Control method and device of mobile robot, mobile robot, equipment and medium

Abstract

The embodiment of the invention discloses a control method and device of a mobile robot, the mobile robot, equipment and a medium, the mobile robot comprises a machine body and a distance measuring assembly arranged at the top end of the machine body in a liftable mode, firstly, the mobile robot is controlled to be started at an initial position in a first state that the distance measuring assembly descends; the mobile robot is controlled to acquire the distance between the mobile robot and the obstacle above the mobile robot at the initial position, finally, based on the distance, whether the distance measuring assembly is switched to the second state or not is controlled, and in the second state, the distance measuring assembly ascends. In this way, the risk that hardware related to the distance measuring assembly is damaged when the mobile robot is started in a low area can be reduced; and lifting of the distance measuring assembly can be controlled more intelligently when the mobile robot is started so as to better adapt to the environment where the mobile robot is located when the mobile robot is started, and hardware safety and working performance are improved.

Description

Technical Field

[0001] The present application relates to, but is not limited to, the field of mobile robots, and in particular to a control method, device, mobile robot, equipment, and medium for a mobile robot. Background Art

[0002] With the rapid development of technology, mobile robots are becoming increasingly widely used. Some mobile robots feature a retractable ranging component on top of their bodies, which is used to detect their surroundings while in motion. However, when raised, this ranging component protrudes from the top of the body, making it prone to collisions with obstacles. This poses a risk of hardware damage and can affect the mobile robot's performance. Summary of the Invention

[0003] In view of this, the embodiments of the present application provide at least a control method, apparatus, mobile robot, equipment, and medium for a mobile robot.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] An embodiment of the present application provides a control method for a mobile robot, wherein the mobile robot includes a body and a ranging component that is liftably disposed on a top of the body. The method includes:

[0006] Controlling the mobile robot to start in a first state at an initial position; in the first state, the ranging component descends;

[0007] Controlling the mobile robot to obtain the distance between the mobile robot and an upper obstacle at the initial position;

[0008] Based on the distance, the distance measuring component is controlled to switch to a second state, in which the distance measuring component rises.

[0009] An embodiment of the present application provides a control device for a mobile robot, the mobile robot comprising a body and a ranging component detachably disposed on a top of the body, the device comprising:

[0010] A first control module is configured to control the mobile robot to start in a first state at an initial position; in the first state, the distance measuring component descends;

[0011] A second control module is used to control the mobile robot to obtain the distance between the mobile robot and the upper obstacle at the initial position;

[0012] The third control module is configured to control whether the distance measuring component switches to a second state based on the distance, and in the second state, the distance measuring component rises.

[0013] An embodiment of the present application provides a mobile robot, comprising:

[0014] A fuselage, a distance measuring component liftably disposed on the top of the fuselage, and a controller;

[0015] The controller is used to implement part or all of the steps in the above method.

[0016] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0017] An embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements some or all of the steps in the above method when executed by a processor.

[0018] An embodiment of the present application provides a computer program, including computer-readable code. When the computer-readable code is executed in a computer device, a processor in the display device executes some or all of the steps for implementing the above method.

[0019] An embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements some or all of the steps in the above method.

[0020] In an embodiment of the present application, a mobile robot includes a body and a ranging component that is liftable and disposed at the top of the body. First, the mobile robot is controlled to start at an initial position with the ranging component in a first state in which the ranging component is lowered. Then, the mobile robot is controlled to obtain the distance between the mobile robot and an obstacle above it at the initial position. Finally, based on the distance, the ranging component is controlled to switch to a second state, in which the ranging component is raised. In this way, on the one hand, by controlling the mobile robot to start at an initial position with the ranging component in the first state in which the ranging component is lowered, the risk of hardware related to the ranging component being damaged by collision with obstacles when the mobile robot is started in a low area can be reduced. On the other hand, based on the distance between the mobile robot at the initial position and the obstacle above, the raising and lowering of the ranging component when the mobile robot is started can be more intelligently controlled to better adapt to the environment in which the mobile robot is located when it starts, thereby improving the hardware safety and working performance of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1A A schematic diagram of the structure of a mobile robot provided in an embodiment of the present application;

[0022] Figure 1B A schematic diagram of an implementation flow of a control method for a mobile robot provided in an embodiment of the present application;

[0023] Figure 1C A schematic diagram of the structure of a mobile robot provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of an implementation flow of a control method for a mobile robot provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of the structure of a control device for a mobile robot provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of the structure of a mobile robot provided in an embodiment of the present application;

[0027] Figure 5 A hardware entity diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions of this application are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting this application. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0029] In the following description, references to "some embodiments" describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the specific order or sequence of "first / second / third" may be interchanged where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing this application only and are not intended to limit this application.

[0031] In order to better understand the solution of the embodiment of the present application, the control solution of the mobile robot in the related art is first described below.

[0032] In the related art, for mobile robots equipped with a liftable ranging component, the ranging component is typically automatically raised upon startup to detect the surrounding environment. However, the mobile robot may be in a low area during startup, in which case the automatically raised ranging component may not rise, potentially damaging the ranging component itself or its lifting mechanism. Even if the ranging component does rise in a low area during startup, this inadequate rise may affect the mobile robot's subsequent positioning using the ranging component.

[0033] In the embodiments of this application, a mobile robot refers to a robot that can move autonomously. For example, a mobile robot may include, but is not limited to, at least one of a cleaning robot (such as a sweeper, scrubber, mop, or all-in-one washer and mop), a guide robot, and a service robot. During implementation, the composition and structure of the mobile robot may be determined based on actual circumstances, and this embodiment of the application does not limit this.

[0034] Figure 1A A schematic diagram of the structure of a mobile robot provided in an embodiment of the present application is shown in FIG. Figure 1A As shown, the mobile robot 10 includes a body 11 and a ranging component 12 that can be raised and lowered on the top of the body 11. The ranging component 12 may include but is not limited to at least one of a laser ranging component, an infrared ranging component, a visual ranging component, and the like.

