Mobile equipment control method and device, equipment, storage medium and cleaning system

Abstract

The embodiment of the invention provides a control method and device of mobile equipment, equipment, a storage medium and a cleaning system, and the method comprises the steps that in the process that the mobile equipment moves downwards along a specific obstacle, first distance information of the specific obstacle in the height direction is obtained through a first sensor; judging whether the mobile equipment is at a cleaning position on the specific obstacle or not based on the first distance information; and under the condition that the mobile equipment is located at the cleaning position, the dust collection system is controlled to work so as to clean the surface of the specific obstacle. According to the method, through cooperative control of the first sensor and the dust collection system, accurate cleaning of the surface of the specific obstacle is achieved, and the cleaning efficiency of the mobile equipment is 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 mobile device. Background Technology

[0002] With the increasing diversity of residential unit types, duplex, split-level, and split-level houses are becoming more popular, and stairs have become a common structure connecting different floors. However, many pieces of equipment are limited by their own mobility and cannot move independently across stair steps, which usually restricts their operating range to a single-floor area.

[0003] To address the aforementioned issues, a stair-climbing device has been provided in the related technology. This device can carry equipment across stair steps, thereby facilitating the transfer and operation of the carried equipment between different floors.

[0004] However, the stair-climbing device cannot accurately target and clean the steps during the process of climbing stairs with multiple steps, resulting in low cleaning efficiency. Summary of the Invention

[0005] This application provides a control method, apparatus, device, storage medium, and cleaning system for a mobile device to solve the problem of low cleaning efficiency caused by the inability to accurately align the cleaning of the steps when the stair-climbing device is traversing a multi-step staircase.

[0006] In a first aspect, embodiments of this application provide a control method for a mobile device, the mobile device being able to pass through a specific obstacle, the specific obstacle being a staircase with multiple steps, the mobile device including a vacuuming system and at least one first sensor, the first sensor being tilted toward the front end of the mobile device, the first sensor being capable of emitting a detection signal that is downward and tilted toward the front end of the mobile device, the method comprising:

[0007] 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.

[0008] Based on the first distance information, determine whether the mobile device is in a clean position on the specific obstacle;

[0009] When the mobile device is in the cleaning position, the vacuuming system is controlled to operate in order to vacuum the surface of the specific obstacle.

[0010] In one possible implementation, determining whether the mobile device is in a clean position on the specific obstacle based on the first distance information includes:

[0011] Determine whether the first distance information has a sudden change in distance;

[0012] In the event of a sudden change in distance due to the first distance information, the mobile device is in the clean position on the specific obstacle.

[0013] In one possible implementation, determining whether the first distance information experiences a distance abrupt change includes:

[0014] 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. When the difference is greater than or equal to a preset threshold, the first distance information generates the distance mutation.

[0015] 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.

[0016] In one possible implementation, the first sensor is provided with multiple sensors, and the step of determining whether the first distance information has a distance abrupt change includes:

[0017] Determine whether at least two of the first sensors have generated a distance abrupt change in the first distance information acquired.

[0018] In one possible implementation, at least two first sensors are provided along the width direction of the mobile device, the vacuuming system has a vacuum port, and the step of determining whether the mobile device is in a clean position on the specific obstacle based on the first distance information includes:

[0019] Determine whether the distance information acquired by at least two of the first sensors both produce a sudden change in distance;

[0020] When the distance information acquired by at least two of the first sensors both shows a sudden change, the mobile device is in the cleaning position on the specific obstacle, and the vacuum port is facing the step surface of the specific obstacle.

[0021] In one possible implementation, controlling the vacuuming system to clean the surface of the specific obstacle while the mobile device is in the cleaning position includes:

[0022] The mobile device is controlled to stay at the cleaning position for a preset time, and the vacuuming system is controlled to work within the preset time.

[0023] In one possible implementation, the first sensor is located at the bottom of the mobile device.

[0024] In one possible implementation, 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.

