Stair descending control method, device and equipment, storage medium and cleaning system

Abstract

The embodiment of the invention provides a stair descending control method, device and equipment, a storage medium and a cleaning system, applied to a stair climbing device, the method comprises the steps that the stair climbing device is controlled to move in the extending direction of a specific obstacle from a second working surface to a first working surface, the second crawling arm at the front end is in contact with the first working surface, and the second crawling arm at the rear end is in lap joint with the position, close to the first working surface, of the specific obstacle; the poses of the first crawling arm and the second crawling arm are adjusted, so that the stair climbing device is separated from the specific obstacle when the first crawling arm is in a suspended state; the specific obstacle refers to a stair which is used for connecting the first working surface and the second working surface and is provided with multiple layers of steps, and the first working surface is lower than the second working surface in the height direction. According to the method, the stability of the stair climbing device in the stair descending process is improved.

Description

Technical Field

[0001] This application relates to the field of smart home technology, and in particular to a method, device, equipment, storage medium, and cleaning system for controlling the descent of stairs. Background Technology

[0002] With the increasing diversification of residential housing types, duplex, split-level, and other types of housing are becoming more common, and stairs have become a common structure connecting different floors. However, many pieces of equipment are limited by their own mobility and cannot autonomously cross stair steps, thus restricting their operating range to a single-floor area. To address this issue, a stair-climbing device has been provided in related technologies. This device can transport equipment across stair steps, thereby facilitating the transfer and operation of the transported equipment between different floors. However, the stair-climbing device in related technologies suffers from instability when descending stairs.

[0003] Therefore, there is an urgent need for a method to control the descent of stairs in order to improve the stability of the stair-climbing device during the descent process. Summary of the Invention

[0004] This application provides a method, device, equipment, storage medium, and cleaning system for controlling stair descent, in order to improve the stability of the stair climbing device during the stair descent process.

[0005] In a first aspect, embodiments of this application provide a method for controlling a staircase descent, applied to a stair-climbing device. The stair-climbing device includes a crawling mechanism, which includes a first crawling arm and a second crawling arm. Along a direction perpendicular to the forward movement of the stair-climbing device, at least one set of the first crawling arms is provided on each side of the stair-climbing device. Along the forward movement of the stair-climbing device, the first crawling arm includes a front end and a rear end. At least one second crawling arm is rotatably connected to the front end and the rear end, respectively. The method includes:

[0006] The climbing device is controlled to move along the extension direction of a specific obstacle from the second working surface to the first working surface until the second climbing arm at the front end contacts the first working surface and the second climbing arm at the rear end overlaps the specific obstacle at a position close to the first working surface.

[0007] Adjust the position and orientation of the first crawling arm and the second crawling arm so that the stair climbing device can detach from the specific obstacle when the first crawling arm is suspended in the air;

[0008] The specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface, wherein the first working surface is lower than the second working surface in the height direction.

[0009] During the process of detaching from the surface of a specific obstacle, the first climbing arm of the stair-climbing device is suspended in the air due to the support of the second climbing arm, allowing the stair-climbing device to detach from the obstacle in a horizontal or slightly tilted posture. Using the method of this application, when the stair-climbing device faces multi-story buildings or complex indoor environments, it can stably descend stairs, thereby improving the stability of the stair-climbing device during the descent.

[0010] In one possible implementation, adjusting the positions of the first and second crawling arms to allow the stair-climbing device to detach from the specific obstacle while the first crawling arm is suspended in the air includes:

[0011] The second crawler arm, which is driven to rest at the rear end of the specific obstacle near the first working surface, rotates relative to the first crawler arm so that the second crawler arm at the rear end disengages from the surface of the specific obstacle and contacts the first working surface.

[0012] By first driving the second crawling arm at the front end to rotate relative to the first crawling arm, the first crawling arm is suspended in the air. Then, by driving the second crawling arm to rotate relative to the first crawling arm, the second crawling arm at the rear end contacts the first working surface, thereby enabling the stair climbing device to smoothly detach from specific obstacles and improving the stability of the stair climbing device when passing through specific obstacles.

[0013] In one possible implementation, before the second crawler arm, whose rear end is positioned at a location on the specific obstacle near the first working surface, rotates relative to the first crawler arm to disengage the second crawler arm from the surface of the specific obstacle and contact the first working surface, the method further includes:

[0014] The second crawling arm at the front end is driven to rotate relative to the first crawling arm, so that the second crawling arm at the front end supports the front end, so that the first crawling arm is suspended in the air and the crawling device is in a horizontal or slightly tilted state.

[0015] In one possible implementation, the second crawler arm, whose rear end is positioned at a location on the specific obstacle near the first working surface, rotates relative to the first crawler arm to disengage the second crawler arm from the surface of the specific obstacle and contact the first working surface, including:

[0016] The second crawling arm at the rear end of the drive section rotates relative to the first crawling arm, so that the second crawling arm at the rear end of the drive section disengages from the specific obstacle surface and contacts the first working surface;

[0017] The second crawler arm at the other end of the rear is driven to rotate relative to the first crawler arm, so that the second crawler arm at the other end of the rear disengages from the specific obstacle surface and contacts the first working surface.

[0018] With the front end supported by the second crawling arm, the rear end is supported by driving part of the second crawling arm to rotate relative to the first crawling arm. The stair climbing device is in a relatively stable posture with the support of the front and rear ends, thereby controlling the rotation of another part of the rear second crawling arm to improve the stability of the stair climbing device when it leaves the surface of a specific obstacle.

[0019] In one possible implementation, the second crawling arm driving the front end to rotate relative to the first crawling arm to support the front end using the second crawling arm includes:

[0020] The second crawling arm at the front end is driven to rotate relative to the first crawling arm until the second crawling arm at the front end contacts the first working surface in an attitude perpendicular to the first crawling arm. The second crawling arm is perpendicular to the first crawling arm, so that the second crawling arm provides vertical support to the first crawling arm and improves the stability of the support.

[0021] In one possible implementation, before controlling the stair-climbing device to move along the extension direction of a specific obstacle from the second working surface to the first working surface, the method further includes:

[0022] The position of the crawling mechanism is adjusted on the second working surface so that the crawling mechanism contacts the surface of the specific obstacle, so that the stair climbing device is in a ready posture before going down the stairs.

[0023] In one possible implementation, adjusting the pose of the crawling mechanism on the second working surface to bring the crawling mechanism into contact with the surface of the specific obstacle includes:

[0024] The second crawling arm at the front end is driven to rotate relative to the first crawling arm so that the second crawling arm at the front end contacts the corner of the first step of the specific obstacle;

[0025] The climbing mechanism drives the stair-climbing device to move along the extension direction of the specific obstacle from the second working surface to the first working surface, so that the second climbing arm at the front end contacts the surface of the second step of the specific obstacle;

[0026] The second crawling arm, which drives the front end and the rear end, to rotate relative to the first crawling arm, so that the crawling mechanism flattens out;

[0027] The climbing mechanism drives the stair-climbing device to move along the extension direction from the second working surface to the first working surface along the specific obstacle, so that the second climbing arm at the front end contacts the corner of the second step;

[0028] Along the height direction, the first step is lower than the second working surface, and the second step is lower than the first step.

[0029] In one possible implementation, the driving of the second crawling arm at the front end to rotate relative to the first crawling arm, so that the second crawling arm at the front end contacts the corner of the first step of the particular obstacle, includes:

[0030] The second crawling arm at the front end is driven to rotate relative to the first crawling arm so that the second crawling arm at the front end contacts the surface of the first step;

[0031] The climbing mechanism drives the stair-climbing device to move away from the second working surface on the surface of the first step until the second climbing arm at the front end contacts the corner of the first step.

[0032] In one possible implementation, driving the second crawling arm at the front end to rotate relative to the first crawling arm, so that the second crawling arm at the front end contacts the surface of the first step, includes:

[0033] Drive the second crawling arm at the front end to rotate relative to the first crawling arm, so that the second crawling arm at the front end is positioned above the surface of the first step;

[0034] The second crawling arm at the rear end is driven to rotate relative to the first crawling arm, so that the second crawling arm at the rear end supports the tail end of the first crawling arm, thereby causing the second crawling arm at the front end to contact the surface of the first step.

[0035] In one possible implementation, before the second crawling arm at the front end is rotated relative to the first crawling arm to make contact with the corner of the first step of the particular obstacle, the method further includes:

[0036] The position of the crawling mechanism is adjusted so that the first crawling arm contacts the second working surface, and the front end and the rear end of the second crawling arm are respectively perpendicular to the forward direction of the stair climbing device.

[0037] In one possible implementation, adjusting the poses of the first and second crawling arms to allow the stair-climbing device to detach from the specific obstacle after the first crawling arm is suspended in the air further includes:

[0038] The second crawling arm is used to drive the stair-climbing device to move away from the specific obstacle;

[0039] The second crawling arm at the front end is driven to rotate relative to the first crawling arm, so that the second crawling arm at the front end is parallel to the forward direction of the stair climbing device, and the second crawling arm at the front end is away from one end of the front end and away from the first crawling arm;

[0040] The second crawling arm at the rear end is driven to rotate relative to the first crawling arm, so that the second crawling arm at the rear end is parallel to the forward direction of the stair climbing device, and the second crawling arm at the rear end is away from the end of the rear end and away from the first crawling arm.

