Detection method and device, equipment, storage medium, program product and cleaning system

Abstract

The embodiment of the invention provides a detection method and device, equipment, a storage medium, a program product and a cleaning system, applied to mobile equipment, the mobile equipment can pass through a specific obstacle, the specific obstacle refers to a stair with multiple layers of steps, the bottom of the mobile equipment comprises at least one first sensor, and the first sensor inclines towards the front end of the mobile equipment. The method comprises the following steps: when the mobile device moves downwards along a specific obstacle, acquiring first distance information of the specific obstacle in the height direction by using the first sensor; the step surface of the specific obstacle is determined through the first distance information, and then the relative position of the mobile device and the specific obstacle is determined. According to the method provided by the invention, the step surface is accurately detected in the process of going upstairs and downstairs, and the terrain sensing capability of the mobile equipment in a complex stair environment is improved.

Description

Technical Field

[0001] This application relates to the field of smart home technology, and in particular to a detection method, apparatus, device, storage medium, program product, and cleaning system. 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 solve this problem, a stair-climbing device has been provided in related technologies. This device can transport equipment across stair steps, thereby helping the transported equipment to move and operate between different floors.

[0003] However, during the process of the stair climbing device traversing a multi-step staircase, the device cannot sense the position of the step surface it is in contact with in its current pose as it passes through each step. Summary of the Invention

[0004] This application provides a detection method, apparatus, device, storage medium, program product, and cleaning system to solve the problem that a stair-climbing device cannot sense the position of the step surface it is in contact with in its current posture when it passes through each step surface of a staircase.

[0005] In a first aspect, embodiments of this application provide a detection method applied to a mobile device capable of passing through a specific obstacle, the specific obstacle being a staircase with multiple steps. The bottom of the mobile device includes at least one first sensor, the first sensor being tilted toward the front end of the mobile device to emit a detection signal tilted toward the front end of the mobile device. The first sensor is used to acquire distance information of the obstacle. The method includes:

[0006] As the mobile device moves downward along the specific obstacle, it uses the first sensor to obtain first distance information of the specific obstacle in the height direction.

[0007] The step surface of the specific obstacle is determined by the first distance information, thereby determining the relative position of the mobile device and the specific obstacle.

[0008] As the mobile device moves down a specific obstacle, the distance information of the obstacle's step surface is obtained by transmitting a detection signal that is tilted towards the front of the mobile device through the first sensor. This allows the mobile device to determine its relative position to the specific obstacle when passing through each step, thereby achieving accurate perception of the step surface and improving the mobile device's terrain perception capability in complex stairwell environments.

[0009] In one possible implementation, determining the step surface of the specific obstacle using the first distance information, and then determining the relative position of the mobile device and the specific obstacle, includes:

[0010] When the first distance information generates a distance abrupt change, the plane corresponding to the distance abrupt change is determined to be the step surface of the specific obstacle.

[0011] In one possible implementation, the first distance information generates a distance abrupt change, including:

[0012] The first distance information acquired by the first sensor at the current moment is compared with the first distance information acquired by the first sensor at the previous moment. If the difference is greater than or equal to a preset threshold, the first distance information generates the distance mutation.

[0013] In one possible implementation, the preset threshold is greater than the distance the first sensor descends from the previous moment to the current moment as the mobile device moves downwards.

[0014] In one possible implementation, the mobile device is equipped with an obstacle recognition system. Before the mobile device acquires first distance information of the specific obstacle in the height direction using the first sensor during its downward movement along the specific obstacle, the method further includes:

[0015] The obstacle recognition system is used to identify the type of obstacle;

[0016] When the obstacle is a specific type of obstacle, the mobile device is controlled to move onto the specific obstacle, and the first sensor is controlled to start working.

[0017] In one possible implementation, the specific obstacle refers to a barrier used to connect the first working surface and the second working surface, and the method further includes:

[0018] During the movement of the mobile device on the first working surface or the second working surface, the first sensor is used to obtain second distance information of the first working surface or the second working surface in the height direction.

[0019] When the second distance information causes a distance abrupt change, the area above the plane corresponding to the distance abrupt change is determined to be the fall zone, and the mobile device is controlled to stop or move away from the fall zone.

[0020] In one possible implementation, the first sensor is one or more combinations of an infrared sensor, a line laser sensor, a time-of-flight (ToF) sensor, an ultrasonic sensor, a millimeter-wave radar, and a multi-view camera.

[0021] In one possible implementation, the bottom of the mobile device further includes a cleaning brush, the bottom of which includes a second sensor. After locating the step surface of the specific obstacle using the first sensor, the method further includes:

[0022] The third distance information between the cleaning brush and the specific obstacle is obtained by the second sensor, and the cleaning brush is controlled to contact the step surface of the specific obstacle.

[0023] Secondly, embodiments of this application provide a detection device applied to a mobile device capable of passing through a specific obstacle, the specific obstacle being a staircase with multiple steps. The bottom of the mobile device includes at least one first sensor, which is tilted toward the front end of the mobile device to emit a detection signal indicating tilt toward the front end. The first sensor is used to acquire distance information of the obstacle. The device includes:

[0024] The acquisition module is used to acquire first distance information of the specific obstacle in the height direction using the first sensor as the mobile device moves downward along the specific obstacle;

[0025] The detection module is used to determine the step surface of the specific obstacle through the first distance information, and then determine the relative position of the mobile device and the specific obstacle.

