's normal obstacle crossing; that is, it will not be blocked by other obstacles that may exist above the obstacle. Furthermore, the height difference between the area behind the obstacle and the area behind the obstacle should not be too large, so that when the robot passes over the obstacle and reaches the area behind it, it can land behind the obstacle and perform the cleaning action normally.

[0238] It should be noted that this embodiment does not limit how the obstacle to be crossed is identified. For example, the control device can determine the presence of an obstacle to be crossed when it needs to move from one area to another based on the map of the cleaning task. Alternatively, the controller can identify the presence of an obstacle based on a second sensor system or other sensors. The sensors mentioned here can be carried by the cleaning robot itself or be located in the same space as the cleaning robot.

[0239] The first obstacle-crossing action could be, for example, a chassis lifting action. The second obstacle-crossing action could be, for example, the cleaning robot performing its built-in obstacle-crossing function. The obstacle-crossing function can be achieved by driving the wheel and leg cover plate to rotate forward through the wheel and leg drive components, so that the obstacle-crossing module rotates from the initial position past the locking position to the obstacle-crossing position. At this time, the obstacle-crossing module pops out and can perform obstacle-crossing operations.

[0240] It should be noted that the obstacle-crossing operation of the cleaning robot includes both upward (climbing stairs) and downward (descending stairs) crossing. The process of determining the height of the obstacle based on its 3D information includes two methods: identifying the obstacle below the stairs (i.e., the height of the stairs to be climbed), and identifying the obstacle on the stairs (i.e., the height of the stairs to be climbed). In other words, both the first and second obstacle-crossing actions include both upward and downward movement.

[0241] Specifically, if the height of the obstacle to be crossed does not reach the preset height threshold, it can be understood as the cleaning robot needing to go up or down a lower step. If the robotic arm is holding the obstacle, the controller can keep the robotic arm in the preset position and perform the first obstacle-crossing action. If the robotic arm is not holding the obstacle, the controller can keep the robotic arm in the initial position and perform the first obstacle-crossing action. If the height of the obstacle to be crossed reaches the preset height threshold, it can be understood as the cleaning robot going up or down a higher step. If the robotic arm is holding the obstacle, the controller can control the robotic arm to place the obstacle in the second area. It should be noted that before the robotic arm places the obstacle in the second area, the controller controls the drive wheel module to lock. After the robotic arm places the obstacle in the second area, the controller releases the drive wheel module. If the ground is not a preset material, the drive wheel module is used to raise the chassis of the robot body, and then the drive wheel module is used to perform the second obstacle-crossing action.

[0242] It should be noted that this embodiment does not limit how the cleaning robot needs to go up or down stairs. For example, the control device can determine that a descent is needed when it determines that the robot needs to move from one area to another based on the map of the cleaning task. Alternatively, the controller can identify whether a descent is needed based on a second sensor system or other sensors. The sensors mentioned here can be carried by the cleaning robot itself or be located in the same space as the cleaning robot.

[0243] In one possible implementation, the robot body is also equipped with casters. When the cleaning robot needs to go down a step, the controller can control the caster leg drive to extend the casters through the transmission assembly, thereby increasing the support points of the cleaning robot, lowering the center of gravity, and preventing the cleaning robot from tipping over.

[0244] After placing the obstacle in the second area using a robotic arm, the process also includes:

[0245] Control the robotic arm to return to a stable position.

[0246] In this embodiment, when the cleaning robot is carrying obstacles to overcome higher obstacles, the obstacles are first placed in the second area to reduce the load on the cleaning robot during the obstacle-crossing process. After placing the obstacles in the second area, the robotic arm can be stored in the robotic arm storage slot or kept in a preset position so that the center of gravity of the cleaning robot is kept in the center position, thereby keeping the body stable and preventing the cleaning robot from tilting or lifting its tail.