[0035] On this basis, embodiments of the present application provide a method for controlling a mobile robot, which can be executed by a processor of a computer device. The computer device may refer to a mobile robot, server, laptop computer, tablet computer, desktop computer, smart TV, set-top box, mobile device (e.g., mobile phone, portable video player, personal digital assistant, dedicated messaging device, portable gaming device), or other device with data processing capabilities.

[0036] Figure 1B A schematic diagram of the implementation flow of a control method for a mobile robot provided in an embodiment of the present application is shown in FIG. Figure 1B As shown, the method includes the following steps S101 to S103:

[0037] Step S101 , controlling the mobile robot to start in a first state at an initial position; in the first state, the distance measuring component descends.

[0038] Here, the initial position refers to the position of the mobile robot when it is started. For example, the initial position can be a position in an open area or a position in a low area.

[0039] An open area refers to an area where obstacles above the mobile robot are relatively far away, such as an open space in a room, the area under a high stool, or an open lawn outdoors. Open areas typically provide ample space for raising the mobile robot's ranging component, increasing the likelihood that the ranging component's hardware will not be damaged by collisions with obstacles when raising the ranging component in open areas.

[0040] Low areas are areas where obstacles above the mobile robot are relatively close, such as areas under beds and the base of low coffee tables. In low areas, there's usually insufficient space to raise the mobile robot's ranging component. Therefore, raising the ranging component in low areas is more likely to cause collision with obstacles and damage the ranging component's hardware.

[0041] It is understood that before the mobile robot starts, the environment of its initial location is unknown. This means that the mobile robot may start in an open area or a low-lying area. By controlling the mobile robot to start in the first state with the ranging component lowered at its initial location, the risk of hardware related to the ranging component being damaged by collision with obstacles when the mobile robot starts in a low-lying area can be reduced.

[0042] Step S102 : Control the mobile robot to obtain the distance between the mobile robot and an upper obstacle at the initial position.

[0043] Here, the mobile robot can use any appropriate method to obtain the distance between the robot and the obstacle above according to the actual application scenario, and the embodiments of the present application are not limited to this.

[0044] In some embodiments, the distance is the height value of at least one first sampling point collected by the mobile robot within the detection area where the initial position is located. For example, the average of the height values of the first sampling points can be used as the distance between the mobile robot at the initial position and the upper obstacle. For another example, the mode of the height values of the first sampling points can be used as the distance between the mobile robot at the initial position and the upper obstacle. For another example, the minimum of the height values of the first sampling points can be used as the distance between the mobile robot at the initial position and the upper obstacle.

[0045] In some embodiments, the height value is the distance between the top of the fuselage and an upper obstacle at the first sampling point.

[0046] Here, the detection area where the initial position is located can be the surrounding area of the initial position, and the mobile robot can be controlled to collect the height value of at least one first sampling point in the detection area where the initial position is located to detect whether the mobile robot is currently suitable for raising the ranging component.

[0047] During implementation, the detection area for the initial position can be determined by those skilled in the art based on actual circumstances, and the embodiments of the present application do not limit this. For example, the detection area for the initial position can be the area occupied by the mobile robot at the initial position. For another example, the detection area for the initial position can be a circular area with the initial position as the center and a preset distance as the radius. The preset distance can be set based on actual circumstances and is not limited here. For example, the preset distance can be the length of the fuselage, or half the length of the fuselage, etc.

[0048] In some implementations, a distance measurement component may be used to perform upward distance measurement at each first sampling point to obtain a height value of each first sampling point.

[0049] In some implementations, an upward ranging component independent of the ranging component may be used to perform upward ranging at each first sampling point to obtain a height value of each first sampling point.

[0050] Step S103: Based on the distance, control the distance measuring component to switch to a second state, in which the distance measuring component rises.

[0051] It can be understood that based on the distance between the mobile robot and the obstacle above, it can be determined whether there is enough space above the current mobile robot to facilitate the raising of the ranging component of the mobile robot, thereby determining whether the current mobile robot is suitable for switching to the second state.

[0052] During implementation, those skilled in the art may use any appropriate method to determine whether the current mobile robot switches to the second state based on the height value of at least one first sampling point according to actual circumstances, and the embodiments of the present application are not limited to this.

[0053] In some embodiments, if the distance between the mobile robot and an overhead obstacle is greater than a distance threshold, the ranging component can be controlled to switch to the second state. If the distance between the mobile robot and the overhead obstacle is less than or equal to the distance threshold, the mobile robot can be controlled to remain in the first state and not switch to the second state. The distance threshold can be set based on actual circumstances and is not limited here. For example, the distance threshold can be greater than the height of the ranging component protruding from the body when raised.

[0054] In some embodiments, when the distance is the height value of at least one first sampling point collected by the mobile robot within the detection area where the initial position is located, the mobile robot may be controlled to collect the height values of multiple first sampling points within the detection area where the initial position is located, and based on the height values of the multiple first sampling points, the mobile robot may be controlled to perform the task in a target state. The target state may include a first state or a second state.

[0055] In some embodiments, when the distance between the mobile robot and an overhead obstacle determines that the range-measuring component to be controlled switches to the second state, a target elevation height of the range-measuring component can be determined based on the height value of at least one first sampling point, and the range-measuring component can be controlled to rise to the target elevation height. For example, the target elevation height of the range-measuring component can be determined based on the minimum value of the height values of the first sampling points, such that the target elevation height does not exceed the minimum value.

[0056] In some embodiments, when the distance is the height value of at least one first sampling point collected by the mobile robot within the detection area where the initial position is located, the mobile robot can be controlled to perform the task in the second state with the ranging component raised if the height values of each first sampling point are greater than a height threshold; and when the height value of at least one first sampling point is less than or equal to the height threshold, the mobile robot can be controlled to perform the task in the first state with the ranging component lowered. The height threshold can be set based on actual circumstances and is not limited here. For example, the height threshold can be greater than the height of the ranging component protruding from the body after being raised. The height threshold can be equal to or different from the distance threshold.