[0026] Thirdly, embodiments of this application provide a cleaning system, including:

[0027] Cleaning equipment used to perform cleaning tasks;

[0028] A stair-climbing device that can be combined with the cleaning equipment to form a combined unit and enable the cleaning equipment to pass through specific obstacles.

[0029] Fourthly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0030] The memory stores computer-executed instructions;

[0031] 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.

[0032] 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.

[0033] 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.

[0034] The detection method, apparatus, device, storage medium, program product, and cleaning system provided in this application, when a mobile device moves along a specific obstacle, acquires distance information of the obstacle's step surface by transmitting a detection signal tilted towards the front end of the mobile device using a first sensor. This allows the determination of the relative position of the mobile device to the specific obstacle as it passes each step, thereby achieving accurate perception of the step surface. The method of this application achieves accurate detection of the step surface during ascending and descending stairs, improving the terrain perception capability of mobile devices in complex stairwell environments. Attached Figure Description

[0035] 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.

[0036] 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;

[0037] Figure 2 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 1 ;

[0038] Figure 3 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 2 ;

[0039] Figure 4 This is a schematic diagram of the crawling mechanism provided in one embodiment of this application;

[0040] Figure 5 This is a flowchart illustrating the detection method provided in one embodiment of this application. Figure 1 ;

[0041] Figure 6This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 1 ;

[0042] Figure 7 This is a flowchart illustrating the detection method provided in one embodiment of this application. Figure 2 ;

[0043] Figure 8 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 2 ;

[0044] Figure 9 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 3 ;

[0045] Figure 10 This is a flowchart illustrating the detection method provided in one embodiment of this application. Figure 3 ;

[0046] Figure 11 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 4 ;

[0047] Figure 12 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 5 ;

[0048] Figure 13 This is a schematic diagram of the bottom structure of the stair-climbing device provided in one embodiment of this application;

[0049] Figure 14 This is a schematic diagram of the detection device provided in one embodiment of this application;

[0050] Figure 15 A schematic diagram of the structure of the electronic device provided in this application.

[0051] Figure label:

[0052] 10-Climbing device; 10b-Support mechanism; 100-Support plate; 120-Accommodation space;

[0053] 300 - First crawler arm; 30a - Front end; 30b - Rear end;

[0054] 500 - Second Crawler Arm;

[0055] 20- Cleaning equipment;

[0056] 40 - Specific obstacles.

[0057] 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

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] Specifically, the shape of the aforementioned fuselage can be circular, square, or other shapes. For example, one part of the fuselage can be circular, and another part can be square.

[0070] 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.

[0071] The controller described above may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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 can perceive the environment to enable navigation along the walking path, allowing the cleaning device 20 and the stair-climbing device 10 to move autonomously along a planned path. The sensor system can have various structural forms, such as one or more combinations of infrared sensors, line laser sensors, ToF sensors, ultrasonic sensors, millimeter-wave radar, and multi-view cameras. The sensor system can be placed at any location on the cleaning device 20 and the stair-climbing device 10, such as the bottom, side, or top, as long as it meets the requirements for environmental perception.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] Please see Figure 1 In 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.

[0089] As an example, the two sets of crawling mechanisms can also be spaced apart at the bottom of the support mechanism 10b.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] Please see Figure 1 In 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.

[0094] 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.

[0095] 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).

[0096] 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.

[0097] 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.

[0098] 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.

[0099] In one embodiment of this application, the support plate of the support mechanism 10b of the stair climbing device 10 is equipped with a cleaning component system for cleaning.

[0100] In one embodiment, the cleaning system is a vacuuming system. When the stair-climbing device 10 moves the cleaning equipment 20 along a specific obstacle 40, the vacuuming system can clean the surface of the obstacle 40 that needs cleaning. The surface of the obstacle 40 that needs cleaning can be the side of a staircase, the surface of a step, etc. It should be noted that the vacuuming system can include various specifications and models; different specifications and models of vacuuming systems can be selected according to the shape and position of the surface of the obstacle 40 that needs cleaning.

[0101] The vacuuming system may include a vacuum fan and a dust box. The dust box has an exhaust port and a dust inlet. The exhaust port is equipped with a filter. The air inlet of the vacuum fan can be connected to the exhaust port. The dust inlet is connected to the suction port. The vacuuming system is controlled to operate so as to vacuum the surface of a specific obstacle 40. The operation of the vacuuming system can effectively remove dust, debris and fine particles from the surrounding area.

[0102] For example, a vacuum cleaner is installed inside the cleaning device 20, with its air inlet communicating with the roller brush chamber. A dust box is installed in the stair-climbing device 10, with its dust inlet communicating with the suction port. When the stair-climbing device 10 and the cleaning device 20 are combined to form a mobile device, the roller brush chamber of the cleaning device 20 is connected to the exhaust port. By activating the vacuum cleaner of the cleaning device 20, dust is sucked into the dust box of the stair-climbing device 10 to clean the surface of the specific obstacle 40.