[0025] Secondly, embodiments of this application provide a control device for a mobile device, the mobile device being able to pass through a specific obstacle, the specific obstacle being a staircase with multiple steps, the mobile device including a vacuuming system and at least one first sensor, the first sensor being tilted toward the front end of the mobile device, the first sensor being capable of emitting a detection signal that is downward and tilted toward the front end of the mobile device, the device comprising:

[0026] The acquisition module is used to acquire first distance information of the specific obstacle in the height direction using the first sensor during the process of the mobile device moving downward along the specific obstacle;

[0027] The judgment module is used to determine whether the mobile device is in a clean position on the specific obstacle based on the first distance information;

[0028] A cleaning module is used to control the vacuuming system to vacuum the surface of the specific obstacle when the mobile device is in the cleaning position.

[0029] Thirdly, embodiments of this application provide a cleaning system, including:

[0030] Cleaning equipment used to perform cleaning tasks;

[0031] A stair-climbing device for performing the first aspect and / or various possible implementations of the first aspect as described above.

[0032] Fourthly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0033] The memory stores computer-executed instructions;

[0034] 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.

[0035] 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.

[0036] 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.

[0037] The control method, apparatus, device, storage medium, and cleaning system for mobile devices provided in this application, during the downward movement of the mobile device along a specific obstacle, acquire first distance information of the specific obstacle in the height direction by using a detection signal emitted by a first sensor that is tilted towards the front end of the mobile device. This allows the system to determine when the mobile device is in a cleaning position and then control a vacuuming system to clean the surface of the specific obstacle. Through the coordinated control of the first sensor and the vacuuming system, precise cleaning of the surface of the specific obstacle is achieved, improving the cleaning efficiency of the mobile device. Attached Figure Description

[0038] 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.

[0039] 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;

[0040] Figure 2 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 1 ;

[0041] Figure 3 This is a schematic diagram of the posture of the stair-climbing device provided in one embodiment of this application. Figure 2 ;

[0042] Figure 4 This is a schematic diagram of the crawling mechanism provided in one embodiment of this application;

[0043] Figure 5 This is a flowchart illustrating a mobile device control method provided in one embodiment of this application. Figure 1 ;

[0044] Figure 6 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 1 ;

[0045] Figure 7 A flowchart illustrating the process of determining the cleaning location provided in an embodiment of this application. Figure 1 ;

[0046] Figure 8 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 2 ;

[0047] Figure 9 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 3 ;

[0048] Figure 10 This is a schematic flowchart of a method for determining the cleaning location provided in an embodiment of this application. Figure 2 ;

[0049] Figure 11 This is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Figure 4 ;

[0050] Figure 12 This is a flowchart illustrating a mobile device control method provided in one embodiment of this application. Figure 2 ;

[0051] Figure 13 This is a schematic diagram of the structure of a control device for a mobile device provided in one embodiment of this application;

[0052] Figure 14 A schematic diagram of the structure of the electronic device provided in this application.

[0053] Figure label:

[0054] 10-Climbing device; 10b-Support mechanism; 100-Support plate; 120-Accommodation space;

[0055] 300 - First crawler arm; 30a - Front end; 30b - Rear end;

[0056] 500 - Second Crawler Arm;

[0057] 20- Cleaning equipment;

[0058] 40 - Specific obstacles.

[0059] 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

[0060] 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.

[0061] The mobile device control method provided in this application can be applied to mobile devices. The mobile device can be a stair-climbing device, or a combination of a cleaning device and a stair-climbing device. When the stair-climbing device is used as a mobile device, it can independently traverse specific obstacles to perform corresponding tasks on those obstacles. When the combination is used as a mobile device, the stair-climbing device can be combined with the cleaning device to form a combination, enabling the cleaning device to pass through specific obstacles, thereby expanding the applicability and application scenarios of the cleaning device.

