Control method, device and equipment of stair climbing device, storage medium and cleaning system

Abstract

The embodiment of the invention provides a control method and device of a stair climbing device, equipment, a storage medium and a cleaning system.The stair climbing device comprises a device body and an anti-collision assembly, the anti-collision assembly comprises a collision plate and a detection part, the collision plate is elastically connected to the edge of the device body, and the detection part is used for detecting the position of the collision plate; the method comprises the steps that whether the collision plate is located at a target position or not is judged through the detection piece; under the condition that the collision plate is not located at the target position, the stair climbing device is controlled to execute an obstacle avoidance action; wherein the target position is the position where the collision plate is located under the condition that the collision plate is not subjected to external force. According to the method, obstacle avoidance detection and obstacle avoidance of the stair climbing device are realized, so that the obstacle avoidance function of the stair climbing device is realized, and the running safety of the stair climbing device is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of smart home, and particularly relates to a control method and device of a stair climbing device, equipment, a storage medium and a cleaning system. BACKGROUND

[0002] In recent years, intelligent cleaning equipment gradually develops towards multifunctionality, but common cleaning equipment often cannot achieve comprehensive cleaning of multiple work surfaces of a multi-storey building when facing a complex indoor environment such as a multi-storey building, because of the obstruction of stairs.

[0003] To solve this problem, it is proposed to combine a stair climbing device with cleaning equipment, and drive the cleaning equipment through a multi-storey staircase by the mechanical structure of the stair climbing device. However, after the stair climbing device often collides with obstacles during movement, the stair climbing device cannot perceive the collision, resulting in damage to the stair climbing device, and therefore, the safety of the stair climbing device during movement is low. SUMMARY

[0004] Embodiments of the present application provide a control method, device, equipment and storage medium of a stair climbing device, and a cleaning system, to improve the safety of the operation of the stair climbing device.

[0005] In a first aspect, embodiments of the present application provide a control method of a stair climbing device, the stair climbing device comprising a device body and an anti-collision assembly, the anti-collision assembly comprising a collision plate and a detection piece, the collision plate being elastically connected to an edge of the device body, and the detection piece being configured to detect the position of the collision plate, and the method comprising:

[0006] determining whether the collision plate is at a target position by using the detection piece;

[0007] controlling the stair climbing device to perform an obstacle avoidance action in a case where the collision plate is not at the target position;

[0008] wherein the target position is a position of the collision plate in a case where the collision plate is not subjected to an external force.

[0009] In a possible implementation, the detection piece comprises a sensor and a blocking part, the sensor comprises a light emitter and a light receiver arranged oppositely, and a light path region is formed between the light emitter and the light receiver; wherein one of the sensor and the blocking part is arranged on the anti-collision assembly, and the other is arranged on the device body, and in a case where the collision plate is not subjected to an external force, the blocking part is at least partially located in the light path region to block the light emitted by the light emitter, and the determination of whether the collision plate is at the target position by using the detection piece comprises:

[0010] if the light receiver fails to receive light from the light emitter, the striker plate is at the target position;

[0011] if the light receiver succeeds in receiving light from the light emitter, the striker plate is not at the target position.

[0012] In a possible implementation, the anti-collision assembly includes a swing arm, the swing arm is rotationally connected to the striker plate, the striker plate is displaced under pressure to drive the swing arm to rotate, one of the sensor and the blocking part is arranged on the swing arm, and the other is arranged on the device body.

[0013] In a possible implementation, the detection member includes a distance sensor arranged on the anti-collision assembly or the device body, and the determining whether the striker plate is at the target position by the detection member includes:

[0014] if the distance detected by the distance sensor is greater than a collision threshold, it is determined that the striker plate is not at the target position;

[0015] if the distance detected by the distance sensor is less than or equal to the collision threshold, it is determined that the striker plate is at the target position.

[0016] In a possible implementation, the distance sensor is one or a combination of an infrared sensor, a line laser sensor, a ToF sensor, an ultrasonic sensor, a millimeter wave radar, and a multi-view camera.

[0017] In a possible implementation, the stair climbing device is capable of carrying a cleaning device, the cleaning device and / or the stair climbing device is provided with a sensor system, and the controlling the stair climbing device to perform an obstacle avoidance action includes:

[0018] obtaining contour information of the collided obstacle by the sensor system;

[0019] controlling the stair climbing device to perform a corresponding obstacle avoidance action based on the contour information.

[0020] In a possible implementation, after the controlling the stair climbing device to perform an obstacle avoidance action, the method further includes:

[0021] determining whether the striker plate is at the target position by the detection member;

[0022] controlling the stair climbing device to perform a walking action after obstacle avoidance in a case where the striker plate is at the target position.

[0023] In a possible implementation, the stair climbing device is capable of carrying a cleaning device, and the method further comprises:

[0024] detecting an obstacle by the cleaning device, and controlling the stair climbing device to perform an obstacle avoidance action in a case where the cleaning device detects contact with the obstacle.

[0025] In a possible implementation, a front end of the cleaning device is provided with a main machine bumper, and the detecting an obstacle by the cleaning device comprises:

[0026] if the main machine bumper is detected by the cleaning device to be in a pressed state, the cleaning device collides with the obstacle;

[0027] if the main machine bumper is detected by the cleaning device to be in a reset state, the cleaning device does not collide with the obstacle.

[0028] In a second aspect, an embodiment of the present application provides a control device of a stair climbing device, the stair climbing device comprising a device body and an anti-collision assembly, the anti-collision assembly comprising a bumper and a detection member, the bumper being elastically connected to an edge of the device body, and the detection member being configured to detect a position of the bumper; and the device comprising:

[0029] a detection module configured to determine, by the detection member, whether the bumper is at a target position;

[0030] a control module configured to control the stair climbing device to perform an obstacle avoidance action in a case where the bumper is not at the target position;

[0031] wherein the target position is a position of the bumper in a case where the bumper is not subjected to an external force.

[0032] In a third aspect, an embodiment of the present application provides a cleaning system, comprising:

[0033] a cleaning device configured to perform a cleaning task;

[0034] a stair climbing device configured to perform the first aspect and / or various possible implementation manners of the first aspect.

[0035] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor.

[0036] The memory stores computer execution instructions.

[0037] The processor executes the computer execution instructions stored in the memory, so that the processor performs the first aspect and / or various possible implementation manners of the first aspect.

[0038] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0039] In a sixth aspect, 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.

[0040] The control method, apparatus, equipment, storage medium, and cleaning system for the stair-climbing device provided in this application determine whether the impact plate is in a target position through a detection element. If the impact plate is not in the target position, the stair-climbing device is controlled to perform an obstacle avoidance action. The method of this application, by detecting whether the impact plate is in a position where it is not subjected to external force, triggers an obstacle avoidance action based on the detection result, thereby realizing the obstacle avoidance function of the stair-climbing device and improving the safety of its operation. Attached Figure Description

[0041] 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.