[0103] For example, both the vacuum cleaner fan and the dust box are located inside the cleaning device 20, and the dust inlet communicates with the roller brush chamber. When the stair-climbing device 10 and the cleaning device 20 are combined to form a mobile device, the roller brush chamber of the cleaning device 20 is connected to the vacuuming system. By activating the vacuum cleaner fan of the cleaning device 20, dust is sucked into the dust collection box of the cleaning device 20 to vacuum and clean the surface of the specific obstacle 40 to be cleaned.

[0104] In another embodiment, the cleaning system is a wet cleaning system. The wet cleaning system includes a robotic arm and a wet cleaning component. One end of the robotic arm is a mounting end, and the other end is a free end. The mounting end is fixed to the mobile device, and the wet cleaning component is mounted on the free end. When the stair-climbing device 10 moves the cleaning equipment 20 along a specific obstacle 40, it can perform mopping and cleaning on the surface of the obstacle 40 to be cleaned. The wet cleaning component can be a flat cloth structure, a cloth tray structure, etc., and this embodiment is not limited to this. It should be noted that the wet cleaning component can also include various specifications and models. Different specifications and models of scrubbing components can be selected according to the shape and position of the surface of the obstacle 40 to be cleaned.

[0105] In one embodiment of this application, the dust collection system of the stair-climbing device 10 further includes a dust fullness detection unit. Exemplarily, the dust fullness detection unit includes wind speed sensors disposed within the air ducts of the dust box's air inlet and outlet, detecting dust fullness by monitoring wind speed. Exemplarily, the dust fullness detection unit includes a sensor system deployed on both sides of the dust box, detecting dust obstruction by the sensor system. This embodiment does not limit the structure of the dust fullness detection unit.

[0106] When the stair-climbing device 10 moves the cleaning equipment 20 along a specific obstacle 40, the cleaning component system can clean the surface of the obstacle 40 that needs cleaning. Therefore, this design not only enriches the functionality of the stair-climbing device 10, making it applicable to more application scenarios, but also allows for the flexible selection of different cleaning component systems according to different cleaning tasks and environments, thereby better meeting the cleaning requirements of different surfaces and ensuring better cleaning results.

[0107] In related technologies, when a stair-climbing device traverses a multi-step staircase, it cannot perceive the position of the step surface it is in contact with at its current pose as it passes through each step.

[0108] Therefore, this application provides a detection method applied to a mobile device, which may be the aforementioned cleaning device, crawling device, or a combination thereof. To clearly illustrate the detection method of this application, the following embodiments use a mobile device as a combination and the detection method applied to the controller of the combination as an example.

[0109] Figure 5 This is a flowchart illustrating the detection method provided in one embodiment of this application. Figure 1 Please see. Figure 5 The detection method includes:

[0110] S501. As the mobile device moves downward along a specific obstacle, it uses a first sensor to obtain first distance information of the specific obstacle in the height direction.

[0111] A specific obstacle refers to a staircase with multiple steps.

[0112] The first sensor is a sensor tilted at the bottom surface of the stair-climbing device, tilted towards the front of the mobile device so that it can emit a detection signal that is tilted towards the front of the mobile device. The first sensor is used to acquire distance information of obstacles. The first distance information is the distance information of a specific obstacle in the height direction acquired by the first sensor.

[0113] In one embodiment, after the cleaning equipment is combined with a stair-climbing device to form an assembly, a controller can control the assembly to move the cleaning equipment by the stair-climbing device crawling on a specific obstacle. Exemplarily, the controller can adjust the posture of the stair-climbing device so that the assembly moves along the surface of the specific obstacle in an inclined posture. See also... Figure 3 The climbing mechanism of the stair climbing device is flattened and the stair climbing device is tilted, so that the entire climbing mechanism is parallel to the plane formed by the corners of multiple steps of the specific obstacle. The climbing mechanism contacts the corners of the steps of the specific obstacle, which can realize the stable movement of the climbing mechanism on the specific obstacle.

[0114] In the above embodiments, the stair climbing device is in an inclined posture. The first sensor emits a detection signal that is tilted toward the front end of the mobile device, which can cover the step surface area near the stair climbing device. Compared with the blind spot of the vertically set sensor in the stair climbing device in an inclined posture, the first sensor can detect the first distance information of the step surface of a specific obstacle in the height direction.

[0115] For example, when there are multiple first sensors, the controller can acquire distance information collected by multiple first sensors to obtain first distance information of a specific obstacle in the height direction. For example, the controller can acquire distance information collected by each of the multiple first sensors and determine it as the first distance information; for example, the controller can acquire distance information collected by any one of the multiple first sensors and determine it as the first distance information; or for example, the controller can acquire distance information collected by multiple first sensors and obtain the average value of the distance information collected by multiple first sensors, and determine it as the first distance information.

[0116] For example, the controller may acquire first distance information of a specific obstacle in the height direction based on fixed time intervals. For instance, the controller may acquire the first distance information every 2 seconds. Alternatively, the controller may acquire the first distance information of a specific obstacle in the height direction based on fixed movement distance information, such as acquiring the first distance information every 3 centimeters the climbing device moves. In other examples, the controller may also acquire the first distance information of a specific obstacle in the height direction in real time.

