Wheel-foot type robot, step cleaning method thereof, storage medium and program product

Abstract

The invention discloses a wheel-foot type robot and a step cleaning method thereof, a storage medium and a program product, the wheel-foot type robot comprises a first wheel foot and a second wheel foot, and the step cleaning method comprises the steps that in response to the fact that steps exist in the cleaning direction of the wheel-foot type robot, the first wheel foot and the second wheel foot are adjusted, and the first wheel foot and the second wheel foot are adjusted; the robot body of the wheel-legged robot is moved to a first target step of the step; a first wheel foot is controlled to move to a first target step; controlling a cleaning module of the wheel-foot type robot to clean the first target step; and in response to completion of cleaning of the first target step by the cleaning module, controlling the second wheel foot to move to the first target step. According to the method, based on adjustment of the first wheel foot and the second wheel foot, the wheel foot type robot is controlled to climb to the first target step of the steps, the sweeping module is controlled to sweep the first target step, and the use scene of the wheel foot type robot is expanded.

Description

Technical Field

[0001] This application belongs to the field of sweeping robot technology, and in particular relates to a wheeled robot and its step cleaning method, storage medium and program product. Background Technology

[0002] Robotic vacuum cleaners, also known as automatic cleaning machines, intelligent vacuum cleaners, or robotic vacuum cleaners, are a type of smart home appliance that can automatically clean floors in residential or office buildings using a certain level of artificial intelligence.

[0003] Currently, most robotic vacuum cleaners use a pure wheeled chassis structure, which means they can only move on a single horizontal plane. The cleaning range of a robotic vacuum cleaner is also limited to this horizontal plane, and they cannot clean staircases or other surfaces with height differences. Therefore, robotic vacuum cleaners cannot clean the stairwells of residential or office buildings, which limits their application scenarios. Summary of the Invention

[0004] In view of the above, embodiments of this application provide a wheeled robot and its stair cleaning method, storage medium and program product to overcome the problems of the prior art.

[0005] In a first aspect, embodiments of this application provide a method for cleaning stairs using a wheeled robot. The wheeled robot includes a first wheel and a second wheel. The method for cleaning stairs includes: In response to the detection of a step in the cleaning direction of the wheeled robot, the first and second wheels are adjusted to move the body of the wheeled robot to the first target step of the step; Control the first wheel's foot to move to the first target step; The cleaning module of the wheeled robot is used to clean the first target step. In response to the cleaning module completing the cleaning of the first target step, the second wheel is controlled to move to the first target step.

[0006] In some optional embodiments, in response to detecting a step in the cleaning direction of the wheeled robot, adjusting the first and second wheels to move the body of the wheeled robot to the first target step of the step includes: In response to the detection of a step in the cleaning direction, the first joint of the first wheel foot and the second joint of the second wheel foot are adjusted to raise the body to the target height of the first target step; Control the first drive wheel of the first wheel foot and the second drive wheel of the second wheel foot to move towards the first target step, so as to move the fuselage to the first target step.

[0007] In some optional embodiments, the cleaning module controlling the wheeled robot cleans the first target step, including: Control the rotation of the robot body so that the direction of travel of the wheel-legged robot is consistent with the length direction of the stairs; The cleaning module is controlled to clean the first target step along its length.

[0008] In some optional embodiments, the cleaning module controlling the wheeled robot cleans the first target step, including: Control the operation of the side brush and main brush of the cleaning module to sweep the objects to be cleaned on the first target step around the machine body to the suction port of the cleaning module; The main roller brush and vacuum fan of the cleaning module are controlled to operate, so that the object to be cleaned is sucked into the vacuum box of the cleaning module through the vacuum port.

[0009] In some optional embodiments, before the cleaning module controlling the wheeled robot cleans the first target step, the step cleaning method further includes: Obtain the first step image of the first target step; Determine whether the first target step needs to be cleaned based on the image of the first step. The cleaning module that controls the wheeled robot cleans the first target step, including: When it is determined from the image of the first step that the first target step needs to be cleaned, the cleaning module is controlled to clean the first target step.

[0010] In some optional embodiments, before the cleaning module cleans the first target step, the step cleaning method further includes: Determine if the fuselage is parallel to the first target step; The cleaning module controls the cleaning of the first target step, including: When the machine body is determined to be parallel to the first target step, the cleaning module is controlled to clean the first target step.

[0011] In some optional embodiments, determining whether the fuselage is parallel to the first target step includes: Obtain the position of the first joint of the first joint of the first round foot and the position of the second joint of the second round foot; Based on the positions of the first and second joints, the pitch and roll angles of the computer body are determined. Determine whether the fuselage is parallel to the first target step based on the pitch and roll angles.

[0012] In some optional embodiments, determining whether the fuselage is parallel to the first target step based on the pitch angle and roll angle includes: When the pitch angle is less than the pitch angle threshold and the roll angle is less than the roll angle threshold, the fuselage is determined to be parallel to the first target step. When the pitch angle is greater than or equal to the pitch angle threshold, and / or the roll angle is greater than or equal to the roll angle threshold, it is determined that the fuselage is not parallel to the first target step.

[0013] In some optional embodiments, the staircase cleaning method further includes: When it is determined from the image of the first step that the first target step does not need to be cleaned, the second wheel is controlled to move to the first target step.

[0014] In some optional embodiments, before controlling the first wheel foot to move to the first target step, the step cleaning method further includes: Acquire sensor data from the sensory sensors of the wheel-legged robot; Determine whether the fuselage is in a stable state on the first target step based on the sensing data; Once it is determined that the fuselage is in a stable state on the first target step, control the first wheel foot to move to the first target step, including: When the sensor data determines that the fuselage is in a stable state on the first target step, the first wheel is controlled to move to the first target step.

[0015] In some optional embodiments, the sensing sensor is a cliff sensor, and the sensing data is the state of the cliff sensor. Determining whether the fuselage is in a stable state on the first target step based on the sensing data includes: When the cliff sensor is in the triggered state, it is determined that the fuselage is not in a stable state on the first target step; When the cliff sensor is in a non-triggered state, it is determined that the aircraft is in a stable state on the first target step.

[0016] In some optional embodiments, before controlling the first wheel foot to move to the first target step, the step cleaning method further includes: Obtain the width of the platform of the first target step; Determine whether the machine can be turned to clean the first target step based on the width of the countertop; Controlling the first foot to move to the first target step includes: When the machine body can be steered to clean the first target step based on the width of the platform, the first wheel foot is controlled to move to the first target step.

[0017] In some optional embodiments, determining whether the machine body can be steered to clean the first target step based on the width of the platform includes: When the table width is greater than or equal to the width threshold, it is determined that the machine body can turn to clean the first target step. The width threshold is used to characterize the minimum table width required when the machine body turns to clean the first target step. When the width of the platform is less than the width threshold, it is determined that the machine body cannot be turned to clean the first target step.