[0041] In one possible implementation, adjusting the poses of the first and second crawling arms to allow the stair-climbing device to detach from the specific obstacle after the first crawling arm is suspended in the air further includes:

[0042] Adjust the posture of the stair-climbing device so that the first crawling arm is in contact with the first working surface, the second crawling arm at the front end is in contact with the first crawling arm along the forward direction of the stair-climbing device, and the second crawling arm at the rear end is perpendicular to the forward direction of the stair-climbing device.

[0043] In one possible implementation, the crawling mechanism further includes a first track and a second track;

[0044] The first track is wound around the first crawling arm, and the first track can rotate on the first crawling arm. The first crawling arm crawls through the first track.

[0045] The second track is wound around the second crawling arm, and the second track can rotate on the second crawling arm, and the second crawling arm crawls through the second track.

[0046] In one possible implementation, the cleaning equipment driven by the stair-climbing device and the stair-climbing device are equipped with a sensor system, the sensor system being used to acquire image information and / or three-dimensional information of obstacles, and the method further includes:

[0047] The sensor system on the cleaning equipment and / or the stair-climbing device is used to identify image information and / or three-dimensional information of the specific obstacle.

[0048] By utilizing the sensor system on the cleaning equipment, image and / or three-dimensional information of specific obstacles can be identified, further improving the accuracy of the stair-climbing device in performing the downstairs action.

[0049] In one possible implementation, the method further includes:

[0050] The pose of the crawling mechanism is adjusted using the image information and / or the three-dimensional information.

[0051] Based on image information and / or 3D information, the position and posture of the stair climbing device are adjusted to make the actions performed by the stair climbing device more precise during the descent, thereby ensuring the stability of the stair climbing device during the descent.

[0052] Secondly, embodiments of this application provide a stair-climbing control device applied to a stair-climbing device. The stair-climbing device includes a crawling mechanism, which includes a first crawling arm and a second crawling arm. Along a direction perpendicular to the forward movement of the stair-climbing device, at least one set of the first crawling arm is provided on each side of the stair-climbing device. Along the forward movement of the stair-climbing device, the first crawling arm includes a front end and a rear end. At least one second crawling arm is rotatably connected to the front end and the rear end. The device includes:

[0053] The control module is used to control the climbing device to move along the extension direction of a specific obstacle from the second working surface to the first working surface until the second climbing arm at the front end contacts the first working surface and the second climbing arm at the rear end overlaps the specific obstacle at a position close to the first working surface.

[0054] The stair-climbing module is used to adjust the position and posture of the first crawling arm and the second crawling arm so that the stair-climbing device can detach from the specific obstacle when the first crawling arm is suspended in the air.

[0055] The specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface, wherein the first working surface is lower than the second working surface in the height direction.

[0056] Thirdly, embodiments of this application provide a cleaning system, including:

[0057] Cleaning equipment used to perform cleaning tasks;

[0058] A stair-climbing device for performing the first aspect and / or various possible implementations of the first aspect as described above.

[0059] Fourthly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0060] The memory stores computer-executed instructions;

[0061] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0062] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0063] In a sixth aspect, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0064] The stair-climbing device, including its control method, apparatus, equipment, storage medium, and cleaning system, provides embodiments of this application. When the stair-climbing device needs to pass through a specific obstacle, it moves from a second working surface towards a position near the first working surface of the obstacle. The second crawling arm at the front end of the device contacts the first working surface, and the second crawling arm at the rear end engages with the obstacle near the first working surface. The device's posture is adjusted so that it detaches from the obstacle while the first crawling arm is suspended, allowing the device to stably pass through the obstacle. This method enables the stair-climbing device to stably descend stairs in multi-story buildings or complex indoor environments, thereby improving its stability during descent. Attached Figure Description

[0065] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0066] Figure 1 This is a top view of the assembly formed by combining the cleaning equipment and the stair-climbing device provided in one embodiment of this application;

[0067] Figure 2 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 1 ;

[0068] Figure 3 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 2 ;

[0069] Figure 4 This is a schematic diagram of the crawling mechanism provided in one embodiment of this application;

[0070] Figure 5 This is a flowchart illustrating a stair-descent control method provided in one embodiment of this application. Figure 1 ;

[0071] Figure 6 This is a flowchart illustrating a stair-descent control method provided in one embodiment of this application. Figure 2 ;

[0072] Figure 7 This is a flowchart illustrating a stair-descent control method provided in one embodiment of this application. Figure 3 ;

[0073] Figure 8 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 4 ;

[0074] Figure 9 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 5 ;

[0075] Figure 10 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 6 ;

[0076] Figure 11 This is a flowchart illustrating a stair-descent control method provided in one embodiment of this application. Figure 3 ;

[0077] Figure 12 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 7 ;

[0078] Figure 13 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 8 ;

[0079] Figure 14 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 9 ;

[0080] Figure 15 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 10 ;

[0081] Figure 16 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 10 one;

[0082] Figure 17 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 10 two;

[0083] Figure 18This is a schematic diagram of the structure of a staircase control device provided in one embodiment of this application;

[0084] Figure 19 A schematic diagram of the structure of the electronic device provided in this application.

[0085] Figure label:

[0086] 10-Climbing device; 10b-Support mechanism; 100-Support plate; 120-Accommodation space;

[0087] 300 - First crawler arm; 30a - Front end; 30b - Rear end;

[0088] 500 - Second Crawler Arm;

[0089] 20- Cleaning equipment;

[0090] 40 - Specific obstacles.

[0091] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0092] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0093] The following example illustrates a cleaning system in which a base station has a receiving space located on the side wall of the base station, near its bottom. One side of the receiving space has an opening that penetrates the wall along the width direction of the base station, while the other side of the receiving space extends into the interior of the base station along its width. It should be noted that the base station may also include conventional components found on existing base stations, such as an energy system, a negative pressure suction system, a wastewater tank, and a clean water tank; these will not be described in detail here.

[0094] Figure 1 This is a top view of an assembly formed by combining a cleaning device 20 and a stair-climbing device 10 according to an embodiment of this application. To clearly show the structure of the assembly, the housing portion such as the top cover of the stair-climbing device 10 is not shown in the figure. This application provides a cleaning system including a base station, a stair-climbing device 10, and a cleaning device 20.

[0095] The stair-climbing device 10 in the cleaning system can be applied to the stair-descent control method of this application. It should be understood that the stair-climbing device 10 in the following example is only one example of a structure that can be applied to the method of this application. The stair-climbing device 10 in the embodiments of this application only needs to include a crawling mechanism, which includes a first crawling arm 300 and a second crawling arm 500. Along the forward direction perpendicular to the stair-climbing device 10, at least one set of the first crawling arm 300 is provided on both sides of the stair-climbing device 10. Along the forward direction of the stair-climbing device 10, the first crawling arm 300 includes a front end 30a and a rear end 30b. At least one second crawling arm 500 is rotatably connected to the front end 30a and the rear end 30b, respectively. Other structures of the stair-climbing device 10 are not limited.

[0096] The cleaning equipment 20 is supported by the support plate 100 of the support mechanism 10b of the stair climbing device 10, so that the stair climbing device 10 and the cleaning equipment 20 are combined to form a combined body, and the cleaning equipment 20 can pass through specific obstacles 40. Therefore, the applicability and application scenarios of the cleaning equipment 20 can be expanded.

[0097] The aforementioned cleaning equipment 20 can autonomously move and complete cleaning tasks on a work surface within its working area without external human input or control. The working area can include indoor and outdoor areas. Indoor areas can include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas can include lawns, gardens, roads, etc. Cleaning tasks can include sweeping (e.g., washing, mopping, sweeping), lawn mowing, snow removal, etc.

[0098] Taking cleaning robots as an example, the aforementioned cleaning equipment 20 includes, but is not limited to: sweeping robots, floor scrubbing robots, sweeping and mopping robots, lawn mowing robots, snow removal robots, etc. The cleaning equipment 20 can clean using either a front-sweeping-then-mopping method or a separate sweeping-and-mopping method. The front-sweeping-then-mopping method allows sweeping and mopping simultaneously, improving cleaning efficiency. The separate sweeping-and-mopping method allows sweeping first, followed by mopping, improving cleaning effectiveness.

[0099] To perform its cleaning function, the cleaning equipment 20 includes at least a body, cleaning components, a sensor system, and a controller. The cleaning components are mounted on the body for cleaning the surface to be cleaned. Specifically, the cleaning components may include one or more of the following: side brushes, main brushes (or roller brushes), mop trays (or mop trays), etc.

[0100] The cleaning components described above can be circular, square, or other shapes (e.g., semi-circular, arc-shaped, triangular, or other irregular shapes). The circular shape facilitates rotating cleaning. The irregular shape allows for cleaning corner areas. The side brush gathers debris, directing it towards the center of the bottom of the cleaning device 20. The main brush sweeps debris from the bottom of the cleaning device 20, allowing it to enter the dust collection box through the suction port. The mop tray is used for wiping or mopping the floor.

[0101] To improve the cleaning effect of the cleaning device 20, the cleaning components typically have a wet cleaning function. Specifically, a mop is provided on the aforementioned mop tray. A water tank is provided on the cleaning device 20. Water in the water tank flows through holes to the mop, wetting it. The wet mop is then used for mopping the floor.