[0117] S502. Determine the step surface of a specific obstacle using the first distance information, and then determine the relative position of the mobile device and the specific obstacle.

[0118] Figure 6 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 1 Taking the placement of the first sensor near the rear end of the stair-climbing device as an example (see Figure 6), the stair-climbing device is in an inclined posture. The rectangle on the step surface in the figure is a schematic diagram of the climbing device. The first sensor is tilted towards the front end of the mobile device to emit a detection signal, which can detect the first distance information of the step surface below the first sensor in the height direction.

[0119] As the stair-climbing device traverses each step, the first sensor, relative to the edge of the step facing a specific obstacle, detects a distance that changes from the vertical distance of any given step to the vertical distance of the adjacent step. For example, when the device is climbing upwards, the first distance detected by the sensor changes from the vertical distance of any given step to the vertical distance of the next step above it. Similarly, when the device is descending downwards, the first distance detected by the sensor changes from the vertical distance of any given step to the vertical distance of the next step below it.

[0120] Therefore, when the stair-climbing device drives the first sensor past the edge of the step surface, i.e., the corner of the step, the first distance information detected by it will undergo a sudden change in distance. Based on this distance change, it can be determined that the plane currently measured by the first sensor is a step surface of a specific obstacle, and is within the measurement range of the current first downward-looking sensor. Based on the multiple distance changes in the first distance information that occur during the stair-climbing device's passage through the specific obstacle, the positions of multiple step surfaces of the specific obstacle can be determined sequentially.

[0121] The aforementioned detection method, during the process of a mobile device moving downwards along a specific obstacle, obtains distance information of the obstacle's step surface by transmitting a detection signal tilted towards the front of the mobile device using a first sensor. This allows the determination of the relative position of the mobile device to the specific obstacle as it passes each step, thereby achieving accurate perception of the step surface. The method of this application achieves accurate detection of the step surface during ascending and descending stairs, improving the terrain perception capability of mobile devices in complex stairwell environments.

[0122] In one embodiment of this application, the controller may, for example, determine that the plane corresponding to the distance change is the step surface of a specific obstacle when the first distance information causes a distance change.

[0123] Among them, distance mutation refers to the difference in the first distance information detected at two time points exceeding a preset threshold.

[0124] Figure 7 This is a flowchart illustrating the detection method provided in one embodiment of this application. Figure 2 Please see. Figure 7 It can include:

[0125] S701, Obtain the first distance information collected by the first sensor.

[0126] S702. Determine whether the first distance information has a sudden change in distance.

[0127] If so, then execute S703;

[0128] If not, then execute S701.

[0129] The following is combined Figure 8 and Figure 9 Explain whether abrupt changes occur in the distance information. Figure 8 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 2 . Figure 9 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 3 .

[0130] like Figure 8 and Figure 9In this design, a combination of a stair-climbing device and cleaning equipment is positioned at an angle on the surface of a specific obstacle. A first sensor is located at its rear end, and this first sensor can detect the distance to the step surface below it. (See also...) Figure 8 When the first sensor is located above step surface A, the first distance information it detects is the distance information to step surface A. Please refer to [link / reference]. Figure 9 When the first sensor is located below step surface A, the first distance information it detects is the first distance information of step surface B, which is the next layer below step surface A.

[0131] The stair-climbing device drives the first sensor from Figure 8 Move to the position shown Figure 9 The location shown represents a sudden change in distance information.

[0132] Optionally, when there are multiple first sensors, the controller can acquire distance information collected by multiple first sensors. Based on the distance information collected by multiple first sensors, it determines whether the first distance information has experienced a distance abrupt change. For example, the controller can acquire the distance information collected by each of the multiple first sensors and identify it as the first distance information; if all distance information in the first distance information experiences a distance abrupt change, it is determined that the first distance information has experienced a distance abrupt change. As another example, if more than half of the distance information in the first distance information experiences a distance abrupt change, it is determined that the first distance information has experienced a distance abrupt change.

[0133] For example, the controller can acquire distance information collected by any one of the multiple first sensors and determine it as the first distance information to determine whether a distance abrupt change occurs. Alternatively, the controller can acquire distance information collected by multiple first sensors and obtain the average of the distance information collected by the multiple first sensors, determine it as the first distance information, and determine whether a distance abrupt change occurs based on this first distance information.

[0134] S703. Determine that the plane corresponding to the distance mutation is the step surface of a specific obstacle.

[0135] When a distance mutation occurs, the step surface corresponding to the first distance information is the step surface measured by the first sensor.

[0136] Please see Figure 8 and Figure 9 When a sudden change in distance occurs, the first distance information obtained by the first sensor is the distance information of the step surface B in the height direction, and the plane corresponding to the sudden change in distance is the step surface B of the specific obstacle.

[0137] The detection method in the above embodiments determines the relative position of the mobile device and a specific obstacle by using the distance change in the first distance information collected by the first sensor, thereby achieving accurate perception of the position of each step and improving the perception ability of the mobile device when going up and down stairs.

[0138] In one embodiment of this application, a specific obstacle is used to connect a first working surface and a second working surface, wherein the first working surface is lower than the second working surface in the height direction.