[0247] In one possible implementation, after using a robotic arm to place the obstacle in the second area and using a drive wheel module to perform the second obstacle-crossing action, the method further includes:

[0248] Control the robotic arm to grab obstacles from the second area;

[0249] Control the robotic arm to return to a stable position.

[0250] After successfully overcoming an obstacle, the controller can control the robotic arm to re-grab the obstacle and maintain the robotic arm in a preset position to keep the robot stable and prevent the cleaning robot from tilting or lifting its tail.

[0251] It should be understood that although the steps in the flowcharts of the above embodiments 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 above embodiments 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.

[0252] Based on the same inventive concept, this application also provides a control device for implementing the control method of the cleaning robot described above. The solution provided by this control device is similar to the solution described in the control method of the cleaning robot. Therefore, the specific limitations in one or more device embodiments provided below can be found in the limitations of the control method of the cleaning robot described above, and will not be repeated here.

[0253] In one embodiment, as shown in FIG5, a control device 500 for a cleaning robot is provided. The cleaning robot has a robotic arm, a drive wheel module, and a first sensor system mounted on its body. The drive wheel module drives the robot to move, the first sensor system detects the material of the ground, and the second sensor system detects the type of obstacles. The control device 500 includes:

[0254] The first control module 502 is used to control the robotic arm to move the obstacle based on the type of obstacle when the distance between the cleaning robot and the obstacle is less than the clamping distance threshold.

[0255] The second control module 504 is used to control the robotic arm to reset to a stable position.

[0256] The information acquisition module 506 is used to acquire the material detection results of the cleaning robot's current location by the first sensor system, and the type detection results of the obstacle by the second sensor system;

[0257] The movement control module 508 is used to release the drive wheel module and drive the machine body to move when the material detection result indicates that the ground is a preset material, so as to continue to perform the cleaning task.

[0258] In one possible implementation, the first control module 502 is further configured as follows:

[0259] Lock the drive wheel module to restrict its ejection, and control the robotic arm to move the obstacle based on the type of obstacle;

[0260] The mobility control module 508 is also configured as follows:

[0261] Release the drive wheels and use the drive wheel module to move the machine body to continue performing the cleaning task.

[0262] In one possible implementation, the cleaning robot is also equipped with a second sensor system, which is used to detect the type of items.

[0263] The first control module 502 is also configured as follows:

[0264] When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the second sensor system obtains the obstacle type detection result;

[0265] Based on the type of obstacle indicated by the type detection result, the robotic arm is controlled to move the obstacle.

[0266] In one possible implementation, the first control module 502 is further configured as follows:

[0267] Acquire the three-dimensional information of the obstacle collected by the second sensor system;

[0268] Based on 3D information, the type of obstacle is determined and the detection results are obtained.

[0269] In one possible implementation, the obstacle type includes one of the following: a preset grabbable obstacle type, a preset avoidable obstacle type, a preset pushable obstacle type, and a preset draggable obstacle type.

[0270] The first control module 502 is also configured as follows:

[0271] When the type detection result indicates that the obstacle belongs to the preset graspable obstacle type, control the robotic arm to grasp the obstacle;

[0272] When the type detection result indicates that the obstacle belongs to the preset avoidance obstacle type, an avoidance action is executed;

[0273] When the type detection result indicates that the obstacle belongs to the preset movable obstacle type, control the robotic arm to move the obstacle;

[0274] When the type detection result indicates that the obstacle belongs to the preset draggable obstacle type, control the robotic arm to drag the obstacle.

[0275] In one possible implementation, the first control module 502 is further configured as follows:

[0276] When the type detection result indicates that the obstacle belongs to the preset graspable obstacle type, the drive wheel module is locked to prevent the drive wheel module from popping out, and the robotic arm is controlled to grasp the obstacle.

[0277] When the type detection result indicates that the obstacle belongs to the preset movable obstacle type, the drive wheel module is locked to restrict the ejection of the drive wheel module, and the robotic arm is controlled to push the obstacle.

