Lifting control method and system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of cleaning equipment, and provides a lifting control method and system, electronic equipment and a storage medium. A first distance measuring sensor and a liftable second distance measuring sensor are arranged on the equipment body; in the advancing direction of the equipment body, the first distance measuring sensor is located in front of the second distance measuring sensor; the method comprises the following steps: acquiring the state of a second distance measuring sensor, wherein the state comprises a rising state and a falling state; when the second distance measuring sensor is in a rising state, determining a descending strategy of the second distance measuring sensor according to a height measuring result of the first distance measuring sensor; and when the second distance measuring sensor is in a descending state, determining a rising strategy of the second distance measuring sensor according to a height measuring result of the first distance measuring sensor. The lifting strategy of the second distance measuring sensor is determined according to the height measuring result of the first distance measuring sensor, so that the collision or jamming probability of the second distance measuring sensor is reduced, and the service life of the liftable second distance measuring sensor is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of cleaning equipment, and in particular to a lifting control method, system, electronic equipment and storage medium. Background Art

[0002] The cleaning equipment has a liftable LDS (Laser Distance Sensor) sensor. When the LDS sensor is raised, the cleaning equipment can be positioned and avoid obstacles. When the LDS sensor is lowered, the cleaning equipment can enter a low space for cleaning.

[0003] The cleaning equipment is equipped with a DToF (Direct Time of Flight) sensor, and its DToF sensor can measure the height upwards.

[0004] How to use the DToF sensor to accurately determine whether the LDS sensor needs to be raised or lowered has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] To solve the above problems, the present application provides a lifting control method, system, electronic device and storage medium. When the second ranging sensor is in different states of lifting or lowering, the lifting strategy of the second ranging sensor is determined according to the height measurement result of the first ranging sensor, thereby reducing the probability of the second ranging sensor colliding or getting stuck and improving the service life of the liftable second ranging sensor.

[0006] This application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a lifting control method, wherein a first distance measuring sensor and a liftable second distance measuring sensor are arranged on a device body; in the forward direction of the device body, the first distance measuring sensor is located in front of the second distance measuring sensor;

[0008] The method includes:

[0009] Acquire the state of the second ranging sensor, which includes a raised state and a lowered state;

[0010] When the second ranging sensor is in a raised state, a descending strategy of the second ranging sensor is determined according to the height measurement result of the first ranging sensor;

[0011] When the second distance measuring sensor is in a descending state, a raising strategy of the second distance measuring sensor is determined according to the height measurement result of the first distance measuring sensor.

[0012] In a second aspect, the present application provides a lifting control system, comprising: a device body, a first distance measuring sensor and a liftable second distance measuring sensor arranged on the device body; in the forward direction of the device body, the first distance measuring sensor is located in front of the second distance measuring sensor;

[0013] The system includes:

[0014] An acquisition unit, used for acquiring a state of the second ranging sensor, the state including a raised state and a lowered state;

[0015] A descending strategy unit, used for determining a descending strategy of the second ranging sensor according to a height measurement result of the first ranging sensor when the second ranging sensor is in a raised state;

[0016] The lifting strategy unit is used to determine the lifting strategy of the second ranging sensor according to the height measurement result of the first ranging sensor when the second ranging sensor is in a descending state.

[0017] In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned lifting control method when executing the computer program.

[0018] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and the computer program implements the steps of the above-mentioned lifting control method when instructed by a processor.

[0019] At least one of the above technical solutions adopted in this application can achieve the following beneficial effects:

[0020] The present application provides a lifting control method, wherein a first distance measuring sensor and a second distance measuring sensor that can be lifted and lowered are arranged on the equipment body; in the forward direction of the equipment body, the first distance measuring sensor is located in front of the second distance measuring sensor; the method comprises: obtaining the state of the second distance measuring sensor, which includes a lifting state and a descending state; when the second distance measuring sensor is in the lifting state, determining the descending strategy of the second distance measuring sensor according to the height measurement result of the first distance measuring sensor; when the second distance measuring sensor is in the descending state, determining the lifting strategy of the second distance measuring sensor according to the height measurement result of the first distance measuring sensor. The method provided in the present application determines the lifting strategy of the second distance measuring sensor according to the height measurement result of the first distance measuring sensor for different states of the second distance measuring sensor being lifted or lowered, thereby reducing the probability of the second distance measuring sensor colliding or getting stuck, and improving the service life of the second distance measuring sensor that can be lifted and lowered. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0022] Figure 1 A schematic diagram showing the appearance of a cleaning device according to an embodiment of the present application;