[0139] In one embodiment, when the assembly moves from the second working surface to the first working surface, the controller can acquire the first distance information collected by the first sensor to determine the relative position of each step surface and the mobile device during the descent of the stairs.

[0140] Figure 10 This is a flowchart illustrating the detection method provided in one embodiment of this application. Figure 3 Please see. Figure 10 It can include:

[0141] S1001. Obtain the first detection distance information collected by the first sensor.

[0142] In one embodiment, the mobile device may periodically collect first detection distance information based on a preset interval.

[0143] In another embodiment, the mobile device can acquire first detection distance information collected by the first sensor once every time it moves a preset distance, based on a preset distance.

[0144] In other embodiments, the mobile device may also collect the first distance information in real time.

[0145] S1002. Determine whether the difference between the first distance information acquired at the current moment and the first distance information acquired by the first sensor at the previous moment exceeds a preset threshold.

[0146] If so, then execute S1003;

[0147] If not, then execute S1001.

[0148] The preset threshold is a distance difference threshold. For example, as the mobile device moves downwards, the preset threshold is greater than the distance the first sensor has descended from the previous moment to the current moment as the mobile device moves downwards.

[0149] The controller can compare the first distance information acquired by the first sensor at the current moment with the first distance information acquired by the first sensor at the previous moment. If the difference is greater than or equal to a preset threshold, the first distance information will generate a distance abrupt change.

[0150] The following is combined Figure 11 Explain whether the first distance information causes a sudden change in distance. Figure 11 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 4 Please see. Figure 11 The stair-climbing device moves from the first step surface towards the extension direction of the second step surface.

[0151] Taking the example of a cleaning device descending vertically by a height z0 using a stair-climbing device, if the first distance information acquired at the current moment is z1 and the first distance information acquired by the first sensor at the previous moment is z2, and the difference between the first distance information z1 acquired at the current moment and the first distance information z2 acquired by the first sensor at the previous moment exceeds a preset threshold, a sudden change in the distance information collected by the first sensor occurs. The preset distance is greater than z0.

[0152] S1003. Determine that the plane corresponding to the distance mutation is the step surface of a specific obstacle.

[0153] If the difference between the first distance information acquired at the current moment and the first distance information acquired by the first sensor at the previous moment exceeds a preset threshold, it indicates that the first sensor has detected the next step surface, and it can be determined that the plane corresponding to the distance abrupt change is the step surface of a specific obstacle. Please refer to [link / reference]. Figure 11 When the first distance information produces a distance abrupt change, the detected plane is the second step surface.

[0154] The detection method in the above embodiments, targeting a mobile device descending stairs, uses a distance threshold to determine whether the first distance information detected by the first sensor undergoes a sudden change in distance. It further determines that the plane corresponding to the sudden distance change is the step surface of a specific obstacle, thus achieving accurate perception of each step surface of a specific obstacle during the mobile device's descent. Since the preset threshold is greater than the distance the first sensor descends from the previous moment to the current moment as the mobile device moves downwards, measurement errors caused by the mobile device's own movement distance can be avoided, improving the reliability of step surface perception.

[0155] In another embodiment, when the assembly moves from the second working surface to the first working surface, the controller can acquire the first distance information collected by the first sensor to determine the relative position of each step surface and the mobile device during the descent of the stairs.

[0156] In this method, please continue to refer to Figure 10In the steps shown, in S1002, the preset threshold is greater than the distance the first sensor has increased from the previous moment to the current moment as the mobile device moves upward. The controller can compare the first distance information acquired by the first sensor at the current moment with the first distance information acquired by the first sensor at the previous moment. If the difference is greater than or equal to the preset threshold, the first distance information will generate a distance abrupt change.

[0157] The following is combined Figure 12 Explain whether abrupt changes occur in the distance information. Figure 12 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 5 Please see. Figure 12 The stair-climbing device moves from the second step towards the extension direction of the first step surface.

[0158] Taking the example of the cleaning equipment being raised by z3 in height by the stair-climbing device, if the first distance information acquired at the current moment is z4, and the first distance information acquired by the first sensor at the previous moment is z5, the difference between the first distance information z4 acquired at the current moment and the first distance information z5 acquired by the first sensor at the previous moment exceeds a preset threshold, causing a sudden change in the distance information collected by the first sensor. Here, the preset distance is a negative number, and the absolute value of the preset distance is greater than z0.

[0159] In step S1003, during the upward movement of the mobile device, the plane corresponding to the distance abrupt change is determined to be the step surface of a specific obstacle. If the difference between the first distance information acquired at the current moment and the first distance information acquired by the first sensor at the previous moment exceeds a preset threshold, it indicates that the first sensor has detected another step surface, and the plane corresponding to the distance abrupt change can be determined to be the step surface of a specific obstacle. Please refer to [link to relevant documentation]. Figure 12 When the first distance information produces a distance abrupt change, the detected plane is the first step surface.

