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

Abstract

The embodiment of the invention provides a control method and device for a stair climbing device, equipment, a storage medium and a cleaning system.The downstairs control method comprises the steps that in the process that a second crawling arm rotates relative to a device body, if the included angle between the second crawling arm and the bottom side of the device body is within a preset range, the second crawling arm is driven to go downstairs; if yes, detecting whether the anti-clamping piece is lifted or not through the second detection assembly; and under the condition that it is detected that the anti-pinch piece is lifted, the stair climbing device is controlled to execute the anti-pinch action. According to the method, anti-pinch detection and control of the stair climbing device are achieved, pinching accidents are avoided, and the safety of the stair climbing device and the experience feeling of a user are improved.

Description

Technical Field

[0001] This application relates to the field of smart home technology, and in particular to a control method, device, equipment, storage medium, and cleaning system for a stair-climbing device. 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 devices 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 facilitating the transfer and operation of the transported equipment between different floors. The stair-climbing device includes a climbing arm and a main body. By rotating the climbing arm relative to the main body, the stair-climbing device can cross floors.

[0003] However, there is a risk of pinching during the rotation of the climbing arm. When users are maintaining, cleaning, or accidentally come into contact with the climbing device, their fingers or hands can easily be pinched, causing injury and posing a significant safety hazard.

[0004] Therefore, there is an urgent need for a control method for stair climbing devices to avoid pinching accidents, thereby improving the safety of stair climbing devices and the user experience. Summary of the Invention

[0005] This application provides a control method, device, equipment, storage medium, and cleaning system for a stair-climbing device, which improves the safety of the stair-climbing device and the user experience.

[0006] In a first aspect, embodiments of this application provide a control method for a stair-climbing device. The stair-climbing device includes a device body, a second climbing arm, an anti-pinch component, and a second detection component. The second climbing arm is rotatably connected to the device body. The anti-pinch component is disposed on the device body and can be raised and lowered relative to the device body, so that the anti-pinch component can switch between a descending position and a raised position. When the angle between the second climbing arm and the bottom side of the device body is within a preset range, the anti-pinch component is in the descending position, and a portion of the anti-pinch component protrudes from the bottom side of the device body. The method includes:

[0007] During the rotation of the second crawling arm relative to the device body, if the angle between the second crawling arm and the bottom side of the device body is within a preset range, the second detection component will detect whether the anti-pinch component is raised.

[0008] If the anti-pinch component is detected to be raised, the stair-climbing device is controlled to perform an anti-pinch action.

[0009] By detecting the lifting status of the anti-pinch plate, it is determined whether an object is caught between the second climbing arm and the bottom side of the device body. Based on the detection result, the anti-pinch action is triggered, realizing the anti-pinch detection and control of the stair climbing device, avoiding pinching accidents, and improving the safety of the stair climbing device and the user experience.

[0010] In one possible implementation, controlling the stair-climbing device to perform an anti-pinch action includes:

[0011] Control the second crawler arm to stop rotating;

[0012] Alternatively, control the second crawler arm to rotate in the opposite direction;

[0013] Alternatively, control the second crawler arm to reduce its rotation speed.

[0014] In one possible implementation, detecting whether the anti-pinch member has lifted via the second detection component includes:

[0015] The second detection component is used to determine whether the anti-pinch component is in the target position;

[0016] If the anti-pinch component is in the target position, it is determined that the anti-pinch component has not been lifted;

[0017] If the anti-pinch component is not in the target position, then the anti-pinch component is determined to be raised;

[0018] The target position is the location of the anti-pinch component at the descent position.

[0019] In one possible implementation, the second detection component includes a sensor and a blocking part. The sensor includes a light emitter and a light receiver disposed opposite to each other, forming an optical path region between the light emitter and the light receiver. One of the sensor and the blocking part is disposed on the anti-pinch member, and the other is disposed on the device body. When the anti-pinch member is in the lowered position, the blocking part is at least partially located within the optical path region to block the light emitted by the light emitter. Determining whether the anti-pinch member is in the target position using the second detection component includes:

[0020] If the optical receiver can receive light from the optical transmitter, then the anti-pinch component is determined to be in the target position;

[0021] If the optical receiver fails to receive light from the optical transmitter, it is determined that the anti-pinch component is not in the target position.

[0022] In one possible implementation, the second detection component includes a sensor disposed on the anti-pinch member or the device body, and the step of determining whether the anti-pinch member is in the target position using the second detection component includes:

[0023] If the sensor detects that the anti-pinch member is moving upward, it determines that the anti-pinch member is raised;

[0024] If the sensor detects that the anti-pinch member is stationary, it determines that the anti-pinch member has not been raised.

[0025] In one possible implementation, the sensing element 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.

[0026] In one possible implementation, the method further includes:

[0027] When the angle between the second crawling arm and the bottom side of the device body is within a preset range, the second detection component is controlled to start detection;

[0028] And / or, when the angle between the second crawling arm and the bottom side of the device body is outside the preset range, control the second detection component to stop detection.

[0029] In one possible implementation, controlling the stair-climbing device to perform an anti-pinch action includes:

[0030] The climbing device is controlled to perform the corresponding anti-pinch action based on the lifting range of the anti-pinch component.

[0031] In one possible implementation, after controlling the stair-climbing device to perform the anti-pinch action, the method further includes:

[0032] The second detection component detects whether the anti-pinch component has descended;

[0033] If the anti-pinch component is detected to have descended, the second crawler arm is controlled to resume rotation.

[0034] In one possible implementation, the method further includes:

[0035] An alarm is issued if the anti-pinch device fails to descend.

[0036] In one possible implementation, if the angle between the second crawling arm and the bottom side of the device body is within a preset range during the rotation of the second crawling arm relative to the device body, and the second detection component detects that the anti-pinch member has been lifted, an alarm is issued.

[0037] Secondly, embodiments of this application provide a control device for a stair-climbing device. The stair-climbing device includes a device body, a second climbing arm, an anti-pinch component, and a second detection component. The second climbing arm is rotatably connected to the device body. The anti-pinch component is disposed on the device body and can be raised and lowered relative to the device body, so that the anti-pinch component can switch between a descending position and a raised position. When the angle between the second climbing arm and the bottom side of the device body is within a preset range, the anti-pinch component is in the descending position, and part of the anti-pinch component protrudes from the bottom side of the device body. The device includes:

[0038] The detection module is used to detect whether the anti-pinch component is raised when the angle between the second crawling arm and the bottom side of the device body is within a preset range during the rotation of the second crawling arm relative to the device body.

[0039] The control module is used to control the stair-climbing device to perform an anti-pinch action when the anti-pinch component is detected to be raised.

[0040] Thirdly, embodiments of this application provide a cleaning system, including:

[0041] Cleaning equipment used to perform cleaning tasks;

[0042] A stair-climbing device for performing the first aspect and / or various possible implementations of the first aspect as described above.

[0043] Fourthly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0044] The memory stores computer-executed instructions;

[0045] 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.

[0046] 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.

[0047] 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.