[0042] Figure 1 This is a schematic diagram of the structure of the stair-climbing device provided in the embodiments of this application;

[0043] Figure 2 This is an exploded structural diagram of the stair-climbing device provided in the embodiments of this application;

[0044] Figure 3 This is a schematic diagram of the exploded structure of the stair-climbing device provided in the embodiments of this application;

[0045] Figure 4 for Figure 3 A partial structural diagram of part A in the middle;

[0046] Figure 5 This is another exploded structural diagram of the main body of the stair-climbing device provided in the embodiments of this application;

[0047] Figure 6 for Figure 5 A partial structural diagram of part A in the middle;

[0048] Figure 7 This is a schematic diagram of the detection component in the stair-climbing device provided in the embodiments of this application;

[0049] Figure 8This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 1 ;

[0050] Figure 9 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 2 ;

[0051] Figure 10 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 3 ;

[0052] Figure 11 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 4 ;

[0053] Figure 12 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 5 ;

[0054] Figure 13 This is a schematic diagram of the control device of the stair-climbing device provided in one embodiment of this application;

[0055] Figure 14 A schematic diagram of the structure of the electronic device provided in this application.

[0056] Figure label:

[0057] 10-Stair climbing device;

[0058] 10a - Device body; 120 - Containment space; 121 - Opening;

[0059] 100 - Support plate; 101 - Side wall;

[0060] 340-collision plate;

[0061] 341-Reset unit; 3411-Swing arm; 3412-Elastic element;

[0062] 342-Detection component; 3421-Light emitter; 3422-Light receiver;

[0063] X - Direction of travel; Y - Width direction; Z - Height direction.

[0064] The accompanying drawings illustrate 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 particular embodiments. Detailed Implementation

[0065] 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.

[0066] 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.

[0067] This application provides a cleaning system. The cleaning system includes cleaning equipment and a stair-climbing device. The stair-climbing device has a receiving space for accommodating the cleaning equipment.

[0068] The cleaning equipment can enter the containment space from the opening and combine with the stair-climbing device so that the stair-climbing device can move the cleaning equipment.

[0069] Using a climbing device, cleaning equipment can overcome specific obstacles and clean the surface to be cleaned. These obstacles can be stair treads. The cleaning equipment can include devices such as robotic vacuum cleaners capable of cleaning the surface. The surface to be cleaned can be a floor or similar surface.

[0070] However, the stair-climbing device often collides with obstacles during its movement, and it cannot detect the collision, leading to damage to the device. Therefore, the stair-climbing device has low safety during movement.

[0071] In view of this, this embodiment provides a control method for a stair-climbing device, which detects whether the impact plate is in a position where it is not subjected to external force, and triggers an obstacle avoidance action based on the detection result. The method of this application realizes obstacle avoidance detection and avoidance of the stair-climbing device, thereby achieving the obstacle avoidance function of the stair-climbing device and improving the safety of its operation.

[0072] The control method for the stair-climbing device in this embodiment is applied to a device equipped with a rotatable climbing arm.

[0073] The following is combined with Figure 1 and Figure 2 Example of a stair-climbing device structure, which can be controlled by the stair-climbing device control method of this application.

[0074] It should be understood that the structure of the climbing device described below is merely an example of a control method for the climbing device that can be applied to the embodiments of this application, and this application does not limit the structure of the climbing device.

[0075] Figure 1 This is a schematic diagram of the stair-climbing device provided in an embodiment of this application. Figure 2 This is a schematic diagram of the exploded structure of the stair-climbing device provided in the embodiments of this application.

[0076] Please see Figure 1 and Figure 2 This application provides a stair-climbing device 10, where Y is the width direction and Z is the height direction. The stair-climbing device 10 can crawl along the X-direction to transport cleaning equipment such as a robotic vacuum cleaner, transferring the equipment to a preset location. For example, it can move the cleaning equipment on the floor or stairs, allowing it to move between different floors, avoiding the need for manual handling and reducing the user's workload. The stair-climbing device 10 and the cleaning system exhibit a high degree of intelligence.

[0077] In some embodiments, the stair-climbing device 10 includes a device body 10a, which can be a frame structure to provide a receiving space 120 for accommodating cleaning equipment, and to have a simpler structure and lighter weight. The receiving space 120 has an opening 121 for the cleaning equipment to enter or exit the receiving space 120.

[0078] In some embodiments, the device body 10a may be made of plastic, which has a smaller weight and better impact resistance, thus avoiding a significant increase in the weight of the stair climbing device 10 and helping to improve the endurance of the stair climbing device 10.

[0079] In some embodiments, the size of the receiving space 120 may be larger than the size of the cleaning device to prevent the cleaning device from colliding with the sidewall 101 of the receiving space 120.

[0080] In some embodiments, the stair-climbing device 10 includes a crawling arm assembly connected to the device body 10a. The crawling arm assembly is movably connected to the device body 10a and is used to drive the device body 10a to crawl. In this way, when the cleaning equipment is parked in the receiving space 120, the cleaning equipment can be moved. Furthermore, the crawling arm assembly can crawl on relatively flat surfaces such as floors, crawl and cross low obstacles, or crawl on obstacles such as stairs, making it widely applicable. This avoids the need for manual handling of the cleaning equipment by walking or crossing obstacles, reducing the user's workload and providing a better user experience.

[0081] In some embodiments, the stair climbing device 10 may also include a collision protection component, which includes a collision plate 340. The collision plate 340 may be made of acrylonitrile-butadiene-styrene copolymer (ABS), polycarbonate (PC), etc. The collision plate 340 is lightweight and has strong impact resistance.

[0082] In some embodiments, the impact plate 340 is elastically connected to the device body 10a and is used to detect collisions with obstacles when the stair climbing device 10 is climbing. In this way, during the climbing process, the impact plate 340 can collide with obstacles such as walls, beds, and sofas before the device body 10a, and the elastic connection of the impact plate 340 provides elastic buffering for the device body 10a, so as to avoid the device body 10a directly colliding with the obstacles, and can reduce the impact on the device body 10a when the impact plate 340 collides with the obstacles, thus improving the safety of the device body 10a.

[0083] In some embodiments, the crawler arm assembly can be configured to perform an avoidance action in response to a collision received by the impact plate 340.

[0084] In some embodiments, the stair climbing device 10 further includes a control unit, and the climbing arm assembly and the anti-collision assembly are electrically connected to the control unit. In this way, the control unit can control the movement of the climbing arm assembly when the anti-collision assembly collides with an obstacle. For example, it can drive the stair climbing device 10 to perform actions such as moving backward or turning to avoid the obstacle, so that the stair climbing device 10 can bypass the obstacle and replan the climbing path, thereby improving the safety of the stair climbing device 10 when climbing.