[0018] In some optional embodiments, the staircase cleaning method further includes: When the machine body is determined to be non-rotatable for cleaning the first target step based on the width of the table, the machine body is controlled to rotate horizontally by a preset rotation angle. The first foot moves to the first target step.

[0019] In some optional embodiments, the staircase further includes a second target step. After the second wheel moves to the first target step, the staircase cleaning method further includes: The first and second wheels are adjusted to move the fuselage from the first position of the first target step to the second position of the second target step. The first and second positions are located at the two ends of the length of the step, respectively.

[0020] Secondly, embodiments of this application provide a step cleaning device for a wheeled robot. The wheeled robot includes a first wheel and a second wheel. The step cleaning device includes: The first adjustment module is used to adjust the first and second wheels in response to the detection of a step in the cleaning direction of the wheeled robot, so as to move the body of the wheeled robot to the first target step of the step. The first control module is used to control the first wheel foot to move to the first target step; The second control module is used to control the cleaning module of the wheeled robot to clean the first target step; The third control module is used to control the second wheel to move to the first target step in response to the cleaning module completing the cleaning of the first target step.

[0021] Thirdly, embodiments of this application provide a wheeled robot, including a body, a first wheel, a second wheel, and a controller, wherein the controller is configured to: In response to the detection of a step in the cleaning direction of the wheeled robot, the first and second wheels are adjusted to move the robot body to the first target step of the step; Control the first wheel's foot to move to the first target step; The cleaning module of the wheeled robot is used to clean the first target step. In response to the cleaning module completing the cleaning of the first target step, the second wheel is controlled to move to the first target step.

[0022] Fourthly, embodiments of this application provide a computer-readable storage medium storing program code, which can be called by a processor to execute the step cleaning method provided in the first aspect above.

[0023] Fifthly, embodiments of this application provide a computer program product that, when run on a computer device, causes the computer device to perform the step cleaning method as described in the first aspect above.

[0024] The solution provided in this application, in response to the detection of a step in the cleaning direction of the wheeled robot, adjusts the first and second wheels to move the body of the wheeled robot to the first target step of the step, controls the first wheel to move to the first target step, and controls the cleaning module of the wheeled robot to clean the first target step. Furthermore, in response to the cleaning module completing the cleaning of the first target step, the second wheel is controlled to move to the first target step. This achieves the ability to control the wheeled robot to climb to the first target step of the step and control the cleaning module to clean the first target step during the cleaning process, based on the adjustment of the first and second wheels, thus expanding the application scenarios of the wheeled robot.

[0025] Furthermore, when the wheeled robot's legs are in a stepping support state, the cleaning module is controlled to clean the first target step. The stepping support of the wheeled robot can provide stable support for the wheeled robot, which helps to improve the stability of the wheeled robot in the process of cleaning the first target step. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 A schematic diagram of a scenario for a wheeled robot provided in an embodiment of this application is shown.

[0028] Figure 2 A schematic flowchart of a step cleaning method for a wheeled robot provided in an embodiment of this application is shown.

[0029] Figure 3 This illustration shows a scenario flow diagram of a step cleaning method for a wheeled robot provided in an embodiment of this application.

[0030] Figure 4This paper illustrates another flowchart of the stair-cleaving robot cleaning method provided in an embodiment of this application.

[0031] Figure 5 This illustration shows a scenario of the change in the body position of the wheeled robot in the stair cleaning method of the wheeled robot provided in the embodiments of this application.

[0032] Figure 6 A structural block diagram of a stair-sweeping device for a wheeled robot provided in an embodiment of this application is shown.

[0033] Figure 7 A functional block diagram of a wheeled robot provided in an embodiment of this application is shown.

[0034] Figure 8 This application illustrates a computer-readable storage medium for storing or carrying program code that implements a step cleaning method for a wheeled robot according to an embodiment of this application.

[0035] Figure 9 This application provides a computer program product for storing or carrying program code that implements a stair-cleaving robot according to an embodiment of this application. Detailed Implementation

[0036] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0038] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0039] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0040] Furthermore, in the description of this application, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0041] Robotic vacuum cleaners, also known as automatic cleaning machines, intelligent vacuum cleaners, or robotic vacuum cleaners, are a type of smart home appliance that can automatically clean floors in residential or office buildings using a certain level of artificial intelligence.

[0042] Currently, most robotic vacuum cleaners use a pure wheeled chassis structure, which means they can only move on a single horizontal plane. The cleaning range of a robotic vacuum cleaner is also limited to this horizontal plane, and they cannot clean staircases or other surfaces with height differences. Therefore, robotic vacuum cleaners cannot clean the stairwells of residential or office buildings, which limits their application scenarios.

[0043] To address the aforementioned issues, the wheeled robot and its stair-cleaning method, storage medium, and program product provided in this application, in response to the detection of a staircase in the cleaning direction of the wheeled robot, adjust the first and second wheels to move the robot's body to the first target step of the staircase, control the first wheel to move to the first target step, and control the robot's cleaning module to clean the first target step. In response to the cleaning module completing the cleaning of the first target step, control the second wheel to move to the first target step. This achieves the ability to control the wheeled robot to climb to the first target step of the staircase and control its cleaning module to clean the first target step during the cleaning process, based on the adjustment of the first and second wheels, thus expanding the application scenarios of the wheeled robot.

[0044] Furthermore, when the wheeled robot's legs are in a stepping support state, the cleaning module is controlled to clean the first target step. The stepping support of the wheeled robot can provide stable support for the wheeled robot, which helps to improve the stability of the wheeled robot in the process of cleaning the first target step.

[0045] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0046] Please see Figure 1The illustration shows an application scenario diagram of the wheeled robot 100 provided in the embodiments of this application. The wheeled robot 100 may include a body 101, wheels 102 and a controller 103. The wheels 102 and the controller 103 may be installed on the body 101, and the body 101 can provide installation support for the wheels 102 and the controller 103.

[0047] The fuselage 101 can be made of plastic, metal, glass, or composite materials, etc., and there is no limitation here.

[0048] The wheel 102 can be used to provide support for the balance of the wheeled robot 100. The number of wheel 102 can be one or more. As an example, the number of wheel 102 can be two, but this is not limited here.

[0049] The controller 103 can be communicatively connected to the wheel 102 and is used to adjust the attitude of the wheel 102 and to control the wheel 102 to move.

[0050] The controller 103 can be any of the following: a micro controller unit (MCU), a central processing unit (CPU), a combinational logic controller (CLC), a complex programmable logic device (CPLD), or a field programmable gate array (FPGA), etc., without any limitation here.