[0023] Figure 2 A schematic flow chart showing a lifting control method according to an embodiment of the present application is shown;

[0024] Figure 3 A schematic flow chart showing a lifting control method according to another embodiment of the present application;

[0025] Figure 4 A schematic structural diagram of a lifting control system according to an embodiment of the present application is shown;

[0026] Figure 5 A schematic structural diagram of an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0028] The idea of ​​this application is that the DToF sensor can measure the height of the space above the upper surface of the device body. When the DToF sensor measures a small height, it can be determined that the route passes through a low space. When the DToF sensor measures a large height, it can be determined that the route passes through an open space. This application uses the height measurement value of the DToF sensor to determine the timing of raising or lowering the LDS sensor, thereby reducing the probability of the LDS sensor colliding or getting stuck and improving the service life of the liftable LDS sensor.

[0029] In the present application, the cleaning device is equipped with common intelligent modules such as a camera, a gyroscope, and a driver, so as to realize common functions of existing cleaning devices such as sensing the surrounding environment, driving the cleaning device to move, and interacting with a map. The embodiments of the present application will not be described in detail.

[0030] The present application is described in detail below through specific embodiments.

[0031] Figure 1 The present invention shows a schematic diagram of the appearance of a cleaning device proposed in an embodiment of the present application, wherein the cleaning device comprises: a device body (1), a first distance measuring sensor (2) located on the device body (1), and a second distance measuring sensor (3) which can be raised and lowered on the device body (1); in the forward direction of the device body (1), the first distance measuring sensor (2) is located in front of the second distance measuring sensor (3).

[0032] Reference Figure 1 As shown, Figure 1 Shown is a top view of the cleaning device. Figure 1 A circular device body (1) is used as an illustration, but the present application does not limit the appearance shape of the device body (1). In addition to the circle, rectangles or other irregular shapes may also be included.

[0033] The first distance measuring sensor (2) is located on the upper surface of the device body (1). The first distance measuring sensor (2) may be a DToF sensor. Figure 1 A rectangular first distance measuring sensor (2) is used as an example, but the present application does not limit the appearance of the first distance measuring sensor (2). In addition to rectangles, circles or other irregular shapes may also be included. The present application does not limit the arrangement form of the first distance measuring sensor (2), as long as the first distance measuring sensor (2) can achieve the function of accurately measuring the height from the upper surface of the device body (1) upwards.

[0034] The second distance measuring sensor (3) can be raised and lowered on the upper surface of the device body (1). The second distance measuring sensor (3) can be an LDS sensor. Figure 1 A circular second distance measuring sensor (3) is used as an example, but the present application does not limit the appearance of the second distance measuring sensor (3). In addition to the circular shape, rectangular or other irregular shapes may also be included. When the second distance measuring sensor (3) is in a raised state, the upper surface of the second distance measuring sensor (3) is higher than the upper surface of the device body (1); when the second distance measuring sensor (3) is in a lowered state, the upper surface of the second distance measuring sensor (3) is not higher than the upper surface of the device body (1) (that is, the second distance measuring sensor (3) is accommodated in the device body (1) and is flush with the upper surface of the device body (1) or slightly lower than the upper surface of the device body (1)).

[0035] In the forward direction of the device body (1), the first distance measuring sensor (2) is located in front of the second distance measuring sensor (3). Figure 1 The arrow in the middle is used to indicate the direction of travel. Figure 1 As shown, the first distance measuring sensor (2) can be located on the upper surface of the device body (1) at half of the body position close to the forward direction, and the second distance measuring sensor (3) can be raised and lowered on the upper surface of the device body (1) at half of the body position close to the reverse direction of the forward direction.