[0085] In other words, by setting an elastically connected impact plate 340 on the device body 10a, when the stair climbing device 10 collides with an obstacle during the climbing process, the impact plate 340 can collide with the obstacle before the device body 10a, and provide elastic buffer for the device body 10a. In this way, the device body 10a can avoid colliding with the obstacle and the impact on the device body 10a can be reduced. The stair climbing device 10 and the cleaning equipment located in the stair climbing device 10 are highly safe.

[0086] Figure 3 This is a schematic diagram of the exploded structure of the stair-climbing device provided in the embodiments of this application. Figure 4 for Figure 3 A partial structural diagram of part A in the middle. Figure 5 This is another exploded structural diagram of the device body in the stair-climbing device provided in the embodiments of this application. Figure 6 for Figure 5 A partial structural diagram of part B. Figure 7This is a schematic diagram of the detection component in the stair-climbing device provided in the embodiments of this application.

[0087] Please see Figures 3 to 7 In some embodiments, the anti-collision component further includes a reset unit 341, which is used to restore the collision plate 340 to its initial elastic connection state after the stair climbing device 10 bypasses the obstacle and replans the climbing path so that the collision plate 340 separates from the obstacle, and prepares for the next collision between the stair climbing device 10 and the obstacle during the climbing process.

[0088] In some embodiments, the reset unit 341 includes a swing arm 3411, which can be a rod-shaped member with a relatively simple structure. The swing arm 3411 is rotatably connected to the device body 10a, for example, the middle part of the swing arm 3411 is rotatably connected to the device body 10a. The reset unit 341 also includes an elastic member 3412, which can be a spring, a sheet, etc. One end of the elastic member 3412 is connected to the device body 10a, and the other end is connected to the first end of the swing arm 3411.

[0089] When the impact plate 340 collides with the obstacle, the impact plate 340 moves toward the side closer to the device body 10a under the pressure of the obstacle. Correspondingly, the swing arm 3411 rotates around its axis in a first direction under the pressure of the impact plate 340. The first end of the swing arm 3411 resists the elastic force of the elastic member 3412 and rotates toward the side away from the elastic member 3412.

[0090] When the stair-climbing device 10 makes an avoidance maneuver and the impact plate 340 separates from the obstacle, the swing arm 3411 rotates around its axis in a second direction under the elastic force of the elastic member 3412, so that the second end of the swing arm 3411 rotates toward the side away from the device body 10a. In this way, the impact plate 340 can move toward the side away from the device body 10a under the pressure of the second end of the swing arm 3411. It should be noted that the first direction and the second direction are opposite.

[0091] In other words, by setting a rotatable swing arm 3411 and an elastic element 3412 connected to the swing arm 3411, the impact plate 340 can be repeatedly switched between a natural state and a collision state, so that the stair climbing device 10 can detect different obstacles multiple times in the climbing path, and the stair climbing device 10 has high safety when climbing.

[0092] In some embodiments, the anti-collision assembly further includes a detection element 342 disposed on the device body 10a, and the detection element 342 is electrically connected to the control unit. The detection element 342 corresponds to the swing arm 3411 and can be disposed at any position in the extension direction of the swing arm 3411 to identify whether the impact plate 340 has collided with an obstacle by detecting the rotation of the swing arm 3411. That is, the detection element 342 can have two detection states: a collision state in which the impact plate 340 collides with an obstacle and a natural state in which the impact plate 340 is not colliding with an obstacle. The control unit determines whether the impact plate 340 has collided with an obstacle or has separated from an obstacle by acquiring the switching between the natural state and the collision state of the detection element 342.

[0093] In some embodiments, the detection element 342 may have a certain distance from the pivot of the swing arm 3411. For example, the detection element 342 may be set at a position corresponding to the first end of the swing arm 3411. With this setting, the reciprocating swing amplitude of the swing arm 3411 at the position of the detection element 342 may be larger, thereby improving the detection accuracy.

[0094] By setting the detection element 342, the anti-collision component can have high detection sensitivity. In this way, when the collision plate 340 collides with an obstacle, the control unit can control the climbing device 10 to stop climbing and perform an avoidance action, so as to achieve the effect of "stopping upon collision".

[0095] In some embodiments, the detection element 342 includes at least one of a distance sensor and an image sensor.

[0096] The distance sensor can be any one or more of the following: ultrasonic sensor, infrared distance sensor, millimeter-wave radar sensor, time-of-flight (ToF) sensor, direct time-of-flight (Dtof) sensor, etc., and this embodiment is not limited thereto. The distance sensor can detect changes in distance at the target position, and by checking whether the distance has changed, it can detect whether the swing arm 3411 has rotated, and thus determine whether the impact plate 340 is in a collision state.

[0097] The image sensor can be an image sensor that can acquire image information of the target position, such as the image information of the swing arm 3411. The image sensor can detect whether the rotation position of the swing arm 3411 has changed by comparing the image information at different times, and thus determine whether the collision plate 340 is in a collision state.

[0098] In this way, based on the assembly space, manufacturing cost, and performance requirements of the stair climbing device 10, at least one of the distance sensor and image sensor can be selected to detect whether the swing arm 3411 is in a collision state, so that the stair climbing device 10 has a more accurate detection precision.

[0099] In some embodiments, the detection element 342 includes a sensor and a blocking part. The sensor includes a light emitter 3421 and a light receiver 3422 disposed opposite to each other, forming an optical path region between the light emitter 3421 and the light receiver 3422. During operation, the light emitter 3421 continuously emits a detection beam to the light receiver 3422, forming a stable optical path region between the light emitter 3421 and the light receiver 3422.

[0100] One of the sensor and the blocking part is disposed on the swing arm 3411, and the other is disposed on the device body 10a. For example, the sensor can be an optical coupler sensor disposed on the device body 10a, and the blocking part can be a baffle disposed on the swing arm 3411. The blocking part can extend between the light emitter 3421 and the light receiver 3422 under the action of the elastic member 3412 to block the light emitted by the light emitter 3421.

[0101] In other words, when the impact plate 340 does not collide with the obstacle, the swing arm 3411 is in its natural state. The blocking part on the swing arm 3411 extends into and blocks the optical path between the light emitter 3421 and the light receiver 3422, thereby blocking the light receiver 3422 from receiving the detection signal emitted by the light emitter 3421. Then, when the impact plate 340 collides with the obstacle, the first end of the swing arm 3411 rotates away from the sensor. At this time, there is no obstruction between the light emitter 3421 and the light receiver 3422, and the light receiver 3422 can receive the detection signal from the light emitter 3421.