[0048] The control method, apparatus, device, storage medium, and cleaning system for the stair-climbing device provided in this application embodiment detect whether the anti-pinch member is raised when the angle between the second crawling arm and the bottom side of the device body is within a preset range during the rotation of the second crawling arm relative to the device body. If the anti-pinch member is detected to be raised, the stair-climbing device is controlled to perform an anti-pinch action. This method determines whether an object is caught between the second crawling arm and the bottom side of the device body by detecting the lifting state of the anti-pinch plate, and triggers the anti-pinch action based on the detection result. This achieves anti-pinch detection and control of the stair-climbing device, preventing pinching accidents and improving the safety of the stair-climbing device and the user experience. Attached Figure Description

[0049] 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.

[0050] Figure 1 A schematic diagram of a scenario where the anti-pinch component of the mobile device provided in this application is in the descending position;

[0051] Figure 2 A partial enlarged view of the anti-pinch component of the mobile device provided in this application when it is in the descending position;

[0052] Figure 3 A schematic diagram of the assembly of the device body and the third drive component of the mobile device provided in this application;

[0053] Figure 4 A schematic diagram of the structure of the mobile device provided in this application when the second crawling arm is located at the initial position within a preset range from a first perspective;

[0054] Figure 5 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 1 ;

[0055] Figure 6 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 2 ;

[0056] Figure 7 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 3 ;

[0057] Figure 8 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 4 ;

[0058] Figure 9This is a schematic diagram of the control device of the stair-climbing device provided in one embodiment of this application;

[0059] Figure 10 A schematic diagram of the structure of the electronic device provided in this application.

[0060] Figure label:

[0061] 10a - Device body; 100 - Support plate; 120 - Storage space;

[0062] 200 - Top cover plate;

[0063] 300 - First Crawler Arm;

[0064] 500 - Second Crawler Arm;

[0065] 910 - Anti-pinch component; 911 - Guide groove; 912 - Guide section;

[0066] 840 - Second detection component; 841 - Sensor; 842 - Blocking part;

[0067] X - Rotation direction of the second crawling arm;

[0068] A - Height direction of the device body;

[0069] B - The length direction of the device body;

[0070] C - Width direction of the device body;

[0071] D - Initial position;

[0072] E - Retract position;

[0073] β - Preset range.

[0074] The accompanying drawings have illustrated 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 specific embodiments. Detailed Implementation

[0075] 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.

[0076] This application provides a cleaning system. The cleaning system includes cleaning equipment and a stair-climbing device. The stair-climbing device has a receiving space 120 for accommodating the cleaning equipment.

[0077] like Figure 1 As shown, the stair-climbing device includes a device body 10a and first climbing arms 300. Specifically, the device body 10a includes two first climbing arms 300, a support plate 100, and a top cover plate 200. The two first climbing arms 300 are arranged opposite each other along the length direction B of the device body 10a. In the height direction A of the device body 10a, the support plate 100 is located between the two first climbing arms 300 and connected to the bottom side of the two first climbing arms 300. The top cover plate 200 is located between the two first climbing arms 300 and connected to the top end of the two first climbing arms 300. The two first climbing arms 300, the support plate 100, and the top cover plate 200 together form a receiving space 120. The receiving space 120 is used to receive cleaning equipment.

[0078] Along the width direction C of the device body 10a, each of the first crawling arms 300 has a second crawling arm 500 at both ends. During operation, the cleaning equipment can enter the receiving space 120 through the opening and combine with the stair-climbing device. The second crawling arm 500 rotates relative to the first crawling arm 300, allowing the stair-climbing device to move, thereby driving the cleaning equipment to move.

[0079] Using a climbing device, cleaning equipment can overcome specific obstacles and clean the surface to be cleaned. These obstacles can be stairs, steps, etc. The cleaning equipment can include devices such as robotic vacuum cleaners capable of cleaning the surface. The surface to be cleaned can be the floor, etc.

[0080] However, when the second climbing arm 500 rotates relative to the device body 10a, and the angle between the second climbing arm 500 and the bottom side of the device body 10a is within a preset range β, there is a risk of pinching in the area between the second climbing arm 500 and the bottom side of the device body 10a. If the user performs maintenance, cleaning, or accidentally comes into contact with the stair climbing device at this time, their fingers or hands are very likely to be pinched, causing pinching injuries, posing a significant safety hazard.

[0081] For example, from a first perspective, the rotation direction X of the second crawling arm 500 is clockwise. Here, the first perspective is the view facing the second crawling arm 500. Figure 8 As shown, the second crawling arm 500 is located at its initial position D within the preset range β. At this point, the area between the second crawling arm 500 and the bottom side of the device body 10a begins to pose a risk of clamping. As the second crawling arm 500 continues to rotate, the angle between the second crawling arm 500 and the bottom side of the device body 10a gradually decreases, and the risk of clamping gradually increases. Finally, see... Figure 4The second crawling arm 500 rotates to be parallel to the first crawling arm 300, and the second crawling arm 500 is in the retracted position E, which is the end position of the preset range β.

[0082] Therefore, there is an urgent need for a control method for stair climbing devices to avoid pinching accidents, thereby improving the safety of stair climbing devices and the user experience.

[0083] In view of this, this embodiment provides a control method for a stair-climbing device. By detecting the lifting and lowering state of the anti-pinch plate, it determines whether an object is pinched during the rotation of the second climbing arm 500, and triggers the anti-pinch action based on the detection result. The method of this application realizes the anti-pinch detection and control of the stair-climbing device, thereby improving the anti-pinch function of the stair-climbing device, avoiding pinching accidents, and improving the safety of the stair-climbing device and the user experience.

[0084] The control method for the stair-climbing device in this embodiment is applied to a device equipped with a rotatable climbing arm.

[0085] The following is combined Figure 1 and Figure 2 Taking a cleaning device such as a robot vacuum cleaner as an example, this paper describes the structure of a stair-climbing device, which can be controlled by the stair-climbing device method of this application.

[0086] It should be understood that the structure of the climbing device described below is merely an example of a control method for the climbing device that can be applied to the embodiments of this application, and this application does not limit the structure of the climbing device.

[0087] See Figure 1 and Figure 2 This embodiment provides a stair-climbing device, including a device body 10a, a second climbing arm 500, an anti-pinch mechanism, and a second detection component 840.

[0088] The main body 10a serves as the core load-bearing structure, providing installation space and support for components such as the cleaning equipment, the first crawling arm 300, the second crawling arm 500, the anti-pinch mechanism, and the second detection component 840, ensuring a stable relative positional relationship and power transmission path between the components.

[0089] The second crawling arm 500 is rotatably connected to the device body 10a, so that the second crawling arm 500 can rotate periodically around the connection point between the second crawling arm 500 and the device body 10a, providing power support or posture adjustment function for the movement, climbing and other actions of the device body 10a.

[0090] Regarding the rotatable connection, the second crawling arm 500 can be connected to the device body 10a by means of pivot connection, hinge, etc.

[0091] For example, the outer surface of the second climbing arm 500 may have a second track, which can engage the corner of the step during the rotation of the second climbing arm 500, so that the second climbing arm 500 can push or pull the device body 10a to climb the step or stairs.

[0092] The anti-pinch mechanism includes an anti-pinch member 910. The anti-pinch member 910 is disposed on the device body 10a and can be raised and lowered relative to the device body 10a, so that the anti-pinch member 910 can switch between a lowered position and a raised position. When the angle between the second crawler arm 500 and the bottom side of the device body 10a is within a preset range β, the anti-pinch member 910 is in the lowered position, and part of the anti-pinch member 910 protrudes from the bottom side of the device body 10a.