[0062] The cleaning system provided in this application includes a stair-climbing device and a cleaning device. The stair-climbing device can be combined with the cleaning device to form a combination, enabling the cleaning device to pass through specific obstacles and achieve cross-floor cleaning, thereby expanding the scope of application and application scenarios of the cleaning device.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] The controller described above may include a microcontroller unit (MCU). Of course, the controller may also include other devices capable of control functions.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] In one embodiment of this application, both the cleaning device 20 and the stair-climbing device 10 are equipped with sensor systems. These sensor systems enable environmental perception and navigation, allowing the cleaning device 20 and stair-climbing device 10 to autonomously navigate along a planned path. The sensor system can take various structural forms, such as one or more combinations of infrared sensors, line laser sensors, time-of-flight (ToF) sensors, ultrasonic sensors, millimeter-wave radar, and multi-view cameras. The sensor system can be positioned at any location on the cleaning device 20 and stair-climbing device 10, such as the bottom, side, or top, as long as it meets the requirements for environmental perception.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] As an example, the two sets of crawling mechanisms can also be spaced apart at the bottom of the support mechanism 10b.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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).

[0099] 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.

[0100] 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.

[0101] Because of the large contact area between the tracks and the working surface, both the first and second tracks achieve a large support 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 stable 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. In one embodiment of this application, the support plate 100 of the support mechanism 10b of the stair-climbing device 10 is equipped with a dust collection system for cleaning.

[0102] In one embodiment, the mobile device includes a vacuuming system capable of cleaning the surface of a specific obstacle 40. The surface of the specific obstacle 40 can be a stair side, a step, or the like. It should be noted that the vacuuming system can include various specifications and models; different specifications and models of vacuuming systems can be selected depending on the shape and location of the surface of the specific obstacle 40 to be cleaned.

[0103] The vacuuming system may include a vacuum fan, a dustbin, and a vacuum duct. The dustbin has an exhaust port and an inlet. The exhaust port is equipped with a filter, and the inlet of the vacuum fan can communicate with the exhaust port. Specifically, the vacuum duct has a vacuum port, and the inlet communicates with the vacuum port. The vacuuming system is controlled to operate and vacuum the surface of a specific obstacle 40. The operation of the vacuuming system effectively removes dust, debris, and fine particles from the surrounding area.

[0104] For example, when the mobile device is a stair-climbing device 10 and a cleaning device 20, the dust suction channel is fixedly connected to the bottom of the stair-climbing device 10, and the end of the dust suction channel away from the dust suction port is the air extraction port. The dust suction fan and dust box are both located inside the cleaning device 20, and the dust inlet is connected to 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 air extraction port to achieve the connection between the dust inlet and the dust suction port. By activating the dust suction fan of the cleaning device 20, dust on the surface of a specific obstacle 40 can be sucked into the dust box to clean the surface of the specific obstacle 40.

[0105] When the stair-climbing device 10 moves the cleaning equipment 20 along a specific obstacle 40, the cleaning 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 systems according to different cleaning tasks and environments, thereby better meeting the cleaning requirements of different surfaces and ensuring better cleaning results.

[0106] In other examples, when the mobile device is simply the stair-climbing device 10, the suction channel is fixedly connected to the bottom of the stair-climbing device 10. The end of the suction channel away from the suction port is the air extraction port. The suction fan and dust box are both located inside the stair-climbing device 10, and the dust inlet is connected to the air extraction port to achieve communication between the dust inlet and the suction port. By activating the suction fan of the stair-climbing device 10, dust on the surface of a specific obstacle 40 can be sucked into the dust box to clean the surface of the specific obstacle 40.

[0107] During the process of the stair-climbing device 10 traversing a multi-step staircase, it is impossible to accurately align with the step surface for cleaning, resulting in low cleaning efficiency.

[0108] Therefore, this application provides a control method for a mobile device. The mobile device can be the aforementioned stair-climbing device, or a combination of a stair-climbing device and a cleaning device. To clearly illustrate the control method for the mobile device in this application, the following embodiments use the mobile device as a combination and the control method applied to the controller of the combination as an example.