[0051] In some embodiments, the wheel 102 may include a drive wheel 1021 and a joint 1022, wherein the drive wheel 1021 can be connected to the fuselage 101 via the joint 1022.

[0052] The controller 103 can be communicatively connected to the joint 1022 and is used to adjust the joint angle of the joint 1022 in order to adjust the posture of the wheel foot 102.

[0053] In some embodiments, joint 1022 may include hip joint 10221 and knee joint 10222, and drive wheel 1021 may be connected to body 101 in sequence via knee joint 10222 and hip joint 10221.

[0054] The hip joint 10221 can be installed on the lower part of the body 101. The hip joint 10221 can be connected to the knee joint 10222 via a link, so that the link connecting the hip joint 10221 and the knee joint 10222 forms the thigh of the wheel-footed robot 100.

[0055] The knee joint 10222 can be connected to the drive wheel 1021 via a link, so that the link connecting the knee joint 10222 and the drive wheel 1021 forms the lower leg of the wheel-footed robot 100.

[0056] Please see Figure 2 This document illustrates a flowchart of a step-cleaning method for a wheeled robot according to an embodiment of this application. In a specific embodiment, the step-cleaning method for a wheeled robot can be applied to, for example... Figure 1 The controller 103 in the wheeled robot 100 shown below will be used as an example to explain... Figure 2 The process shown is described in detail. The step cleaning method of the wheeled robot may include the following steps 201 to 204.

[0057] Step 201: In response to the detection of a step in the cleaning direction of the wheeled robot, the first and second wheels are adjusted to move the body of the wheeled robot to the first target step of the step.

[0058] In this embodiment of the application, during the cleaning process of the wheel-legged robot, the controller can detect whether there are steps in the cleaning direction of the wheel-legged robot, and in response to detecting that there are steps in the cleaning direction of the wheel-legged robot, adjust the first and second wheels of the wheel-legged robot to move the body of the wheel-legged robot to the first target step of the step.

[0059] The staircase may include at least one step, and the first target step may be any step in the staircase, without any limitation.

[0060] The controller can acquire environmental information about the cleaning direction of the wheeled robot and detect whether there are steps in the cleaning direction of the wheeled robot based on the environmental information.

[0061] Environmental information can be any of the following: environmental images or reflected light signals. The type of environmental information is not limited here and can be set according to actual needs.

[0062] Regarding the process by which the controller detects whether there are steps in the cleaning direction of the wheeled robot, in some embodiments, the environmental information can be an environmental image. The wheeled robot may also include a camera, which can be mounted on the head of the wheeled robot. The camera can be used to acquire environmental images of the cleaning direction of the wheeled robot. The camera can be communicatively connected to the controller and interact with the controller for data exchange.

[0063] The controller can send a first acquisition command to the camera. After receiving the first acquisition command, the camera can acquire environmental images of the cleaning direction of the wheeled robot and send the environmental images to the controller. After receiving the environmental images, the controller can input the environmental images into the step detection model. The step detection model responds to the environmental images, outputs the corresponding first detection result, and detects whether there are steps in the cleaning direction of the wheeled robot based on the first detection result.

[0064] The first acquisition command can be used to instruct the camera to acquire environmental images of the cleaning direction of the wheeled robot.

[0065] The ladder detection model can be obtained by training a deep learning neural network model on environmental image samples labeled with ladder tags. The deep learning neural network model can be any of the following: Convolutional Neural Networks (CNN), Deep Belief Networks (DBN), Stacked Auto Encoder Networks (SAE), Recurrent Neural Networks (RNN), Deep Neural Networks (DNN), Long Short-Term Memory (LSTM), or Gated Recurring Units (GRU). The type of deep learning neural network model is not limited here and can be set according to actual needs.

[0066] The first detection result may include a first result to characterize that there are steps in the cleaning direction of the wheel-footed robot, or a second result to characterize that there are no steps in the cleaning direction of the wheel-footed robot.

[0067] When the first detection result is the first result, the controller detects that there are steps in the cleaning direction of the wheeled robot; when the first detection result is the second result, the controller detects that there are no steps in the cleaning direction of the wheeled robot.

[0068] The camera can be any of the following: wide-angle camera, macro camera, ultra-wide-angle camera, or panoramic camera. The type of camera is not limited here, and the specific settings can be made according to actual needs.

[0069] Regarding the process by which the controller detects whether there are steps in the cleaning direction of the wheeled robot, in some embodiments, the environmental information can be reflected light signals. The wheeled robot may also include a Time-of-Flight (TOF) sensor, which can be mounted on the head of the wheeled robot. The TOF sensor can emit light in the cleaning direction of the wheeled robot and collect the reflected light signal formed by the reflection of the emitted light through the steps. The TOF sensor can be communicatively connected to the controller and interact with the controller for data exchange.

[0070] The controller can send a second acquisition command to the TOF sensor. After receiving the second acquisition command, the TOF sensor can emit light in the cleaning direction of the wheel-legged robot and collect the reflected light signal formed by the reflection of the emitted light through the steps. The sensor then sends the reflected light signal to the controller. After receiving the reflected light signal, the controller can detect whether there are steps in the cleaning direction of the wheel-legged robot based on the reflected light signal.

[0071] The second acquisition command can be used to instruct the TOF sensor to emit light in the cleaning direction of the wheel-legged robot, and to acquire the reflected light signal of the reflected light formed by the stepped reflection of the emitted light.

[0072] The emitted light can be infrared emitted light, the reflected light can be infrared reflected light formed by infrared emitted light through stepped reflection, and the reflected light signal can be an infrared reflected light signal.

[0073] When the intensity of the infrared reflected light signal is greater than or equal to the intensity threshold, the controller detects that there are steps in the cleaning direction of the wheeled robot; when the intensity of the infrared reflected light signal is less than the intensity threshold, the controller detects that there are no steps in the cleaning direction of the wheeled robot.

[0074] Intensity threshold can be used to characterize the minimum intensity of infrared reflected light signal when there are steps in the cleaning direction of a wheel-footed robot.

[0075] Regarding the process described above, in response to the controller detecting a step in the cleaning direction of the wheeled robot, the controller adjusts the first and second wheels to move the robot's body to the first target step of the step. In some embodiments, the controller, in response to detecting a step in the cleaning direction of the wheeled robot, can adjust the first joint of the first wheel and the second joint of the second wheel to raise the robot's body to the target height of the first target step. The controller then controls the first drive wheel of the first wheel and the second drive wheel of the second wheel to move towards the first target step, thereby moving the robot's body to the first target step. By adjusting the first and second joints to raise the body to the same height as the first target step and controlling the first and second drive wheels to move the body to the first target step, friction between the robot body and the first target step during movement is avoided, improving safety during the movement process.