[0093] During the rotation of the second crawler arm 500 within the preset range β, the second detection component 840 is used to detect whether the anti-pinch component 910 is raised.

[0094] For example, during the movement of the stair-climbing device, the second climbing arm 500 rotates clockwise in the direction X.

[0095] When the angle between the second crawling arm 500 and the bottom side of the device body 10a is within the preset range β, the anti-pinch member 910 is in the descending position, and part of the structure of the anti-pinch member 910 protrudes from the bottom side of the device body 10a.

[0096] When the second climbing arm 500 rotates within the preset range β, the second detection component 840 is in working condition, monitoring in real time whether the anti-pinch component 910 is raised. At this time, if the user's limb touches the structure of the anti-pinch component 910 protruding from the bottom side of the device body 10a and pushes this part of the structure to rise, the second detection component 840 immediately detects the position change of the anti-pinch component 910, outputs an abnormal detection signal, provides signal support for emergency protection action, and the stair climbing device controls the second climbing arm 500 to stop rotating.

[0097] If the anti-pinch component 910 is not subjected to external force, it remains in the lowered position, the second detection component 840 outputs a normal detection signal, and the stair climbing device operates normally. The second climbing arm 500 continues to rotate until it rotates outside the preset range β, at which point the anti-pinch component 910 begins to gradually rise and remains in the raised position.

[0098] When the angle between the second crawling arm 500 and the bottom side of the device body 10a is within the preset range β, the second crawling arm 500 has a risk of being pinched in the area between the second crawling arm 500 and the bottom side of the device body 10a. The rotation angle of the second crawling arm 500 provides a trigger condition for the anti-pinch mechanism.

[0099] See Figure 3When the angle between the second crawler arm 500 and the bottom side of the device body 10a is within a preset range β, the anti-pinch member 910 of the anti-pinch mechanism is in the lowered position. When the user pushes the anti-pinch member 910 to protrude from the bottom side of the device body 10a, the anti-pinch member 910 switches between the lowered and raised positions within the preset range β. The user's pushing action on the anti-pinch member 910 is converted into a clear and detectable physical displacement signal, providing a clear detection target for the second detection component 840 and improving the detection accuracy of the second detection component 840.

[0100] The second detection component 840 monitors the lifting status of the anti-pinch component 910 in real time, promptly identifies whether the anti-pinch component 910 has been raised, provides accurate and rapid signal support for emergency protection actions, ensures the timeliness and reliability of the anti-pinch function response, and avoids the occurrence of pinching accidents.

[0101] This application provides a stair-climbing device in which the second climbing arm 500 rotates relative to the device body 10a to climb stairs. During operation, when the angle between the second climbing arm 500 and the bottom side of the device body 10a is within a preset range β, pinching injuries are likely to occur. When the angle between the second climbing arm 500 and the bottom side of the device body 10a is within the preset range β, the anti-pinch member 910 is in a lowered position, and a portion of the anti-pinch member 910 protrudes from the bottom side of the device body 10a. This design ensures that when a user performs maintenance, cleaning, or accidentally comes into contact with the stair-climbing device, and their limb enters the preset range β and is about to be pinched, the user's limb can directly contact the anti-pinch member 910. Within a preset range β, when the second crawling arm 500 rotates toward the side closer to the bottom of the device body 10a and comes into contact with the user's limb, the user's limb can drive the anti-pinch member 910 to rise relative to the device body 10a, so that the anti-pinch member 910 changes from the descending position to the rising position, so as to prevent the user's limb from being pinched by the second crawling arm 500, thus realizing the anti-pinch function of the anti-pinch member 910.

[0102] See Figure 2 In some embodiments, one of the anti-pinch member 910 and the device body 10a has a guide groove 911 and the other has a guide portion 912. The guide portion 912 and the guide groove 911 cooperate to guide the lifting and lowering process of the anti-pinch member 910.

[0103] The guide section 912 and the guide groove 911 work together to form a precise guide limit for the lifting and lowering movement of the anti-pinch component 910 relative to the device body 10a, ensuring that the anti-pinch component 910 smoothly switches to the lowering or raising position along the preset trajectory, avoiding deviation or jamming during the lifting and lowering process, and ensuring the accuracy and stability of the state switching of the anti-pinch component 910.

[0104] Meanwhile, the second detection component 840 enables it to monitor in real time whether the anti-pinch component 910 is raised. When the second detection component 840 detects that the anti-pinch component 910 is raised, the stair climbing device can control the second climbing arm 500 to stop rotating to prevent the user's limbs from being pinched by the second climbing arm 500. This gives the stair climbing device an anti-pinch function, significantly reducing the risk of pinching accidents and improving the safety of the stair climbing device and the user's experience.

[0105] The stair climbing device provided in this application provides a complete anti-pinch protection system through the cooperation of the anti-pinch mechanism, the second climbing arm 500, and the second detection component 840. This significantly improves the anti-pinch function of the stair climbing device, reduces the risk of pinching accidents, and enhances the safety of the stair climbing device.

[0106] See Figure 2 In some embodiments, the second detection component 840 includes a sensor 841 and a blocking portion 842. The sensor 841 includes a light emitter and a light receiver disposed opposite to each other, forming an optical path region between the light emitter and the light receiver. One of the sensor 841 and the blocking portion is disposed on the anti-pinch member 910, and the other is disposed on the device body 10a. When the anti-pinch member 910 is in the lowered position, the blocking portion is at least partially located within the optical path region to block the light emitted by the light emitter.

[0107] For example, sensor 841 may be an optocoupler sensor 841, which is disposed on the device body 10a. The blocking part 842 may be a baffle plate, which is disposed on the anti-pinch member 910.

[0108] During operation, the light transmitter continuously emits a detection beam to the light receiver, forming a stable optical path region between the light transmitter and the light receiver.

[0109] See Figure 1 and Figure 2 When the second crawler arm 500 rotates to the preset range β, the anti-pinch member 910 is in the lowered position, and the baffle extends at least partially into the optical path area, so that the detection beam emitted by the light emitter is blocked, and the light receiver outputs a light-blocking signal, which is a normal detection signal.

[0110] When the anti-pinch component 910 is lifted in the height direction A of the device body 10a due to factors such as contact with the user's limbs, the baffle moves along with the anti-pinch component 910. When the baffle leaves the optical path area, the detection beam is turned on, and the optical receiver outputs a light transmission signal, which is an abnormality detection signal.

[0111] When the optical receiver outputs an abnormal detection signal, the stair-climbing device controls the second climbing arm 500 to stop rotating.

[0112] Through the precise cooperation of sensor 841 and blocking part 842, real-time monitoring of the lifting status of anti-pinch component 910 is achieved. The detection response speed is fast and the anti-interference ability is strong. It can promptly capture the external force trigger signal of anti-pinch component 910, further improving the sensitivity and stability of anti-pinch protection function and effectively avoiding pinching accidents.

[0113] In some embodiments, the stair-climbing device further includes a controller, which is communicatively connected to the second detection component 840 and the second climbing arm 500.

[0114] The following example illustrates the control method of the stair-climbing device of this application, using the controller of the stair-climbing device as the executing entity.