[0102] The main brush is located in the main brush chamber at the bottom of the cleaning device 20. The main brush chamber is connected to the dust suction channel of the cleaning device 20. Small debris such as dust and hair swept up by the main brush and / or side brushes will be sucked into the cleaning device 20 through the main brush chamber.

[0103] Specifically, the shape of the aforementioned fuselage can be circular, square, or other shapes. For example, one part of the aforementioned fuselage can be circular, and another part can be square.

[0104] The aforementioned sensor system can be mounted on the fuselage. The sensor system can be, for example, an ultrasonic sensor, a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, a laser distance sensor (LDS), a direct time-of-flight (Dtof) sensor, or an indirect time-of-flight (Itof) sensor.

[0105] The controller described above may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions.

[0106] In this embodiment, the stair-climbing device 10 can be combined with the cleaning equipment 20 to form a combined unit, enabling the cleaning equipment 20 to pass under a specific obstacle 40. The specific obstacle 40 can be a staircase. The structural form of the stair-climbing device 10 is not limited; for example, it can be a tracked climbing structure.

[0107] When the stair-climbing device 10 is combined with the cleaning equipment 20, the tracked crawling structure can use the grip and support of its tracks to propel the cleaning equipment 20 smoothly up or over obstacles when facing stairs. The stair-climbing device 10 can also be a multi-wheel crawling structure. After the cleaning equipment 20 is combined with the multi-wheel crawling structure, it can smoothly pass over obstacles of different heights and shapes through the flexible adjustment and drive of the wheels.

[0108] It should be noted that, under the condition of meeting the combination requirements between the cleaning equipment 20 and the stair-climbing device 10, in one embodiment, the cleaning equipment 20 can automatically walk to the position of the stair-climbing device 10 and automatically combine with the stair-climbing device 10 to form a combined unit. In another embodiment, the cleaning equipment 20 can also combine with the stair-climbing device 10 to form a combined unit through manual intervention or intervention of other assembly devices.

[0109] To improve the automation level of the cleaning system, optionally in this embodiment, the cleaning device 20 can automatically move to the position of the stair-climbing device 10 and automatically combine with the stair-climbing device 10. At the same time, the cleaning device 20 can also automatically separate from the stair-climbing device 10 through its operation, so as to facilitate the cleaning device 20 to perform cleaning operations.

[0110] In one embodiment, the assembly can enter the receiving space 120 through an opening in the receiving space 120. In another embodiment, the assembly can exit the receiving space 120 through an opening in the receiving space 120. In this embodiment, the assembly can both enter and exit the receiving space 120 through an opening in the receiving space 120.

[0111] In this embodiment, since the cleaning system is equipped with a stair-climbing device 10, the stair-climbing device 10 can be combined with the cleaning equipment 20 to form a combined unit, enabling the cleaning equipment 20 to pass through specific obstacles 40. Therefore, the applicability and application scenarios of the cleaning equipment 20 can be expanded.

[0112] Meanwhile, since the assembly can enter the housing space 120 through the opening, when the cleaning equipment 20 returns to the base station after completing its cleaning task, the assembly will also enter the housing space 120 through the opening, thus completing the storage of the cleaning equipment 20 and the stair-climbing device 10 within the base station. This eliminates the need for additional storage space to house the stair-climbing device 10, thereby reducing the overall storage space of the cleaning system.

[0113] In addition, since the assembly can drive out of the containment space 120 through the opening of the containment space 120, when the cleaning equipment 20 needs to perform a cleaning task, the assembly can drive out of the containment space 120 through the opening of the containment space 120.

[0114] With this configuration, when the cleaning device 20 receives a cleaning task, it does not need to travel to other locations to combine with the stair-climbing device 10. The cleaning device 20 and the stair-climbing device 10 can be quickly combined within the housing space 120. Therefore, the response speed of the cleaning device 20 can be improved, which is beneficial to improving cleaning efficiency.

[0115] It should be noted that when the cleaning equipment 20 needs to perform routine cleaning tasks, i.e., when there are no specific obstacles 40 in the path of the cleaning equipment 20, the cleaning equipment 20 can exit the containment space 120 independently, while the stair-climbing device 10 remains inside the containment space 120. Under this condition, the cleaning equipment 20 can enter and exit the containment space 120 normally and perform its cleaning tasks normally. At the same time, it avoids unnecessary exposure of the stair-climbing device 10, reducing its wear and tear and the risk of accidental damage.

[0116] In other embodiments, the stair-climbing device 10 may not be housed within the housing space 120 and may be freely placed in other areas outside the base station. The cleaning device 20 may form a combination with the stair-climbing device 10 in the parking area of ​​the stair-climbing device 10.

[0117] In one embodiment of this application, both the cleaning device 20 and the stair-climbing device 10 are equipped with sensor systems. These sensor systems enable environmental perception and navigation, allowing the cleaning device 20 and stair-climbing device 10 to autonomously navigate along a planned path. The sensor system can take various structural forms, such as one or more combinations of infrared sensors, line laser sensors, time-of-flight (ToF) sensors, ultrasonic sensors, millimeter-wave radar, and multi-view cameras. The sensor system can be positioned at any location on the cleaning device 20 and stair-climbing device 10, such as the bottom, side, or top, as long as it meets the requirements for environmental perception.

[0118] The stair-climbing device 10 is also equipped with a walking control system. This system is communicatively connected to the cleaning equipment 20 and / or the sensor system on the stair-climbing device 10. The walking control system may include any system related to the walking control of the stair-climbing device 10, such as a motor drive module, motion controller, and displacement sensing system. The walking control system can utilize the sensing signals generated by the sensor system to control the walking status of the stair-climbing device 10, such as walking direction, walking distance, and walking speed. Through the coordinated operation of the sensor system and the walking control system of the stair-climbing device 10, the assembly can achieve autonomous walking functionality.

[0119] The combined unit achieves autonomous walking functionality through the coordinated operation of its sensor system and walking control system. Specifically, when the cleaning device 20 and the stair-climbing device 10 form a combined unit, the sensor system of the cleaning device 20 can coordinate with the sensor system of the stair-climbing device 10, communicating and connecting together to the walking control system. This fully utilizes the sensors of both the cleaning device 20 and the stair-climbing device 10, improving the accuracy of environmental recognition. Alternatively, when the cleaning device 20 and the stair-climbing device 10 form a combined unit, the sensor system of the cleaning device 20 can also operate independently, with only the sensor system of the stair-climbing device 10 communicating and connecting to the walking control system. This reduces the energy consumption of the cleaning device 20, thereby increasing its service life in subsequent operations.

[0120] In one embodiment of this application, the stair-climbing device 10 includes a support mechanism 10b and a crawling mechanism. The support mechanism 10b is disposed on the crawling mechanism and is used to support the cleaning equipment 20. The crawling mechanism is used to move on the working surface. The structure of the crawling mechanism can be a tracked crawling mechanism, a multi-wheeled crawling mechanism, etc. The position of the crawling mechanism relative to the support mechanism 10b is not limited; for example, it can be disposed on both sides of the support mechanism 10b or below the support mechanism 10b. The number of crawling mechanisms is also not limited; for example, there can be two sets or one set, as long as the cleaning equipment 20 can pass under the specific obstacle 40.

[0121] In this embodiment, by separating the support mechanism 10b and the crawling mechanism, a modular functional design for the crawling mechanism can be achieved. This design allows the support mechanism 10b and the crawling mechanism to be independently designed and optimized according to their respective functional requirements. The support mechanism 10b can focus on providing stable support, ensuring that the cleaning device 20 does not tip over or shake when traversing complex terrain or obstacles. The crawling mechanism, on the other hand, can focus on achieving efficient walking and obstacle-crossing capabilities, enabling the assembly to easily handle various complex terrains. This independent design approach further enhances the product's design flexibility, allowing it to better meet the usage needs of different scenarios.

[0122] Please see Figure 1In one embodiment of this application, the cleaning device 20 is positioned on the support mechanism 10b of the stair-climbing device 10. Along the forward direction perpendicular to the stair-climbing device 10, at least one set of first crawling arms 300 is provided on each side of the crawling mechanism. The crawling mechanism includes a first crawling arm 300 and a second crawling arm 500. Referring to the support structure, along the forward direction perpendicular to the stair-climbing device 10, the support structure has a first side and a second side, and at least one set of first crawling arms 300 is provided on each of the first and second sides. Along the forward direction of the stair-climbing device 10, the first crawling arm 300 includes a front end 30a and a rear end 30b, and at least one second crawling arm 500 is rotatably connected to the front end 30a and the rear end 30b, respectively. For example, one set of crawling mechanisms is provided on the first side, and another set is provided on the second side, with the support mechanism 10b positioned between the two sets of crawling mechanisms.

[0123] As an example, the two sets of crawling mechanisms can also be spaced apart at the bottom of the support mechanism 10b.

[0124] Optionally, in this embodiment, the two sets of crawling mechanisms are respectively arranged on the first side and the second side of the support mechanism 10b. This can increase the spacing between the two sets of crawling mechanisms, which is beneficial to forming a better stable support for the support mechanism 10b.