[0076] The target height can be used to characterize the height of the first target step of the ladder from the ground. The first joint can include the first hip joint and the first knee joint, and the second joint can include the second hip joint and the second knee joint.

[0077] The controller can send a third acquisition command to the camera. After receiving the third acquisition command, the camera can acquire an image of the first target step of the stairs, obtain a second step image, and send the second step image to the controller. After receiving the second step image, the controller can input the second step image into the step height detection model. The step height detection model responds to the second step image and outputs the corresponding target height.

[0078] The third acquisition command can be used to instruct the camera to acquire images of the first target step. The step height detection model can be obtained by training a deep learning neural network model based on step image samples labeled with step height.

[0079] In some implementations, in response to detecting a step in the cleaning direction of the wheeled robot, the controller adjusts the first and second wheels to move the robot's body to the first target step of the step. It can then acquire sensor data from the wheeled robot's sensors and determine whether the robot is stable on the first target step based on this data. This stability assessment based on sensor data improves the accuracy of determining the robot's stability.

[0080] The sensing sensor can be at least one of cliff sensor, TOF sensor or bumper sensor, and the sensing data can be at least one of cliff sensor status, step distance between the fuselage and the first target step or collision force.

[0081] The cliff sensor can be installed in the lower middle part of the fuselage. The status of the cliff sensor can be generated based on the height of the fuselage above the ground detected by the cliff sensor. The status of the cliff sensor can include a triggered state or a non-triggered state.

[0082] When the cliff sensor detects that the height of the aircraft above the ground is greater than or equal to a height threshold, a trigger state can be generated; when the cliff sensor detects that the height of the aircraft above the ground is less than the height threshold, a non-trigger state can be generated.

[0083] The height threshold can be used to characterize the maximum height of the robot body from the ground when the body is stably placed. The height threshold is related to the height of the omnidirectional wheels of the wheel-legged robot. The higher the height of the omnidirectional wheels, the larger the height threshold.

[0084] The TOF sensor can be used to collect the step distance between the robot body and the first target step, and the collision sensor can be installed on the head of the wheeled robot to collect the collision force on the robot body.

[0085] In one implementation, the sensing sensor can be a cliff sensor, and the sensing data can be the state of the cliff sensor.

[0086] When the cliff sensor is in a triggered state, it is determined that the robot body is not in a stable state on the first target step; when the cliff sensor is in a non-triggered state, it is determined that the robot body is in a stable state on the first target step. Using the cliff sensor's state to determine the stability of the wheeled robot improves the accuracy of stability assessment.

[0087] In one implementation, the sensing sensor can be a TOF sensor, and the sensing data can be the step distance.

[0088] When the step distance is greater than or equal to a distance threshold, the robot is determined to be unstable on the first target step; when the step distance is less than the distance threshold, the robot is determined to be stable on the first target step. Using step distance data collected by a TOF sensor to determine the stability of the wheeled robot improves the accuracy of stability assessment.

[0089] Among them, the distance threshold can be used to characterize the maximum distance between the fuselage and the first target step when the fuselage is stably placed.

[0090] In one implementation, the sensing sensor can be a collision sensor, and the sensing data can be the collision force.

[0091] When the collision force is greater than or equal to the collision force threshold, the robot is determined to be unstable on the first target step; when the collision force is less than the collision force threshold, the robot is determined to be stable on the first target step. Based on the collision force collected by the collision sensor, the stability of the wheeled robot is determined, improving the accuracy of stability assessment.

[0092] Among them, the collision force threshold can be used to characterize the minimum collision force that the fuselage experiences when it is stably placed.

[0093] Step 202: Control the first wheel foot to move to the first target step.

[0094] In this embodiment, the controller, in response to detecting a step in the cleaning direction of the wheeled robot, adjusts the first and second wheels to move the body of the wheeled robot to the first target step of the step, and can control the first wheel to move to the target step.

[0095] The controller can calculate the first adjustment angle of the first joint based on the target height of the first target step and the first current joint angle of the first joint of the first wheel foot, and adjust the first joint according to the first adjustment angle so that the first drive wheel of the first wheel foot moves to the first target step.

[0096] The first adjustment angle may include a first hip joint adjustment angle and a first knee joint adjustment angle. The controller can adjust the joint angle of the first hip joint according to the first hip joint adjustment angle and adjust the joint angle of the first knee joint according to the first knee joint adjustment angle so that the first drive wheel moves to the target step.

[0097] In some implementations, in response to detecting a step in the cleaning direction of the wheeled robot, the controller adjusts the first and second wheels to move the robot's body to the first target step of the step. It can then acquire sensor data from the wheeled robot's sensors and determine whether the robot's body is stable on the first target step based on the sensor data. When the sensor data determines that the robot's body is stable on the first target step, the controller controls the first wheel to move to the first target step. Controlling the first wheel to move when the sensor data indicates that the robot is stable improves the stability of the movement control process for the first wheel.

[0098] In some implementations, after the controller moves the first wheel to the first target step, it can acquire an image of the first target step and determine whether the first target step needs cleaning based on the image. Performing cleaning detection on the first target step based on the image improves the accuracy of cleaning detection.

[0099] The controller can send a fourth acquisition command to the camera. After receiving the fourth acquisition command, the camera can acquire an image of the first target step and send the first step image to the controller. After receiving the first step image, the controller can input the first step image into the cleaning detection model. After receiving the first step image, the cleaning detection model outputs the corresponding second detection result and determines whether the first target step needs to be cleaned based on the second detection result.

[0100] The cleaning detection model can be obtained by training a deep learning neural network model based on step image samples labeled with cleaning requirements.

[0101] The second detection result may include a third result indicating that the first target step needs to be cleaned, or a fourth result indicating that the first target step does not need to be cleaned.

[0102] When the second test result is the third result, it is determined that the first target step needs to be cleaned; when the second test result is the fourth result, it is determined that the first target step does not need to be cleaned.

[0103] Step 203: Control the cleaning module of the wheeled robot to clean the first target step.

[0104] In this embodiment, after the controller controls the first wheeled leg to move to the first target step, it can control the cleaning module of the wheeled robot to clean the first target step. This realizes that when the first target step is detected to need cleaning, the cleaning module is controlled to clean the first target step, avoiding cleaning steps that do not need cleaning, thus avoiding energy waste of the wheeled robot and improving the energy utilization rate of the wheeled robot.

[0105] During the cleaning process of the wheel-legged robot, the first and second wheels are adjusted to control the wheel-legged robot to climb to the first target step of the stairs, and the cleaning module of the wheel-legged robot is controlled to clean the first target step, thus expanding the application scenarios of the wheel-legged robot.