[0102] Understandably, when the impact plate 340 does not collide with the obstacle, the swing arm 3411 is in its natural state, and the blocking part on the swing arm 3411 does not block the light path between the light emitter 3421 and the light receiver 3422. However, when the impact plate 340 is impacted, the blocking part on the swing arm 3411 extends into and blocks the light path between the light emitter 3421 and the light receiver 3422. This embodiment does not further limit the relative position of the swing arm 3411 and the detection element 342, or the detection state of the detection element 342 when the impact plate 340 collides with the obstacle.

[0103] Among them, the aforementioned sensor can be an optocoupler. Optocouplers have a relatively simple structure, strong resistance to electromagnetic interference and high and low voltage circuit signal interference, and are suitable for working environments that simultaneously have low-voltage control circuits (such as control units) and high-voltage components (such as the drive unit of the crawler arm assembly).

[0104] Understandably, depending on the assembly space, manufacturing cost, and performance requirements of the stair climbing device 10, at least one of the optocouplers, distance sensors, and image sensors can be selected to detect whether the swing arm 3411 is in a collision state, so that the stair climbing device 10 has a more accurate detection precision.

[0105] The control method of the stair-climbing device of this application will be illustrated below, taking the aforementioned control unit as the executing entity.

[0106] The control method of the stair climbing device of this application is applied to the stair climbing device, which includes a device body and an anti-collision component. The anti-collision component includes a collision plate and a detection element. The collision plate is elastically connected to the edge of the device body, and the detection element is used to detect the position of the collision plate.

[0107] Figure 8 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 1 Please see. Figure 8 The control method for the stair-climbing device includes:

[0108] S801. Determine whether the impact plate is in the target position by using the detection component.

[0109] If so, then execute S801;

[0110] If not, then execute S802.

[0111] The target position is the location of the impact plate when it is not subjected to external forces. If the detector determines that the impact plate is at the target position, it indicates that the impact plate has not collided and has not undergone compressive displacement. If the detector determines that the impact plate is not at the target position, it indicates that the impact plate has collided and undergone compressive displacement.

[0112] Detection components refer to devices used to detect the displacement state of the impact plate, such as optocouplers and distance sensors.

[0113] The detection component determines whether the impact plate is at the target position through photoelectric signals or distance sensing. For example, when the impact plate is not subjected to external force, the blocking part blocks the optical path between the light emitter and the light receiver, and the light receiver cannot receive the signal; when the impact plate is compressed, the blocking part moves out of the optical path between the light emitter and the light receiver, and the light receiver can receive the light signal, indicating that a collision has occurred.

[0114] In one embodiment, taking the stair-climbing device described above as an example, the stair-climbing device is equipped with a swing arm, a sensor, and a blocking part. One of the sensor and the blocking part is disposed on the swing arm, and the other is disposed on the device body. The control unit can detect whether the swing arm is rotating through the sensor. If the sensor detects that the light beam is blocked, it determines that the swing arm is not rotating, and the impact plate is located at the target position. If the sensor detects that the light beam is not blocked, it determines that the swing arm is rotating, and the impact plate is not located at the target position.

[0115] S802, Control the stair-climbing device to perform obstacle avoidance actions.

[0116] Obstacle avoidance refers to the path adjustment behavior performed by the stair climbing device to avoid obstacles, such as moving backward or turning.

[0117] In one embodiment, if the impact plate is not in the target position, the stair-climbing device is controlled to perform an obstacle avoidance action. Exemplarily, the obstacle avoidance action is backward movement. In another example, the obstacle avoidance action is backward movement combined with a turning movement; if the impact plate is detected to be not in the target position, the control unit can control the stair-climbing device to move backward a preset distance or a preset duration, and control the stair-climbing device to turn and move forward.

[0118] The control method of the stair-climbing device of this application determines whether the impact plate is in the target position through a detection component. If the impact plate is not in the target position, the stair-climbing device is controlled to perform an obstacle avoidance action. The method of this application realizes obstacle avoidance detection and avoidance of the stair-climbing device by detecting whether the impact plate is in a position where it is not subjected to external force, and triggers the obstacle avoidance action based on the detection result, thereby realizing the obstacle avoidance function of the stair-climbing device and improving the safety of the stair-climbing device operation.

[0119] The following example illustrates how to determine whether the impact plate is in the target position using a detection component.

[0120] Optionally, the detection component of the stair-climbing device includes a sensor and a blocking part. The sensor includes a light emitter and a light receiver arranged opposite each other, forming an optical path area between the light emitter and the light receiver. One of the sensor and the blocking part is disposed on the anti-collision component, and the other is disposed on the device body. When the impact plate is not subjected to external force, the blocking part is at least partially located within the optical path area to block the light emitted by the light emitter. The structure of the detection component of this stair-climbing device can be referred to the stair-climbing device of the example described above.

[0121] Based on the aforementioned detection device, the control unit can determine whether the light receiver can receive light from the light emitter, thereby determining whether the detection device is in the target position.

[0122] If the optical receiver fails to receive light from the optical transmitter, the impactor will be located at the target position.

[0123] If the optical receiver can receive light from the optical transmitter, then the impactor is not located at the target position.

[0124] Figure 9 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 2 Please see. Figure 9 The control method for the stair-climbing device includes:

[0125] S901. Determine whether the optical receiver can receive light from the optical transmitter.

[0126] If so, then execute S901;

[0127] If not, then execute S902.

[0128] If the optical receiver fails to receive light from the optical transmitter, the impact plate is located at the target position, indicating that the impact plate has not collided and has not been displaced. The control unit can continuously detect whether the optical receiver can receive light from the optical transmitter in order to continuously detect whether the impact plate has collided.

[0129] S902, Control the stair-climbing device to perform obstacle avoidance actions.

[0130] If the light receiver can receive light from the light emitter, the collision plate is not located at the target position, indicating that the collision plate has collided and caused pressure displacement. The control unit can then control the climbing device to perform obstacle avoidance actions.

[0131] In one embodiment, the anti-collision component includes a swing arm that is rotatably connected to a collision plate. The collision plate is displaced by pressure, causing the swing arm to rotate. One of the sensors and the blocking part is disposed on the swing arm, and the other is disposed on the device body.

[0132] The method in this application embodiment achieves accurate detection of the displacement of the collision plate by utilizing the optical path obstruction state between the sensor and the blocking part. By leveraging the physical characteristics of optical path obstruction, the detection sensitivity is significantly improved. Simultaneously, the binarization characteristic of optical path obstruction corresponds to both obstructed and unobstructed results, simplifying the processing logic and improving detection efficiency.