[0278] When the type detection result indicates that the obstacle belongs to a preset draggable obstacle type, the drive wheel module is locked to prevent its ejection, and the robotic arm is controlled to drag the obstacle. In one possible implementation, the motion control module 508 is also configured to:

[0279] When the type detection result indicates that the obstacle belongs to the preset graspable obstacle type, the drive wheel module is used to drive the body to move until the distance between the cleaning robot and the first area is less than the gripping distance threshold.

[0280] Control the robotic arm to place the grasped obstacle into the first area;

[0281] The robotic arm is controlled to return to a stable position, and the drive wheel module is used to move the body back to the original area where the obstacle was located to continue the cleaning task.

[0282] In one possible implementation, the motion control module 508 is further configured as follows:

[0283] When the type detection result indicates that the obstacle belongs to the preset graspable obstacle type, release the drive wheel and use the drive wheel module to drive the body to move until the distance between the cleaning robot and the first area is less than the gripping distance threshold.

[0284] Lock the drive wheel module and control the robotic arm to place the grabbed obstacle in the first area;

[0285] The robotic arm is controlled to return to a stable position, the drive wheels are released, and the drive wheel module is used to drive the body to move back to the original area of ​​the obstacle to continue the cleaning task.

[0286] In one possible implementation, the second control module 504 is further configured as follows:

[0287] Determine the stable position of the robotic arm's center of gravity based on the type of obstacle;

[0288] When the type detection result indicates that the obstacle belongs to the preset graspable obstacle type, control the robotic arm to reset to the preset position of the robotic arm;

[0289] When the type detection result indicates that the obstacle belongs to the preset pushable obstacle type or the preset draggable obstacle type, control the robotic arm to reset to the initial position of the robotic arm.

[0290] In one possible implementation, the motion control module 508 is further configured as follows:

[0291] The first sensor system transmits detection signals to the ground and collects the reflected signals corresponding to the detection signals. The detection signals are used to detect the ground material.

[0292] When the signal strength value of the reflected signal is greater than or equal to the preset strength threshold, the ground material detection result indicates that the ground material is the preset material;

[0293] Otherwise, the reference height value of the first sensor system is obtained, and if the reference height value is less than the preset height value, the ground material detection result indicates that the ground material is not the preset material; wherein, the reference height value is the height of the first sensor system relative to the ground.

[0294] In one possible implementation, the motion control module 508 is further configured as follows:

[0295] When the material test results indicate that the ground is not the preset material, the chassis of the machine body is raised using the drive wheel module.

[0296] In one possible implementation, the motion control module 508 is further configured as follows:

[0297] The machine body is moved using a drive wheel module, including:

[0298] When obstacle crossing is required during movement, the height of the object to be crossed must be identified.

[0299] When the height of the obstacle to be crossed is less than the preset height threshold, the drive wheel module is used to perform the first obstacle crossing action;

[0300] When the height of the object to be crossed reaches a preset height threshold and the robotic arm is not holding the obstacle, the drive wheel module is used to perform the second obstacle crossing action.

[0301] When the height of the obstacle to be crossed reaches a preset height threshold and the robotic arm is holding the obstacle, the robotic arm is controlled to place the obstacle in the second area and the drive wheel module is used to perform the second obstacle crossing action.

[0302] In one possible implementation, the motion control module 508 is further configured as follows:

[0303] Control the robotic arm to return to a stable position.

[0304] In one possible implementation, the motion control module 508 is further configured as follows:

[0305] Control the robotic arm to grab obstacles from the second area;

[0306] Control the robotic arm to return to a stable position.

[0307] Each module in the above-mentioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0308] Figure 6 is a schematic diagram of the structure of the electronic device provided in this application. As shown in Figure 6, the electronic device 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the device 60 further includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus 604. In specific implementation, at least one processor 601 executes computer execution instructions stored in the memory 602, causing at least one processor 601 to perform the above-described method.