[0106] The controller can control the rotation of the robot body so that the direction of travel of the wheel-legged robot is consistent with the length direction of the stairs, and control the cleaning module to clean the first target stairs along the length direction. Rotating the direction of travel of the robot body to be consistent with the direction of the stairs helps to improve the cleaning effect of cleaning the first target stairs.

[0107] The direction of travel being consistent with the length direction can be either parallel to the length direction or the angle between the direction of travel and the length direction being less than an angle threshold. The angle threshold can be any preset angle and is not limited here.

[0108] The controller can control the cleaning module to clean the first target step according to a preset cleaning path. The preset cleaning path can be a left-right back-and-forth cleaning path of the first target step based on the climbing point. For example, if the climbing point is at the leftmost side of the first target step, the first target step is cleaned to the right; if the climbing point is at the rightmost side of the first target step, the first target step is cleaned to the left.

[0109] The cleaning module may include a side brush, a main roller brush, a vacuum fan, and a dustbin. The side brush, main roller brush, vacuum fan, and dustbin can all be installed at the bottom of the machine body, and the suction port is also located on the chassis of the machine body.

[0110] The controller can control the side brush to sweep the objects to be cleaned around the machine body on the first target step to the suction port, and control the main roller brush and suction fan to suck the objects to be cleaned into the suction box through the suction port.

[0111] In some implementations, after the controller moves the first wheeled leg to the first target step, it can acquire an image of the first target step and determine whether the first target step needs cleaning based on the image. When it is determined that the first target step needs cleaning based on the image, the controller can control the cleaning module to clean the first target step. By controlling the cleaning module to clean the first target step when it is detected that the first target step needs cleaning based on the step image, the energy efficiency of the wheeled robot is improved.

[0112] In some implementations, when the controller determines that the first target step needs cleaning based on the first step image, it can determine whether the machine body is parallel to the first target step. When it is determined that the machine body is parallel to the first target step, the cleaning module is controlled to clean the first target step. Controlling the cleaning module to clean the first target step when the machine body is detected to be parallel avoids incomplete cleaning of the first target step when the machine body is not parallel, thus improving the cleaning effect of the first target step.

[0113] The controller can acquire the position of the first joint of the first wheel foot and the position of the second joint of the second wheel foot. Based on these positions, it calculates the pitch and roll angles of the fuselage and determines whether the fuselage is parallel to the first target step. Detecting the parallelism between the fuselage and the first target step based on the first and second joint positions improves the accuracy of parallelism detection.

[0114] When the pitch angle is less than the pitch angle threshold and the roll angle is less than the roll angle threshold, the fuselage is determined to be parallel to the first target step; when the pitch angle is greater than or equal to the pitch angle threshold, and / or the roll angle is greater than or equal to the roll angle threshold, the fuselage is determined to be non-parallel to the first target step. Detecting the parallelism between the fuselage and the first target step based on the pitch and roll angles improves the accuracy of this detection.

[0115] The pitch angle threshold can be used to characterize the maximum pitch angle when the fuselage is parallel to the first target step, and the roll angle threshold can be used to characterize the maximum roll angle when the fuselage is parallel to the first target step.

[0116] In some implementations, after the controller controls the cleaning module of the wheeled robot to clean the first target step, it can acquire the cleaning information of the wheeled robot and determine whether the cleaning module has completed cleaning the first target step based on the cleaning information. Judging the cleaning progress of the wheeled robot based on its cleaning information improves the accuracy of judging the cleaning progress of the sweeping robot.

[0117] The cleaning information can be any of the following: cleaning duration, number of round trips, or image of the third step of the first target step, etc., without any limitation here.

[0118] In one implementation method, the cleaning information can be the cleaning duration. The controller can record the cleaning duration of the cleaning module and determine whether the cleaning module has completed cleaning the first target step based on the cleaning duration. By judging the cleaning progress of the wheeled robot based on its cleaning duration, the accuracy of judging the cleaning progress of the sweeping robot is improved.

[0119] When the cleaning time is greater than or equal to the time threshold, it is determined that the cleaning module has completed cleaning the first target step; when the cleaning time is less than the time threshold, it is determined that the cleaning module has not completed cleaning the first target step.

[0120] The duration threshold can be used to characterize the minimum time required for the cleaning module to complete cleaning of the first target step.

[0121] In one implementation method, the cleaning information can be the number of round trips. The controller can record the number of round trips of the cleaning module and determine whether the cleaning module has completed cleaning the first target step based on the number of round trips. Judging the cleaning progress of the wheeled robot based on the number of round trips improves the accuracy of judging the cleaning progress of the sweeping robot.

[0122] When the number of round trips is greater than or equal to the threshold, it is determined that the cleaning module has completed cleaning the first target step; when the number of round trips is less than the threshold, it is determined that the cleaning module has not completed cleaning the first target step.

[0123] The number of times threshold can be used to characterize the minimum number of times required for the cleaning module to complete the cleaning of the first target step.

[0124] In one implementation, the cleaning information can be a third-step image. The controller can send a fifth acquisition command to the camera. After receiving the fifth acquisition command, the camera can acquire an image of the first target step, obtain a third-step image, and send the third-step image to the controller. After receiving the third-step image, the controller can input the third-step image into the cleaning detection model. After receiving the third-step image, the cleaning detection model outputs the corresponding third detection result and determines whether the cleaning module has completed cleaning the first target step based on the third detection result. Judging the cleaning progress of the wheeled robot based on the third-step image of the first target step improves the accuracy of judging the cleaning progress of the sweeping robot.

[0125] The third detection result may include a fifth result indicating that the first target step needs to be cleaned, or a sixth result indicating that the first target step does not need to be cleaned.

[0126] When the third detection result is the fifth result, it is determined that the cleaning module has completed the cleaning of the first target step; when the third detection result is the sixth result, it is determined that the cleaning module has not completed the cleaning of the first target step.

[0127] Step 204: In response to the cleaning module completing the cleaning of the first target step, control the second wheel to move to the first target step.

[0128] In this embodiment, the controller can respond to the cleaning module completing the cleaning of the target step and control the second wheel to move to the first target step. This realizes that during the cleaning process of the wheel-legged robot, based on the adjustment of the first and second wheels, the wheel-legged robot can be controlled to climb to the first target step of the stairs, and the cleaning module of the wheel-legged robot can be controlled to clean the first target step, thus expanding the application scenarios of the wheel-legged robot.

[0129] Furthermore, when the wheeled robot's legs are in a stepping support state, the cleaning module is controlled to clean the first target step. The stepping support of the wheeled robot can provide stable support for the wheeled robot, which helps to improve the stability of the wheeled robot in the process of cleaning the first target step.