[0115] Figure 5 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 1 Please see. Figure 5 During the rotation of the second climbing arm relative to the main body of the device, the control method of the stair-climbing device includes:

[0116] S501. Determine whether the angle between the second crawling arm and the bottom side of the device body is within the preset range.

[0117] If so, then execute S502;

[0118] If not, then execute S501.

[0119] The preset range is the angle range within which there is a risk of objects being caught between the second crawling arm and the bottom side of the device body.

[0120] In one embodiment, the controller determines that the angle between the second crawling arm and the bottom side of the device body is within a preset range based on the descent state of the anti-pinch member. For example, during the clockwise rotation of the second crawling arm relative to the device body, when the second crawling arm rotates to within the preset range β, the anti-pinch member descends based on the mechanical structure. The controller detects the descent of the anti-pinch plate through the second detection component, thus determining that the angle between the second crawling arm and the bottom side of the device body is within the preset range.

[0121] In another embodiment, the controller determines, using sensors, that the angle between the second crawling arm and the bottom of the device body is within a preset range. For example, using an accelerometer and gyroscope mounted on the second crawling arm, the controller can calculate the rotation angle of the second crawling arm by acquiring the centripetal acceleration generated when the second crawling arm rotates (measured by the accelerometer) and the angular velocity (measured by the gyroscope), and further calculate the angle between the second crawling arm and the bottom of the device body. If the calculated angle is within the preset range, it is determined that the angle between the second crawling arm and the bottom of the device body is within the preset range.

[0122] S502, The second detection component detects whether the anti-pinch component has been raised.

[0123] If so, then execute S503;

[0124] If not, then execute S501.

[0125] If the angle between the second crawling arm and the bottom side of the device body is within a preset range, the second detection component will detect whether the anti-pinch device is raised. If the angle between the second crawling arm and the bottom side of the device body is within a preset range, the anti-pinch device will descend to its lowest position based on the mechanical structure. If the anti-pinch plate is raised, it indicates that fingers, clothing, etc. are caught between the second crawling arm and the bottom side of the device body.

[0126] Taking the optical coupler sensor in the above-mentioned stair climbing device example as an example, the controller can detect whether the anti-pinch component is raised through the set optical coupler sensor. When the optical coupler sensor detects that the light beam is blocked, it determines that the anti-pinch component is raised.

[0127] S503, Control the stair climbing device to perform anti-pinch action.

[0128] The anti-pinch action is an action used to prevent injury from being pinched between the second crawler arm and the bottom side of the device body. For example, the anti-pinch action may be such as stopping the rotation of the second crawler arm, rotating the second crawler arm in the opposite direction, or reducing the rotational speed of the second crawler arm.

[0129] In one embodiment, the anti-pinch action involves stopping the rotation of the second crawling arm. If the anti-pinch element is detected to be raised, the controller can stop the rotation of the second crawling arm of the stair-climbing device to prevent it from continuing to rotate and causing damage to the object. After the object is released, if the second detection component detects that the anti-pinch element has returned to its lowest position, the controller can control the second crawling arm to continue rotating.

[0130] In another embodiment, the anti-pinch action involves the second crawling arm rotating in the reverse direction. When the anti-pinch element is detected to be raised, the controller can control the second crawling arm of the stair-climbing device to rotate in the reverse direction to prevent it from continuing to rotate forward and causing damage to the object. After the object is released, the second detection component detects that the anti-pinch element has returned to its lowest position. At this time, the controller can control the second crawling arm to rotate forward.

[0131] In another embodiment, the anti-pinch action involves the second crawling arm reducing its rotation speed. If the anti-pinch element is detected to be raised, the controller can control the second crawling arm of the stair-climbing device to reduce its rotation speed, giving the clamped object sufficient time to escape. After the object is released, the second detection component detects that the anti-pinch element has returned to its lowest position, and the controller can control the second crawling arm to resume its rotation speed.

[0132] The control method of the stair-climbing device of this application involves detecting whether the anti-pinch component is raised when the angle between the second crawling arm and the bottom side of the device body is within a preset range during the rotation of the second crawling arm relative to the device body. If the anti-pinch component is detected to be raised, the stair-climbing device is controlled to perform an anti-pinch action. This method determines whether an object is caught between the second crawling arm and the bottom side of the device body by detecting the lifting state of the anti-pinch plate, and triggers the anti-pinch action based on the detection result. This achieves anti-pinch detection and control of the stair-climbing device, preventing pinching accidents and improving the safety of the stair-climbing device and the user experience.

[0133] The following describes how the second detection component detects whether the anti-pinch component has been raised in the embodiments of this application.

[0134] Optionally, the second detection component can be used to detect whether the anti-pinch member has been raised, and can be used to determine whether the anti-pinch member is in the target position. If the anti-pinch member is in the target position, it is determined that the anti-pinch member has not been raised; if the anti-pinch member is not in the target position, it is determined that the anti-pinch member has been raised.

[0135] The target position is the location of the anti-pinch component during the descent phase.

[0136] Figure 6 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 2 Please see. Figure 6 During the rotation of the second climbing arm relative to the main body of the device, the control method of the stair-climbing device includes:

[0137] S601. Determine whether the angle between the second crawling arm and the bottom side of the device body is within the preset range.

[0138] If so, then execute S602;

[0139] If not, then execute S601.

[0140] S602. Use the second detection component to determine whether the anti-pinch component is in the target position.

[0141] If so, then execute S603;

[0142] If not, then execute S601.

[0143] S603, Control the stair climbing device to perform anti-pinch action.

[0144] The control method of the stair-climbing device in this application uses a second detection component to determine whether the anti-pinch component is in the target position, thereby detecting whether the anti-pinch component has been raised. Based on the structure of the stair-climbing device and combined with the target position judgment logic, high-precision identification of the anti-pinch component's state is achieved.

[0145] The following is an example illustrating how the second detection component is used to determine whether the anti-pinch component is in the target position in the above embodiments.

[0146] In one embodiment, the second detection component includes a sensor and a blocking part, and the information collected by the sensor is used to determine whether the anti-pinch member is in the target position.

[0147] For example, the second detection component includes a sensor and a blocking part. The sensor includes a light emitter and a light receiver disposed opposite to each other, and an optical path region is formed between the light emitter and the light receiver.

[0148] The sensor and the blocking part are respectively installed on the anti-pinch member and the other on the device body. When the anti-pinch member is in the lowered position, the blocking part is at least partially located in the optical path area to block the light emitted by the light emitter.

[0149] Based on this second detection component, the controller can determine whether the anti-pinch component is in the target position by whether the optical receiver can receive light from the optical transmitter.

[0150] If the optical receiver can receive light from the optical transmitter, it is determined that the anti-pinch device is not in the target position; if the optical receiver fails to receive light from the optical transmitter, it is determined that the anti-pinch device is in the target position.

[0151] In one embodiment, the sensor is fixedly mounted on the device body, located at the position corresponding to the lowered position of the anti-pinch member. The blocking part is fixed on the anti-pinch member. When the anti-pinch member is in the lowered position, the blocking part is located between the light emitter and the light receiver, and the blocking part can block the light emitted by the light emitter. When the anti-pinch member is in the raised position, the blocking part moves to a position higher than the sensor, thereby ensuring that the optical path between the light emitted by the light emitter and the light receiver is unobstructed.