[0125] In this embodiment, by placing the support mechanism 10b between the two sets of crawling mechanisms, the crawling mechanisms on both sides can provide relatively stable and reliable support for the support mechanism 10b, thereby improving the support stability of the cleaning equipment 20. This arrangement can improve the stability of the assembly when passing over specific obstacles 40, reducing the risk of the cleaning equipment 20 tilting or swaying.

[0126] In one embodiment of this application, the crawling mechanism includes a first crawling arm 300 and a second crawling arm 500, with the second crawling arm 500 rotatably connected to one end of the first crawling arm 300 along its length. The rotatable connection between the first crawling arm 300 and the second crawling arm 500 is not limited; for example, it can be a rotatable connection via a shaft hole fit, or a rotatable connection via a slewing bearing, etc. The specific rotatable connection method needs to be determined based on the specific structure between the second crawling arm 500 and the first crawling arm 300. By setting up the first crawling arm 300 and the second crawling arm 500, and rotatably connecting the second crawling arm 500 to one end of the first crawling arm 300 along its length, this arrangement allows the crawling mechanism to better adapt to various complex terrains. For example, as... Figure 2 As shown, when encountering a specific obstacle 40 including multiple steps, the second crawling arm 500 can rotate to adjust its angle and work in conjunction with the first crawling arm 300 to provide a stronger obstacle-crossing capability.

[0127] Please see Figure 1In one embodiment of this application, two second crawling arms 500 are provided, one of which is rotatably connected to the front end 30a of the first crawling arm 300, and the other is rotatably connected to the rear end 30b of the first crawling arm 300. The two second crawling arms 500 can be symmetrically arranged at the front end 30a and the rear end 30b of the first crawling arm 300, or they can be asymmetrically arranged.

[0128] Optionally, in this embodiment, two second crawling arms 500 are symmetrically arranged at the front end 30a and rear end 30b of the first crawling arm 300, and along the width direction of the support mechanism 10b, both second crawling arms 500 are located on the side of the first crawling arm 300 away from the support mechanism 10b, that is, on the outer side of the first crawling arm 300. This arrangement allows the two second crawling arms 500 to provide more uniform support force at both ends of the first crawling arm 300, making the operation of the stair-climbing device 10 more stable.

[0129] like Figure 3 , Figure 4 As shown, by rotatably connecting a second crawling arm 500 to each end of the first crawling arm 300, the two second crawling arms 500 provide dual-point support at both ends of the length direction of the first crawling arm 300 during operation. Compared with the single-point support of a single second crawling arm 500, the dual-point support can significantly improve the stability of the crawling mechanism when passing over a specific obstacle 40 (stairs).

[0130] In one embodiment of this application, the first crawler arm 300 includes a first track, and the first crawler arm 300 performs crawling action through contact between the first track and the working surface. The second crawler arm 500 includes a second track, and the second crawler arm performs crawling action through contact between the second track and the working surface.

[0131] The first and second tracks can have the same width and length, or they can have different widths and lengths, depending on the structural dimensions of the first crawler arm 300 and the second crawler arm 500. In one embodiment, the first and second tracks can be driven by independent motors. In another embodiment, the first and second tracks can also work together through a synchronous drive system, that is, a single motor drives both tracks synchronously. This design ensures that the first and second tracks maintain a consistent speed and direction during movement, improving the stability of the crawling mechanism.

[0132] Because of the large contact area between the tracks and the working surface, both the first and second tracks achieve a large supporting contact area, thus enabling the stair-climbing device 10 to have better operational stability during crawling. Compared to wheeled crawling structures, tracked crawling structures can better distribute pressure on uneven working surfaces, reducing the risk of slippage or overturning, thereby ensuring smooth operation in complex environments. Furthermore, the continuous movement of the first and second tracks maintains stable power output, avoiding power interruptions or sudden speed changes, allowing the stair-climbing device 10 to complete passage tasks more efficiently and improving passage efficiency.

[0133] In related technologies, stair-climbing devices have the problem of instability when descending stairs, which can cause the transported equipment to tip over and damage both the stair-climbing device and the transported equipment. Therefore, there is an urgent need for a stair-climbing device control method to improve the stability of the stair-climbing device during the descent process.

[0134] Therefore, this application provides a method for controlling the descent of stairs, which can be applied to the stair-climbing device 10 shown above. The following example illustrates this method using the controller of the stair-climbing device as the executing entity. Figure 5 This is a flowchart illustrating a stair-descent control method provided in one embodiment of this application. Figure 1 .like Figure 5 As shown, the method for controlling the descent of stairs includes:

[0135] S501. Control the stair-climbing device to move along the extension direction of the specific obstacle from the second working surface to the first working surface until the second crawling arm at the front end contacts the first working surface and the second crawling arm at the rear end overlaps the specific obstacle at the position close to the first working surface.

[0136] A specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface, wherein the first working surface is lower than the second working surface in the height direction.

[0137] For example, the controller can adjust the posture of the stair-climbing device to move it from the second working surface to the surface of a specific obstacle. On the surface of the specific obstacle, the stair-climbing device moves in an inclined posture from the second working surface toward the extension direction of the first working surface until data collected by the sensor system determines that the second crawling arm at the front end of the stair-climbing device contacts the first working surface, and the second crawling arm at the rear end overlaps the specific obstacle near the first working surface.

[0138] S502. Adjust the position and posture of the first crawling arm and the second crawling arm so that the stair climbing device can detach from the specific obstacle while the first crawling arm is suspended in the air.

[0139] For example, the controller can adjust the posture of the first and second crawling arms of the stair-climbing device so that, supported by the second crawling arm, the first crawling arm is suspended and detached from the surface of a specific obstacle. For instance, the posture of the second crawling arm can be controlled to suspend it based on its support. When the stair-climbing device is suspended, a portion of the second crawling arm is in contact with the first working surface, and another portion is in contact with the surface of the specific obstacle. By controlling the posture of the first and second crawling arms, the second crawling arm detaches from the surface of the specific obstacle and contacts the first working surface.

[0140] It should be noted that in this step, the controller adjusts the position and posture of the first and second crawling arms so that the stair climbing device detaches from the specific obstacle while the first crawling arm is suspended in the air. During the process of detaching from the surface of the specific obstacle, the first crawling arm of the stair climbing device is suspended in the air due to the support of the second crawling arm. The stair climbing device can detach from the specific obstacle in a horizontal or slightly tilted posture, which can also make the transported equipment stable and improve the stability of the stair climbing device when passing through the specific obstacle.

[0141] The aforementioned stair-climbing control method involves moving the climbing device from the second working surface towards a position near the first working surface of the obstacle when it needs to pass through a specific obstacle. The second crawling arm at the front of the climbing device contacts the first working surface, and the second crawling arm at the rear of the climbing device overlaps the position near the first working surface of the obstacle. The posture of the climbing device is adjusted so that it smoothly detaches from the obstacle while the first crawling arm is suspended, allowing the climbing device to stably pass through the obstacle. Using this method, when the climbing device faces multi-story buildings or complex indoor environments, it can stably descend stairs, thereby improving the stability of the climbing device during the descent.

[0142] In one embodiment, before the controller controls the stair-climbing device to move along a specific obstacle from the second working surface to the first working surface, it can also control the cleaning equipment to be combined with the stair-climbing device to form a combination.

[0143] During the cleaning process, if the sensor system on the cleaning equipment detects an obstacle in the cleaning path, the controller can control the sensor system to collect the feature information of the obstacle and determine whether the obstacle is a specific obstacle based on the feature information. If so, the controller can control the cleaning equipment to combine with the stair climbing device through snap-fit ​​or other means to form a combined unit.

[0144] Alternatively, the cleaning equipment can be pre-set with multiple cleaning tasks, and different cleaning tasks correspond to different working surfaces. When the cleaning equipment completes the current cleaning task, the controller determines, based on the pre-stored spatial position information of the working surfaces corresponding to each cleaning task, that the cleaning equipment needs to climb a specific obstacle to reach the working surface corresponding to the next cleaning task. In this case, the controller can control the cleaning equipment to combine with the stair-climbing device through snap-fit ​​or other means to form a combined unit.

[0145] Alternatively, during the cleaning process, the controller receives a control command from a specific terminal. This control command is issued by the user through the specific terminal and is used to instruct the cleaning equipment to stop cleaning the current working surface and move to another working surface to perform a new cleaning task. When the controller determines that the cleaning equipment needs to climb a specific obstacle to reach the working surface corresponding to the control command, it can control the cleaning equipment to combine with the stair-climbing device through snap-fit ​​or other means to form a combined unit.

[0146] The characteristic information of an obstacle refers to various parameters used to describe its physical and dynamic properties, including but not limited to morphological features (such as size, outline, and geometry), flexibility features (such as elasticity and deformation characteristics), and motion features (such as speed, trajectory, and vibration patterns). This information helps the controller identify and classify different types of obstacles.

[0147] As an example, the sensor system can employ monocular vision sensors, binocular vision sensors, line laser sensors, area laser sensors, LDS sensors, Dtof sensors, Itof sensors, etc. The controller acquires the three-dimensional feature information of the obstacle through the sensor system and processes the three-dimensional feature information of the obstacle through computer vision to obtain its morphological features.