[0130] The controller can calculate the second adjustment angle of the second joint based on the target height of the first target step and the second current joint angle of the second joint of the second wheel foot, and adjust the second joint according to the second adjustment angle so that the second drive wheel of the second wheel foot moves to the first target step.

[0131] The second adjustment angle may include a second hip joint adjustment angle and a second knee joint adjustment angle. The controller can adjust the joint angle of the second hip joint according to the second hip joint adjustment angle and adjust the joint angle of the second knee joint according to the second knee joint adjustment angle so that the second drive wheel moves to the first target step.

[0132] In some implementations, when the controller determines that the machine body is not parallel to the first target step, it can adjust the first joint and the second joint to make the machine body parallel to the first target step, and then execute the step of controlling the cleaning module to clean the first target step and subsequent steps. By adjusting the first joint and the second joint to make the machine body parallel to the first target step when it is detected that the machine body is not parallel, the cleaning module can clean the first target step, avoiding incomplete cleaning of the first target step when the machine body is not parallel, thus improving the cleaning effect of the first target step.

[0133] In some implementations, when the controller determines from the first step image that the first target step does not require cleaning, it can control the second wheel to move to the first target step. This enables the wheeled robot to climb stairs and clean them by adjusting its wheels during the cleaning process, thus expanding the application scenarios of wheeled robots.

[0134] In some implementations, when the controller determines, based on sensing data, that the fuselage is not in a stable state on the first target step, it can perform differential motion control on the first and second wheels to stabilize the fuselage on the first target step, and then execute the steps of controlling the first wheel to move to the first target step and subsequent steps. By using differential motion control on the first and second wheels to adjust the fuselage to a stable state on the first target step when the fuselage is not stable, the accuracy of adjusting the fuselage state is improved.

[0135] The controller can perform differential motion control on the first drive wheel and the second drive wheel, so that the fuselage is in a stable state on the first target step.

[0136] In some embodiments, the staircase may further include a second target step. After the controller controls the second wheel to move to the first target step, it can adjust the first and second wheels to move the robot body from a first position on the first target step to a second position on the second target step. The first and second positions are located at opposite ends of the length of the staircase. The controller also controls the first wheel to move to the second target step and controls the cleaning module to clean the second target step. In response to the cleaning module completing the cleaning of the second target step, the controller controls the second wheel to move to the second target step, thus achieving S-shaped cleaning of multiple steps and improving the user experience of the wheeled robot during the cleaning process of the first target step.

[0137] In one application scenario, such as Figure 3 As shown, the step cleaning method of the wheeled robot may include the following steps 301 to 311.

[0138] Step 301: In response to the detection of a step in the cleaning direction of the wheeled robot, obtain the target height of the first target step.

[0139] Step 302: Adjust the first joint of the first wheeled leg and the second joint of the second wheeled leg to raise the body of the wheeled robot to the target height.

[0140] Step 303: Control the first drive wheel of the first wheeled leg and the second drive wheel of the second wheeled leg to move towards the first target step, so as to move the body of the wheeled robot to the first target step.

[0141] In the process of moving the fuselage to the first target step, a preset curve for the fuselage movement can be determined based on the target position of the fuselage on the first target step, and the fuselage can be moved to the first target step according to the preset curve.

[0142] The preset curve can be any type of spline curve or Bézier curve, etc. The type of preset curve is not limited here, and can be set according to actual needs.

[0143] Step 304: Perform differential motion control on the first drive wheel and the second drive wheel to keep the fuselage in a stable state on the first target step.

[0144] Step 305: Control the first drive wheel to move to the first target step.

[0145] Step 306: Determine whether the first target step needs to be cleaned.

[0146] When it is determined that the first target step needs to be cleaned, proceed to step 307; When it is determined that the first target step does not need to be cleaned, proceed to step 310.

[0147] Step 307: Adjust the attitude of the fuselage.

[0148] Specifically, by adjusting the first and second joints, the fuselage is made parallel to the first target step.

[0149] Step 308: Control the cleaning module of the wheeled robot to clean the first target step.

[0150] The controller can perform supplementary cleaning on the preset cleaning path, or perform multiple cleaning passes according to the preset cleaning path.

[0151] Step 309: When it is determined that the cleaning module has completed cleaning the first target step, adjust the posture of the machine body.

[0152] The first and second wheels are adjusted to position the machine at the point of climbing the next step.

[0153] Step 310: Control the second wheel foot to move to the first target step.

[0154] Step 311: Adjust the attitude of the fuselage.

[0155] In this process, the first and second legs are adjusted to allow the fuselage to be positioned so that the legs can be raised, and then the process returns to step 302.

[0156] The solution provided in this application, in response to the detection of a step in the cleaning direction of the wheeled robot, adjusts the first and second wheels to move the robot's body to the first target step of the step, controls the first wheel to move to the first target step, and controls the cleaning module of the wheeled robot to clean the first target step. In response to the cleaning module completing the cleaning of the first target step, it controls the second wheel to move to the first target step. This achieves the ability to control the wheeled robot to climb to the first target step of the step and control its cleaning module to clean the first target step during the cleaning process, based on the adjustment of the first and second wheels, thus expanding the application scenarios of the wheeled robot.

[0157] Furthermore, when the wheeled robot's legs are in a stepping support state, the cleaning module is controlled to clean the first target step. The stepping support of the wheeled robot can provide stable support for the wheeled robot, which helps to improve the stability of the wheeled robot in the process of cleaning the first target step.

[0158] Please see Figure 4 This document illustrates a flowchart of a step-cleaning method for a wheeled robot according to another embodiment of this application. In a specific embodiment, the step-cleaning method for a wheeled robot can be applied to, for example... Figure 1 The controller 103 in the wheeled robot 100 shown below will be used as an example to explain... Figure 4 The process shown is described in detail. The step cleaning method of the wheeled robot may include the following steps 401 to 406.

[0159] Step 401: In response to the detection of a step in the cleaning direction of the wheeled robot, adjust the first and second wheels to move the body of the wheeled robot to the first target step of the step.

[0160] In this embodiment, step 401 can be referred to the corresponding steps in the previous embodiments, and will not be repeated here.

[0161] Step 402: When it is determined that the fuselage is in a stable state on the first target step, obtain the width of the first target step.

[0162] In this embodiment, when the controller determines that the body is in a stable state on the first target step, the width of the first target step can be obtained.

[0163] In some implementations, the controller may pre-store the platform width of the first target step. When the controller determines that the fuselage is in a stable state on the first target step, it can read the pre-stored platform width of the first target step.

[0164] In some implementations, when the controller determines that the body is in a stable state on the first target step, it can generate a prompt message and receive the width of the first target step input by the user based on the prompt message.