[0057] In an embodiment of the present application, a mobile robot includes a body and a ranging component that is liftable and disposed at the top of the body. First, the mobile robot is controlled to start at an initial position in a first state with the ranging component lowered. Then, the mobile robot is controlled to obtain the distance between the mobile robot and an obstacle above it at the initial position. Finally, based on the distance, the ranging component is controlled to switch to a second state, in which the ranging component is raised. In this way, on the one hand, by controlling the mobile robot to start at an initial position in the first state with the ranging component lowered, the risk of hardware related to the ranging component being damaged by collision with obstacles when the mobile robot starts in a low area can be reduced. On the other hand, based on the distance between the mobile robot at the initial position and the obstacle above, the raising and lowering of the ranging component when the mobile robot starts can be more intelligently controlled to better adapt to the environment in which the mobile robot is located when starting, thereby improving the hardware safety and working performance of the mobile robot.

[0058] In some embodiments, see Figure 1C The mobile robot 10 further includes an upward ranging component 13 disposed at the top of the body 11 .

[0059] The above step S102 may include the following step S111:

[0060] Step S111 : controlling the mobile robot to move so as to drive the upward ranging component to move within the detection area where the initial position is located, and obtaining height values of a plurality of first sampling points collected by the upward ranging component during the movement.

[0061] Here, the upward ranging component may include but is not limited to at least one of an infrared ranging component, a direct time-of-flight (dTof) ranging component, etc. The upward ranging component can be set at any suitable position on the top of the fuselage, and the embodiment of the present application is not limited to this.

[0062] The mobile robot can drive the upward ranging component to move in the detection area where the initial position is located in any suitable manner. For example, the mobile robot can be controlled to rotate in place, move in a circle and / or move in a straight line to drive the upward ranging component to move and measure distance.

[0063] In some embodiments, the upward ranging component can be set at a position near the top of the fuselage. In this way, by controlling the mobile robot to rotate in place, the distance between the two farthest first sampling points can be close to the length of the fuselage.

[0064] In some embodiments, the upward ranging component is positioned at the center of the top of the robot body, and controls the mobile robot to move in a circular or linear manner so that the distance between the two farthest first sampling points approximates the length of the robot body. For example, the mobile robot can be controlled to move in a straight line a distance of one robot body length, or it can be controlled to move in a circular manner with a radius of half the robot body length.

[0065] In the above embodiment, by controlling the movement of the mobile robot to drive the upward ranging component disposed on the top of the body to move and measure distance within the detection area where the initial position is located, the height values of multiple first sampling points can be collected simply and quickly.

[0066] In some embodiments, the upward ranging component is disposed at a non-central position on the top of the fuselage.

[0067] The above step S111 may include the following step S121:

[0068] Step S121 : controlling the mobile robot to rotate in situ to drive the upward ranging component to move within the detection area where the initial position is located.

[0069] Because the upward ranging component is located at a non-central position on the top of the mobile robot, the upward ranging component can be driven to rotate around the center of the mobile robot during its rotation. This allows for rapid acquisition of height values at multiple first sampling points, reduces the displacement of the mobile robot, and simplifies the positioning control logic of the mobile robot.

[0070] In some implementations, the mobile robot can be controlled to rotate in place to drive the upward ranging component to move within the detection area at the initial position. This allows the mobile robot's position to remain unchanged after collecting the height values at each first sampling point, further simplifying the mobile robot's positioning control logic.

[0071] In some embodiments, a horizontal outward opening is provided at the top of the fuselage, and the opening is used to emit or receive laser light after the ranging assembly descends.

[0072] When the target state is the first state, the above method may further include the following step S131:

[0073] Step S131: in the first state, controlling the distance measuring component to perform laser distance measurement through the opening.

[0074] Here, a horizontal outward opening is provided at the top of the fuselage. The size and position of the opening can be determined by those skilled in the art based on actual conditions and are not limited in this embodiment of the present application. For example, the opening can be provided in front of, behind, and / or on the side of the ranging assembly lifting cavity.

[0075] In some embodiments, the distance measuring component includes a laser distance measuring component, which can perform laser distance measurement through the opening.

[0076] In the above embodiment, since the ranging component can emit and receive lasers through the horizontal outward opening set at the top of the fuselage after it is lowered, the mobile robot can control the ranging component to explore the surrounding environment through the opening in the first state, thereby improving the positioning accuracy of the mobile robot in the process of performing tasks in the first state with the ranging component lowered.

[0077] In some embodiments, the above method further includes the following steps S141 to S142:

[0078] Step S141, in the process of controlling the mobile robot to switch from the first state to the second state, in response to detecting that the ranging component fails to rise, controlling the mobile robot to switch back to the first state;

[0079] Step S142, when the mobile robot moves to the third detection point, control the mobile robot to switch from the first state to the second state, the third detection point is the position reached by the mobile robot after continuing to move the first target distance after switching back to the first state for the last time, or the height value of the third detection point is greater than the height threshold.

[0080] Here, after detecting that the ranging component fails to rise, the mobile robot can be controlled to switch back to the first state and continue to perform the task in the first state. When the mobile robot reaches the third detection point, the mobile robot is controlled to switch from the first state to the second state again.

[0081] The first target distance and the height threshold can both be set according to actual conditions, and the embodiments of the present application are not limited to this.

[0082] In the above embodiment, since the third detection point is the position reached by the mobile robot after continuing to move the first target distance after switching back to the first state for the last time, or the height value of the third detection point is greater than the height threshold, the third detection point may no longer be in a low area. When the mobile robot moves to the third detection point, the ranging component can be tried to be raised by controlling the mobile robot to switch from the first state to the second state, so as to increase the exploration range of the ranging component and improve the positioning accuracy of the mobile robot.