[0152] Therefore, if the optical receiver can receive light from the optical transmitter, it indicates that the anti-pinch component is not in the optical path between the optical transmitter and the optical receiver, that is, the anti-pinch component is in a position other than the fallen position. If the optical receiver does not receive light from the optical transmitter, it indicates that the anti-pinch component is in the optical path between the optical transmitter and the optical receiver, that is, the anti-pinch component is in the fallen position.

[0153] The control method of the stair-climbing device in the above embodiments, based on sensors and a blocking unit, determines whether the anti-pinch component is in the target position by checking whether the light receiver can receive light from the light emitter, thereby determining the lifting and lowering state of the anti-pinch component. The method of this application, based on the precise cooperation of sensors and a blocking unit, achieves real-time monitoring of the lifting and lowering state of the anti-pinch component. It has a fast detection response speed, strong anti-interference capability, and can promptly capture external force trigger signals of the anti-pinch component, further improving the sensitivity and stability of the anti-pinch protection function and effectively preventing pinching accidents.

[0154] In another embodiment, the second detection component includes a sensor disposed on the anti-pinch member or the device body, the sensor being 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.

[0155] For example, the second detection component is a sensor disposed on the bottom side of the device body. This sensor can be tilted to emit a signal tilted towards the bottom of the device body at the target location to acquire image information. Based on the image information and image analysis methods in related technologies, the controller can determine whether an anti-pinch plate exists in the image information. If an anti-pinch plate exists in the image information, it is determined that the anti-pinch component is at the target position, i.e., the anti-pinch component is not raised. If an anti-pinch plate does not exist in the image information, it is determined that the anti-pinch component is not at the target position, i.e., the anti-pinch component is raised.

[0156] For example, the controller can use sensors on the anti-pinch device or the device body to determine whether the anti-pinch device is in the target position. If the sensor detects that the anti-pinch device is moving upward, it is determined that the anti-pinch device is raised; if the sensor detects that the anti-pinch device is stationary, it is determined that the anti-pinch device is not raised.

[0157] For example, the second detection component is a sensor disposed on the bottom side of the device body. This sensor can be tilted to emit a signal tilted towards the bottom of the device body towards the target location, and sequentially acquire multiple image information. Based on the position change of the anti-pinch plate in the images in a series of consecutive image information, the movement direction of the anti-pinch plate is determined. If the sensor detects that the anti-pinch plate is moving upward, it is determined that the anti-pinch plate is raised; if the sensor detects that the anti-pinch plate is stationary, it is determined that the anti-pinch plate is not raised.

[0158] For example, the second detection component is a sensor installed on the anti-pinch member. The sensor obtains the movement direction of the anti-pinch member as the anti-pinch member moves. If the sensor detects that the anti-pinch member is moving upward, it determines that the anti-pinch member is raised; if the sensor detects that the anti-pinch member is stationary, it determines that the anti-pinch member is not raised.

[0159] For example, the second detection component is a sensor installed on the device body, which can collect distance information between itself and the anti-pinch member. The sensor is installed on the device body at a position higher than the anti-pinch member, extending along the lifting direction of the anti-pinch member, and can collect distance information between itself and the anti-pinch member. The direction of movement is determined based on the collected distance information. If the distance information collected at multiple consecutive moments gradually shortens, the anti-pinch member moves towards the sensor, i.e., the anti-pinch member moves upward, confirming that the anti-pinch member has been raised; if the distance information collected at multiple consecutive moments does not change, the anti-pinch member remains stationary, confirming that the anti-pinch member has not been raised.

[0160] The control method of the stair-climbing device in the above embodiments uses sensors on the anti-pinch component or the device body to determine whether the anti-pinch component is in the target position, thereby determining the lifting and lowering state of the anti-pinch component. The method of this application, based on information collected by sensors, achieves real-time monitoring of the lifting and lowering state of the anti-pinch component, improves detection speed, further enhances the sensitivity and stability of the anti-pinch protection function, and effectively avoids pinching accidents.

[0161] In the above embodiments, when the angle between the second crawling arm and the bottom side of the device body is within a preset range, the second detection component detects whether the anti-pinch component has been raised. Optionally, the controller can control the start and stop of the second detection component to improve detection efficiency.

[0162] For example, when the angle between the second crawling arm and the bottom side of the device body is within a preset range, the controller can control the second detection component to start detection; and / or, when the angle between the second crawling arm and the bottom side of the device body is outside the preset range, the controller can control the second detection component to stop detection.

[0163] In one embodiment, when the controller determines that the angle between the second crawler arm and the bottom side of the device body is within a preset range, it sends a detection command to the second detection component, instructing the second detection component to begin detection. The second detection component responds to the detection command by emitting a detection signal to begin detection. When the angle between the second crawler arm and the bottom side of the device body is outside the preset range, the controller stops the second detection component from detecting.

[0164] In the above embodiments, when the angle between the second crawling arm and the bottom side of the device body is within a preset range, there is a risk of objects being caught between the second crawling arm and the bottom side of the device body. Therefore, the second detection component is controlled to perform detection during this period to avoid invalid detection by the second detection component and to achieve accurate allocation of detection resources.

[0165] Optionally, if the anti-pinch component is detected to be raised, the controller controls the stair climbing device to perform an anti-pinch action, including: controlling the second climbing arm to stop rotating; or controlling the second climbing arm to rotate in the opposite direction; or controlling the second climbing arm to reduce its rotation speed.

[0166] In one embodiment, if the anti-pinch element is detected to be lifted, the controller can control the second crawling arm to stop rotating, or control the second crawling arm to rotate in the opposite direction, or control the second crawling arm to reduce its rotational speed.

[0167] In one embodiment, when the anti-pinch device is detected to be lifted, the controller can control the second crawling arm to rotate in the opposite direction by a preset angle and then control the second crawling arm to continue rotating in the forward direction to restore the rotation of the second crawling arm. If the clamping situation is resolved during the reverse rotation of the second crawling arm by the preset angle, the action of rotating the second crawling arm can be resumed by subsequently controlling the second crawling arm to continue rotating in the forward direction, thereby improving the reliability of the stair climbing device in performing its tasks.

[0168] In one embodiment, when the anti-pinch device is detected to be lifted, the controller can control the second crawling arm to stop rotating for a preset time. After the preset time of stopping rotation, the controller can control the second crawling arm to continue rotating in the forward direction to restore the rotation of the second crawling arm. If the clamping situation is resolved during the preset time period of stopping rotation of the second crawling arm, the action of rotating the second crawling arm can be resumed by subsequently controlling the second crawling arm to continue rotating in the forward direction, thereby improving the reliability of the stair-climbing device in performing its tasks.

[0169] In one embodiment, if the anti-pinch element is detected to be raised, the controller can control the second crawling arm to reduce its rotation speed for a preset time. If the anti-pinch element is still detected to be raised after the preset time, the controller can control the second crawling arm to stop rotating and / or rotate in the opposite direction.

[0170] In one embodiment, the controller can select different anti-pinch actions based on different scenarios. For example, different anti-pinch actions are selected according to the safety level set for the operation of the stair climbing device. For instance, when the safety level of the stair climbing device is high, the controller controls the second climbing arm to rotate in the opposite direction; when the safety level of the stair climbing device is medium, the controller controls the second climbing arm to stop rotating; and when the safety level of the stair climbing device is low, the controller controls the second climbing arm to reduce its rotation speed.