[0165] The prompt information can be used to prompt the user to input the width of the first target step into the controller. The prompt information can be at least one of text prompts, sound prompts, or light prompts.

[0166] In some implementations, when the controller determines that the body is in a stable state on the first target step, the controller can send a sixth acquisition command to the camera. After receiving the sixth acquisition command, the camera can acquire an image of the first target step to obtain a fourth step image and send the fourth step image to the controller. After receiving the fourth step image, the controller can input the fourth step image into the platform width detection model. After receiving the fourth step image, the platform width detection model can output the corresponding platform width of the first target step.

[0167] The tabletop width detection model can be obtained by training a deep learning neural network model based on step image samples labeled with tabletop width.

[0168] Step 403: Determine whether the machine can be turned to clean the first target step based on the width of the table.

[0169] In this embodiment, when the controller determines that the machine body is in a stable state on the first target step, after obtaining the platform width of the first target step, it can determine whether the machine body can turn to clean the first target step based on the platform width.

[0170] When the platform width is greater than or equal to a width threshold, the machine is determined to be able to turn and clean the first target step; when the platform width is less than the width threshold, the machine is determined not to be able to turn and clean the first target step. Determining whether the machine can turn and clean the first target step based on the platform width of the first target step improves the accuracy of this determination.

[0171] Among them, the width threshold can be used to characterize the minimum table width required when the machine body turns to clean the first target step.

[0172] Step 404: When the machine body is determined to be able to steer and clean the first target step based on the width of the platform, control the first wheel to move to the first target step.

[0173] In this embodiment, when the controller determines that the robot body can steer to clean the first target step based on the width of the platform, it can control the first wheel to move to the first target step. When it is determined that the robot body can steer to clean the first target step, the first wheel is moved to the first target step so that the wheel-legged robot can steer to clean the first target step, thereby improving the cleaning effect of the wheel-legged robot on the first target step.

[0174] Step 405: Control the cleaning module of the wheeled robot to clean the first target step.

[0175] Step 406: In response to the cleaning module completing the cleaning of the first target step, control the second wheel to move to the first target step.

[0176] In this embodiment, steps 405 and 406 can be found in the corresponding steps in the previous embodiments, and will not be repeated here.

[0177] In some implementations, when the controller determines that the robot body cannot steer to clean the first target step based on the platform width, it can control the robot body to rotate horizontally by a preset rotation angle and control the first wheeled leg to move to the first target step. Controlling the robot body to rotate horizontally by a preset rotation angle when it is determined that the robot body cannot steer to clean the first target step allows the robot body to steer to clean the first target step, thus improving the cleaning efficiency of the wheeled robot.

[0178] The preset rotation angle can be set by the user based on experience, or it can be calculated based on the width of the machine body on the table and the distance of the step, etc. There is no limitation here.

[0179] In one application scenario, such as Figure 5 As shown, when the body of the wheel-legged robot is not moved to the first target step of the ladder, the body can be located at position 1.

[0180] When the aircraft is moved to the first target step, it can be in position 2. While in position 2, the aircraft cannot turn to clean the first target step.

[0181] The computer body can be rotated at a preset angle based on the width of the table and the distance from the step, and the computer body can be rotated horizontally at the preset angle. The computer body can be located at position 3.

[0182] During the process of cleaning the first target step, the position of the wheel-legged robot can be moved from position 3 to position 4 and position 5 in sequence.

[0183] The solution provided in this embodiment, in response to the detection of a step in the cleaning direction of the wheeled robot, adjusts the first and second wheels to move the robot's body to the first target step of the step. When it is determined that the robot is in a stable state on the first target step, the width of the first target step is obtained, and it is determined whether the robot can turn to clean the first target step based on the width of the step. When it is determined that the robot can turn to clean the first target step based on the width of the step, the first wheel is controlled to move to the first target step, and the cleaning module of the wheeled robot is controlled to clean the first target step. In response to the cleaning module completing the cleaning of the first target step, the second wheel is controlled to move to the first target step. This realizes that during the cleaning process of the wheeled robot, based on the adjustment of the first and second wheels, the wheeled robot can be controlled to climb to the first target step of the step, and the cleaning module of the wheeled robot can be controlled to clean the first target step, thus expanding the application scenarios of the wheeled robot.

[0184] Furthermore, when the wheeled robot's legs are in a stepping support state, the cleaning module is controlled to clean the first target step. The stepping support of the wheeled robot can provide stable support for the wheeled robot, which helps to improve the stability of the wheeled robot in the process of cleaning the first target step.

[0185] Furthermore, when it is determined that the robot body can turn to clean the first target step, the first wheel is moved to the first target step so that the wheel-legged robot can turn to clean the first target step, thereby improving the cleaning effect of the wheel-legged robot on the first target step.

[0186] Please see Figure 6 This illustration shows a stair-cleaning device 500 for a wheeled robot according to an embodiment of this application. In a specific embodiment, the stair-cleaning device 500 for a wheeled robot can be applied to, for example... Figure 1 The controller 103 in the wheeled robot 100 shown below will be used as an example to explain... Figure 6 The step cleaning device 500 of the wheeled robot shown is described in detail. The step cleaning device 500 of the wheeled robot may include a first adjustment module 501, a first control module 502, a second control module 503 and a third control module 504.

[0187] The first adjustment module 501 can be used to adjust the first and second wheels in response to detecting a step in the cleaning direction of the wheeled robot, so as to move the body of the wheeled robot to the first target step of the step; the first control module 502 can be used to control the first wheel to move to the first target step; the second control module 503 can be used to control the cleaning module of the wheeled robot to clean the first target step; the third control module 504 can be used to control the second wheel to move to the first target step in response to the cleaning module completing the cleaning of the first target step.

[0188] In some implementations, the first adjustment module 501 may include an adjustment unit and a first control unit.

[0189] The adjustment unit can be used to adjust the first joint of the first wheel foot and the second joint of the second wheel foot in response to the detection of a step in the cleaning direction, so as to raise the body to the target height of the first target step; the first control unit can be used to control the first drive wheel of the first wheel foot and the second drive wheel of the second wheel foot to move towards the first target step, so as to move the body to the first target step.

[0190] In some implementations, the second control module 503 may include a second control unit and a third control unit.

[0191] The second control unit can be used to control the rotation of the robot body so that the direction of travel of the wheel-legged robot is consistent with the length direction of the steps; the third control unit can be used to control the cleaning module to clean the first target step along the length direction.

[0192] In some implementations, the second control module 503 may also include a fourth control unit and a fifth control unit.

[0193] The fourth control unit can be used to control the operation of the side brush and main brush of the cleaning module to sweep the objects to be cleaned on the first target step around the machine body to the suction port of the cleaning module; the fifth control unit can be used to control the operation of the main roller brush and the suction fan of the cleaning module to suck the objects to be cleaned into the suction box of the cleaning module through the suction port.