[0036] Figure 2 The flowchart of the lifting control method proposed in one embodiment of the present application is shown. Figure 1 The appearance of the cleaning device shown in the figure, the lifting control method includes steps S210 to S230:

[0037] Step S210, obtaining the state of the second distance measuring sensor, which includes a raised state and a lowered state.

[0038] First, the state of the second distance measuring sensor is obtained. The state of the second distance measuring sensor can be divided into a raised state and a lowered state, that is, whether the second distance measuring sensor is raised from the upper surface of the device body or is accommodated in the device body.

[0039] The raised state is used to indicate that the second distance measuring sensor is raised from the upper surface of the device body. In this case, the height of the upper surface of the second distance measuring sensor is higher than the height of the upper surface of the device body.

[0040] At this time, the second ranging sensor can realize accurate positioning or obstacle avoidance function, but the low area between the height of the upper surface of the equipment body and the height of the upper surface of the second ranging sensor will collide or get stuck on the second ranging sensor, causing wear of the second ranging sensor.

[0041] The descending state is used to indicate that the second distance measuring sensor is accommodated in the device body. In this case, the height of the upper surface of the second distance measuring sensor is not higher than the height of the upper surface of the device body.

[0042] At this time, the second ranging sensor cannot achieve accurate positioning or obstacle avoidance functions, but the cleaning device can clean the low area between the height of the upper surface of the device body and the height of the upper surface of the second ranging sensor.

[0043] The method for acquiring the working state of the second distance measuring sensor may include, but is not limited to: judging according to the lifting module driving the second distance measuring sensor to lift, judging according to the information collected by other intelligent modules, etc. This application does not limit this.

[0044] The timing of acquiring the working status of the second distance measuring sensor may include, but is not limited to: acquiring before the cleaning device performs cleaning, or acquiring during the cleaning process of the cleaning device, etc. This application does not limit this.

[0045] Step S220: when the second ranging sensor is in the raised state, determining a descending strategy of the second ranging sensor according to the height measurement result of the first ranging sensor.

[0046] If it is determined through the acquired state of the second distance measuring sensor that the second distance measuring sensor is raised, a lowering strategy of the second distance measuring sensor is determined based on the height measurement result of the first distance measuring sensor.

[0047] The first ranging sensor can accurately obtain the height measurement result from the upper surface of the device body upward. Based on the height measurement result, the low area is determined, and the second ranging sensor is controlled to descend when the device body moves to the low area. The second ranging sensor descends in the low area where a collision may occur, reducing the wear of the anti-collision component of the side cover of the second ranging sensor. In this embodiment, it is emphasized to determine whether the second ranging sensor is descended based on the height measurement result of the first ranging sensor, so the application scenario focuses on the situation where the device body can enter. Therefore, the height measurement result or measurement result of the first ranging sensor is greater than 0.

[0048] In some optional embodiments, in step S220, when the second ranging sensor is in a raised state, a descending strategy of the second ranging sensor is determined according to the height measurement result of the first ranging sensor, including: when the first height measurement result of the first ranging sensor is lower than the limit threshold, recording or marking the current first position of the device body; when the device body continues to move forward a first preset distance, determining the descending strategy of the second ranging sensor according to the second height measurement result of the first ranging sensor.

[0049] Determining the descent strategy of the second ranging sensor mainly includes two steps: the first step is basic judgment; the second step is secondary confirmation.

[0050] In the first basic judgment, the first distance measuring sensor measures a first height measurement result of the upper surface of the device body upward. The first height measurement result indicates the spatial height of the upper surface of the device body from the obstacle.

[0051] If the first height measurement result is lower than the limit threshold, it indicates that the cleaning device may enter a low area, and at this time the current first position of the device body is recorded or marked.

[0052] For example, when the second ranging sensor is in the raised state, the height of the upper surface of the second ranging sensor above the upper surface of the device body is approximately 2 to 2.5 cm, and the limit threshold may be 3 cm. When the first ranging sensor measures a first height measurement result of 2.8 cm (<3 cm), the current first position of the device body is recorded.

[0053] During the second confirmation in the second step, the device body continues to move in the forward direction by the first preset distance, and during this process, determines whether the second distance measuring sensor descends according to the second height measurement result of the first distance measuring sensor.

