Patent ID: 11903540
Assignee: BEIJING XIAOMI MOBILE SOFTWARE CO., LTD.
Field: Furniture, games (Other fields)
Classification: CPC A  G | IPC A  G

Claim 17:
18. 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;
wherein said controlling the first drive wheel to cross an obstacle, and controlling the second drive wheel to cross the obstacle comprises:
controlling the first drive wheel to cross the obstacle
detecting whether the first drive wheel crosses the obstacle; and
controlling the second drive wheel to cross the obstacle when it is detected that the first drive wheel crosses the obstacle.