[0148] Alternatively, the sensor system can use force sensors, tactile sensors, sound wave sensors, etc., and the controller can determine the hardness or softness of the obstacle by pressure distribution pattern or mechanical feedback, thereby obtaining the softness or material characteristics of the obstacle.

[0149] Alternatively, the sensor system can use infrared sensors, millimeter-wave radar, dynamic vision sensors, etc., and the controller can predict the movement trend of obstacles based on time-series data (such as Kalman filtering and optical flow methods) to determine the movement characteristics of obstacles. The movement characteristics are used to distinguish between static objects and dynamic objects.

[0150] A specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface, wherein the first working surface is lower than the second working surface in the height direction. Specifically, the first working surface may refer to the ground of the Nth floor, and the second working surface may refer to the ground of the N+1th floor.

[0151] In this embodiment, the controller controls the cleaning equipment and the stair-climbing device to combine to form a combination. The controller can then control the stair-climbing device to move the cleaning equipment from the second working surface to a position near the first working surface where a specific obstacle is located, until the second crawling arm at the front end of the stair-climbing device contacts the first working surface and the second crawling arm at the rear end overlaps the position near the first working surface where the specific obstacle is located.

[0152] In this embodiment, based on data collected by the sensor system, if it is determined that the second crawling arm at the front end of the stair-climbing device is in contact with the first working surface, and the second crawling arm at the rear end is attached to a specific obstacle near the first working surface, the controller can control the second crawling arm of the stair-climbing device to rotate relative to the first crawling arm. This allows a portion of the second crawling arm to contact the first working surface, while another portion is attached to the surface of the specific obstacle, leaving the first crawling arm suspended in the air. Furthermore, by adjusting the positions of the first and second crawling arms, the second crawling arm attached to the specific obstacle can detach from the surface of the obstacle and contact the first working surface, thereby detaching from the specific obstacle.

[0153] It should be noted that in this step, the controller adjusts the position of the stair-climbing device to detach from the surface of a specific obstacle in a suspended manner. During the detachment process, the support mechanism of the stair-climbing device can be kept horizontal or tilted with a small amplitude, thereby making the cleaning equipment it carries stable and improving the stability of the assembly as it passes through the specific obstacle.

[0154] The aforementioned stair-climbing control method allows the cleaning equipment to connect with an additional stair-climbing device to form a combined unit when it needs to pass through a specific obstacle. This combined unit moves from the second working surface towards the obstacle near the first working surface until the front second crawling arm contacts the first working surface, and the rear second crawling arm overlaps the obstacle near the first working surface. The stair-climbing device's position is adjusted to detach from the obstacle surface in a suspended manner, allowing the combined unit to stably pass through the obstacle. This configuration allows the stair-climbing device and cleaning equipment to perform stair-climbing actions, enabling the cleaning equipment to stably pass through obstacles in multi-story buildings or complex indoor environments, performing automated cleaning tasks on multiple working surfaces, thus expanding the applicability and application scenarios of the cleaning equipment.

[0155] In some alternative embodiments, the controller controls the combination of the cleaning equipment and the stair-climbing device to form a combination that may include:

[0156] The cleaning equipment and the stair-climbing device are controlled to move to specific obstacles, and the cleaning equipment and the stair-climbing device are combined at the specific obstacles to form a combination; or the cleaning equipment and the stair-climbing device are controlled to combine at a specific location to form a combination.

[0157] The specific location can be, for example, within the containment space of the base station, or any location outside the base station.

[0158] In an embodiment where the cleaning equipment and the stair-climbing device are combined at a specific obstacle, the controller can control the stair-climbing device to move to the specific obstacle and combine with the cleaning equipment to form a combination when the cleaning equipment is at the specific obstacle; or, during the cleaning process, after determining that the cleaning path of the cleaning equipment needs to pass through a specific obstacle, the controller controls the stair-climbing device to move to the specific obstacle and combine with it to form a combination before the cleaning equipment reaches the specific obstacle.

[0159] In the aforementioned stair-climbing control method, the cleaning equipment and the stair-climbing device can be moved separately to specific obstacles and then combined at those obstacles. In this case, the stair-climbing device can move out from its stopping position independently, thus preventing the cleaning equipment from interrupting its cleaning task or changing its cleaning path, ensuring that the cleaning equipment performs its cleaning task in the most efficient way. Alternatively, when the cleaning equipment needs to pass through a specific obstacle, it can return to the stopping position of the stair-climbing device independently, combine with the stair-climbing device, and move the combination to the specific obstacle using either the cleaning equipment's walking system or the stair-climbing device. This allows the combination to be made according to the actual cleaning needs of the cleaning equipment, avoiding situations where the stair-climbing device moves out from its stopping position, but the cleaning equipment changes its cleaning path due to temporary user control, resulting in ineffective movement of the stair-climbing device. This ensures the control effectiveness of the stair-climbing device.

[0160] In some alternative embodiments, sensor systems are respectively provided on the cleaning equipment and the stair-climbing device, and the controller can use the sensor systems of the cleaning equipment and / or the stair-climbing device to identify image information and / or three-dimensional information of specific obstacles.

[0161] In an embodiment where the cleaning equipment and the stair-climbing device are combined at a specific obstacle, the sensor system on the cleaning equipment can identify image information and / or three-dimensional information of the specific obstacle to determine whether the obstacle is the specific obstacle. If the obstacle is the specific obstacle, the cleaning equipment is controlled to move to the specific obstacle. Similarly, the sensor system on the stair-climbing device can identify image information and / or three-dimensional information of the specific obstacle to determine whether the obstacle is the specific obstacle. If the obstacle is the specific obstacle, the stair-climbing device is controlled to move to the specific obstacle. When both the cleaning equipment and the stair-climbing device have moved to the specific obstacle, the cleaning equipment and the stair-climbing device are controlled to combine at the specific obstacle.

[0162] In embodiments where cleaning equipment and stair-climbing devices are combined at a specific location to form a composite assembly, the location of a specific obstacle is identified by image information and / or three-dimensional information acquired by the sensor system on the cleaning equipment and / or stair-climbing device, so as to control the composite assembly to move to the specific obstacle.

[0163] The aforementioned stair-descent control method, through the image information and / or three-dimensional information acquired by the sensor system installed on the cleaning equipment and / or the sensor system on the stair-climbing device, enables the assembly to be positioned at the location of a specific obstacle, so that the assembly meets the preparatory posture for the stair-descent action.

[0164] Figure 6 This is a flowchart illustrating a stair-descent control method provided in one embodiment of this application. Figure 2 .like Figure 6 As shown, in some optional embodiments, when the stair-climbing device is located on the second working surface, before controlling the stair-climbing device to move along the extension direction from the second working surface to the first working surface along the specific obstacle in S501, the method further includes:

[0165] S601. Adjust the position of the crawling mechanism on the second working surface so that the crawling mechanism contacts the surface of the specific obstacle.

[0166] Figure 7 This is a flowchart illustrating a stair-descent control method provided in one embodiment of this application. Figure 3 .

[0167] In some alternative embodiments, such as Figure 7 As shown, S601 includes:

[0168] S701, drive the second crawling arm at the front end to rotate relative to the first crawling arm so that the second crawling arm at the front end contacts the corner of the first step of the specific obstacle;

[0169] S702. The climbing device is driven by a crawling mechanism to move along the extension direction of a specific obstacle from the second working surface to the first working surface, so that the second crawling arm at the front end contacts the surface of the second step of the specific obstacle.

[0170] S703, drive the second crawling arm at the front and rear ends to rotate relative to the first crawling arm so that the crawling mechanism flattens out;

[0171] S704. The climbing device is driven by a crawling mechanism to move along the extension direction from the second working surface to the first working surface of a specific obstacle, so that the second crawling arm at the front end contacts the corner of the second step.

[0172] Along the height direction, the first step is lower than the second working surface, and the second step is lower than the first step.

[0173] It should be noted that the first step refers to the first step that is closest to the second working surface in the height direction, or it may include the second step that is second closest to the second working surface in the height direction, the third step that is third closest to the second working surface in the height direction, etc. The first step refers to the step that the second crawling arm at the front end can reach when the climbing device is located on the second working surface by rotating relative to the first crawling arm. The second step refers to at least one step that is lower than the first step.

[0174] In this embodiment, the controller can first determine the spatial position of the first step of the specific obstacle based on the image information and / or three-dimensional information of the specific obstacle, and further adjust the posture of the climbing device and control the rotation of the second crawling arm at the front end so that the second crawling arm at the front end contacts the corner of the first step. At this time, the contact between the second crawling arm at the front end and the corner of the first step can provide a stable fulcrum for the climbing device, prevent the climbing device from tipping over, and thus ensure the stability of the climbing device during the downward movement.

[0175] Secondly, the controller drives the crawling mechanism to move the climbing device downwards along the extension direction of a specific obstacle, so that the second crawling arm at the front end can contact the surface of the second step.

[0176] Figure 8 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 4 In some optional embodiments, prior to S701, the controller may also adjust the pose of the crawling mechanism so that the first crawling arm contacts the second working surface, and the front and rear ends of the second crawling arm are perpendicular to the forward direction of the stair climbing device, so that the stair climbing device is adjusted to the preparatory pose before descending the stairs.