[0083] In some embodiments, when the mobile robot moves to the third detection point, after controlling the mobile robot to switch from the first state to the second state, the method may further include the following steps S151 to S153:

[0084] Step S151: In response to detecting that the ranging component fails to rise, controlling the mobile robot to switch back to the first state.

[0085] Step S152: When the number of times the ranging component fails to rise does not exceed a third number threshold, detecting whether the mobile robot moves to the next third detection point.

[0086] Step S153 : When the mobile robot moves to the next third detection point, control the mobile robot to switch from the first state to the second state.

[0087] Here, the third number threshold can be set according to actual conditions, and the embodiments of the present application are not limited to this.

[0088] In some embodiments, if each time the ranging component fails to be raised at the third detection point and the number of times the ranging component fails to be raised does not exceed the third number threshold, the mobile robot can continue to be detected whether it moves to the next third detection point, and at the next third detection point, the mobile robot can be controlled again to switch from the first state to the second state to try to raise the ranging component again until the ranging component is successfully raised or the number of times the ranging component fails to be raised exceeds the third number threshold.

[0089] In the above embodiment, on the one hand, when it is detected that the ranging component fails to rise, the mobile robot is controlled to switch back to the first state, which can reduce damage to the hardware related to the ranging component; on the other hand, when the mobile robot moves to the next third detection point, the mobile robot is controlled to switch from the first state to the second state to try to raise the ranging component again. This can increase the probability of the ranging component being successfully raised during the mobile robot's task execution, thereby improving the accuracy of the mobile robot's positioning.

[0090] In some embodiments, the above method may further include the following steps S161 to S162:

[0091] Step S161: In response to detecting that the mobile robot successfully switches from the first state to the second state, controlling the ranging component to collect a point cloud of the surrounding environment of the mobile robot.

[0092] In some embodiments, the ranging component includes a laser ranging component, which can emit a laser beam to the surrounding environment. When the laser beam encounters an obstacle, it will immediately reflect back and be received by the laser ranging sensor in the laser ranging component. By measuring the time difference between laser emission and reception, the distance between the mobile robot and the obstacle can be calculated, thereby collecting a point cloud of the environment around the mobile robot.

[0093] In some embodiments, after the mobile robot successfully switches from the first state to the second state, the ranging component rises to a raised state, and the ranging component can be controlled to rotate 360 degrees to collect a point cloud of the environment within a 360-degree range around the mobile robot.

[0094] Step S162, when the point cloud of the mobile robot's surrounding environment meets the target condition, control the mobile robot to switch back to the first state; the target condition includes that the distance between the point cloud exceeding the target proportion in the point cloud of the mobile robot's surrounding environment and the mobile robot is less than a second distance threshold.

[0095] Here, the target ratio and the second distance threshold can be set according to actual conditions, and the embodiments of the present application are not limited to this.

[0096] It can be understood that when the distance between the point cloud that exceeds the target proportion in the point cloud of the mobile robot's surrounding environment and the mobile robot is less than the second distance threshold, it can be considered that the ranging component has difficulty in detecting the distant wall environment and can only detect low obstacles on the top. Therefore, in this case, the mobile robot is more likely to be in a low area. By controlling the mobile robot to switch back to the first state, the risk of damage to the hardware related to the ranging component can be reduced.

[0097] In some embodiments, the above method may further include the following step S171:

[0098] Step S171, in response to detecting that the mobile robot triggers a top cover collision event of the ranging component within a target time window, controlling the mobile robot to switch back to the first state; the target time window has a target length and starts at the moment when the mobile robot successfully switches to the second state.

[0099] In some embodiments, a bumper can be provided below the top cover of the ranging assembly to detect whether the top cover is impacted by a horizontal external force. If the top cover of the ranging assembly is impacted by a horizontal external force, the bumper is triggered, generating a top cover collision event. The embodiment of the present application does not limit the type of bumper. For example, the bumper can include a micro switch.

[0100] The target length can be set according to actual conditions, and the embodiments of the present application do not limit this.

[0101] Because the target time window has a target length and begins at the moment the mobile robot successfully switches to the second state, if the mobile robot triggers a roof collision event for the ranging component within the target time window, it can be assumed that the roof collision event was triggered immediately or soon after the mobile robot raised the ranging component and moved forward. In other words, although the ranging component was successfully raised, it still touched an obstacle above it. In this case, the mobile robot is likely in a low area. By controlling the mobile robot to switch back to the first state, the risk of damage to the ranging component's related hardware can be reduced.

[0102] The present application provides a control method for a mobile robot, which can be executed by a processor of a computer device. The mobile robot includes a body and a ranging component that can be lifted and lowered and arranged on the top of the body. Figure 2 As shown, the method includes the following steps S201 to S203:

[0103] Step S201 , controlling the mobile robot to start in a first state at an initial position; in the first state, the distance measuring component descends.

[0104] Step S202 : Control the mobile robot to obtain the distance between the mobile robot and an upper obstacle at the initial position.

[0105] Here, steps S201 to S202 may respectively correspond to steps S101 to S102 in the aforementioned embodiment, and the implementation may refer to the aforementioned implementation of steps S101 to S102.

[0106] The distance is a height value of at least one first sampling point collected by the mobile robot within the detection area where the initial position is located.

[0107] Step S203: Based on the distance, control the distance measuring component to switch to a second state, in which the distance measuring component rises.

[0108] The above step S203 includes at least one of the following steps S211 to S212:

[0109] Step S211: When the height values of the first sampling points are all higher than the height threshold, control the distance measurement component to switch to the second state.

[0110] It can be understood that when the height values of each first sampling point are higher than the height threshold, it can be considered that the current position of the mobile robot is far away from the obstacle above, and the possibility of the mobile robot being in a low area is small, so the mobile robot is controlled to switch to the second state, so that the robot can perform the task with the ranging component raised, which can improve the accuracy of the mobile robot's positioning, and the risk of damage to the hardware related to the ranging component is small.