[0171] In the above embodiments, the controller controls the stair climbing device to perform anti-pinch actions, including a variety of actions, which can be applied to anti-pinch control in various scenarios, improving the applicability and reliability of the stair climbing device in complex scenarios.

[0172] The above embodiments illustrate various anti-pinch actions performed by the stair-climbing device. The following examples illustrate how to dynamically select different anti-pinch actions.

[0173] Optionally, the controller controls the stair-climbing device to perform anti-pinch actions, and can control the stair-climbing device to perform corresponding anti-pinch actions according to the lifting range of the anti-pinch component.

[0174] Different lifting amplitudes can reflect the size of the object being clamped.

[0175] For example, when a finger is pinched, the lifting range of the anti-pinch device is larger than when clothing is pinched. Since it is more difficult to pull out a larger pinched object between the second crawling arm and the bottom side of the device body than to pull out a smaller pinched object, when the lifting range is large, the second crawling arm can be controlled to rotate in the opposite direction, and when the lifting range is small, the second crawling arm can be controlled to stop rotating or reduce its speed.

[0176] Figure 7 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 3 Please see. Figure 7 During the rotation of the second climbing arm relative to the main body of the device, the control method of the stair-climbing device includes:

[0177] S701. Determine whether the angle between the second crawling arm and the bottom side of the device body is within the preset range.

[0178] If so, then execute S702;

[0179] If not, then execute S701.

[0180] S702. Use the second detection component to determine whether the anti-pinch component is in the target position.

[0181] If so, then execute S703;

[0182] If not, then execute S701.

[0183] S703. Detect the lifting range of the anti-pinch component and determine the anti-pinch action corresponding to the lifting range.

[0184] In one embodiment, the lifting amplitude of the anti-pinch element is detected by a sensor disposed on the anti-pinch element or the device body.

[0185] For example, the second detection component is a sensor disposed on the bottom side of the device body, which sequentially acquires multiple image information. Based on the positional change of the anti-pinch plate in the images in the consecutive multiple image information, the lifting range of the anti-pinch plate is determined.

[0186] For example, the second detection component is a sensor mounted on the anti-pinch member. The sensor acquires the lifting distance as the anti-pinch member moves. The lifting amplitude is determined based on the lifting distance. For instance, if the lifting distance is less than a first distance threshold, the lifting amplitude is determined to be a preset first amplitude; if the lifting distance is less than a second distance threshold but greater than or equal to the first distance threshold, the lifting amplitude is determined to be a preset second amplitude.

[0187] In another embodiment, the second detection component includes a sensor and a blocking part, and the lifting amplitude corresponding to the height of the anti-pinch member is determined by the information collected by the sensor.

[0188] For example, multiple different heights are selected between the lowest falling height of the anti-pinch component and the highest lifting height. Sensors are installed at positions corresponding to each height on the device body. The lifting amplitude corresponding to the height of the anti-pinch component is determined by whether the light receivers of the multiple sensors can receive light from the corresponding light emitters.

[0189] For example, the blocking part is provided on the anti-pinch member, and two sensors are provided on the device body, one sensor being lower than the other sensor. Each sensor includes a light emitter and a light receiver. The light emitter and the corresponding light receiver in each sensor are at the same height, and an optical path area is formed between the light emitter and the corresponding light receiver.

[0190] If the anti-pinch component is raised with a small lifting amplitude, the blocking part on the anti-pinch component blocks the optical path between the light emitter and the corresponding light receiver at the lower position, but does not block the optical path between the light emitter and the corresponding light receiver at the higher position. It is determined that the anti-pinch component is raised to the height of the lower sensor, or between the heights of the two sensors. The lifting amplitude corresponding to the current height is the first lifting amplitude.

[0191] If the anti-pinch component is raised by a large lifting range, the blocking part on the anti-pinch component blocks the optical path between the light emitter and the corresponding light receiver at the higher position, determining the height of the anti-pinch component raised to the higher sensor, or exceeding the height of the higher sensor, and the lifting range corresponding to the current height is the second lifting range;

[0192] It should be understood that when the blocking part on the anti-pinch member blocks the optical path between the higher-positioned light emitter and the corresponding light receiver, the blocking part on the anti-pinch member may block the optical path between the lower-positioned light emitter and the corresponding light receiver, or it may not block the optical path between the lower-positioned light emitter and the corresponding light receiver, depending on the height settings of the two sensors and the shape of the anti-pinch member.

[0193] Optionally, by using a preset correspondence between the lifting amplitude and the anti-pinch action, the anti-pinch action corresponding to the lifting amplitude can be determined based on the lifting amplitude of the anti-pinch component.

[0194] For example, the lifting range is divided into three ranges. The anti-pinch action corresponding to the first lifting range is to control the second crawling arm to rotate in the opposite direction; the anti-pinch action corresponding to the second lifting range is to control the second crawling arm to stop rotating; and the anti-pinch action corresponding to the third lifting range is to control the second crawling arm to reduce its rotation speed.

[0195] S704. Control the stair climbing device to perform anti-pinch actions corresponding to the lifting amplitude.

[0196] Based on the anti-pinch action corresponding to the lifting amplitude, the stair climbing device is controlled to perform the anti-pinch action corresponding to the lifting amplitude.

[0197] The method in this application embodiment controls the stair climbing device to perform anti-pinch actions corresponding to the lifting amplitude, so that the stair climbing device can dynamically adapt to various scenarios, improve the applicability of the device in different scenarios, and expand the anti-pinch handling capability of the stair climbing device in complex scenarios.

[0198] In the above embodiments, if the angle between the second climbing arm and the bottom side of the device body is within a preset range, and the second detection component detects that the anti-pinch component has been raised, the controller controls the stair-climbing device to perform an anti-pinch action. Optionally, the controller can also issue an alarm reminder.

[0199] For example, during the rotation of the second crawling arm relative to the device body, if the angle between the second crawling arm and the bottom side of the device body is within a preset range, and the second detection component detects that the anti-pinch component is lifted, the control device body issues an alarm reminder.

[0200] In one embodiment, an alarm is issued via a microphone array configured on the device body. The alarm is issued through a specific frequency, rhythm, or number of beeps, or through natural language-based voice announcements, to provide an anti-pinch warning.

[0201] In one embodiment, an alarm is triggered by a display screen or status indicator light configured on the device body. For example, an alarm is triggered by displaying an indicator light in a specific color. Another example is by displaying an error code or pattern on the display screen.

[0202] For example, during the rotation of the second crawling arm relative to the device body, if the angle between the second crawling arm and the bottom side of the device body is within a preset range, and the second detection component detects that the anti-pinch component is lifted, an alarm is issued to the user terminal.

[0203] The user terminal is the terminal device or software system that interacts with the user. For example, the controller can issue alarm reminders by sending text messages or making phone calls to the user's terminal device; or, the controller can issue alarm reminders by displaying notifications or icons to applications installed on the user's terminal device.

[0204] In the method of this application embodiment, when the included angle between the second climbing arm and the bottom side of the device body is within a preset range, and the second detection component detects that the anti-pinch component is raised, the controller issues an alarm reminder through the control device body to quickly convey alarm information and improve the reliability of the stair climbing device.