[0177] Figure 9 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 5 The controller executes step S701, controlling the rotation of the second crawler arm at the front end so that it contacts the corner of the first step of the specific obstacle. (See also...) Figure 9 The second climbing arm at the front end of the stair-climbing device contacts the corner of the first step.

[0178] Figure 10 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 6 The controller can execute S702 and S703, causing the stair-climbing device to be in such a state. Figure 10 After the indicated pose, the climbing device is moved downwards along the extension direction of the specific obstacle.

[0179] Taking the first step closest to the second working surface as an example, the above steps involve adjusting the posture of the climbing device, which means using the crawling mechanism to adjust the direction of the climbing device so that the front of the climbing device faces the specific obstacle. Adjusting the position of the climbing device means adjusting its position on the second working surface so that it is close to the junction of the second working surface and the first step. The first crawling arm contacting the second working surface can be either the first crawling arm itself contacting the second working surface, or both the front and / or rear ends of the second crawling arm and the first crawling arm simultaneously contacting the second working surface. In short, before performing the downward movement from the second working surface to the first working surface, the first crawling arm must be in contact with the second working surface; whether the second crawling arm contacts the second working surface is not restricted. This configuration shortens the distance between the second crawling arm and the first step, making it easier for the front end of the second crawling arm to contact the surface of the first step, reducing the rotation distance of the second crawling arm, and thus facilitating the downward movement from the second working surface to the first working surface.

[0180] In some alternative embodiments, S704 includes:

[0181] The second crawling arm at the front end is rotated relative to the first crawling arm so that the second crawling arm at the front end contacts the surface of the first step;

[0182] The climbing device is driven by a crawling mechanism to move on the surface of the first step away from the second working surface until the second crawling arm at the front end contacts the corner of the first step.

[0183] In this embodiment, the controller can, for example, control the stair-climbing device to move its position so that the front end of the first crawling arm extends from the second working surface, such that the front end of the first crawling arm is above the surface of the first step. Subsequently, the controller can drive the second crawling arm at the front end to rotate relative to the first crawling arm so that the end of the second crawling arm away from the first crawling arm contacts the surface of the first step. Then, the climbing mechanism drives the stair-climbing device to move on the surface of the first step in a direction away from a specific obstacle until the second crawling arm at the front end contacts the corner of the first step.

[0184] In an optional embodiment, rotating the second crawling arm at the front end relative to the first crawling arm to bring the second crawling arm at the front end into contact with the surface of the first step includes:

[0185] The second crawling arm at the front end is rotated relative to the first crawling arm so that the second crawling arm at the front end is positioned above the surface of the first step;

[0186] The second crawler arm at the rear end is driven to rotate relative to the first crawler arm, so that the second crawler arm at the rear end supports the tail end of the first crawler arm, thereby making the second crawler arm at the front end contact the surface of the first step.

[0187] In this embodiment, when the distance between the surface of the first step and the second working surface in the height direction is too large, the end of the second crawling arm at the front end that is away from the first crawling arm can never touch the surface of the first step during the rotation of the second crawling arm relative to the first crawling arm. At this time, the controller can drive the second crawling arm at the rear end to rotate relative to the first crawling arm, so that the end of the second crawling arm at the rear end that is away from the first crawling arm supports the tail of the stair climbing device, so that the second crawling arm at the front end extends down, thereby making the end of the second crawling arm that is away from the first crawling arm contact the surface of the first step.

[0188] Furthermore, after the rear end of the second crawling arm supports the tail of the stair climbing device so that the end of the second crawling arm away from the first crawling arm contacts the surface of the first step, the end of the rear end of the second crawling arm away from the first crawling arm contacts the second working surface, the corner of the first crawling arm contacts the second working surface, and the end of the front end of the second crawling arm away from the first crawling arm contacts the surface of the first step, the controller can drive the first crawling arm, the front end and the rear end of the second crawling arm to move to realize the self-propelled stair climbing device until the corner of the front end of the second crawling arm contacts the first step.

[0189] Figure 11 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 7 When the stair-climbing device moves to a position near the first working surface of a specific obstacle, please refer to... Figure 11The second crawling arm at the front end of the stair climbing device contacts the first working surface, and the second crawling arm at the rear end overlaps with a specific obstacle near the first working surface.

[0190] Figure 12 This is a flowchart illustrating a stair-descent control method provided in one embodiment of this application. Figure 3 .

[0191] In an alternative embodiment, such as Figure 13-15 As shown, S502 includes:

[0192] S5021, Drive the second crawler arm, which is attached to the rear end of a specific obstacle near the first working surface, to rotate relative to the first crawler arm, so that the rear end of the second crawler arm disengages from the surface of the specific obstacle and contacts the first working surface.

[0193] In an alternative embodiment, such as Figure 13-15 As shown, S5021 includes:

[0194] S50211, The second crawler arm at the rear end of the drive section rotates relative to the first crawler arm so that the second crawler arm at the rear end of the drive section disengages from the surface of a specific obstacle and contacts the first working surface.

[0195] S50212, Drive the second crawler arm at the rear end, which is not in contact with the first working surface, to rotate relative to the first crawler arm, so that the second crawler arm at the rear end detaches from the surface of the specific obstacle and contacts the first working surface.

[0196] In an alternative embodiment, such as Figure 11 and Figure 12 As shown, prior to S5021, the method further includes:

[0197] S5020, drive the second crawler arm at the front end to rotate relative to the first crawler arm, so as to use the second crawler arm at the front end to support the front end.

[0198] In an alternative embodiment, such as Figure 11 and Figure 12 As shown, S5020 includes:

[0199] S50201, drive the second crawler arm at the front end to rotate relative to the first crawler arm until the second crawler arm at the front end abuts against the first working surface in an attitude perpendicular to the first crawler arm.

[0200] Combination Figure 13 The posture of the stair-climbing device is described. Figure 13 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 8 The controller can drive the second crawler arm at the front end to rotate relative to the first crawler arm; see [link / reference]. Figure 13 The second crawler arm at the front end contacts the first crawler arm on the first working surface in a position perpendicular to the first crawler arm, thereby supporting the front end using the second crawler arm at the front end. The second crawler arm at the rear end overlaps at a position near a specific obstacle on the first working surface, and the second crawler arms at the front end and rear end support the first crawler arm so that the first crawler arm is in a suspended state.

[0201] Combination Figure 14 and Figure 15 The pose of the crawling mechanism in this embodiment will be described. Figure 14 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 9 . Figure 15 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 10 .

[0202] Please see Figure 14 The controller can drive a second crawler arm at the rear end, which is attached to a specific obstacle and close to the first working surface, to rotate relative to the first crawler arm, so that the second crawler arm at the rear end detaches from the surface of the specific obstacle and contacts the first working surface, so that the two second crawler arms at the front end and the second crawler arm at the rear end are supported on the first working surface, and the other second crawler arm at the rear end is attached to the surface of the specific obstacle.

[0203] The controller can continue to drive the second crawling arm, which is supported on the surface of a specific obstacle, to rotate relative to the first crawling arm, so that it detaches from the surface of the specific obstacle and contacts the first working surface. For the current state of the stair-climbing device's posture, please refer to [link to relevant documentation]. Figure 15 .

[0204] In the above embodiments, the use of a split first crawling arm and second crawling arms located at the front and rear ends ensures that multiple objects can maintain contact with the specific obstacle simultaneously during climbing, thus providing a stable support point and preventing the climbing device from tipping over. After the front second crawling arm contacts the first working surface and the rear second crawling arm overlaps the specific obstacle near the first working surface, the front second crawling arm is driven to rotate relative to the first crawling arm, causing the first crawling arm to be suspended in the air. This keeps the first crawling arm of the climbing device in a horizontal or slightly tilted state. The rear second crawling arm, overlapped near the first working surface, is then driven to rotate relative to the first crawling arm, causing it to detach from the surface of the specific obstacle and contact the first working surface. The method of this application keeps the climbing device horizontal or with a small tilt during the detachment from the surface of the specific obstacle, thereby allowing the climbing device to smoothly detach from the specific obstacle and improving the stability of the climbing device when passing through the specific obstacle.

[0205] In an optional embodiment, after S502, the method further includes:

[0206] S503. The second crawling arm drives the stair-climbing device to move away from a specific obstacle;

[0207] S504. Drive the second crawling arm at the front end to rotate relative to the first crawling arm, so that the second crawling arm at the front end is parallel to the forward direction of the stair climbing device, and the second crawling arm at the front end is away from the front end and away from the first crawling arm.

[0208] S505, drive the second crawling arm at the rear end to rotate relative to the first crawling arm, so that the second crawling arm at the rear end is parallel to the forward direction of the stair climbing device, and the second crawling arm at the rear end is away from the rear end and away from the first crawling arm.

[0209] In the above embodiment, the second crawling arm at the front end and the second crawling arm at the rear end rotate, thereby causing the first crawling arm to contact the first working surface. Figure 16 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 10 1. Please refer to Figure 16 The second crawling arm is parallel to the forward direction of the stair-climbing device, and the first crawling arm contacts the first working surface.