[0054] In some optional embodiments, while the device body continues to move forward a first preset distance, a descent strategy for the second ranging sensor is determined based on a second height measurement result of the first ranging sensor, including: while the device body continues to move forward a first preset distance, the first ranging sensor collects a plurality of height measurement results; if at least one height measurement result is lower than a safety threshold, the second ranging sensor is descended; otherwise, the record or mark of the current first position is cancelled.

[0055] When the first distance measuring sensor measures that the first height measurement result is lower than the limit threshold, the device body continues to move in the forward direction. Specifically, the first preset distance that the device body continues to move is less than the distance from the front edge of the device body in the forward direction to the front edge of the second distance measuring sensor. Preferably, the first preset distance is less than the spacing between the first distance measuring sensor and the second distance measuring sensor.

[0056] That is to say, although the first height measurement result is lower than the limit threshold, the spatial height between the upper surface of the device body and the obstacle must allow the device body to enter. Then, when the device body continues to move the first preset distance, the second ranging sensor in the raised state does not reach the obstacle and will not collide or jam the second ranging sensor.

[0057] Reference Figure 1 As shown in the appearance of the cleaning device, the first preset distance can be the radius length of the circular device body (ie, half the length of the device body).

[0058] As the device body continues to move in the forward direction, the first distance measuring sensor continuously measures multiple height measurement results above the upper surface of the device body. As long as one height measurement result is lower than the safety threshold, it means entering a low area, and the second distance measuring sensor descends.

[0059] The spatial height of the obstacle may not be constant. Some parts may have a relatively high spatial height, and some parts may have a relatively low spatial height. Therefore, when the device body travels the first preset distance, the first distance measuring sensor continuously measures multiple height measurement results, and the second distance measuring sensor is lowered as long as one result is lower than the safety threshold.

[0060] For example, the safety threshold is usually 42 cm. When at least one of the multiple height measurement results measured by the first distance measuring sensor is lower than 42 cm, the second distance measuring sensor is lowered.

[0061] However, if all of the multiple height measurement results are not lower than the safety threshold during the process of the device body traveling the first preset distance, the record or mark of the current first position is cancelled, and the second distance measuring sensor remains in the raised state.

[0062] When the second ranging sensor remains in the raised state, if the previous first height measurement result is lower than the height of the upper surface of the second ranging sensor above the upper surface of the device body, the device body continues to move, and the raised second ranging sensor will collide. Based on the collision triggered by the second ranging sensor, the second ranging sensor is lowered.

[0063] The following is a specific case of determining whether the second distance measuring sensor is lowered according to the height measurement result of the first distance measuring sensor when the second distance measuring sensor is in the raised state.

[0064] The upper surface of the second distance measuring sensor in the raised state is 2 cm higher than the upper surface of the device body, the limit threshold is 3 cm, and the safety threshold is 42 cm.

[0065] Case 1: The first height measurement result is 2.8 cm, and several of the multiple height measurement results are lower than 42 cm. Then the current first position is recorded or marked, and the second distance measurement sensor is lowered.

[0066] Case 2: The first height measurement result is 2.8 cm, and multiple height measurement results are not less than 42 cm. Then keep the second distance measurement sensor raised.

[0067] Case 3: The first height measurement result is 1.5 cm, and several of the multiple height measurement results are lower than 42 cm. Then the current first position is recorded or marked, and the second distance measurement sensor is lowered.

[0068] Case 4: The first height measurement result is 1.5 cm, and multiple height measurement results are not less than 42 cm. The second distance measuring sensor is kept raised until a collision is triggered based on the second distance measuring sensor, and the second distance measuring sensor is lowered.

[0069] The above specific situations are merely illustrative examples and are not intended to be limiting.

[0070] Step S230: when the second ranging sensor is in a descending state, determining a raising strategy of the second ranging sensor according to the height measurement result of the first ranging sensor.

[0071] If it is determined through the acquired state of the second distance measuring sensor that the second distance measuring sensor is lowered, a strategy for raising the second distance measuring sensor is determined based on the height measurement result of the first distance measuring sensor.