[0133] Optionally, in the presence of multiple detectors, the control unit can determine whether the impact plate is in the target position through multiple detectors, and control the climbing device to perform obstacle avoidance actions if any detector is not in the target position.

[0134] Optionally, the detection element includes a distance sensor disposed on the anti-collision component or device body. The control unit can determine whether the impact plate is at the target position by detecting the distance between the detection element and the target position. If the distance sensor detects that the distance between the impact plate and the target position is greater than the collision threshold, it is determined that the impact plate is not at the target position; if the distance sensor detects that the distance between the impact plate and the target position is less than or equal to the collision threshold, it is determined that the impact plate is at the target position.

[0135] A distance sensor is a device used to measure the distance between an object and a reference point. For example, a distance sensor may be one or more combinations of an infrared sensor, a line laser sensor, a ToF sensor, an ultrasonic sensor, a millimeter-wave radar, and a multi-view camera.

[0136] The collision threshold refers to a preset distance range used to determine whether the impact plate has shifted. For example, the collision threshold can be set to 0.2 cm. If the distance detected by the distance sensor is less than or equal to the collision threshold, it indicates that the impact plate has not shifted, or that the impact plate has shifted slightly due to vibration. If the distance detected by the distance sensor is greater than the collision threshold, it indicates that the impact plate has shifted under pressure.

[0137] Figure 10 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 3 Please see. Figure 10 The control method for the stair-climbing device includes:

[0138] S1001, The distance between the detector and the target position is detected by the detector.

[0139] In one embodiment, the detection element is fixed at a position on the device body, in the opposite direction to the direction in which the impact plate moves under pressure. The detection element, located on the device body, can emit a detection signal toward the impact plate to obtain the distance to the impact plate. When the impact plate is not displaced and is at the target position, the detection distance is zero. When the impact plate is subjected to pressure during a collision, the detection element remains fixed, and the impact plate moves away from the detection element, increasing the detection distance.

[0140] In one embodiment, the detection element is disposed on the anti-collision assembly and can emit a detection signal to the device body. For example, the detection element is disposed on the impact plate; when the impact plate does not move, the detection distance is zero. When the impact plate does not move and is located at the target position, the detection element moves with the impact plate, and the detected distance increases.

[0141] For example, the detection element is mounted on a swing arm, located at the end of the swing arm near the unconnected impact plate. The detection element can emit a detection signal to the main body of the device. When the impact plate does not shift, the swing arm does not rotate, and the detection distance is zero. When the impact plate collides and is compressed, the swing arm drives the detection element to rotate, increasing the detected distance.

[0142] S1002. Determine whether the distance detected by the distance sensor is greater than the collision threshold.

[0143] If so, then execute S1003;

[0144] If not, then execute S1001.

[0145] If the distance sensor detects that the distance between the target position and the target position is less than or equal to the collision threshold, it indicates that the current impact plate has not collided, that is, it has not been displaced by pressure, and the impact plate is determined to be located at the target position.

[0146] S1003, Control the stair-climbing device to perform obstacle avoidance actions.

[0147] If the distance sensor detects that the distance between the target position and the target position is greater than the collision threshold, indicating that the current impact plate has collided and caused pressure displacement, then it is determined that the impact plate is not located at the target position, and the control unit can perform obstacle avoidance actions.

[0148] The method in this application embodiment detects whether a collision plate is located at a target position by using a distance sensor to detect the distance and a collision threshold. The continuous measurement characteristics of the distance sensor provide more precise displacement feedback, improving the accuracy of the detection.

[0149] The following is an example illustrating how to control the stair-climbing device to perform obstacle avoidance actions when the impact plate is not in the target position, in the control method of the stair-climbing device of this application.

[0150] In one embodiment of this application, the stair-climbing device is capable of carrying cleaning equipment, and the cleaning equipment and / or the stair-climbing device are equipped with a sensor system. The control unit can obtain the contour information of the obstacle it collides with through the sensor system; based on the contour information, it controls the stair-climbing device to perform corresponding obstacle avoidance actions.

[0151] Contour information refers to the three-dimensional feature data of an obstacle, such as height, width, and edge curves.

[0152] A sensor system refers to a system used to acquire contour information. Examples include one or more combinations of infrared sensors, line laser sensors, Time-of-Flight (ToF) sensors, ultrasonic sensors, millimeter-wave radar, and multi-view cameras. Sensor systems can be configured in stair-climbing devices and / or cleaning equipment.

[0153] For example, there is a preset mapping relationship between the contour information and the obstacle avoidance action. Taking the width of the obstacle as an example, the obstacle avoidance action corresponding to the width exceeding the preset width threshold includes moving backward and stopping, while the obstacle avoidance action corresponding to the width not exceeding the preset width threshold includes moving backward and going around.

[0154] In one embodiment, a sensor system is configured at the front end of the cleaning device. In the event of a collision with the barrier, the control unit can acquire the image information collected by the sensor system and extract the width of the obstacle from it based on image processing methods in related technologies.

[0155] If the width exceeds a preset width threshold, the control unit can control the stair-climbing device to reverse and stop. If the width does not exceed the preset width threshold, the control unit can control the stair-climbing device to reverse and move around. In this mode, it can attempt to move around narrower obstacles and reverse and stop for wider obstacles.

[0156] For example, taking the outline information of the obstacle's edge curve as an example, different types of obstacles can be identified for different edge curves, and corresponding obstacle avoidance actions are preset for different types of obstacles. For example, if the obstacle is a staircase, the preset obstacle avoidance actions include climbing.

[0157] In one embodiment, a sensor system is configured at the front end of the stair-climbing device. In the event of a collision with a barrier, the control unit can acquire the image information collected by the sensor system and extract the edge curves of the obstacle using image processing methods in related technologies to determine the type of obstacle. If the obstacle is a staircase, the control unit can control the stair-climbing device to perform a climbing action.

[0158] In one embodiment, both the stair-climbing device and the cleaning system are equipped with sensor systems. In the event of a collision with the obstacle, the control unit can acquire obstacle information collected by the sensor systems of both the stair-climbing device and the cleaning system, and obtain contour information based on this information. For example, the control unit can acquire the width of the obstacle using the sensor systems of both the stair-climbing device and the cleaning system, and determine the average of the acquired obstacle widths as contour information. Alternatively, the control unit can acquire the height of the obstacle using the sensor system of the stair-climbing device, and the edge curve of the obstacle using the sensor system of the cleaning system, using the height and edge curve to determine the contour information.

[0159] In the above embodiments, the contour information of obstacles is collected by a sensor system. Since the contour information can reflect the contour features of obstacles, the climbing device is controlled to perform corresponding actions based on the contour information, thereby realizing dynamic obstacle avoidance of the climbing device and improving the scene adaptability of obstacle avoidance of the climbing device.