[0210] In the above embodiments, the controller drives the second crawling arm at the front end to rotate relative to the first crawling arm, and drives the second crawling arm at the rear end to rotate relative to the first crawling arm, thereby making the first crawling arm smoothly contact the first working surface. This ensures that the stair climbing device remains stable during the process of smoothly returning from the posture of going down stairs to the forward posture on the plane, and improves the stability of the stair climbing device during the posture switching process of going down stairs and on the plane.

[0211] In an optional embodiment, S503 includes, for example, using the second crawling arm to drive the stair-climbing device to move a preset distance away from the specific obstacle; S503 further includes, for example, using the second crawling arm to drive the stair-climbing device to move a preset time away from the specific obstacle. This application does not limit this, as long as it satisfies the requirement that after the stair-climbing device is driven to move away from the specific obstacle using the second crawling arm, during the execution of S505, the second crawling arm at the rear end of the stair-climbing device rotates without being obstructed by the specific obstacle until it becomes parallel to the forward direction of the stair-climbing device.

[0212] In an optional embodiment, after S502, the method further includes:

[0213] S504. Adjust the posture of the stair climbing device so that the first crawling arm is in contact with the first working surface, the front end of the second crawling arm is in contact with the first crawling arm along the forward direction of the stair climbing device, and the rear end of the second crawling arm is perpendicular to the forward direction of the stair climbing device.

[0214] Figure 17 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 10 2. Based on the above embodiments, adjust the posture of the stair-climbing device to restore the climbing mechanism to its forward-moving posture on the plane. Please refer to [link to relevant documentation]. Figure 17 The first crawling arm is attached to the first working surface, the second crawling arm at the front end is attached to the side of the first crawling arm, and the second crawling arm at the rear end is perpendicular to the forward direction of the climbing device.

[0215] In the above embodiments, by adjusting the posture of the stair-climbing device, the device can smoothly return from the posture of descending stairs to the forward posture on the plane, thereby achieving the switching of different working states.

[0216] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0217] Based on the same inventive concept, this application also provides a stair-descent control device for implementing the aforementioned stair-descent control method. The solution provided by this stair-descent control device is similar to the solution described in the aforementioned stair-descent control method. Therefore, the specific limitations in one or more device embodiments provided below can be found in the limitations of the stair-descent control method described above, and will not be repeated here.

[0218] Figure 18 This is a schematic diagram of the structure of a staircase control device provided in one embodiment of this application. For example... Figure 18 As shown, a stair-climbing control device 1800 is provided, applied to a stair-climbing device. The stair-climbing device includes a crawling mechanism, which includes a first crawling arm and a second crawling arm. Along a direction perpendicular to the forward movement of the stair-climbing device, at least one set of the first crawling arm is provided on each side of the stair-climbing device. Along the forward movement of the stair-climbing device, the first crawling arm includes a front end and a rear end. At least one second crawling arm is rotatably connected to the front end and the rear end, respectively. The stair-climbing control device 1800 includes:

[0219] The control module 1801 is used to control the climbing device to move along the extension direction of a specific obstacle from the second working surface to the first working surface until the second climbing arm at the front end contacts the first working surface and the second climbing arm at the rear end overlaps the specific obstacle at the position close to the first working surface.

[0220] The stair-climbing module 1802 is used to adjust the position and posture of the first and second crawling arms so that the stair-climbing device can detach from a specific obstacle while the first crawling arm is suspended in the air.

[0221] The specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface, wherein the first working surface is lower than the second working surface in the height direction.

[0222] In some alternative embodiments, the stair-down module 1802 is specifically used for:

[0223] The second crawler arm, which is attached to the rear end of a specific obstacle near the first working surface, is rotated relative to the first crawler arm so that the rear end of the second crawler arm disengages from the surface of the specific obstacle and contacts the first working surface.

[0224] In some optional embodiments, before the second crawler arm, which is driven to detach from the surface of the obstacle near the first working surface, rotates relative to the first crawler arm to disengage the second crawler arm from the obstacle surface and contact the first working surface, the stair-down module 1802 is further configured to:

[0225] The second crawler arm at the front end is driven to rotate relative to the first crawler arm, so as to support the front end using the second crawler arm at the front end.

[0226] In some alternative embodiments, the stair-down module 1802 is specifically used for:

[0227] The second crawler arm at the rear end of the drive section rotates relative to the first crawler arm so that the second crawler arm at the rear end of the drive section disengages from the surface of a specific obstacle and contacts the first working surface;

[0228] The second crawler arm at the other rear end is driven to rotate relative to the first crawler arm, so that the second crawler arm at the other rear end disengages from the surface of a specific obstacle and contacts the first working surface.

[0229] In some alternative embodiments, the stair-down module 1802 is specifically used for:

[0230] The second crawler arm at the front end is rotated relative to the first crawler arm until the second crawler arm at the front end contacts the first working surface in an attitude perpendicular to the first crawler arm.

[0231] In some alternative embodiments, before controlling the stair-climbing device to move along the extension direction of a specific obstacle from the second working surface to the first working surface, the control module 1801 is specifically used for:

[0232] The position of the crawling mechanism is adjusted on the second working surface so that the crawling mechanism contacts the surface of a specific obstacle.

[0233] In some alternative embodiments, the control module 1801 is specifically used for:

[0234] The second crawling arm at the front end is rotated relative to the first crawling arm so that the second crawling arm at the front end contacts the corner of the first step of a specific obstacle;

[0235] The climbing device is driven by a crawling mechanism to move along the extension direction of a specific obstacle from the second working surface to the first working surface, so that the second crawling arm at the front end contacts the surface of the second step of the specific obstacle;

[0236] The second crawling arm at the front and rear ends is rotated relative to the first crawling arm to flatten the crawling mechanism;

[0237] The climbing device is driven by a crawling mechanism to move along the extension direction from the second working surface to the first working surface of a specific obstacle, so that the second crawling arm at the front end contacts the corner of the second step;

[0238] Along the height direction, the first step is lower than the second working surface, and the second step is lower than the first step.

[0239] In some alternative embodiments, the control module 1801 is specifically used for:

[0240] The second crawling arm at the front end is rotated relative to the first crawling arm so that the second crawling arm at the front end contacts the surface of the first step;

[0241] The climbing device is driven by a crawling mechanism to move on the surface of the first step away from the second working surface until the second crawling arm at the front end contacts the corner of the first step.

[0242] In some alternative embodiments, the control module 1801 is specifically used for:

[0243] The second crawling arm at the front end is rotated relative to the first crawling arm so that the second crawling arm at the front end is positioned above the surface of the first step;

[0244] The second crawler arm at the rear end is driven to rotate relative to the first crawler arm, so that the second crawler arm at the rear end supports the tail end of the first crawler arm, thereby making the second crawler arm at the front end contact the surface of the first step.

[0245] In some alternative embodiments, before the second crawling arm at the drive end rotates relative to the first crawling arm to make contact with the corner of the first step of a particular obstacle, the control module 1801 is specifically configured to:

[0246] Adjust the position of the crawling mechanism so that the first crawling arm contacts the second working surface, and the front and rear ends of the second crawling arm are perpendicular to the forward direction of the stair climbing device.

[0247] In some optional embodiments, after adjusting the poses of the first and second crawling arms so that the stair-climbing device detaches from a specific obstacle while the first crawling arm is suspended in the air, the control module 1801 is further configured to:

[0248] The second crawling arm drives the stair-climbing device to move away from a specific obstacle;

[0249] The second crawling arm at the front end is rotated relative to the first crawling arm so that the second crawling arm at the front end is parallel to the forward direction of the stair climbing device, and the second crawling arm at the front end is away from the front end and away from the first crawling arm;

[0250] The second crawling arm at the rear end is rotated relative to the first crawling arm so that the second crawling arm at the rear end is parallel to the forward direction of the stair climbing device, and the second crawling arm at the rear end is away from the rear end and away from the first crawling arm.

[0251] In some optional embodiments, after adjusting the poses of the first and second crawling arms so that the stair-climbing device detaches from a specific obstacle while the first crawling arm is suspended in the air, the control module 1801 is further configured to:

[0252] The entire stair-climbing device is positioned such that the first crawling arm is in contact with the first working surface, the front end of the second crawling arm is in contact with the first crawling arm along the forward direction of the stair-climbing device, and the rear end of the second crawling arm is perpendicular to the forward direction of the stair-climbing device.

[0253] In some alternative embodiments, the crawling mechanism further includes a first track and a second track;

[0254] The first track is wound around the first crawling arm, and the first track can rotate on the first crawling arm. The first crawling arm achieves crawling through the first track.

[0255] The second track is wound around the second crawling arm, and the second track can rotate on the second crawling arm. The second crawling arm crawls through the second track.

[0256] In some optional embodiments, the cleaning equipment driven by the stair-climbing device and the stair-climbing device are respectively equipped with sensor systems. The sensor systems are used to acquire image information and / or three-dimensional information of obstacles. The acquisition module is specifically used for:

[0257] Use sensor systems to identify image and / or 3D information of specific obstacles.

[0258] In some optional embodiments, the control module 1801 is further configured to:

[0259] The pose of the crawling mechanism is adjusted using image information and / or 3D information.

[0260] Each module in the above-mentioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0261] Figure 19 A schematic diagram of the structure of the electronic device provided in this application. Figure 19 As shown, the electronic device 1900 provided in this embodiment includes at least one processor 1901 and a memory 1902. Optionally, the device 1901 further includes a communication component 1903. The processor 1901, memory 1902, and communication component 1903 are connected via a bus 1904.