[0072] The first distance measuring sensor can accurately obtain the height measurement result from the upper surface of the device body upward. Based on the height measurement result, an open area is determined, and when the device body moves to the open area, the second distance measuring sensor is controlled to rise. The second distance measuring sensor rises in the open area, so that the second distance measuring sensor can achieve accurate positioning and obstacle avoidance functions.

[0073] In some optional embodiments, in step S230, when the second ranging sensor is in a descending state, a raising strategy of the second ranging sensor is determined according to the height measurement result of the first ranging sensor, including: when the third height measurement result of the first ranging sensor is not lower than the safety threshold, recording or marking the current second position of the device body; when the device body continues to move forward a second preset distance, determining the raising strategy of the second ranging sensor according to the fourth height measurement result of the first ranging sensor.

[0074] Determining the lifting strategy of the second ranging sensor mainly includes two steps: the first step is basic judgment; the second step is secondary confirmation.

[0075] In the first basic judgment, the first distance measuring sensor measures the third height measurement result of the upper surface of the device body upward. The third height measurement result indicates the spatial height of the upper surface of the device body from the obstacle.

[0076] If the third height measurement result is not lower than the safety threshold, it indicates that the cleaning device may enter an open area, and at this time the current second position of the device body is recorded or marked.

[0077] For example, the safety threshold is usually 42 cm. When the first distance measuring sensor measures a third height measurement result of 44 cm (> 42 cm), the current second position of the device body is recorded or marked.

[0078] During the second confirmation in the second step, the device body continues to move in the forward direction for a second preset distance, and during this process, determines whether the second distance measuring sensor is raised according to the fourth height measurement result of the first distance measuring sensor.

[0079] In some optional embodiments, while the device body continues to move forward a second preset distance, a raising strategy for the second ranging sensor is determined based on a fourth height measurement result of the first ranging sensor, including: while the device body continues to move forward a second preset distance, the first ranging sensor collects a plurality of height measurement results; if the plurality of height measurement results are not lower than a limit threshold, raising the second ranging sensor; otherwise, canceling the record or mark of the current first position.

[0080] When the first distance measuring sensor measures that the third height measurement result is not less than the safety threshold, the device body continues to move in the forward direction. Specifically, the second preset distance that the device body continues to move is greater than the distance between the first distance measuring sensor of the device and the rear edge of the second distance measuring sensor. Preferably, the second preset distance is greater than the distance from the front edge of the device body in the forward direction to the rear edge of the second distance measuring sensor.

[0081] That is to say, although the third height measurement result is not lower than the safety threshold, the device body is still in a low area (the spatial height between the upper surface of the device body and the obstacle may not allow the second ranging sensor to pass). When the device body continues to move the second preset distance, the second ranging sensor remains in a descending state to ensure that it does not collide with the obstacle and avoids the raised second ranging sensor from being stuck.

[0082] Reference Figure 1 As shown in the appearance of the cleaning device, the second preset distance can be the diameter length of the circular device body (i.e., one body length of the device body).

[0083] As the device body continues to move in the forward direction, the first distance measuring sensor continuously measures multiple height measurement results above the upper surface of the device body. Only when multiple height measurement results are not lower than the limit threshold, it indicates that an open area has been entered, and the second distance measuring sensor rises.

[0084] The spatial height of the obstacle may not be constant. Some parts may have a relatively high spatial height, and some parts may have a relatively low spatial height. Therefore, when the device body travels the second preset distance, the first distance measuring sensor continuously measures multiple height measurement results, and the second distance measuring sensor is raised only when the multiple height measurement results are not lower than the limit threshold.

[0085] For example, when the second ranging sensor is in the raised state, the height of the upper surface of the second ranging sensor above the upper surface of the device body is approximately 2 to 2.5 cm, and the limit threshold may be 3 cm. The second ranging sensor is raised only when the multiple height measurement results measured by the first ranging sensor are not less than 3 cm.

[0086] The following is a specific case of determining whether the second distance measuring sensor is raised according to the height measurement result of the first distance measuring sensor when the second distance measuring sensor is in a descending state.

[0087] The upper surface of the second distance measuring sensor in the raised state is 2 cm higher than the upper surface of the device body, the limit threshold is 3 cm, and the safety threshold is 42 cm.