[0111] Step S212: When the height value of at least one of the first sampling points is less than or equal to the height threshold, a target detection point is selected from the current scene, the mobile robot is controlled to move the target detection point in the first state, and the height value of at least one second sampling point is collected within the detection area where the target detection point is located. Based on the height value of the at least one second sampling point, control whether the ranging component is switched to the second state.

[0112] The target detection point can be any suitable point different from the initial position selected from the current scene, and the embodiment of the present application is not limited to this.

[0113] The detection area where the target detection point is located can be the surrounding area of the target detection point. The mobile robot can be controlled to collect the height value of at least one second sampling point within the detection area where the target detection point is located to detect whether the mobile robot is currently suitable for raising the ranging component.

[0114] During implementation, the detection area where the target detection point is located can be determined by those skilled in the art based on actual circumstances, and the embodiments of the present application do not limit this. For example, the detection area where the target detection point is located can be the area occupied by the mobile robot at the target detection point. For another example, the detection area where the target detection point is located can be a circular area with the target detection point as the center and a preset distance as the radius.

[0115] It is understood that if the height value of at least one first sampling point is less than or equal to the height threshold, it can be considered that there is a close obstacle above the mobile robot's current location, and the mobile robot is likely in a low-lying area, making it unsuitable to raise the ranging component. In this case, by selecting a target detection point from the current scene, controlling the mobile robot to maintain the first state in which the ranging component is lowered to move the target detection point, and collecting the height value of at least one second sampling point within the detection area where the target detection point is located, and based on the height value of the at least one second sampling point, controlling the mobile robot to perform the task in the first state or the second state, on the one hand, by controlling the mobile robot to maintain the first state in which the ranging component is lowered to move the target detection point, the risk of hardware related to the ranging component being damaged by collision with an obstacle when the mobile robot is started in a low-lying area can be reduced. On the other hand, based on the height value of the at least one second sampling point within the detection area where the target detection point is located, the raising and lowering of the ranging component in the mobile robot can be more intelligently controlled to better adapt to the environment where the target detection point is located, thereby improving the hardware safety and performance of the mobile robot.

[0116] In some embodiments, the target detection point includes a first detection point. The step S212 of selecting a target detection point from the current scene may include the following steps S221 to S223:

[0117] Step S221 : if there is a historical altimetry map of the mobile robot in the current scene, obtain the historical altimetry map, where the historical altimetry map includes a plurality of historical sampling points in the current scene and a historical height value of each historical sampling point.

[0118] Step S222: determining a historical open area from the current environment based on the historical altimetry map; the historical altitude values of each historical sampling point in the historical open area are all higher than the altitude threshold, and the area of the historical open area is greater than the area threshold.

[0119] Here, the area threshold can be set according to actual conditions, and the embodiments of the present application do not limit this.

[0120] Step S223: Select a first detection point from the historical open area.

[0121] In the above embodiment, since the first detection point is selected from the historical open area, it can be considered that the first detection point is likely to be an open area at present. Using the first detection point as the target detection point to detect whether the mobile robot is suitable for lifting the ranging component can increase the probability of determining that the ranging component is suitable for lifting, so that the mobile robot has a greater probability of performing the task in the second state when the risk of hardware damage is relatively low, thereby improving the accuracy of the mobile robot's positioning.

[0122] In some embodiments, controlling whether the ranging component switches to the second state based on the height value of the at least one second sampling point in step S212 may include at least one of the following steps S231 to S232:

[0123] Step S231: When the height values of the second sampling points are all higher than the height threshold, control the distance measurement component to switch to the second state.

[0124] In this way, the accuracy of mobile robot positioning can be improved, and the risk of damage to hardware related to the ranging component is reduced.

[0125] Step S232: When the height value of at least one second sampling point is less than or equal to the height threshold, select the next first detection point from the current scene, control the mobile robot to move the next first detection point in the first state, and collect the height value of at least one new second sampling point within the next detection area where the next first detection point is located. Based on the height value of the at least one new second sampling point, control whether the ranging component switches to the second state.

[0126] In this way, on the one hand, when the height value of at least one second sampling point is less than or equal to the height threshold, the mobile robot is controlled to move to the next first detection point in the first state, which can reduce the damage to the hardware related to the ranging component; on the other hand, when the mobile robot moves to the next first detection point, based on the height value of at least one new second sampling point, the mobile robot is controlled to switch to the second state, and the ranging component can be tried again to be raised. In this way, the mobile robot has a greater probability of performing the task in the second state with a lower risk of hardware damage, thereby improving the accuracy of the mobile robot's positioning.

[0127] In some embodiments, when the height value of at least one of the second sampling points is less than or equal to the height threshold, the method may further include the following step S241:

[0128] Step S241: When there is no new first detection point in the current scene or the first number of times the first detection point is currently selected reaches a first number threshold, control the distance measurement component to switch to the second state.

[0129] The first number threshold can be set according to actual conditions, and the embodiments of the present application are not limited to this.

[0130] In this way, when there is no new first detection point in the current scene, or the first number of times the first detection point is currently selected reaches the first number threshold, the positioning accuracy of the mobile robot can be improved by controlling the mobile robot to switch to the second state and trying to raise the ranging component.

[0131] In some embodiments, the target detection point includes a second detection point. The step S212 of selecting the target detection point from the current scene may include the following step S251:

[0132] Step S251: In the absence of a historical altimetry map of the mobile robot in the current scene, a second detection point is selected from the current scene, and the distance between the second detection point and the current position of the mobile robot is a first distance threshold; the historical altimetry map includes multiple historical sampling points in the current scene and the historical height value of each historical sampling point.

[0133] Here, the first distance threshold can be set according to actual conditions, and the embodiments of the present application are not limited to this.

[0134] In the above embodiment, since the distance between the second detection point and the current position of the mobile robot is the first distance threshold, it can be considered that the second detection point is more likely to have left the low area. Using the second detection point as the target detection point to detect whether the mobile robot is suitable for raising the ranging component can increase the probability of determining that the ranging component is suitable for raising, so that the mobile robot has a greater probability of performing the task in the second state when the risk of hardware damage is relatively low, thereby improving the accuracy of the mobile robot's positioning.