[0109] Figure 5 This is a flowchart illustrating a mobile device control method provided in one embodiment of this application. Figure 1 Please see. Figure 5 The control method for this mobile device 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 in the height direction. 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 the stair-climbing device to form an assembly, the 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. Referring to 3, the crawling mechanism of the stair-climbing device is flattened, and the stair-climbing device is in an inclined posture, so that the entire crawling mechanism is parallel to the plane formed by the corners of the multiple steps of the specific obstacle. The contact between the crawling mechanism and the corners of the steps of the specific obstacle enables stable movement of the crawling 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 whether the mobile device is in a clean position on a specific obstacle based on the first distance information.

[0118] If so, then execute S503;

[0119] If not, then execute S501.

[0120] A cleaning position is the location where a mobile device cleans the surface of a specific obstacle. The cleaning position can be determined based on the relative position of the mobile device and the specific obstacle. For example, a fixed location on each step of the specific obstacle is a cleaning position, where the mobile device can clean the step surface.

[0121] For example, as the mobile device moves along the surface of a specific obstacle, the location near each step surface where its vacuum system can clean the step surface is designated as a clean position. In one embodiment, when the mobile device is in the clean position, its vacuum port is located at the edge of the step surface, and its vacuuming range covers the entire step surface.

[0122] 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.

[0123] As the stair-climbing device passes each step, the first sensor detects a distance relative to the edge of a specific obstacle's step, changing the distance information in the height direction from that of any step to the distance information of the adjacent step. For example, when the stair-climbing device is descending, the first distance information detected by the first sensor changes from the distance in the height direction of any step to the distance in the height direction of the step below that step.

[0124] Therefore, when the stair-climbing device moves the first sensor through the corner of the steps, the first distance information it detects will undergo a sudden change.

[0125] Based on this distance abrupt 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. For example, when a distance abrupt change in the first distance information is detected, the cleaning range of the vacuum system can cover a step surface, i.e., the cleaning location. During the process of the stair-climbing device traversing a specific obstacle, based on multiple distance abrupt changes occurring in the first distance information, the cleaning location of the mobile device as it traverses each step can be determined sequentially.

[0126] S503. When the mobile device is in a clean position, control the vacuuming system to operate so as to vacuum the surface of a specific obstacle.

[0127] In one embodiment, when the mobile device is in a cleaning position, the controller sends a cleaning command to the vacuuming system, instructing the vacuuming system to perform a preset cleaning action. Upon receiving the cleaning command, the vacuuming system vacuums the surface of a specific obstacle according to the preset cleaning action. For example, the controller may control the vacuuming system to begin vacuuming.

[0128] In another embodiment, when the mobile device is in a cleaning position, the controller receives a control command from a specific terminal, issued by a user through the specific terminal, instructing the cleaning device to perform a cleaning action on the surface of a specific obstacle. The controller then controls the vacuuming system to clean the surface of the specific obstacle according to the cleaning action indicated by the control command.

[0129] For example, when the mobile device is in the cleaning position, the suction port of the vacuum system is located at the corner of the step surface, and its suction range covers the step surface. The controller controls the operation of the vacuum system, and because the suction port is directly facing the step surface, the mobile device can clean the step surface.

[0130] The aforementioned mobile device control method, during the downward movement of the mobile device along a specific obstacle, obtains the first distance information of the obstacle in the height direction by transmitting a detection signal emitted by a first sensor that is tilted towards the front end of the mobile device. This allows the system to be controlled to clean the surface of the obstacle once the mobile device is determined to be in a clean position. Through the coordinated control of the first sensor and the vacuuming system, precise cleaning of the surface of the obstacle is achieved, improving the cleaning efficiency of the mobile device.

[0131] Below, in conjunction with Figure 7 An example is provided to illustrate how to determine whether a mobile device is in a clean position on a specific obstacle based on the first distance information.

