Cleaning robot and method of surmounting obstacle
AssigneesBeijing Xiaomi Mobile Software Co., Ltd., Beijing Rockrobo Technology Co., Ltd.
InventorsYang He, Yongfeng Xia
Life of this patent
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Abstract
A cleaning robot includes a detector configured to detect an obstacle; a determining portion configured to determine whether the cleaning robot is in an obstacle obstruction state; and a controller configured to control the first drive wheel to cross an obstacle and control the second drive wheel to cross the obstacle according to a detection result when the cleaning robot is in the obstacle obstruction state.
Claims19
A cleaning robot, comprising:
- a driver comprising a first drive wheel and a second drive wheel arranged in parallel;
- a detector configured to detect an obstacle;
- a determining portion configured to determine whether the cleaning robot is in an obstacle obstruction state;
- and
- a controller configured to control the first drive wheel to cross an obstacle and control the second drive wheel to cross the obstacle according to a detection result when the cleaning robot is in the obstacle obstruction state,
- wherein
- the detector is configured to detect whether the first drive wheel crosses the obstacle;
- when the detector detects that the first drive wheel does not cross the obstacle, a number of occurrences of not crossing the obstacle is recorded;
- when the number of occurrences is greater than a preset value, the controller is configured to control the cleaning robot to travel in a second traveling direction;
- and
- a first traveling direction is a traveling direction of the cleaning robot before the cleaning robot enters the obstacle obstruction state, and the second traveling direction is opposite to the first traveling direction.
A method for crossing an obstacle, applicable to a cleaning robot comprising a first drive wheel and a second drive wheel arranged in parallel and a controller, the method comprising:
- detecting the obstacle;
- determining whether the cleaning robot is in an obstacle obstruction state;
- and
- controlling the first drive wheel to cross an obstacle, and controlling the second drive wheel to cross the obstacle according to a detection result when the cleaning robot is in the obstacle obstruction state;
- detecting whether the first drive wheel crosses the obstacle;
- when detecting that the first drive wheel does not cross the obstacle, recording a number of occurrences of not crossing the obstacle;
- when the number of occurrences is greater than a preset value, controlling the cleaning robot to travel in a second traveling direction;
- and
- a first traveling direction is a traveling direction of the cleaning robot before the cleaning robot enters the obstacle obstruction state, and the second traveling direction is opposite to the first traveling direction.
A non-transitory computer readable storage medium, configured to store instructions, wherein when the instructions are executed by a processor, a method for crossing an obstacle is performed, the method comprising:
- detecting an obstacle;
- determining whether the cleaning robot is in an obstacle obstruction state when the cleaning robot travels;
- and
- controlling the first drive wheel to cross an obstacle, and controlling the second drive wheel to cross the obstacle according to a detection result when the cleaning robot is in the obstacle obstruction state;
- detecting whether the first drive wheel crosses the obstacle;
- when detecting that the first drive wheel does not cross the obstacle, recording a number of occurrences of not crossing the obstacle;
- when the number of occurrences is greater than a preset value, controlling the cleaning robot to travel in a second traveling direction;
- and
- a first traveling direction is a traveling direction of the cleaning robot before the cleaning robot enters the obstacle obstruction state, and the second traveling direction is opposite to the first traveling direction.
Dependencies are inferred from the claim text.