[0088] Case 1: The first height measurement result is 44cm, and multiple height measurement results are not less than 3cm. Then record or mark the current second position and raise the second distance measurement sensor.

[0089] Case 2: The first height measurement result is 44 cm, and at least one of the multiple height measurement results is lower than 42 cm. Then keep the second distance measuring sensor down.

[0090] The above specific situations are merely illustrative examples and are not intended to be limiting.

[0091] Figure 3FIG. 2 is a flow chart showing a lifting control method according to another embodiment of the present application. Figure 1 The appearance of the cleaning device shown in the figure, the lifting control method includes steps S301 to S314:

[0092] Step S301, determine the state of the second distance measuring sensor. If it is in the raised state, go to step S302; if it is in the lowered state, go to step S309.

[0093] Step S302, determine whether the first height measurement result of the first distance measuring sensor is lower than the limit threshold. If not, go to step S303; if yes, go to step S304.

[0094] Step S303: the second distance measuring sensor remains in the raised state.

[0095] Step S304, record or mark the current first position of the device body, and collect multiple height measurement results with the first distance measuring sensor while the device body continues to move forward half a body length. Go to step S305.

[0096] Step S305, determine whether the multiple height measurement results are not lower than the safety threshold. If yes, go to step S306; if not, go to step 307.

[0097] Step S306, cancel the record or mark of the current first position, and the second distance measuring sensor remains in the raised state. Go to step S308.

[0098] Step S307, lowering the second distance measuring sensor.

[0099] Step S308, determine whether the second distance measuring sensor triggers a collision. If not, go to step S303; if yes, go to step S307.

[0100] Step S309, determine whether the third height measurement result of the first distance measuring sensor is not lower than the safety threshold. If not, go to step S310; if yes, go to step S311.

[0101] Step S310: the second distance measuring sensor maintains a descending state.

[0102] Step S311, record or mark the current second position of the device body, and collect multiple height measurement results by the first distance measuring sensor when the device body continues to move forward by one body position. Go to step S312.

[0103] Step S312, determine whether the multiple height measurement results are not lower than the limit threshold. If yes, go to step S313; if not, go to step S314.

[0104] Step S313, raising the second distance measuring sensor.

[0105] Step S314, cancel the record or mark of the current second position, and the second distance measuring sensor remains in the descending state.

[0106] Figure 4 The structure diagram of a lifting control system according to an embodiment of the present application is shown. Figure 1 The appearance of the cleaning device shown in the figure includes: a device body, a first distance measuring sensor and a second distance measuring sensor which can be raised and lowered are arranged on the device body; in the forward direction of the device body, the first distance measuring sensor is located in front of the second distance measuring sensor; the system 400 includes:

[0107] An acquisition module 410 is used to acquire a state of the second ranging sensor, which state includes a raised state and a lowered state;

[0108] A descending strategy module 420, configured to determine a descending strategy of the second ranging sensor according to a height measurement result of the first ranging sensor when the second ranging sensor is in a raised state;

[0109] The lifting strategy module 430 is used to determine a lifting strategy of the second ranging sensor according to the height measurement result of the first ranging sensor when the second ranging sensor is in a descending state.

[0110] In some optional embodiments, in the above-mentioned system 400, the descent strategy module 420 further includes: a first position recording submodule, which records or marks the current first position of the device body when the first height measurement result of the first ranging sensor is lower than the limit threshold; a first preset distance monitoring submodule, which determines the descent strategy of the second ranging sensor according to the second height measurement result of the first ranging sensor while the device body continues to move forward the first preset distance, wherein the first preset distance is less than the distance from the front edge of the device body in the forward direction to the front edge of the second ranging sensor, and preferably is less than the distance between the first ranging sensor and the second ranging sensor.

[0111] In some optional embodiments, in the above-mentioned system 400, the first preset distance monitoring submodule further includes: an altitude measurement acquisition unit, in which the first ranging sensor acquires multiple altitude measurement results while the device body continues to move forward the first preset distance; a descent decision unit, in which if at least one altitude measurement result is lower than a safety threshold, the second ranging sensor is lowered; otherwise, the record or mark of the current first position is cancelled.