[0132] Figure 7 This is a schematic flowchart of a method for determining the cleaning location provided in an embodiment of this application. Figure 1 Please see. Figure 7 In one embodiment of this application, the controller determines whether the mobile device is in a clean position on a specific obstacle based on the first distance information, and can perform the following steps:

[0133] S701, Obtain the first distance information collected by the first sensor.

[0134] In one embodiment, the mobile device may periodically collect first detection distance information based on a preset interval.

[0135] 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.

[0136] In other examples, the controller can also acquire the first distance information of a specific obstacle in the height direction in real time.

[0137] S702. Determine whether the first distance information has a sudden change in distance.

[0138] If so, then execute S703;

[0139] If not, then execute S701.

[0140] 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 .

[0141] like Figure 8 and Figure 9 In this scenario, the mobile device 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 distance information 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.

[0142] The first sensor moves with the location of the mobile device, from... Figure 8 Move to the position shown Figure 9 At the location shown, the first distance information exhibits a sudden change in distance.

[0143] 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.

[0144] 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.

[0145] S703. Determine that the mobile device is in a clean position on a specific obstacle.

[0146] In the event of a sudden change in distance information, the step surface corresponding to the first distance information that caused the distance change is the step surface currently measured by the first sensor, and the mobile device is in a clean position on the specific obstacle.

[0147] For example, please see Figure 8 and Figure 9 The step surface corresponding to the first distance information that causes the distance mutation is step surface B. The mobile device is in Figure 9 The location shown is a cleaning location where the mobile device can clean step surface A.

[0148] The mobile device control method in the above embodiments achieves accurate perception of the cleaning position at each step by using the distance change in the first distance information collected by the first sensor, thereby improving the reliability of identifying the cleaning position.

[0149] In one embodiment, 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. When the difference is greater than or equal to a preset threshold, the first distance information will generate a distance abrupt change.

[0150] 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. During the process of the mobile device moving from the second working surface to the first working surface, the controller can repeatedly acquire first distance information collected by the first sensor to determine the cleaning position at each step surface.

[0151] Figure 10 This is a schematic flowchart of a method for determining the cleaning location provided in an embodiment of this application. Figure 2 Please see. Figure 10 It can include:

[0152] S1001. Obtain the first detection distance information collected by the first sensor.

[0153] In one embodiment, the mobile device may periodically collect first detection distance information based on a preset interval.

[0154] 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.

[0155] In other embodiments, the mobile device may also collect the first distance information in real time.

[0156] S1002. Determine whether the difference between the first distance information acquired by the first sensor at the current moment and the first distance information acquired by the first sensor at the previous moment exceeds a preset threshold.

[0157] If so, then execute S1003;

[0158] If not, then execute S1001.

[0159] The preset threshold is a distance difference threshold. The preset threshold is greater than the distance the first sensor decreased from the previous moment to the current moment as the mobile device moved downwards.

[0160] For example, during the process of the mobile device moving downward on a specific obstacle, a preset threshold is greater than the distance that the first sensor has descended from the previous moment to the current moment as the mobile device moves downward.

[0161] 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.

[0162] 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.

[0163] 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.

[0164] S1003. Determine that the mobile device is in a clean position on a specific obstacle.

[0165] 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 the current mobile device can clean the next step surface, that is, the current mobile device is at the cleaning position of the first step of a specific obstacle.

[0166] Please see Figure 11 When a sudden change in distance occurs in the first distance information, the step surface corresponding to this change becomes the second step surface. At the current position, the mobile device can clean either the second or first step surface, depending on the location of the vacuum system at the bottom of the mobile device, i.e., the step surface covered by the cleaning range of the vacuum system. For example, if the vacuum system is located at the bottom rear of the mobile device, i.e., close to... Figure 11 As shown, if the end of the mobile device is close to the first sensor, then the vacuuming system is near the first step surface, and the cleaning range of the vacuuming system covers the first step surface, allowing the vacuuming system to clean the first step surface. For example, if the vacuuming system is located at the bottom front of the mobile device, that is, close to... Figure 11 As shown, the end furthest from the first sensor indicates that the current mobile device's vacuuming system is close to the second step surface, and the cleaning range of the vacuuming system covers the second step surface, allowing the second step surface to be cleaned.