[0135] In some embodiments, controlling whether the ranging component switches to the second state based on the height value of the at least one second sampling point in step S212 may include at least one of the following steps S261 to S262:

[0136] Step S261: When the height values of the second sampling points are all higher than the height threshold, control the distance measurement component to switch to the second state.

[0137] In this way, the accuracy of mobile robot positioning can be improved, and the risk of damage to hardware related to the ranging component is reduced.

[0138] Step S262: When the height value of at least one of the second sampling points is less than or equal to the height threshold, select the next second detection point from the current scene, control the mobile robot to move to the next second detection point in the first state, and collect the height value of at least one new second sampling point in the next detection area where the next second detection point is located. Based on the height value of the at least one new second sampling point, control whether the ranging component switches to the second state.

[0139] In this way, on the one hand, when the height value of at least one second sampling point is less than or equal to the height threshold, the mobile robot is controlled to move to the next second detection point in the first state, which can reduce the damage to the hardware related to the ranging component; on the other hand, when the mobile robot moves to the next second detection point, based on the height value of at least one new second sampling point, the mobile robot is controlled to switch to the second state, and the ranging component can be tried again to be raised. In this way, the mobile robot has a greater probability of performing the task in the second state with a lower risk of hardware damage, thereby improving the accuracy of the mobile robot's positioning.

[0140] In some embodiments, when the height value of at least one of the second sampling points is less than or equal to the height threshold, the method may further include the following step S271:

[0141] Step S271: When the second number of times the second detection point is currently selected reaches a second number threshold, control the distance measurement component to switch to the second state.

[0142] The second number threshold can be set according to actual conditions, and the embodiment of the present application does not limit this.

[0143] In this way, when the second number of times the second detection point is currently selected reaches the second number threshold, the positioning accuracy of the mobile robot can be improved by controlling the mobile robot to switch to the second state to try to raise the ranging component.

[0144] The following describes the application of the control method of the mobile robot provided in the embodiment of the present application in actual scenarios, taking the lifting control strategy of the laser distance sensor (LDS) in the scenario of starting a sweeper in a low area as an example.

[0145] When the sweeper is started, it may be in any place, that is, it may be in a low area. If the LDS is raised in a low area, it may not rise, damaging the lifting structure. Even if it is raised, it may affect the positioning effect of the machine.

[0146] The present invention provides a control method for a mobile robot that can implement a lifting control strategy for the LDS when starting a sweeper in a low area, thereby reducing the risk of accidentally lifting the LDS, causing damage to the LDS lifting structure, and interfering with the machine's positioning. The control method implements the following LDS lifting control strategy:

[0147] 1) When the LDS of the sweeper is lowered, start the sweeper and control it to rotate one circle in place. Check the ranging result of the single-point upward ranging component (such as the upward dTof component), and record the height measurement value of the upward ranging component during this circle (that is, the height value in the aforementioned embodiment). If the height measurement values are not all higher than the preset height A (corresponding to the height threshold in the aforementioned embodiment), it is not allowed to directly raise the LDS.

[0148] 2) Check whether there is a historical altimetry map. If there is a historical altimetry map, select a point in a historical open area on the historical altimetry map as the target detection point P (corresponding to the first detection point in the aforementioned embodiment). Then control the sweeper to move to P, and then rotate one circle, and record the altimetry value of the upward ranging component during this circle. If the altimetry values in the historical open area are not all higher than the preset height A, then look for a new historical open area. If there is no new historical open area or the number of attempts exceeds the preset number T1 (corresponding to the first number threshold in the aforementioned embodiment), then raise the LDS to continue the cleaning task.

[0149] The historical altimetry map is made up of historical altimetry results of at least one of the upward dTof component, the vertical line laser component, and the area array light component. The altimetry results of each location are recorded on the map.

[0150] The historical open area is an area where the height values of all historical sampling points are higher than a preset height A and the area is larger than a preset size B (corresponding to the area threshold in the above embodiment).

[0151] Each time a new historical open area is found, if it is detected that not all the height values in the historical open area are higher than the preset height A, the next attempt is made until the number of attempts exceeds the preset number T1.

[0152] 3) If there is no historical altitude map, find a location (corresponding to the second detection point in the aforementioned embodiment) that is greater than a preset distance S1 (corresponding to the first distance threshold in the aforementioned embodiment) from the current location of the sweeper, walk to this location and rotate one circle, recording the altitude values measured by the upward ranging component during this circle. If the altitude values are not all higher than the preset height A, find a new detection location. If the number of attempts exceeds the preset number T2 (corresponding to the second number threshold in the aforementioned embodiment), raise the LDS.

[0153] 4) During the process of raising the LDS, if the LDS cannot be raised to the correct position, it is considered that the current height is insufficient for the LDS to be raised, so the LDS is controlled to be lowered, and the cleaning task is performed in the lowered state. When the LDS travels more than the preset distance S2 (corresponding to the first target distance in the aforementioned embodiment) or reaches the point where the distance measured by the single-point upward ranging component exceeds the preset height A, another attempt is made to raise the LDS. When raising the LDS, it is checked whether it can be raised to the correct position. If it cannot be raised to the correct position, the LDS is lowered and then tried again at the next attempt point (the point reached after walking more than the preset distance S2 from the previous attempt point, or the point where the distance measured by the single-point upward ranging component exceeds the preset height A the next time). The maximum number of attempts is T3 (corresponding to the third number threshold in the aforementioned embodiment). After reaching the preset number of attempts T1, the cleaning is performed with the LDS lowered.