[0205] The above embodiments illustrate several embodiments of detecting whether the anti-pinch component is raised by the second detection component; and controlling the stair climbing device to perform an anti-pinch action when the anti-pinch component is detected to be raised. The control method after controlling the stair climbing device to perform the anti-pinch action will be described below.

[0206] Optionally, after the stair-climbing device performs the anti-pinch action, the controller can detect whether the anti-pinch component has descended through the second detection component; if the descent of the anti-pinch component is detected, the controller controls the second climbing arm to resume rotation.

[0207] Figure 8 This is a flowchart illustrating the control method of the stair-climbing device provided in one embodiment of this application. Figure 4 Please see. Figure 8 During the rotation of the second climbing arm relative to the main body of the device, the control method of the stair-climbing device includes:

[0208] S801. Determine whether the angle between the second crawling arm and the bottom side of the device body is within the preset range.

[0209] If so, then execute S802;

[0210] If not, then execute S801.

[0211] S802, The second detection component detects whether the anti-pinch component has been raised.

[0212] If so, then execute S803;

[0213] If not, then execute S801.

[0214] S803, Control the stair climbing device to perform anti-pinch action.

[0215] In one embodiment, the lifting amplitude of the anti-pinch element is detected by a sensor disposed on the anti-pinch element or the device body.

[0216] S804. The second detection component detects whether the anti-pinch component has descended;

[0217] If so, then execute S805;

[0218] If not, then execute S806.

[0219] If the second detection component detects that the anti-pinch device has descended, it indicates that the object currently clamped has been removed from between the second crawler arm and the bottom of the device body, and the clamping condition is released. If the second detection component detects that the anti-pinch device has not descended, it indicates that there is still an object clamped between the second crawler arm and the bottom of the device body.

[0220] For example, after the stair-climbing device performs the anti-pinch action for a preset time, the second detection component detects whether the anti-pinch component has descended.

[0221] For example, after the stair-climbing device performs an anti-pinch action, a recovery command is issued in response to instruct the second climbing arm to rotate relative to the device body. The recovery command can be a command issued by the user through an application.

[0222] The method of detecting whether the anti-pinch component has descended by the second detection component can refer to the method of detecting whether the anti-pinch component has risen by the second detection component in the above embodiment.

[0223] For example, the second detection component is used to determine whether the anti-pinch member is in the target position; if the anti-pinch member is in the target position, it is determined that the anti-pinch member has descended; if the anti-pinch member is not in the target position, it is determined that the anti-pinch member has not descended.

[0224] S805, Control the second crawler arm to resume rotation.

[0225] When the anti-pinch device is detected to be descending, it indicates that the object currently being clamped has been pulled out from between the second crawler arm and the bottom of the device body, the clamping condition is released, and the controller controls the second crawler arm to resume rotation.

[0226] Optionally, the controller can execute S801 again to continue implementing anti-pinch control.

[0227] S806, Issue an alarm reminder.

[0228] If the anti-pinch device fails to descend, it indicates that there is still an object trapped between the second crawler arm and the bottom of the device body. The controller can then issue an alarm to alert the user of the abnormality.

[0229] For example, the controller can control the device itself to issue an alarm, or send an alarm to the user terminal.

[0230] S806 can be implemented by referring to the embodiment described above, where the angle between the second crawling arm and the bottom side of the device body is within a preset range, and the second detection component detects that the anti-pinch component is lifted, and an alarm is issued.

[0231] The user terminal is the terminal device or software system that interacts with the user. For example, the controller can issue alarm reminders by sending text messages or making phone calls to the user's terminal device; or, the controller can issue alarm reminders by displaying notifications or icons to applications installed on the user's terminal device.

[0232] The controller issues an alarm through the control device itself to quickly convey alarm information and improve the reliability of the stair-climbing device.

[0233] The method in this application embodiment, after controlling the stair climbing device to perform the anti-pinch action, detects the descent of the anti-pinch component through the second detection component and controls the second climbing arm to resume rotation, thereby realizing the recovery of the task interruption caused by the stair climbing device performing the anti-pinch action. By subsequently controlling the second climbing arm to continue rotating in the forward direction, the action of rotating the second climbing arm can be resumed, thereby improving the reliability of the stair climbing device in performing tasks.

[0234] 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.

[0235] Based on the same inventive concept, this application also provides a detection device for implementing the control method of the stair-climbing device described above. The solution provided by this detection device is similar to the implementation solution described in the control method of the stair-climbing device. Therefore, the specific limitations of one or more device embodiments provided below can be found in the limitations of the control method of the stair-climbing device above, and will not be repeated here.

[0236] Figure 9 This is a schematic diagram of the control device for a stair-climbing device provided in one embodiment of this application. Figure 9 As shown, a control device 9b for a stair climbing device is provided. The stair climbing device includes a device body, a second climbing arm, an anti-pinch component, and a second detection component. The second climbing arm is rotatably connected to the device body, and the anti-pinch component is disposed on the device body and can be raised and lowered relative to the device body, so that the anti-pinch component can switch between a lowered position and a raised position. When the angle between the second climbing arm and the bottom side of the device body is within a preset range, the anti-pinch component is in the lowered position, and part of the anti-pinch component protrudes from the bottom side of the device body. The control device 9b for the stair climbing device includes a detection module 9b1 and a control module 9b2. Optionally, the detection device may also include an alarm module.

[0237] The detection module 9b1 is used to detect whether the anti-pinch component is raised when the angle between the second crawling arm and the bottom side of the device body is within a preset range during the rotation of the second crawling arm relative to the device body.

[0238] The control module 9b2 is used to control the stair climbing device to perform anti-pinch actions when the anti-pinch component is detected to be raised.

[0239] In some optional embodiments, the control module 9b2 is specifically used for:

[0240] Control the second crawler arm to stop rotating;

[0241] Alternatively, control the second crawler arm to rotate in the opposite direction;

[0242] Alternatively, control the second crawler arm to reduce its rotation speed.

[0243] In some optional embodiments, the detection module 9b1 is specifically used for:

[0244] The second detection component is used to determine whether the anti-pinch component is in the target position;

[0245] If the anti-pinch device is in the target position, then it is determined that the anti-pinch device has not been lifted;

[0246] If the anti-pinch component is not in the target position, then the anti-pinch component is raised.

[0247] The target position is the location of the anti-pinch component during the descent phase.

[0248] In some optional embodiments, the second detection component includes a sensor and a blocking part. The sensor includes a light emitter and a light receiver disposed opposite to each other, forming an optical path region between the light emitter and the light receiver. One of the sensor and the blocking part is disposed on the anti-pinch member, and the other is disposed on the device body. When the anti-pinch member is in the lowered position, the blocking part is at least partially located within the optical path region to block the light emitted by the light emitter. The detection module 9b1 is specifically used for:

[0249] If the optical receiver can receive light from the optical transmitter, it is determined that the anti-pinch component is in the target position;

[0250] If the optical receiver fails to receive light from the optical transmitter, it is determined that the anti-pinch device is not in the target position.

[0251] In some optional embodiments, the second detection component includes a sensor disposed on the anti-pinch member or the device body. The second detection component is used to determine whether the anti-pinch member is in the target position. The detection module 9b1 is specifically used for:

[0252] If the sensor detects that the anti-pinch element is moving upward, it determines that the anti-pinch element has been raised;

[0253] If the sensor detects that the anti-pinch component is stationary, it determines that the anti-pinch component has not been raised.