[0167] The mobile device control method in the above embodiments, for a scenario where the mobile device is going downstairs, 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 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.

[0168] In one embodiment of this application, during the process of the mobile device moving from the first working surface to the second working surface, the controller can acquire the first distance information collected by the first sensor multiple times to determine the cleaning position at each step surface.

[0169] In this method, please continue to refer to Figure 10 In 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.

[0170] In one embodiment of this application, the mobile device is provided with a plurality of first sensors, and the controller can determine whether the first distance information acquired by at least two of the first sensors causes a distance abrupt change.

[0171] For example, two first sensors are provided along the width direction of the mobile device. The mobile device can determine whether a distance abrupt change has occurred based on the first distance information collected by each first sensor. If one first sensor generates a distance abrupt change while the other does not, it is determined that the mobile device is not in a clean position on the specific obstacle. If both first sensors generate distance abrupt changes, it is determined that the mobile device is in a clean position on the specific obstacle.

[0172] The mobile device control method in the above embodiments can determine the pose of the mobile device on a specific obstacle by setting multiple first sensors, thereby improving the positioning accuracy of the mobile device on the specific obstacle and improving the reliability of the mobile device in identifying the cleaning location.

[0173] Figure 12 This is a flowchart illustrating a mobile device control method provided in one embodiment of this application. Figure 2 Taking an example where at least two first sensors are provided along the width of the mobile device, and the vacuuming system has a suction port, please refer to [reference needed]. Figure 12 This may include the following steps:

[0174] S1201. Obtain the first detection distance information collected by the first sensor.

[0175] S1202. Determine whether the distance information acquired by at least two first sensors has produced a sudden change in distance.

[0176] If so, then execute S1203;

[0177] If not, then execute S1201.

[0178] In one embodiment of this application, when the distance information acquired by at least two first sensors all changes abruptly, the mobile device is in a clean position on a specific obstacle, and the vacuum nozzle is facing the step surface of the specific obstacle.

[0179] S1203. Control the operation of the vacuuming system to vacuum the surface of a specific obstacle.

[0180] For example, since the suction port is facing the step surface of a specific obstacle, its cleaning range covers the step surface. The controller controls the vacuuming system to work, which can vacuum the surface of the specific obstacle so as to absorb the dust on the step surface of the specific obstacle into the dust box through the suction port.

[0181] In one embodiment of this application, the vacuuming system includes a vacuum fan, a dust box, and a vacuuming channel. The dust box has an exhaust port and a dust inlet. The exhaust port is equipped with a filter. The exhaust port of the vacuum fan can communicate with the exhaust port. The dust inlet is connected to the vacuuming port. One end of the vacuuming channel is an exhaust port, and the other end is a vacuuming port. The exhaust port is connected to the dust inlet. S1203 includes:

[0182] Control the operation of the vacuum fan to draw dust from the step surface of a specific obstacle into the dust box through the suction port.

[0183] For example, when the mobile device is a combination of a stair-climbing device and a cleaning device, the suction channel is fixedly connected to the bottom of the stair-climbing device. The end of the suction channel away from the suction port is the air extraction port. The suction fan and dust box are both located inside the cleaning device. The dust inlet communicates with the roller brush chamber. When the stair-climbing device and the cleaning device are combined to form the mobile device, the roller brush chamber of the cleaning device is connected to the air extraction port to achieve the connection between the dust inlet and the suction port. By activating the suction fan of the cleaning device, dust on the surface of a specific obstacle can be sucked into the dust box to clean the surface of the specific obstacle.