[0154] 5) After the LDS is raised, if the point cloud obtained by the LDS meets the characteristics of the low area, that is, the distances of the points in the LDS point cloud that exceed the preset ratio R (corresponding to the target ratio in the aforementioned embodiment) are all within the preset distance S3 (corresponding to the second distance threshold in the aforementioned embodiment), then it is considered that the LDS cannot detect the distant wall environment and can only detect the low area on the top; or if the sweeper triggers the LDS top cover Bumper (i.e., the top cover collision event) immediately after the LDS is raised and moves forward, then it is considered that the LDS has hit the low area after being raised. In these cases, the LDS is controlled to be lowered, and the cleaning task is performed in the lowered state. When the walking distance exceeds the preset distance S3 or the distance measured by the single-point upward ranging component exceeds the preset height A, the LDS is tried to be raised again. After lifting, the LDS point cloud features are checked to see if they meet the low area features. If they meet the requirements, the LDS is lowered and tried again at the next trial point, with a maximum of a preset number of attempts, T4. After the preset number of attempts is reached, the cleaning is performed with the LDS lowered.

[0155] An embodiment of the present application provides a control device for a mobile robot, wherein the mobile robot includes a body and a ranging component that can be raised and lowered and disposed on the top of the body.

[0156] Figure 3 A schematic diagram of the structure of a control device for a mobile robot provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the control device 300 of the mobile robot includes: a first control module 310, a second control module 320 and a third control module 330, wherein:

[0157] A first control module 310 is configured to control the mobile robot to start in a first state at an initial position; in the first state, the distance measuring component descends;

[0158] A second control module 320 is configured to control the mobile robot to obtain the distance between the mobile robot and an upper obstacle at the initial position;

[0159] The third control module 330 is configured to control the distance measuring component to switch to a second state based on the distance. In the second state, the distance measuring component rises.

[0160] In some embodiments, the distance is a height value of at least one first sampling point collected by the mobile robot within the detection area where the initial position is located.

[0161] In some embodiments, the height value is the distance between the top of the fuselage and an upper obstacle at the first sampling point.

[0162] In some embodiments, the mobile robot also includes an upward ranging component arranged at the top of the fuselage; the second control module is also used to: control the movement of the mobile robot to drive the upward ranging component to move within the detection area where the initial position is located, and obtain the height values of multiple first sampling points collected by the upward ranging component during the movement.

[0163] In some embodiments, the upward ranging component is set at a non-center position on the top of the fuselage; the second control module is also used to: control the mobile robot to rotate in place to drive the upward ranging component to move within the detection area where the initial position is located.

[0164] In some embodiments, the third control module is further configured to:

[0165] When the height values of the first sampling points are all higher than the height threshold, controlling the ranging component to switch to the second state;

[0166] When the height value of at least one of the first sampling points is less than or equal to the height threshold, a target detection point is selected from the current scene, the mobile robot is controlled to move the target detection point in the first state, and the height value of at least one second sampling point is collected within the detection area where the target detection point is located. Based on the height value of the at least one second sampling point, the ranging component is controlled to switch to the second state.

[0167] In some embodiments, the target detection point includes a first detection point; the third control module is also used to: in the case where there is a historical altimetry map of the mobile robot in the current scene, obtain the historical altimetry map, the historical altimetry map including multiple historical sampling points in the current scene and the historical height value of each historical sampling point; based on the historical altimetry map, determine a historical open area from the current environment; the historical height value of each historical sampling point in the historical open area is higher than the height threshold, and the area of the historical open area is greater than the area threshold; select the first detection point from the historical open area.

[0168] In some embodiments, the third control module is further configured to:

[0169] When the height values of the second sampling points are all higher than the height threshold, controlling the ranging component to switch to the second state;

[0170] When the height value of at least one second sampling point is less than or equal to the height threshold, a next first detection point is selected from the current scene, the mobile robot is controlled to move the next first detection point in the first state, and the height value of at least one new second sampling point is collected within the next detection area where the next first detection point is located. Based on the height value of the at least one new second sampling point, the ranging component is controlled to switch to the second state.

[0171] In some embodiments, the device also includes: a fourth control module, which is used to control the ranging component to switch to the second state when the height value of at least one of the second sampling points is less than or equal to the height threshold, and there is no new first detection point in the current scene, or the first number of times the first detection point is currently selected reaches the first number threshold.

[0172] In some embodiments, the target detection point includes a second detection point; the third control module is also used to: in the absence of a historical altimetry map of the mobile robot in the current scene, select a second detection point from the current scene, and the distance between the second detection point and the current position of the mobile robot is a first distance threshold; the historical altimetry map contains multiple historical sampling points in the current scene and the historical height value of each historical sampling point.

[0173] In some embodiments, the third control module is further configured to:

[0174] When the height values of the second sampling points are all higher than the height threshold, controlling the ranging component to switch to the second state;

[0175] When the height value of at least one second sampling point is less than or equal to the height threshold, the next second detection point is selected from the current scene, the mobile robot is controlled to move to the next second detection point in the first state, and the height value of at least one new second sampling point is collected within the next detection area where the next second detection point is located. Based on the height value of the at least one new second sampling point, the ranging component is controlled to switch to the second state.

[0176] In some embodiments, the device also includes: a fifth control module, which is used to control the ranging component to switch to the second state when the height value of at least one of the second sampling points is less than or equal to the height threshold and when the second number of times the second detection point is currently selected reaches the second number threshold.

[0177] In some embodiments, a horizontal outward opening is provided at the top of the fuselage, and the opening is used to emit or receive laser after the ranging component descends; when the target state is the first state, the third control module is also used to: control the ranging component to perform laser ranging through the opening.

[0178] In some embodiments, the device also includes: a sixth control module, used to: in the process of controlling the mobile robot to switch from the first state to the second state, in response to detecting that the ranging component fails to rise, control the mobile robot to switch back to the first state; when the mobile robot moves to a third detection point, control the mobile robot to switch from the first state to the second state, and the third detection point is the position reached by the mobile robot after continuing to move the first target distance after switching back to the first state for the last time, or the height value of the third detection point is greater than the height threshold.