[0112] In some optional embodiments, in the above-mentioned system 400, the lifting strategy module 430 further includes: a second position recording submodule, which records or marks the current second position of the device body when the third height measurement result of the first ranging sensor is not lower than the safety threshold; a second preset distance monitoring submodule, which determines the lifting strategy of the second ranging sensor according to the fourth height measurement result of the first ranging sensor while the device body continues to move forward a second preset distance, wherein the second preset distance is greater than the distance between the first ranging sensor and the rear end edge of the second ranging sensor, and preferably greater than the distance from the frontmost edge of the device body in the moving direction to the rear end edge of the second ranging sensor.

[0113] In some optional embodiments, in the above-mentioned system 400, the second preset distance monitoring submodule further includes: a height measurement re-collection unit, in the process of the device body continuing to move forward the second preset distance, the first ranging sensor collects multiple height measurement results; a raising decision unit, if the multiple height measurement results are not lower than the limit threshold, the second ranging sensor is raised; otherwise, the record or mark of the current second position is cancelled.

[0114] It should be noted that the above-mentioned lifting control system 400 can implement the above-mentioned lifting control methods one by one, which will not be described in detail.

[0115] Figure 5 A schematic diagram of the structure of an electronic device according to an embodiment of the present application is shown. Figure 5 As shown, the internal structure of the electronic device may include a processor, a memory, a network interface, a display screen, and an input device connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, the functions or steps of the lifting control method are implemented.

[0116] In one embodiment, the electronic device provided by the present application includes a memory and a processor, the memory stores a database and a computer program that can be run on the processor, and the processor implements the following steps when executing the computer program:

[0117] Acquire the state of the second ranging sensor, which includes a raised state and a lowered state;

[0118] When the second ranging sensor is in a raised state, a descending strategy of the second ranging sensor is determined according to the height measurement result of the first ranging sensor;

[0119] When the second distance measuring sensor is in a descending state, a raising strategy of the second distance measuring sensor is determined according to the height measurement result of the first distance measuring sensor.

[0120] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0121] Acquire the state of the second ranging sensor, which includes a raised state and a lowered state;

[0122] When the second ranging sensor is in a raised state, a descending strategy of the second ranging sensor is determined according to the height measurement result of the first ranging sensor;

[0123] When the second distance measuring sensor is in a descending state, a raising strategy of the second distance measuring sensor is determined according to the height measurement result of the first distance measuring sensor.

[0124] It should be noted that the above functions or steps that can be implemented by the electronic device or computer-readable storage medium can refer to the relevant description in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0125] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0126] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0127] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A lifting control method, wherein a first distance measuring sensor and a second distance measuring sensor which can be lifted and lowered are arranged on a device body; in the forward direction of the device body, the first distance measuring sensor is located in front of the second distance measuring sensor; the method comprises: Acquire a state of the second ranging sensor, where the state includes a raised state and a lowered state; When the second ranging sensor is in a raised state, determining a descending strategy of the second ranging sensor according to a height measurement result of the first ranging sensor; When the second distance measuring sensor is in a descending state, a raising strategy of the second distance measuring sensor is determined according to the height measurement result of the first distance measuring sensor.

2. The lifting control method according to claim 1, characterized in that: When the second ranging sensor is in the raised state, determining a descending strategy of the second ranging sensor according to a height measurement result of the first ranging sensor comprises: When the first height measurement result of the first ranging sensor is lower than a limit threshold, recording or marking the current first position of the device body; When the device body continues to move forward the first preset distance, a descending strategy of the second ranging sensor is determined according to a second height measurement result of the first ranging sensor.

3. The lifting control method according to claim 2, characterized in that: The step of determining the descending strategy of the second ranging sensor according to the second height measurement result of the first ranging sensor while the device body continues to move forward the first preset distance comprises: When the device body continues to move forward by the first preset distance, the first distance measuring sensor collects a plurality of height measurement results; If at least one height measurement result is below a safety threshold, lowering the second ranging sensor; Otherwise, cancel the record or mark of the current first position.

4. The lifting control method according to claim 2 or 3, characterized in that: The first preset distance is smaller than the distance from the frontmost edge of the device body in the forward direction to the front end edge of the second ranging sensor, and preferably smaller than the distance between the first ranging sensor and the second ranging sensor.