[0160] Optionally, after the control unit controls the stair climbing device to perform obstacle avoidance, it can also use a detection device to determine again whether the impact plate is in the target position; if the impact plate is in the target position, the control unit controls the stair climbing device to perform the walking action after obstacle avoidance.

[0161] Figure 11 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 4 Please see. Figure 11 The control method for the stair-climbing device includes:

[0162] S1101. Determine whether the impact plate is in the target position by using the detection component.

[0163] If so, then execute S1101;

[0164] If not, then execute S1102.

[0165] S1102, Control the stair-climbing device to perform obstacle avoidance actions.

[0166] S1103. Determine whether the impact plate is in the target position by using the detection component.

[0167] If so, then execute S1104;

[0168] If not, then execute S1105.

[0169] If the impact plate is in the target position, it indicates that the impact plate has been reset. For example, based on the reset unit in the above embodiment, after the control unit controls the stair climbing device to perform obstacle avoidance, the stair climbing device moves away from the obstacle, and based on the structure of the reset unit, it drives the impact plate to reset.

[0170] For example, the control unit can determine again whether the impact plate is in the target position by the detection device after a preset time after the obstacle avoidance action is performed.

[0171] For example, the control unit can determine whether the collision plate is at the target position again by the detection element after performing an obstacle avoidance action to move the stair climbing device a preset distance, or after the stair climbing device moves away from the obstacle a preset distance.

[0172] S1104. Control the stair-climbing device to perform walking actions after obstacle avoidance.

[0173] If the detection device determines that the impact plate is at the target position, the stair-climbing device performs a walking action after obstacle avoidance. In one embodiment, the control unit controls the stair-climbing device to perform a preset walking action after obstacle avoidance, such as continuing forward or adjusting direction. In another embodiment, the control unit controls the stair-climbing device to continue the walking task that was interrupted before obstacle avoidance.

[0174] S1105, Issue an alarm reminder.

[0175] For example, if the detection device determines that the impact plate is still not in the target position, indicating that the impact plate of the stair climbing device is still colliding with the obstacle, or that the impact plate has not been successfully reset, the control unit can control the device body to issue an alarm reminder.

[0176] In one embodiment, an alarm is issued via a microphone array configured on the device body. The alarm is issued through a specific frequency, rhythm, or number of beeps, or through natural language-based voice announcements, to provide an anti-pinch warning.

[0177] In one embodiment, an alarm is triggered by a display screen or status indicator light configured on the device body. For example, an alarm is triggered by displaying an indicator light in a specific color. Another example is by displaying an error code or pattern on the display screen.

[0178] For example, if the detection device determines that the impact plate is still not in the target position, indicating that the impact plate of the stair climbing device is still colliding with the obstacle, or that the impact plate has not been successfully reset, the control unit can issue an alarm reminder to the user.

[0179] The user terminal is the terminal device or software system that interacts with the user. For example, the control unit can issue alarm reminders by sending text messages or making phone calls to the user's terminal device; or, the control unit can issue alarm reminders by displaying notifications or icons to applications installed on the user's terminal device.

[0180] The control unit issues an alarm through the control device itself to quickly convey alarm information, improve the reliability of the stair climbing device, and thus improve the safety of the stair climbing device's operation.

[0181] The control method of the stair-climbing device in this application embodiment detects the collision state again after the stair-climbing device performs an obstacle avoidance action, so as to realize the detection of whether the collision plate has been reset, improve the integrity of obstacle avoidance of the stair-climbing device, and avoid misjudgment of subsequent obstacle avoidance detection due to the collision plate not being fully reset, thereby improving the reliability of obstacle avoidance detection and improving the safety of stair-climbing device operation.

[0182] In the above embodiments, based on the detection of the position of the impact plate on the stair-climbing device and the avoidance action triggered when the impact plate is detected to be under pressure displacement, collision detection and obstacle avoidance of the stair-climbing device are realized, thereby realizing the obstacle avoidance function of the stair-climbing device and improving the safety of the stair-climbing device operation. Optionally, the control method of the stair-climbing device in this application embodiment can also realize the detection of whether a collision has occurred based on the cleaning equipment. The implementation steps of this method are described below.

[0183] For example, the stair-climbing device can carry cleaning equipment. During the movement of the cleaning equipment, the cleaning equipment detects obstacles. When the cleaning equipment detects contact with an obstacle, the stair-climbing device is controlled to perform an obstacle avoidance action.

[0184] In one embodiment, impact plates are disposed on both sides of the stair-climbing device, while no impact plates are disposed in the front central area of ​​the receiving space where the cleaning equipment is carried. During the movement of the cleaning equipment carried by the stair-climbing device, a portion of the cleaning equipment's structure is exposed in the front central area of ​​the receiving space. Therefore, obstacles can be detected through the exposed portion of the cleaning equipment's structure, and when an obstacle is detected, the control unit controls the stair-climbing device to perform obstacle avoidance actions.

[0185] It should be understood that the detection components and cleaning equipment of the stair-climbing device can be activated simultaneously to expand the scope of detection.

[0186] In one embodiment, the front end of the cleaning equipment is equipped with a sensor system for obstacle avoidance detection. Based on the detection signals emitted by the sensor system, the control unit can detect whether an obstacle exists within the detection range. If an obstacle is present, the control unit controls the stair-climbing device to perform an obstacle avoidance maneuver.

[0187] For example, the control unit can also acquire the outline information of obstacles based on the sensor system of the cleaning equipment, and control the stair climbing device to perform corresponding obstacle avoidance actions.

[0188] In one embodiment, after the control unit controls the stair climbing device to perform obstacle avoidance, the control unit can detect the distance of the obstacle based on the sensor system. If the distance is greater than the preset safe distance, the control unit determines that the stair climbing device and the cleaning equipment are far away from the obstacle, and the control unit can control the stair climbing device to perform the walking action after obstacle avoidance.

[0189] In one embodiment, a main unit impact plate is provided at the front end of the cleaning device. The control unit detects obstacles through the cleaning device and can detect whether the cleaning device has collided with an obstacle by the state of the main unit impact plate. If the cleaning device detects that the main unit impact plate is in a compressed state, then the cleaning device has collided with an obstacle; if the cleaning device detects that the main unit impact plate is in a reset state, then the cleaning device has not collided with an obstacle.

[0190] The compressed state refers to the state of the main unit's impact plate after it comes into contact with an obstacle and is compressed. For example, the compressed state is when the main unit's impact plate is displaced.

[0191] The reset state refers to the initial state of the host when it is not in contact with an obstacle. For example, it can be the state before contact with the obstacle, or the state after the host has made contact with the obstacle and moved away from it, based on its structural characteristics, to restore the state before contact.