[0160] The detection method in the above embodiments, targeting the scenario of a mobile device going up and down stairs, uses a distance threshold to determine whether the first distance information detected by the first sensor produces a distance abrupt change. It further determines that the plane corresponding to the distance abrupt change is the step surface of a specific obstacle, thus achieving accurate perception of each step surface of a specific obstacle during the mobile device's movement up and down stairs. Since the preset threshold is greater than the distance the first sensor rises from the previous moment to the current moment as the mobile device moves upwards, measurement errors caused by the mobile device's own movement distance can be avoided, improving the reliability of step surface perception.

[0161] In one embodiment of this application, the controller can also use a first sensor to acquire second distance information of the first working surface or the second working surface in the height direction during the movement of the mobile device on the first working surface or the second working surface; when the second distance information produces a distance abrupt change, it determines that the area above the plane corresponding to the distance abrupt change is the fall area, and controls the mobile device to stop or move away from the fall area.

[0162] The second distance information is the distance information in the height direction of the first working surface or the second working surface measured by the first sensor.

[0163] The controller can monitor height changes on the first or second working surface using a first sensor. When a sudden distance change is detected while the mobile device is moving on the first and / or second working surface, it indicates that the area above the plane corresponding to the sudden distance change is a fall zone, i.e., a cliff exists on the first and / or second working surface. To avoid falling, the controller can stop the mobile device or move it away from the fall zone. For example, it can control the mobile device to stop, turn, or detour.

[0164] The detection method in the above embodiments generates a sudden change in distance by collecting distance information from the first sensor, monitors changes in ground height, and controls the mobile device to stop or move away from the fall area, so as to avoid the mobile device falling on the plane and improve the driving safety of the mobile device during movement on the plane.

[0165] In one embodiment of this application, the controller can also control the movement of the mobile device based on distance abrupt changes in distance information collected by the third sensor during the movement of the mobile device on the first working surface and / or the second working surface.

[0166] The third sensor can emit a detection signal perpendicular to the bottom surface of the mobile device to detect distance information between the first working surface and / or the second working surface.

[0167] In one embodiment, the controller can monitor the height change of the plane in a direction perpendicular to the bottom of the support plate via a third sensor. During movement on the first working surface and / or the second working surface, when a sudden distance change occurs in the distance information acquired by the third sensor, the area above the plane corresponding to the sudden distance change is designated as a fall zone. To avoid falling, the mobile device can be controlled to stop or move away from the fall zone. For example, the mobile device can be controlled to stop moving and / or move around it.

[0168] The detection method in the above embodiments monitors changes in ground height by detecting sudden changes in distance information collected by the third sensor, and controls the movement of the mobile device to prevent the mobile device from falling on the plane and improve the safety of the mobile device during movement on the plane.

[0169] In one embodiment of this application, before locating the step surface of a specific obstacle by the first sensor, the controller may also adjust the pose of the mobile device based on the distance change generated by the distance information obtained by the third sensor during the movement of the mobile device on the first working surface and / or the second working surface, so as to make the mobile device contact the surface of the specific obstacle and control the first sensor to collect distance information.

[0170] For example, the controller can control the mobile device to perform a stair-descent action to pass through a specific obstacle. For instance, the controller detects a sudden change in distance at a position on the second working plane near the specific obstacle using a third sensor, adjusts the pose of the mobile device to make contact with the surface of the specific obstacle, performs the stair-descent action, and controls the first sensor to collect data to detect the step surface of the specific obstacle as the mobile device moves along the obstacle.

[0171] In one embodiment of this application, the mobile device is provided with an obstacle recognition system. Before the mobile device obtains the first distance information of the specific obstacle in the height direction using the first sensor while moving downward along a specific obstacle, the controller can also use the obstacle recognition system to identify the type of obstacle. When the type of obstacle is a specific obstacle, the controller controls the mobile device to move onto the specific obstacle and controls the first sensor to start working.

[0172] In one embodiment of this application, the obstacle recognition system may include any sensor or combination of sensors capable of identifying obstacle types. For example, the obstacle recognition system may consist of one or more combinations of AI cameras, line laser sensors, ToF sensors, ultrasonic sensors, and multi-view cameras.

[0173] For example, the type of obstacle is a category derived from the obstacle's outline. For instance, the type of obstacle could be a category based on the obstacle's volume; for example, based on the identified obstacle's outline, the obstacle's volume is predicted, and the category is determined based on the volume to obtain the obstacle's type. Another example is that the type of obstacle could be a category of objects to which the obstacle belongs; for example, based on the identified obstacle's outline, the obstacle is predicted to be a staircase, a pillar, etc., to obtain the obstacle's type.

[0174] In one embodiment, the obstacle recognition system includes a visual sensor, through which the controller can capture video images and use image processing techniques and machine learning algorithms to identify the type of obstacle. In another embodiment, the obstacle recognition system includes a line laser sensor, through which the controller can scan and acquire object contour information, construct three-dimensional geometric data, and identify the type of obstacle.

[0175] In one embodiment, the stair-climbing device is equipped with an obstacle recognition system, and multiple first sensors and third sensors are installed at the bottom of the stair-climbing device. Figure 13 This is a schematic diagram of the bottom structure of the stair-climbing device provided in one embodiment of this application. Please refer to... Figure 13 The sensor system at the bottom of the stair climbing device shown includes a third sensor on each of the front and rear sides of the bottom of the stair climbing device, and a first sensor on each of the rear sides.