[0309] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0310] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0311] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0312] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0313] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0314] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0315] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0316] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0317] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0318] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0319] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0320] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0321] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0322] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method for a cleaning robot, characterized in that, Applied to cleaning robots, the cleaning robot is equipped with a robotic arm, a drive wheel module, and a first sensor system on its body; The drive wheel module is used to drive the body to move, and the first sensor system is used to detect the material of the ground. The method includes: When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the robotic arm is controlled to move the obstacle based on the type of the obstacle. Control the robotic arm to reset to a stable position. Obtain the material detection results of the ground where the cleaning robot is currently located by the first sensor system; When the material detection result indicates that the ground is a preset material, the drive wheel module is used to drive the machine body to move in order to continue to perform the cleaning task.

2. The method according to claim 1, characterized in that, Before controlling the robotic arm to move the obstacle based on its type, the method further includes: Lock the drive wheel module to prevent it from popping out; Before using the drive wheel module to drive the machine body to move in order to continue performing the cleaning task, the method further includes: Release the drive wheel.

3. The method according to claim 1, characterized in that, The cleaning robot is also equipped with a second sensor system, which is used to detect the type of items. When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the robotic arm is controlled to move the obstacle based on the type of the obstacle, including: When the distance between the cleaning robot and the obstacle is less than the clamping distance threshold, the type detection result of the obstacle by the second sensor system is obtained; Based on the type of obstacle indicated by the type detection result, the robotic arm is controlled to move the obstacle.

4. The method according to claim 3, characterized in that, The step of obtaining the obstacle type detection result of the second sensor system includes: Acquire the three-dimensional information of the obstacle collected by the second sensor system; Based on the three-dimensional information, the type detection result of the obstacle is determined.

5. The method according to claim 3, characterized in that, The types of obstacles include one of the following: preset grabbable obstacle types, preset avoidable obstacle types, preset pushable obstacle types, and preset draggable obstacle types. The step of controlling the robotic arm to move the obstacle based on the type of obstacle indicated by the type detection result includes: When the type detection result indicates that the obstacle belongs to a preset graspable obstacle type, the robotic arm is controlled to grasp the obstacle; When the type detection result indicates that the obstacle belongs to a preset avoidance obstacle type, an avoidance action is performed; When the type detection result indicates that the obstacle belongs to a preset movable obstacle type, the robotic arm is controlled to move the obstacle. When the type detection result indicates that the obstacle belongs to a preset draggable obstacle type, the robotic arm is controlled to drag the obstacle.

6. The method according to claim 5, characterized in that, Before controlling the robotic arm to grasp the obstacle, before controlling the robotic arm to push the obstacle, and before controlling the robotic arm to drag the obstacle, the method further includes: Lock the drive wheel module to prevent it from popping out.

7. The method according to claim 5, characterized in that, The method of using the drive wheel module to drive the machine body to move in order to continue performing the cleaning task also includes: When the type detection result indicates that the obstacle belongs to a preset graspable obstacle type, the drive wheel module is used to drive the body to move until the distance between the cleaning robot and the first area is less than the clamping distance threshold. The robotic arm is controlled to place the grasped obstacle into the first area; The robotic arm is controlled to return to the stable position of the center of gravity, and the drive wheel module is used to drive the body to move back to the original area where the obstacle was located to continue the cleaning task.

8. The method according to claim 7, characterized in that, The step of using the drive wheel module to drive the body to move until the distance between the cleaning robot and the first area is less than the clamping distance threshold further includes: Release the drive wheel; Before the robotic arm places the grasped obstacle into the first area, the method further includes: Lock the drive wheel module; Before using the drive wheel module to drive the machine body to move back to the original area of ​​the obstacle to continue the cleaning task, the method further includes: Release the drive wheel.