[0192] The "main unit collision plate" refers to the collision detection component at the front end of the cleaning equipment, used to sense the contact status between the cleaning equipment and obstacles. The structure of the main unit collision plate can be referenced from the collision plate of the aforementioned stair-climbing device; this application does not limit the structure of the main unit collision plate.

[0193] By using obstacle avoidance detection via the main unit's impact plate and the stair-climbing device, coordinated obstacle avoidance between the cleaning equipment and the stair-climbing device is achieved. The pressure state of the main unit's impact plate determines whether the cleaning equipment has come into contact with an obstacle, while the pressure state of the stair-climbing device's impact plate determines whether the stair-climbing device has come into contact with an obstacle, thus expanding the detectable collision area and improving the safety of the combined system's operation.

[0194] Figure 12 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 5 Please see. Figure 12 The control method for the stair-climbing device includes:

[0195] S1201. Determine whether the impact plate of the stair-climbing device is in the target position and whether the main impact plate of the cleaning equipment is in the reset state.

[0196] If so, then execute S1201;

[0197] If not, then execute S1202.

[0198] If the detection device of the stair-climbing device determines that the impact plate of the stair-climbing device is in the target position, it indicates that the area where the impact plate of the stair-climbing device is located has not collided with an obstacle. If the cleaning equipment detects that its main impact plate is in a reset state, it indicates that the area where the main impact plate of the cleaning equipment is located has not collided with an obstacle. Therefore, if the area where the impact plate of the stair-climbing device is located has not collided with an obstacle, and the area where the main impact plate of the cleaning equipment is located has not collided with an obstacle, the combination of the stair-climbing device and the cleaning equipment is in a collision-free state.

[0199] If the detection device of the stair-climbing device determines that the impact plate of the stair-climbing device is not in the target position, it indicates that the area where the impact plate of the stair-climbing device is located has collided with an obstacle. If the cleaning equipment detects that its main impact plate is under pressure, it indicates that the area where the main impact plate of the cleaning equipment is located has collided with an obstacle. Therefore, if the area where the impact plate of the stair-climbing device is located collides with an obstacle, or if the area where the main impact plate of the cleaning equipment is located collides with an obstacle, the combination of the stair-climbing device and the cleaning equipment is in a collision situation.

[0200] S1202, Control the stair-climbing device to perform obstacle avoidance actions.

[0201] S1203. Determine whether the impact plate of the stair-climbing device is in the target position and whether the main impact plate of the cleaning equipment is in the reset state.

[0202] If so, then execute S1204;

[0203] If not, then execute S1205.

[0204] For example, the control unit can, after a preset time after performing the obstacle avoidance action, determine again whether the collision plate is in the target position through the detection device, and detect that the main collision plate is in the reset state through the cleaning device.

[0205] For example, after the control unit performs an obstacle avoidance action to move the stair climbing device a preset distance, or after the stair climbing device moves away from the obstacle a preset distance, it can again use a detection device to determine whether the collision plate is in the target position, and use a cleaning device to detect that the main unit collision plate is in a reset state.

[0206] If both the collision plate of the stair climbing device and the main collision plate of the cleaning equipment are detected to be in a reset state, it indicates that the collision plate of the stair climbing device and the main collision plate of the cleaning equipment are in a state where obstacle avoidance detection can continue. The control unit can control the stair climbing device to perform the walking action after obstacle avoidance.

[0207] S1204. Control the stair-climbing device to perform walking actions after obstacle avoidance.

[0208] S1205, Issue an alarm reminder.

[0209] If the collision plate of the stair climbing device and / or the main collision plate of the cleaning equipment are not reset, it indicates that the collision plate of the stair climbing device and / or the main collision plate of the cleaning equipment are in an abnormal state. Continuing to perform obstacle avoidance detection after this will result in false detections. Therefore, the control unit can issue an alarm to remind the user to investigate and handle the abnormality.

[0210] The control method of the stair-climbing device in this application realizes the linkage between the cleaning equipment and the stair-climbing device by coordinating the obstacle avoidance detection of the cleaning equipment and the obstacle avoidance action of the stair-climbing device. Based on the collision area that can be detected by the collision plate of the stair-climbing device, the collision area that can be detected by the cleaning equipment is increased, thus expanding the collision area that can be detected by the combination of the stair-climbing device and the cleaning equipment, improving the obstacle avoidance capability of the combination and improving the safety of the operation of the combination.

[0211] 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.

[0212] Based on the same inventive concept, this application also provides a detection device for implementing the control method of the stair-climbing device described above. The solution provided by this detection device is similar to the implementation solution described in the control method of the stair-climbing device. Therefore, the specific limitations of one or more device embodiments provided below can be found in the limitations of the control method of the stair-climbing device above, and will not be repeated here.

[0213] Figure 13 This is a schematic diagram of the control device for a stair-climbing device provided in one embodiment of this application. Figure 13 As shown, a control device 1300 for a stair climbing device is provided. The stair climbing device includes a device body and an anti-collision component. The anti-collision component includes a collision plate and a detection element. The collision plate is elastically connected to the edge of the device body, and the detection element is used to detect the position of the collision plate. The control device 130 for the stair climbing device includes a detection module 1301 and a control module 1302. Optionally, the detection device may also include a reset module.

[0214] Detection module 1301 is used to determine whether the impact plate is at the target position by detecting the detection component;

[0215] Control module 1302 is used to control the climbing device to perform obstacle avoidance actions when the impact plate is not in the target position;

[0216] The target position is the location of the impact plate when it is not subjected to external force.

[0217] In some optional embodiments, the detection element includes a sensor and a blocking part. The sensor includes a light emitter and a light receiver disposed opposite to each other, forming an optical path region between the light emitter and the light receiver. One of the sensor and the blocking part is disposed on the anti-collision assembly, and the other is disposed on the device body. When the impact plate is not subjected to external force, the blocking part is at least partially located within the optical path region to block the light emitted by the light emitter. The detection module 1301 is specifically used for:

[0218] If the optical receiver fails to receive light from the optical transmitter, the impactor will be located at the target position.

[0219] If the optical receiver can receive light from the optical transmitter, then the impactor is not located at the target position.

[0220] In some alternative embodiments, the anti-collision assembly includes a swing arm rotatably connected to a collision plate. The collision plate is displaced by pressure, causing the swing arm to rotate. One of the sensors and the blocking part is disposed on the swing arm, and the other is disposed on the device body.

[0221] In some optional embodiments, the detection element includes a distance sensor disposed on the anti-collision component or the device body, and the detection module 1301 is specifically used for:

[0222] If the distance detected by the distance sensor is greater than the collision threshold, it is determined that the impact plate is not located at the target position;

[0223] If the distance detected by the distance sensor is less than or equal to the collision threshold, then the impact plate is determined to be located at the target position.