[0254] In some alternative embodiments, the sensing element is one or more combinations of infrared sensors, line laser sensors, ToF sensors, ultrasonic sensors, millimeter-wave radar, and multi-view cameras.

[0255] In some optional embodiments, the detection module 9b1 is further configured to:

[0256] When the angle between the second crawling arm and the bottom side of the device body is within a preset range, control the second detection component to start detection;

[0257] And / or, when the angle between the second crawling arm and the bottom side of the device body is outside a preset range, control the second detection component to stop detection.

[0258] In some optional embodiments, the control module 9b2 is further configured to:

[0259] The climbing device is controlled to perform the corresponding anti-pinch action based on the lifting range of the anti-pinch component.

[0260] In some optional embodiments, after controlling the stair-climbing device to perform the anti-pinch action, the detection module 9b1 is further used to:

[0261] The second detection component detects whether the anti-pinch component has descended.

[0262] In some optional embodiments, the control module 9b2 is further configured to:

[0263] If the anti-pinch device is detected to be descending, the second crawler arm is controlled to resume rotation.

[0264] In some optional embodiments, the alarm module is specifically used for:

[0265] An alarm will be issued if the anti-pinch device fails to descend.

[0266] In some optional embodiments, the alarm module is specifically used for:

[0267] If the angle between the second crawling arm and the bottom side of the device body is within a preset range during the rotation of the second crawling arm relative to the device body, and the second detection component detects that the anti-pinch component is lifted, an alarm will be issued.

[0268] 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.

[0269] Figure 10 A schematic diagram of the structure of the electronic device provided in this application. Figure 10As shown, the electronic device 1000 provided in this embodiment includes at least one processor 1001 and a memory 1002. Optionally, the device 1000 further includes a communication component 1003. The processor 1001, memory 1002, and communication component 1003 are connected via a bus 1004.

[0270] In a specific implementation, at least one processor 1001 executes computer execution instructions stored in memory 1002, causing at least one processor 1001 to perform the above-described method.

[0271] The specific implementation process of processor 1001 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0272] 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.

[0273] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0274] 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.

[0275] This application also provides a cleaning system, including:

[0276] Cleaning equipment used to perform cleaning tasks;

[0277] A stair-climbing device is used to achieve the above method.

[0278] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0279] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0280] 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.

[0281] 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.

[0282] 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.

[0283] 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.

[0284] 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.

[0285] 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.

[0286] 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.

[0287] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method for a stair-climbing device, characterized in that, The stair-climbing device includes a device body, a second climbing arm, an anti-pinch component, and a second detection component. The second climbing arm is rotatably connected to the device body. The anti-pinch component is disposed on the device body and can be raised and lowered relative to the device body, allowing the anti-pinch component to switch between a descending position and a raised position. When the angle between the second climbing arm and the bottom side of the device body is within a preset range, the anti-pinch component is in the descending position, and a portion of the anti-pinch component protrudes from the bottom side of the device body. The method includes: During the rotation of the second crawling arm relative to the device body, if the angle between the second crawling arm and the bottom side of the device body is within a preset range, the second detection component will detect whether the anti-pinch component is raised. If the anti-pinch component is detected to be raised, the stair-climbing device is controlled to perform an anti-pinch action.

2. The method according to claim 1, characterized in that, The control of the stair-climbing device to perform the anti-pinch action includes: Control the second crawler arm to stop rotating; Alternatively, control the second crawler arm to rotate in the opposite direction; Alternatively, control the second crawler arm to reduce its rotation speed.

3. The method according to claim 1, characterized in that, The step of detecting whether the anti-pinch component has been raised by the second detection component includes: The second detection component is used to determine whether the anti-pinch component is in the target position; If the anti-pinch component is in the target position, it is determined that the anti-pinch component has not been lifted; If the anti-pinch component is not in the target position, then the anti-pinch component is determined to be raised; The target position is the location of the anti-pinch component at the descent position.

4. The method according to claim 3, characterized in that, The second detection component includes a sensor and a blocking part. The sensor includes a light emitter and a light receiver disposed opposite to each other, forming an optical path region between the light emitter and the light receiver. One of the sensor and the blocking part is disposed on the anti-pinch member, and the other is disposed on the device body. When the anti-pinch member is in the lowered position, the blocking part is at least partially located within the optical path region to block the light emitted by the light emitter. Determining whether the anti-pinch member is in the target position using the second detection component includes: If the optical receiver can receive light from the optical transmitter, it is determined that the anti-pinch component is not in the target position; If the optical receiver fails to receive light from the optical transmitter, it is determined that the anti-pinch component is in the target position.

5. The method according to claim 3, characterized in that, The second detection component includes a sensor disposed on the anti-pinch member or the device body. The step of using the second detection component to determine whether the anti-pinch member is in the target position includes: If the sensor detects that the anti-pinch member is moving upward, it determines that the anti-pinch member is raised; If the sensor detects that the anti-pinch member is stationary, it determines that the anti-pinch member has not been raised.

6. The method according to claim 5, characterized in that, The sensing element is one or more combinations of infrared sensors, line laser sensors, ToF sensors, ultrasonic sensors, millimeter-wave radar, and multi-view cameras.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: When the angle between the second crawling arm and the bottom side of the device body is within a preset range, the second detection component is controlled to start detection; And / or, when the angle between the second crawling arm and the bottom side of the device body is outside the preset range, control the second detection component to stop detection.

8. The method according to any one of claims 1-6, characterized in that, The control of the stair-climbing device to perform the anti-pinch action includes: The climbing device is controlled to perform the corresponding anti-pinch action based on the lifting range of the anti-pinch component.

9. The method according to any one of claims 1-6, characterized in that, After controlling the stair-climbing device to perform the anti-pinch action, the method further includes: The second detection component detects whether the anti-pinch component has descended; If the anti-pinch component is detected to have descended, the second crawler arm is controlled to resume rotation.

10. The method according to claim 9, characterized in that, The method further includes: An alarm is issued if the anti-pinch device fails to descend.

11. The method according to any one of claims 1-6, characterized in that, The method further includes: If, during the rotation of the second crawling arm relative to the device body, the angle between the second crawling arm and the bottom side of the device body is within a preset range, and the second detection component detects that the anti-pinch component has been lifted, an alarm will be issued.

12. A control device for a stair-climbing device, characterized in that, The stair-climbing device includes a device body, a second climbing arm, an anti-pinch component, and a second detection component. The second climbing arm is rotatably connected to the device body. The anti-pinch component is disposed on the device body and can be raised and lowered relative to the device body, allowing the anti-pinch component to switch between a descending position and a raised position. When the angle between the second climbing arm and the bottom side of the device body is within a preset range, the anti-pinch component is in the descending position, and a portion of the anti-pinch component protrudes from the bottom side of the device body. The device includes: The detection module is used to detect whether the anti-pinch component is raised when the angle between the second crawling arm and the bottom side of the device body is within a preset range during the rotation of the second crawling arm relative to the device body. The control module is used to control the stair-climbing device to perform an anti-pinch action when the anti-pinch component is detected to be raised.

13. 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 1-11.

14. 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 1-11.

15. 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 1-11.

16. 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 1-11.

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