[0176] As the stair-climbing device moves on the second working surface, the controller can use the obstacle recognition system to identify the type of obstacle. When the type of obstacle is a specific obstacle, the controller can drive the stair-climbing device to move in the direction of the specific obstacle.

[0177] Furthermore, the controller can control the stair-climbing device to move to a position close to the specific obstacle on the second working surface based on the distance information obtained by the third sensor, control the stair-climbing device to perform the downstairs action, and activate the first sensor to obtain the first distance information of the specific obstacle in the height direction. When the first distance information produces a distance abrupt change, the controller determines that the plane corresponding to the distance abrupt change is the step surface of the specific obstacle.

[0178] If the plane corresponding to the distance mutation is determined to be a step surface of a specific obstacle, the controller can also control the crawling device to reduce its speed and control the vacuuming component to clean the step surface.

[0179] The detection method in the above embodiments identifies the type of obstacle through an obstacle recognition system, monitors ground height changes by emitting a detection signal perpendicular to the bottom of the mobile device using a third sensor, and obtains distance information of the obstacle's step surface by emitting a detection signal tilted towards the front of the mobile device using a first sensor, thereby determining the relative position of the mobile device and the specific obstacle when the mobile device passes through each step. The obstacle recognition system enables the identification of specific obstacles, and the coordinated action of the first and third sensors enables the switching from planar movement to stair movement. The detection method in this application embodiment, through sensor monitoring, achieves the identification of obstacles, fall zones, and accurate identification of step surfaces during ascending and descending stairs, thereby improving the mobile device's comprehensive perception capability in complex terrain.

[0180] In one embodiment of this application, the bottom of the mobile device also includes a cleaning brush, which is movably connected to the mobile device. The bottom of the cleaning brush includes a second sensor. After the first sensor detects the step surface of a specific obstacle, the controller can also obtain third distance information between the cleaning brush and the specific obstacle through the second sensor, and control the cleaning brush to contact the step surface of the specific obstacle.

[0181] The detection method in the above embodiments detects the step surface of a specific obstacle using a first sensor, then obtains the third distance information between the cleaning brush and the specific obstacle using a second sensor, controls the cleaning brush to contact the step surface of the specific obstacle, enabling the mobile device to stably traverse multiple steps and accurately clean the step surface based on the cleaning brush, ensuring that the cleaning brush precisely adheres to the step surface and improving cleaning efficiency.

[0182] 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.

[0183] Based on the same inventive concept, this application also provides a detection apparatus for implementing the detection method described above. The solution provided by this detection apparatus is similar to the implementation scheme described in the above detection method; therefore, the specific limitations in one or more apparatus embodiments provided below can be found in the limitations of the detection method described above, and will not be repeated here.

[0184] Figure 14 This is a schematic diagram of the detection device provided in one embodiment of this application. For example... Figure 14 As shown, a detection device 1400 is provided, which is applied to a mobile device. The mobile device is able to pass through a specific obstacle, which refers to a staircase with multiple steps. The bottom of the mobile device includes at least one first sensor. The first sensor is tilted toward the front end of the mobile device so that the first sensor can emit a detection signal tilted toward the front end of the mobile device. The first sensor is used to obtain distance information of the obstacle.

[0185] The detection device 1400 includes an acquisition module 1401 and a detection module 1402. Optionally, the detection device may also include an identification module and a cleaning module.

[0186] The acquisition module 1401 is used to acquire first distance information of the specific obstacle in the height direction using a first sensor as the mobile device moves downward along the specific obstacle;

[0187] The detection module 1402 is used to determine the step surface of a specific obstacle through the first distance information, and then determine the relative position of the mobile device and the specific obstacle.

[0188] In some optional embodiments, the detection module 1402 is specifically used for:

[0189] When a distance abrupt change occurs in the first distance information, the plane corresponding to the distance abrupt change is determined to be the step surface of a specific obstacle.

[0190] In some optional embodiments, the detection module 1402 is specifically used for:

[0191] The first distance information acquired by the first sensor at the current moment is compared with the first distance information acquired by the first sensor at the previous moment. If the difference is greater than or equal to a preset threshold, the first distance information will generate a distance abrupt change.

[0192] In some optional embodiments, the preset threshold is greater than the distance the first sensor descends from the previous moment to the current moment as the mobile device moves downwards.

[0193] In some optional embodiments, the mobile device is equipped with an obstacle recognition system. Before the mobile device acquires first distance information of the specific obstacle in the height direction using a first sensor as it moves downward along a specific obstacle, the recognition module is specifically used for:

[0194] Use an obstacle recognition system to identify the type of obstacle;

[0195] When the obstacle is a specific type, control the mobile device to move onto the specific obstacle and control the first sensor to start working.

[0196] In some optional embodiments, the specific obstacle refers to the obstacle used to connect the first working surface and the second working surface, and the detection module 1402 is further used for:

[0197] During the movement of the mobile device on the first working surface or the second working surface, the first sensor is used to acquire second distance information of the first working surface or the second working surface in the height direction.