9. The method according to claim 5, characterized in that, Before controlling the robotic arm to return to a stable position, the method further includes: Based on the type of obstacle, determine the stable position of the robot arm's center of gravity; The control of the robotic arm to return to a stable position includes: When the type detection result indicates that the obstacle belongs to a preset graspable obstacle type, the robotic arm is controlled to reset to the preset position of the robotic arm; When the type detection result indicates that the obstacle belongs to a preset pushable obstacle type or a preset draggable obstacle type, the robotic arm is controlled to reset to its initial position.

10. The method according to any one of claims 1-9, characterized in that, The step of using the first sensor system to obtain the material detection results of the ground where the cleaning robot is currently located includes: The first sensor system transmits a detection signal to the ground and collects the reflected signal corresponding to the detection signal, wherein the detection signal is used to detect the ground material. When the signal strength value of the reflected signal is greater than or equal to a preset strength threshold, the material detection result of the ground indicates that the material of the ground is the preset material; Otherwise, a reference height value of the first sensor system is obtained, and if the reference height value is less than a preset height value, the material detection result of the ground indicates that the material of the ground is not the preset material; wherein, the reference height value is the height of the first sensor system relative to the ground.

11. The method according to any one of claims 1-9, characterized in that, After releasing the drive wheel module, the process also includes: When the material detection result indicates that the ground is not the preset material, the chassis of the machine body is raised using the drive wheel module.

12. The method according to any one of claims 1-9, characterized in that, The method of using the drive wheel module to drive the fuselage to move includes: When obstacle crossing is required during movement, the height of the object to be crossed must be identified. When the height of the obstacle to be crossed is less than a preset height threshold, the drive wheel module is used to perform the first obstacle crossing action; When the height of the obstacle to be crossed reaches the preset height threshold and the robotic arm does not hold the obstacle, the drive wheel module is used to perform the second obstacle crossing action. When the height of the obstacle to be crossed reaches the preset height threshold and the robotic arm holds the obstacle, the robotic arm is controlled to place the obstacle in the second area, and the drive wheel module is used to perform the second obstacle crossing action.

13. The method according to claim 12, characterized in that, After controlling the robotic arm to place the obstacle within the second area, the method further includes: Control the robotic arm to reset to the stable position of the center of gravity.

14. The method according to claim 12, characterized in that, After the robotic arm is controlled to place the obstacle in the second area and the drive wheel module is used to perform the second obstacle-crossing action, the method further includes: Control the robotic arm to grab the obstacle from the second area; Control the robotic arm to reset to a stable position.

15. A control device for a cleaning robot, characterized in that, This invention is applied to a cleaning robot, which is equipped with a robotic arm, a drive wheel module, a first sensor system, and a second sensor system on its body. The drive wheel module is used to drive the body to move, the first sensor system is used to detect the material of the ground, and the second sensor system is used to detect the type of object in the obstacles. The device includes: The first control module is used to control the robotic arm to move the obstacle based on the type of the obstacle when the distance between the cleaning robot and the obstacle is less than the clamping distance threshold. The second control module is used to control the robotic arm to reset to a stable position. The information acquisition module is used to acquire the material detection results of the cleaning robot's current location by the first sensor system, and the type detection results of the obstacle by the second sensor system; The movement control module is used to drive the machine body to move using the drive wheel module when the material detection result indicates that the ground is a preset material, so as to continue to perform the cleaning task.

16. A cleaning robot, characterized in that, The cleaning robot is equipped with a controller, a robotic arm, a drive wheel module, a first sensor system, and a second sensor system. The controller is connected to the robotic arm, the drive wheel module, the first sensor system, and the second sensor system. The drive wheel module is used to drive the fuselage to move; The first sensor system is used to detect the ground material. The second sensor system is used to detect the type of object in the obstacle; The robotic arm is used to move the obstacle based on the type of the obstacle; The controller is used to perform the method as described in any one of claims 1-14.

17. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-14.

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