[0224] In some alternative embodiments, the distance sensor is one or more combinations of an infrared sensor, a line laser sensor, a ToF sensor, an ultrasonic sensor, a millimeter-wave radar, and a multi-view camera.

[0225] In some optional embodiments, the stair-climbing device is capable of carrying cleaning equipment, and the cleaning equipment and / or the stair-climbing device are equipped with a sensor system. The control module 1302 is specifically used for:

[0226] The outline information of the obstacle being collided with is obtained through a sensor system;

[0227] Based on the contour information, the stair-climbing device is controlled to perform corresponding obstacle avoidance actions.

[0228] In some optional embodiments, after the stair-climbing device performs obstacle avoidance actions, the reset module is specifically used for:

[0229] The detection component determines whether the impact plate is in the target position;

[0230] When the impact plate is in the target position, control the climbing device to perform the walking action after obstacle avoidance.

[0231] In some optional embodiments, the stair-climbing device is capable of carrying cleaning equipment. During the movement of the cleaning equipment by the stair-climbing device, the detection module 1301 is specifically used for:

[0232] Obstacles are detected using cleaning equipment;

[0233] Accordingly, the control module 1302 is specifically used for:

[0234] When the cleaning equipment detects an obstacle, it controls the stair-climbing device to perform an obstacle avoidance maneuver.

[0235] In some optional embodiments, a main unit impact plate is provided at the front end of the cleaning device, and the detection module 1301 is specifically used for:

[0236] If the cleaning equipment detects that the main unit's impact plate is under pressure, then the cleaning equipment has collided with the obstacle.

[0237] If the cleaning equipment detects that the main unit's collision plate is in a reset state, then the cleaning equipment has not collided with any obstacle.

[0238] 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.

[0239] Figure 14 A schematic diagram of the structure of the electronic device provided in this application. Figure 14 As shown, the electronic device 1400 provided in this embodiment includes at least one processor 1401 and a memory 1402. Optionally, the device 1400 further includes a communication component 1403. The processor 1401, memory 1402, and communication component 1403 are connected via a bus 1404.

[0240] In a specific implementation, at least one processor 1401 executes computer execution instructions stored in memory 1402, causing at least one processor 1401 to perform the above-described method.

[0241] The specific implementation process of processor 1401 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so it will not be repeated here.

[0242] 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.

[0243] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0244] 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.

[0245] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0246] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0247] 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.

[0248] 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.

[0249] 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.

[0250] 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.

[0251] 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.

[0252] 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.

[0253] 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.

[0254] 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 stair-climbing device, characterized in that, The stair-climbing device includes a device body and an anti-collision assembly. The anti-collision assembly includes a collision plate and a detection element. The collision plate is elastically connected to the edge of the device body, and the detection element is used to detect the position of the collision plate. The method includes: The detection device is used to determine whether the impact plate is at the target position. If the impact plate is not in the target position, control the climbing device to perform obstacle avoidance actions; The target position is the position of the impact plate when it is not subjected to external force.

2. The method according to claim 1, characterized in that, The detection element includes a sensor and a blocking part. The sensor includes a light emitter and a light receiver disposed opposite to each other, forming an optical path region between the light emitter and the light receiver. One of the sensor and the blocking part is disposed on the anti-collision assembly, and the other is disposed on the device body. When the impact plate is not subjected to external force, the blocking part is at least partially located within the optical path region to block the light emitted by the light emitter. Determining whether the impact plate is at the target position using the detection element includes: If the optical receiver fails to receive light from the optical transmitter, the impact plate is located at the target position; If the optical receiver can receive light from the optical transmitter, then the impact plate is not located at the target position.

3. The method according to claim 2, characterized in that, The anti-collision assembly includes a swing arm, which is rotatably connected to the device body. The impact plate is displaced by pressure, causing the swing arm to rotate. One of the sensor and the blocking part is disposed on the swing arm, and the other is disposed on the device body.

4. The method according to claim 2, characterized in that, The detection element includes a distance sensor disposed on the anti-collision component or the device body, and the step of determining whether the impact plate is at the target position by means of the detection element includes: If the distance detected by the distance sensor is greater than the collision threshold, it is determined that the impact plate is not located at the target position; If the distance detected by the distance sensor is less than or equal to the collision threshold, then the collision plate is determined to be located at the target position.

5. The method according to claim 4, characterized in that, The distance sensing device is one or more of the following: infrared sensor, line laser sensor, ToF sensor, ultrasonic sensor, millimeter-wave radar, and multi-view camera.

6. The method according to claim 1, characterized in that, The stair-climbing device is capable of carrying cleaning equipment, and the cleaning equipment and / or the stair-climbing device are equipped with a sensor system. Controlling the stair-climbing device to perform obstacle avoidance actions includes: The sensor system acquires the outline information of the collided obstacle; Based on the contour information, the stair-climbing device is controlled to perform corresponding obstacle avoidance actions.

7. The method according to claim 1, characterized in that, After controlling the stair-climbing device to perform obstacle avoidance actions, the method further includes: The detection device is used to determine whether the impact plate is at the target position. When the impact plate is in the target position, the climbing device is controlled to perform a walking action after obstacle avoidance.

8. The method according to claim 1, characterized in that, The stair-climbing device is capable of carrying cleaning equipment, and during the process of moving the cleaning equipment using the stair-climbing device, the method further includes: The cleaning equipment detects obstacles, and when the cleaning equipment detects contact with an obstacle, it controls the stair-climbing device to perform an obstacle avoidance action.

9. The method according to claim 8, characterized in that, The front end of the cleaning device is equipped with a main unit impact plate. The obstacle detection via the cleaning device includes: If the cleaning device detects that the main unit's impact plate is under pressure, then the cleaning device has collided with the obstacle. If the cleaning device detects that the main unit's collision plate is in a reset state, then the cleaning device has not collided with any obstacle.

10. A control device for a stair-climbing device, characterized in that, The stair-climbing device includes a device body and an anti-collision assembly. The anti-collision assembly includes a collision plate and a detection element. The collision plate is elastically connected to the edge of the device body, and the detection element is used to detect the position of the collision plate. The device includes: The detection module is used to determine whether the impact plate is at the target position based on the detection component; The control module is used to control the climbing device to perform obstacle avoidance actions when the impact plate is not in the target position; The target position is the position of the impact plate when it is not subjected to external force.

11. A cleaning system, characterized in that, include: Cleaning equipment used to perform cleaning tasks; A stair-climbing device for performing the method as described in any one of claims 1-9.

12. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-9.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-9.

14. 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 1-9.

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