[0198] When a distance abrupt change occurs in the second distance information, the area above the plane corresponding to the distance abrupt change is determined to be the fall zone, and the mobile device is controlled to stop or move away from the fall zone.

[0199] In some optional embodiments, the first sensor is one or more combinations of an infrared sensor, a line laser sensor, a ToF sensor, an ultrasonic sensor, a millimeter-wave radar, and a multi-view camera.

[0200] In some optional embodiments, the bottom of the mobile device also includes a cleaning brush, the bottom of which includes a second sensor. After the first sensor locates the step surface of a specific obstacle, the cleaning module is specifically used for:

[0201] The third distance information between the cleaning brush and a specific obstacle is obtained by the second sensor, and the cleaning brush is controlled to contact the step surface of the specific obstacle.

[0202] 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.

[0203] Figure 15 A schematic diagram of the structure of the electronic device provided in this application. Figure 15 As shown, the electronic device 1500 provided in this embodiment includes at least one processor 1501 and a memory 1502. Optionally, the device 1500 further includes a communication component 1503. The processor 1501, memory 1502, and communication component 1503 are connected via a bus 1504.

[0204] In a specific implementation, at least one processor 1501 executes computer execution instructions stored in memory 1502, causing at least one processor 1501 to perform the above-described method.

[0205] The specific implementation process of processor 1501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0206] 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.

[0207] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0208] 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.

[0209] This application also provides a cleaning system, including:

[0210] Cleaning equipment used to perform cleaning tasks;

[0211] A mobile device for implementing the above method.

[0212] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0213] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0214] 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.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] 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.

[0219] 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.

[0220] 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.

[0221] 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 detection method, characterized in that, Applied to a mobile device capable of navigating a specific obstacle, such as a staircase with multiple steps, the mobile device includes at least one first sensor on its bottom, the first sensor being tilted towards the front end of the mobile device to emit a detection signal indicating this tilt, the first sensor being used to acquire distance information about the obstacle, the method comprising: As the mobile device moves downward along the specific obstacle, it uses the first sensor to obtain first distance information of the specific obstacle in the height direction. The step surface of the specific obstacle is determined by the first distance information, thereby determining the relative position of the mobile device and the specific obstacle.

2. The method according to claim 1, characterized in that, The step of determining the step surface of the specific obstacle through the first distance information, and then determining the relative position of the mobile device and the specific obstacle, includes: When the first distance information generates a distance abrupt change, the plane corresponding to the distance abrupt change is determined to be the step surface of the specific obstacle.

3. The method according to claim 2, characterized in that, The first distance information generates a distance abrupt change, including: The first distance information acquired by the first sensor at the current moment is compared with the first distance information acquired by the first sensor at the previous moment. If the difference is greater than or equal to a preset threshold, the first distance information generates the distance mutation.

4. The method according to claim 3, characterized in that, The preset threshold is greater than the distance the first sensor descends from the previous moment to the current moment as the mobile device moves downwards.

5. The method according to claim 1, characterized in that, The mobile device is equipped with an obstacle recognition system. Before the mobile device acquires the first distance information of the specific obstacle in the height direction using the first sensor during its downward movement along the specific obstacle, the method further includes: The obstacle recognition system is used to identify the type of obstacle; When the obstacle is a specific type of obstacle, the mobile device is controlled to move onto the specific obstacle, and the first sensor is controlled to start working.

6. The method according to any one of claims 1, characterized in that, The specific obstacle refers to the obstacle used to connect the first working surface and the second working surface, and the method further includes: During the movement of the mobile device on the first working surface or the second working surface, the first sensor is used to obtain second distance information of the first working surface or the second working surface in the height direction. When the second distance information causes a distance abrupt change, the area above the plane corresponding to the distance abrupt change is determined to be the fall zone, and the mobile device is controlled to stop or move away from the fall zone.

7. The method according to claim 1, characterized in that, The first sensor is one or more of the following: infrared sensor, line laser sensor, ToF sensor, ultrasonic sensor, millimeter-wave radar, and multi-view camera.

8. The method according to any one of claims 1-7, characterized in that, The bottom of the mobile device also includes a cleaning brush, which is movably connected to the mobile device. The bottom of the cleaning brush includes a second sensor. After locating the step surface of the specific obstacle using the first sensor, the method further includes: The third distance information between the cleaning brush and the specific obstacle is obtained by the second sensor, and the cleaning brush is controlled to contact the step surface of the specific obstacle.

9. A detection device, characterized in that, An apparatus for use with a mobile device capable of navigating a specific obstacle, such as a staircase with multiple steps, includes at least one first sensor on its bottom, the first sensor tilted toward the front of the mobile device to emit a detection signal indicating this tilt. The first sensor is used to acquire distance information about the obstacle. The apparatus comprises: The acquisition module is used to acquire first distance information of the specific obstacle in the height direction using the first sensor as the mobile device moves downward along the specific obstacle; The detection module is used to determine the step surface of the specific obstacle through the first distance information, and then determine the relative position of the mobile device and the specific obstacle.

10. A cleaning system, characterized in that, include: Cleaning equipment used to perform cleaning tasks; A mobile device for performing the method as described in any one of claims 1-8.

11. 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 1-8.

12. 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 1-8.

13. 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 1-8.

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