5. The lifting control method according to claim 1, characterized in that: When the second ranging sensor is in a descending state, determining a raising strategy of the second ranging sensor according to a height measurement result of the first ranging sensor comprises: When the third height measurement result of the first distance measuring sensor is not lower than the safety threshold, recording or marking the current second position of the device body; When the device body continues to move forward a second preset distance, a lifting strategy of the second ranging sensor is determined according to a fourth height measurement result of the first ranging sensor.

6. The lifting control method according to claim 5, characterized in that: In the process of the device body continuing to move forward the second preset distance, determining the raising strategy of the second ranging sensor according to the fourth height measurement result of the first ranging sensor includes: When the device body continues to move forward by a second preset distance, the first distance measuring sensor collects a plurality of height measurement results; If the multiple height measurement results are not lower than the limit threshold, raising the second ranging sensor; Otherwise, the record or mark of the current second position is canceled.

7. The lifting control method according to claim 5 or 6, characterized in that: The second preset distance is greater than the distance between the first distance measuring sensor and the rear edge of the second distance measuring sensor, and preferably greater than the distance from the frontmost edge of the device body in the forward direction to the rear edge of the second distance measuring sensor.

8. A lifting control system, comprising: The device body is provided with a first distance measuring sensor and a second distance measuring sensor which can be raised and lowered; In the forward direction of the device body, the first distance measuring sensor is located in front of the second distance measuring sensor; The system further comprises: An acquisition module, used for acquiring a state of the second ranging sensor, where the state includes a raised state and a lowered state; a descending strategy module, configured to determine a descending strategy of the second ranging sensor according to a height measurement result of the first ranging sensor when the second ranging sensor is in a raised state; A lifting strategy module is used to determine a lifting strategy of the second ranging sensor according to a height measurement result of the first ranging sensor when the second ranging sensor is in a descending state.

9. The lifting control system according to claim 8, characterized in that: The descent strategy module further comprises: A first position recording submodule, when the first height measurement result of the first ranging sensor is lower than a limit threshold, records or marks the current first position of the device body; The first preset distance monitoring submodule determines a descending strategy of the second ranging sensor according to a second height measurement result of the first ranging sensor as the device body continues to move forward the first preset distance, wherein the first preset distance is smaller than a distance from the frontmost edge of the device body in the moving direction to a front end edge of the second ranging sensor, and preferably smaller than a distance between the first ranging sensor and the second ranging sensor.

10. The lifting control system according to claim 9, characterized in that: The first preset distance monitoring submodule further includes: A height measurement acquisition unit, wherein the first distance measuring sensor acquires a plurality of height measurement results during the process in which the device body continues to move forward by the first preset distance; The descent decision unit controls the second ranging sensor to descend if at least one height measurement result is lower than a safety threshold; otherwise, cancels the record or mark of the current first position.

11. The lifting control system according to claim 8, characterized in that: The lifting strategy module further includes: a second position recording submodule, for recording or marking a current second position of the device body when the third height measurement result of the first ranging sensor is not lower than a safety threshold; The second preset distance monitoring submodule determines the lifting strategy of the second ranging sensor according to the fourth height measurement result of the first ranging sensor while the device body continues to move forward the second preset distance, wherein the second preset distance is greater than the distance between the first ranging sensor and the rear end edge of the second ranging sensor, and preferably greater than the distance from the front edge in the moving direction of the device body to the rear end edge of the second ranging sensor.

12. The lifting control system according to claim 11, characterized in that: The second preset distance monitoring submodule further includes: a height measurement re-collection unit, wherein the first distance measuring sensor collects a plurality of height measurement results during the process in which the device body continues to move forward a second preset distance; The raising decision unit controls the second ranging sensor to be raised if the multiple height measurement results are not lower than the limit threshold; otherwise, cancels the record or mark of the current second position.

13. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the lifting control method according to any one of claims 1 to 7 are implemented.

14. A computer-readable storage medium storing a computer program, characterized in that: The computer program implements the steps of the lifting control method according to any one of claims 1 to 7 when instructed by a processor.

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