[0179] In some embodiments, the device also includes: a seventh control module, which is used to: when the mobile robot moves to the third detection point, control the mobile robot to switch from the first state to the second state, and in response to detecting that the ranging component fails to rise, control the mobile robot to switch back to the first state; when the number of times the ranging component fails to rise does not exceed a third number threshold, detect whether the mobile robot moves to the next third detection point; when the mobile robot moves to the next third detection point, control the mobile robot to switch from the first state to the second state.

[0180] In some embodiments, the device also includes: an eighth control module, used to: in response to detecting that the mobile robot successfully switches from the first state to the second state, control the ranging component to collect the point cloud of the mobile robot's surrounding environment; when the point cloud of the mobile robot's surrounding environment meets the target condition, control the mobile robot to switch back to the first state; the target condition includes that the distance between the point cloud of the mobile robot's surrounding environment that exceeds the target proportion and the mobile robot is less than a second distance threshold.

[0181] In some embodiments, the device also includes: a ninth control module for controlling the mobile robot to switch back to the first state in response to detecting a top cover collision event of the mobile robot triggering the ranging component within a target time window; the target time window has a target length and starts at the moment when the mobile robot successfully switches to the second state.

[0182] The present application embodiment provides a mobile robot, such as Figure 4 As shown, the mobile robot 400 includes: a body 410, a distance measuring component 420 that can be raised and lowered on the top of the body, and a controller 430; the controller 430 is used to implement the control method of the mobile robot.

[0183] The descriptions of the above device embodiments and mobile robot embodiments are similar to the descriptions of the above method embodiments and have similar beneficial effects as the method embodiments. For technical details not disclosed in the device embodiments and mobile robot embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0184] It should be noted that, in the embodiment of the present application, if the control method of the mobile robot described above is implemented in the form of a software function module and is sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk. In this way, the embodiment of the present application is not limited to any specific combination of hardware and software.

[0185] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and the processor implements the steps in the above method when executing the program.

[0186] The embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor. The computer-readable storage medium may be transient or non-transient.

[0187] An embodiment of the present application provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements some or all of the steps in the above method.

[0188] An embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, implements some or all of the steps in the above method. The computer program product can be implemented specifically by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium. In another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK), etc.

[0189] It should be noted that the descriptions of the above storage medium, computer program product, and device embodiments are similar to the descriptions of the above method embodiments and have similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium, computer program product, and device embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0190] It should be noted that Figure 5 A hardware entity diagram of a computer device provided in an embodiment of the present application is shown as follows: Figure 5 As shown, the hardware entity of the computer device 500 includes: a processor 501, a communication interface 502 and a memory 503, wherein:

[0191] Processor 501 generally controls the overall operation of computer device 500 .

[0192] The communication interface 502 enables the computer device to communicate with other terminals or servers through a network.

[0193] The memory 503 is configured to store instructions and applications executable by the processor 501. It can also cache data to be processed or processed by the processor 501 and various modules in the computer device 500 (for example, image data, audio data, voice communication data, and video communication data). This can be implemented using flash memory (FLASH) or random access memory (RAM). Data can be transmitted between the processor 501, the communication interface 502, and the memory 503 via a bus 504.

[0194] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0195] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0196] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0197] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0198] In addition, all functional units in the embodiments of the present application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the above-mentioned integrated units can be implemented in the form of hardware or in the form of hardware plus software functional units.

[0199] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0200] Alternatively, if the above-mentioned integrated unit of the present application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0201] The above is only an implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A control method for a mobile robot, characterized in that: The mobile robot includes a body and a ranging component that is liftably disposed on the top of the body, and the method includes: Controlling the mobile robot to start in a first state at an initial position; in the first state, the ranging component descends; Controlling the mobile robot to obtain the distance between the mobile robot and an upper obstacle at the initial position; Based on the distance, the distance measuring component is controlled to switch to a second state, in which the distance measuring component rises.

2. The method according to claim 1, wherein the distance is a height value of at least one first sampling point collected by the mobile robot within the detection area where the initial position is located. 3 . The method according to claim 2 , wherein the height value is the distance between the top of the fuselage and an upper obstacle at the first sampling point.

4. The method according to claim 3, characterized in that The mobile robot further includes an upward ranging component disposed on the top of the body; The controlling the mobile robot to obtain the distance between the mobile robot and an upper obstacle at the initial position includes: The mobile robot is controlled to move so as to drive the upward ranging component to move within the detection area where the initial position is located, and the height values of multiple first sampling points collected by the upward ranging component during the movement are obtained.

5. The method according to claim 4, characterized in that The upward ranging component is arranged at a non-center position on the top of the fuselage; The controlling the mobile robot to move so as to drive the upward ranging component to move within the detection area where the initial position is located includes: The mobile robot is controlled to rotate in situ to drive the upward ranging component to move within the detection area where the initial position is located.

6. The method according to claim 2, characterized in that The controlling, based on the distance, whether the ranging component switches to the second state comprises at least one of the following: When the height values of the first sampling points are all higher than the height threshold, controlling the ranging component to switch to the second state; When the height value of at least one of the first sampling points is less than or equal to the height threshold, a target detection point is selected from the current scene, the mobile robot is controlled to move the target detection point in the first state, and the height value of at least one second sampling point is collected within the detection area where the target detection point is located. Based on the height value of the at least one second sampling point, the ranging component is controlled to switch to the second state.

7. A control device for a mobile robot, characterized in that: The mobile robot includes a body and a ranging component that can be raised and lowered on the top of the body, and the device includes: A first control module is configured to control the mobile robot to start in a first state at an initial position; in the first state, the distance measuring component descends; A second control module is used to control the mobile robot to obtain the distance between the mobile robot and the upper obstacle at the initial position; The third control module is configured to control whether the distance measuring component switches to a second state based on the distance, and in the second state, the distance measuring component rises.

8. A mobile robot, characterized in that: include: A fuselage, a distance measuring component liftably disposed on the top of the fuselage, and a controller; The controller is configured to implement the method according to any one of claims 1 to 6.

9. A computer device comprising a memory and a processor, characterized in that: The memory stores a computer program that can be run on the processor, and when the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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