[0184] In other examples, when the mobile device is merely a stair-climbing device, the suction channel is fixedly connected to the bottom of the device. The end of the suction channel furthest from the suction port is the air extraction port. The suction fan and dustbin are both located inside the stair-climbing device, with the dust inlet connected to the air extraction port to achieve communication between them. By activating the suction fan of the stair-climbing device, dust from the surface of a specific obstacle can be sucked into the dustbin for cleaning.

[0185] In this embodiment, the controller can control the operation of the vacuum fan to suck dust from the step surface of a specific obstacle into the dust box through the suction port. At the same time, the filter of the exhaust port can filter the dust into the dust box in the cleaning equipment, thereby cleaning the step surface of the specific obstacle.

[0186] The mobile device control method in the above embodiments uses the negative pressure of a vacuum fan to draw dust from the step surface of a specific obstacle into a dust box. Through the coordinated control of the first sensor and the vacuuming system, the step surface of the specific obstacle is cleaned, improving the cleaning efficiency of the mobile device.

[0187] In one embodiment of this application, when the mobile device is in a cleaning position, the controller can control the mobile device to stay in the cleaning position for a preset time. During the preset time, the controller controls the vacuuming system to work to clean the surface of a specific obstacle.

[0188] In one embodiment, when the mobile device is in a cleaning position, the controller can control the mobile device to stop moving and control the vacuuming system to work to clean the current step surface. After a preset time of stopping movement, the controller controls the vacuuming system to stop and controls the mobile device to continue moving.

[0189] The mobile device control method in the above embodiments extends the cleaning time of the step surface by staying in the cleaning position for a preset time when the mobile device is in a cleaning position, thereby increasing the depth of local cleaning of the step surface and improving the cleaning effect on the surface of specific obstacles.

[0190] 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.

[0191] 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.

[0192] Figure 13 This is a schematic diagram of the structure of a control device for a mobile device provided in one embodiment of this application. For example... Figure 13As shown, a control device 1300 for a mobile device is provided. The mobile device is able to pass through a specific obstacle, which refers to a staircase with multiple steps. The mobile device includes a vacuuming system and at least one first sensor. The first sensor is tilted toward the front end of the mobile device and can emit a detection signal that is downward and tilted toward the front end of the mobile device. The control device 1300 for the mobile device includes: an acquisition module 1301, a judgment module 1302, and a cleaning module 1303.

[0193] The acquisition module 1301 is used to acquire first distance information of a specific obstacle in the height direction using a first sensor as the mobile device moves downward along a specific obstacle.

[0194] The judgment module 1302 is used to determine whether the mobile device is in a clean position on a specific obstacle based on the first distance information;

[0195] The cleaning module 1303 is used to control the vacuuming system to vacuum the surface of a specific obstacle when the mobile device is in the cleaning position.

[0196] In some optional embodiments, the determination module 1302 is specifically used for:

[0197] Determine whether the first distance information results in a sudden change in distance;

[0198] In the event of a sudden change in distance due to the initial distance information, the mobile device is in a clean position on a specific obstacle.

[0199] In some optional embodiments, the determination module 1302 is specifically used for:

[0200] 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. When the difference is greater than or equal to a preset threshold, the first distance information will generate a distance abrupt change.

[0201] 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.

[0202] In some optional embodiments, the first sensor is provided with multiple sensors, and the judgment module 1302 is specifically used for:

[0203] Determine whether the distance information acquired by at least two first sensors produces a sudden change.

[0204] In some optional embodiments, at least two first sensors are provided along the width direction of the mobile device, the vacuuming system has a vacuum port, and the determination module 1302 is specifically used for:

[0205] Determine whether the distance information acquired by at least two first sensors both produce abrupt changes in distance;

[0206] When the distance information acquired by at least two first sensors both produce abrupt changes, the mobile device is in a clean position on a specific obstacle, and the vacuum nozzle is facing the step surface of the specific obstacle.

[0207] In some alternative embodiments, the cleaning module 1303 is specifically used for:

[0208] Control the mobile device to stay in the cleaning position for a preset time, and control the vacuuming system to work within the preset time.