[0262] In a specific implementation, at least one processor 1901 executes computer execution instructions stored in memory 1902, causing at least one processor 1901 to perform the above-described method.

[0263] The specific implementation process of processor 1901 can be found in the above method embodiments, and its implementation principle and technical effect are similar, so it will not be repeated here.

[0264] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0265] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0266] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0267] This application also provides a cleaning system, including:

[0268] Cleaning equipment used to perform cleaning tasks;

[0269] A stair-climbing device is used to achieve the above method.

[0270] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0271] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0272] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0273] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0274] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0275] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0276] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0277] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0278] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for controlling the descent of stairs, characterized in that, An application is made to a stair-climbing device, the stair-climbing device including a crawling mechanism, the crawling mechanism including a first crawling arm and a second crawling arm, along a direction perpendicular to the forward movement of the stair-climbing device, at least one set of the first crawling arms is provided on each side of the stair-climbing device, along the forward movement of the stair-climbing device, the first crawling arm including a front end and a rear end, and at least one second crawling arm rotatably connected to the front end and the rear end, the method including: The climbing device is controlled to move along the extension direction of a specific obstacle from the second working surface to the first working surface until the second climbing arm at the front end contacts the first working surface and the second climbing arm at the rear end overlaps the specific obstacle at a position close to the first working surface. Adjust the position and orientation of the first crawling arm and the second crawling arm so that the stair climbing device can detach from the specific obstacle when the first crawling arm is suspended in the air; The specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface, wherein the first working surface is lower than the second working surface in the height direction.

2. The method according to claim 1, characterized in that, Adjusting the position and orientation of the first and second crawling arms so that the stair-climbing device detaches from the specific obstacle while the first crawling arm is suspended in the air includes: The second crawler arm, which is driven to rest at the rear end of the specific obstacle near the first working surface, rotates relative to the first crawler arm so that the second crawler arm at the rear end disengages from the surface of the specific obstacle and contacts the first working surface.

3. The method according to claim 2, characterized in that, Before the second crawler arm, whose rear end is positioned at a location on the specific obstacle near the first working surface, rotates relative to the first crawler arm to disengage from the surface of the specific obstacle and contact the first working surface, the method further includes: The second crawling arm at the front end is driven to rotate relative to the first crawling arm, so as to support the front end using the second crawling arm at the front end.

4. The method according to claim 2, characterized in that, The second crawler arm, whose rear end is positioned near the first working surface of the specific obstacle, rotates relative to the first crawler arm to disengage from the surface of the specific obstacle and contact the first working surface, including: The second crawling arm at the rear end of the drive section rotates relative to the first crawling arm, so that the second crawling arm at the rear end of the drive section disengages from the specific obstacle surface and contacts the first working surface; The second crawler arm at the other end of the rear is driven to rotate relative to the first crawler arm, so that the second crawler arm at the other end of the rear disengages from the specific obstacle surface and contacts the first working surface.

5. The method according to claim 3, characterized in that, The method of driving the second crawling arm of the front end to rotate relative to the first crawling arm to support the front end using the second crawling arm of the front end includes: The second crawling arm at the front end is driven to rotate relative to the first crawling arm until the second crawling arm at the front end contacts the first working surface in an orientation perpendicular to the first crawling arm.

6. The method according to claim 1, characterized in that, Before controlling the stair-climbing device to move along the extension direction of a specific obstacle from the second working surface to the first working surface, the method further includes: The position of the crawling mechanism is adjusted on the second working surface so that the crawling mechanism comes into contact with the surface of the specific obstacle.

7. The method according to claim 6, characterized in that, Adjusting the pose of the crawling mechanism on the second working surface to make the crawling mechanism contact the surface of the specific obstacle includes: The second crawling arm at the front end is driven to rotate relative to the first crawling arm so that the second crawling arm at the front end contacts the corner of the first step of the specific obstacle; The climbing mechanism drives the stair-climbing device to move along the extension direction of the specific obstacle from the second working surface to the first working surface, so that the second climbing arm at the front end contacts the surface of the second step of the specific obstacle; The second crawling arm, which drives the front end and the rear end, to rotate relative to the first crawling arm, so that the crawling mechanism flattens out; The climbing mechanism drives the stair-climbing device to move along the extension direction from the second working surface to the first working surface along the specific obstacle, so that the second climbing arm at the front end contacts the corner of the second step; Along the height direction, the first step is lower than the second working surface, and the second step is lower than the first step.

8. The method according to claim 7, characterized in that, The method of driving the second crawling arm at the front end to rotate relative to the first crawling arm, so that the second crawling arm at the front end contacts the corner of the first step of the specific obstacle, includes: The second crawling arm at the front end is driven to rotate relative to the first crawling arm so that the second crawling arm at the front end contacts the surface of the first step; The climbing mechanism drives the stair-climbing device to move away from the second working surface on the surface of the first step until the second climbing arm at the front end contacts the corner of the first step.

9. The method according to claim 8, characterized in that, The step of driving the second crawling arm at the front end to rotate relative to the first crawling arm, so that the second crawling arm at the front end contacts the surface of the first step, includes: Drive the second crawling arm at the front end to rotate relative to the first crawling arm, so that the second crawling arm at the front end is positioned above the surface of the first step; The second crawling arm at the rear end is driven to rotate relative to the first crawling arm, so that the second crawling arm at the rear end supports the tail end of the first crawling arm, thereby causing the second crawling arm at the front end to contact the surface of the first step.

10. The method according to claim 7, characterized in that, Before the second crawling arm at the front end is rotated relative to the first crawling arm to make contact with the corner of the first step of the specific obstacle, the method further includes: The position of the crawling mechanism is adjusted so that the first crawling arm contacts the second working surface, and the front end and the rear end of the second crawling arm are respectively perpendicular to the forward direction of the stair climbing device.

11. The method according to any one of claims 1-10, characterized in that, The step of adjusting the position of the first crawling arm and the second crawling arm so that the stair-climbing device detaches from the specific obstacle after the first crawling arm is suspended in the air, further includes: The second crawling arm is used to drive the stair-climbing device to move away from the specific obstacle; The second crawling arm at the front end is driven to rotate relative to the first crawling arm, so that the second crawling arm at the front end is parallel to the forward direction of the stair climbing device, and the second crawling arm at the front end is away from one end of the front end and away from the first crawling arm; The second crawling arm at the rear end is driven to rotate relative to the first crawling arm, so that the second crawling arm at the rear end is parallel to the forward direction of the stair climbing device, and the second crawling arm at the rear end is away from the end of the rear end and away from the first crawling arm.

12. The method according to any one of claims 1-10, characterized in that, The step of adjusting the position of the first crawling arm and the second crawling arm so that the stair-climbing device detaches from the specific obstacle after the first crawling arm is suspended in the air, further includes: Adjust the posture of the stair-climbing device so that the first crawling arm is in contact with the first working surface, the second crawling arm at the front end is in contact with the first crawling arm along the forward direction of the stair-climbing device, and the second crawling arm at the rear end is perpendicular to the forward direction of the stair-climbing device.

13. The method according to any one of claims 1-10, characterized in that, The crawling mechanism also includes a first track and a second track; The first track is wound around the first crawling arm, and the first track can rotate on the first crawling arm. The first crawling arm crawls through the first track. The second track is wound around the second crawling arm, and the second track can rotate on the second crawling arm, and the second crawling arm crawls through the second track.

14. The method according to any one of claims 1-10, characterized in that, The cleaning equipment driven by the stair-climbing device and the stair-climbing device are equipped with a sensor system, which is used to acquire image information and / or three-dimensional information of obstacles. The method further includes: The sensor system on the cleaning equipment and / or the stair-climbing device is used to identify the image information and / or three-dimensional information of the specific obstacle.

15. The method according to claim 14, characterized in that, The method further includes: The pose of the crawling mechanism is adjusted using the image information and / or the three-dimensional information.

16. A staircase control device, characterized in that, An application is made to a stair-climbing device, the stair-climbing device including a crawling mechanism, the crawling mechanism including a first crawling arm and a second crawling arm, along a direction perpendicular to the forward movement of the stair-climbing device, at least one set of the first crawling arms is provided on each side of the stair-climbing device, along the forward movement of the stair-climbing device, the first crawling arm includes a front end and a rear end, and at least one second crawling arm is rotatably connected to the front end and the rear end, the device comprising: The control module is used to control the climbing device to move along the extension direction of a specific obstacle from the second working surface to the first working surface until the second climbing arm at the front end contacts the first working surface and the second climbing arm at the rear end overlaps the specific obstacle at a position close to the first working surface. The stair-climbing module is used to adjust the position and posture of the first crawling arm and the second crawling arm so that the stair-climbing device can detach from the specific obstacle when the first crawling arm is suspended in the air. The specific obstacle refers to a staircase with multiple steps used to connect the first working surface and the second working surface, wherein the first working surface is lower than the second working surface in the height direction.

17. A cleaning system, characterized in that, include: Cleaning equipment used to perform cleaning tasks; A stair-climbing device for performing the method as described in any one of claims 1-15.

18. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-15.

19. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-15.

20. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-15.

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