[0209] In some alternative embodiments, the first sensor is located at the bottom of the mobile device.

[0210] 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.

[0211] 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.

[0212] Figure 14 A schematic diagram of the structure of the electronic device provided in this application. Figure 14 As shown, the electronic device 1400 provided in this embodiment includes at least one processor 1401 and a memory 1402. Optionally, the device 1400 further includes a communication component 1403. The processor 1401, memory 1402, and communication component 1403 are connected via a bus 1404.

[0213] In a specific implementation, at least one processor 1401 executes computer execution instructions stored in memory 1402, causing at least one processor 1401 to perform the above-described method.

[0214] The specific implementation process of processor 1401 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so it will not be repeated here.

[0215] 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.

[0216] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0217] 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.

[0218] This application also provides a cleaning system, including:

[0219] Cleaning equipment used to perform cleaning tasks;

[0220] A mobile device for implementing the above method.

[0221] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0222] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0223] 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.

[0224] 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.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] 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.

[0229] 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.

[0230] 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 mobile device, characterized in that, The mobile device is capable of navigating a specific obstacle, such as a staircase with multiple steps. The mobile device includes a vacuuming system and at least one first sensor tilted towards the front end of the mobile device. The first sensor is capable of emitting a detection signal that is downward and tilted towards the front end of the mobile device. The method includes: 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. Based on the first distance information, determine whether the mobile device is in a clean position on the specific obstacle; When the mobile device is in the cleaning position, the vacuuming system is controlled to operate in order to vacuum the surface of the specific obstacle.

2. The method according to claim 1, characterized in that, The step of determining whether the mobile device is in a clean position on the specific obstacle based on the first distance information includes: Determine whether the first distance information has a sudden change in distance; In the event of a sudden change in distance due to the first distance information, the mobile device is in the clean position on the specific obstacle.

3. The method according to claim 2, characterized in that, The step of determining whether the first distance information has a sudden change in distance includes: 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. When 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 2, characterized in that, The first sensor is provided with multiple sensors, and the step of determining whether the first distance information has a sudden change in distance includes: Determine whether at least two of the first sensors have generated a distance abrupt change in the first distance information acquired.

6. The method according to claim 1, characterized in that, At least two first sensors are provided along the width direction of the mobile device, the vacuuming system has a vacuum port, and the step of determining whether the mobile device is in a clean position on the specific obstacle based on the first distance information includes: Determine whether the distance information acquired by at least two of the first sensors both produce a sudden change in distance; When the distance information acquired by at least two of the first sensors both shows a sudden change, the mobile device is in the cleaning position on the specific obstacle, and the vacuum port is facing the step surface of the specific obstacle.

7. The method according to any one of claims 1-6, characterized in that, When the mobile device is in the cleaning position, controlling the vacuuming system to operate to clean the surface of the specific obstacle includes: The mobile device is controlled to stay at the cleaning position for a preset time, and the vacuuming system is controlled to work within the preset time.

8. The method according to any one of claims 1-6, characterized in that, The first sensor is located at the bottom of the mobile device.

9. The method according to any one of claims 1-6, 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.

10. A control device for a mobile device, characterized in that, The mobile device is capable of navigating specific obstacles, such as a staircase with multiple steps. The mobile device includes a vacuuming system and at least one first sensor tilted towards the front end of the mobile device. The first sensor is capable of emitting a detection signal that is downward and tilted towards the front end of the mobile device. The device includes: The acquisition module is used to acquire first distance information of the specific obstacle in the height direction using the first sensor during the process of the mobile device moving downward along the specific obstacle; The judgment module is used to determine whether the mobile device is in a clean position on the specific obstacle based on the first distance information; A cleaning module is used to control the vacuuming system to vacuum the surface of the specific obstacle when the mobile device is in the cleaning position.

11. 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 1-9.

12. 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 1-9.

13. 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 1-9.

14. 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 1-9.

Images