[0194] In some embodiments, the step cleaning device 500 of the wheel-legged robot may further include a first acquisition module and a first determination module.

[0195] The first acquisition module can be used to acquire a first step image of the first target step before the second control module 503 controls the cleaning module of the wheeled robot to clean the first target step; the first determination module can be used to determine whether the first target step needs to be cleaned based on the first step image.

[0196] In some implementations, the second control module 503 may include a sixth control unit.

[0197] The sixth control unit can be used to control the cleaning module to clean the first target step when it is determined from the first step image that the first target step needs to be cleaned.

[0198] In some embodiments, the step cleaning device 500 of the wheel-legged robot may also include a second determining module.

[0199] The second determining module can be used to determine whether the machine body is parallel to the first target step before the sixth control unit controls the cleaning module to clean the first target step.

[0200] In some implementations, the sixth control unit may include a control subunit.

[0201] The control subunit can be used to control the cleaning module to clean the first target step when it is determined that the machine body is parallel to the first target step.

[0202] In some implementations, the second determining module may include an acquisition unit, a calculation unit, and a first determining unit.

[0203] The acquisition unit can be used to acquire the position of the first joint of the first joint of the first wheel foot and the position of the second joint of the second wheel foot; the calculation unit can be used to calculate the pitch angle and roll angle of the fuselage based on the positions of the first and second joints; the first determination unit can be used to determine whether the fuselage is parallel to the first target step based on the pitch angle and roll angle.

[0204] In some implementations, the first determining unit may include a first determining subunit and a second determining subunit.

[0205] The first determining subunit can be used to determine that the fuselage is parallel to the first target step when the pitch angle is less than the pitch angle threshold and the roll angle is less than the roll angle threshold; the second determining subunit can be used to determine that the fuselage is not parallel to the first target step when the pitch angle is greater than or equal to the pitch angle threshold and / or the roll angle is greater than or equal to the roll angle threshold.

[0206] In some embodiments, the wheeled robot's stair cleaning device 500 may also include a fourth control module.

[0207] The fourth control module can be used to control the second wheel to move to the first target step when it is determined from the first step image that the first target step does not need to be cleaned.

[0208] In some embodiments, the step cleaning device 500 of the wheel-legged robot may also include a second acquisition module and a third determination module.

[0209] The second acquisition module can be used to acquire the perception data of the wheeled robot's perception sensors before the first control module 502 controls the first wheeled leg to move to the first target step; the third determination module can be used to determine whether the robot body is in a stable state on the first target step based on the perception data.

[0210] In some implementations, the first control module 502 may include a seventh control unit.

[0211] The seventh control unit can be used to control the first wheel foot to move to the first target step when it is determined from the sensing data that the fuselage is in a stable state on the first target step.

[0212] In some implementations, the sensing sensor can be a cliff sensor, the sensing data can be the state of the cliff sensor, and the third determining module can include a second determining unit and a third determining unit.

[0213] The second determining unit can be used to determine that the fuselage is not in a stable state on the first target step when the cliff sensor is in a triggered state; the third determining unit can be used to determine that the fuselage is in a stable state on the first target step when the cliff sensor is in a non-triggered state.

[0214] In some embodiments, the step cleaning device 500 of the wheel-legged robot may also include a third acquisition module and a fourth determination module.

[0215] The third acquisition module can be used to acquire the platform width of the first target step before the first control module 502 controls the first wheel foot to move to the first target step; the fourth determination module can be used to determine whether the machine body can be turned to clean the first target step based on the platform width.

[0216] In some implementations, the first control module 502 may also include an eighth control unit.

[0217] The eighth control unit can be used to control the first wheel to move to the first target step when the machine body can be steered to clean the first target step based on the width of the table.

[0218] In some implementations, the fourth determining module may include a fourth determining unit and a fifth determining unit.

[0219] The fourth determining unit can be used to determine that the machine body can turn to clean the first target step when the table width is greater than or equal to the width threshold. The width threshold can be used to characterize the minimum table width required for the machine body to turn to clean the first target step. The fifth determining unit can be used to determine that the machine body cannot turn to clean the first target step when the table width is less than the width threshold.

[0220] In some embodiments, the wheeled robot's stair cleaning device 500 may also include a fifth control module and an execution module.

[0221] The fifth control module can be used to control the horizontal rotation of the machine body by a preset rotation angle when the machine body cannot be turned to clean the first target step according to the width of the table; the sixth control module can be used to control the first wheel foot to move to the first target step.

[0222] In some embodiments, the staircase may further include a second target step, and the staircase cleaning device 500 of the wheeled robot may further include a second adjustment module.

[0223] The second adjustment module can be used by the third control module 504 to control the second wheel foot to move to the first target step, and then adjust the first wheel foot and the second wheel foot to move the fuselage from the first position of the first target step to the second position of the second target step. The first position and the second position can be located at the two ends of the length direction of the step, respectively.

[0224] The solution provided in this embodiment, in response to the detection of a step in the cleaning direction of the wheeled robot, adjusts the first and second wheels to move the robot's body to the first target step of the step, controls the first wheel to move to the first target step, and controls the robot's cleaning module to perform the first cleaning of the target step. In response to the cleaning module completing the cleaning of the first target step, the second wheel is controlled to move to the first target step. This achieves the ability to control the wheeled robot to climb to the first target step of the step and clean the first target step by adjusting the first and second wheels during the cleaning process, thus expanding the application scenarios of the wheeled robot.

[0225] Furthermore, when the wheeled robot's legs are in a stepping support state, the cleaning module is controlled to clean the first target step. The stepping support of the wheeled robot can provide stable support for the wheeled robot, which helps to improve the stability of the wheeled robot in the process of cleaning the first target step.

[0226] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For device embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to in the descriptions of the method embodiments. Any processing method described in the method embodiments can be implemented in the device embodiments through corresponding processing modules, and will not be elaborated upon further in the device embodiments.

[0227] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0228] Please see Figure 7 The diagram illustrates a functional block diagram of a wheeled robot 600 provided in one embodiment of the present application. The wheeled robot 600 may include one or more of the following components: a memory 601, a processor 602, and one or more application programs. One or more application programs may be stored in the memory 601 and configured to be executed by one or more processors 602. One or more application programs are configured to perform the methods described in the foregoing method embodiments.

[0229] The memory 601 may include random access memory (RAM) or read-only memory. The memory 601 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 601 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (e.g., detecting the presence of a step, adjusting the wheels, moving the body, moving the first wheel, performing cleaning, moving the second wheel, acquiring a first step image, determining whether cleaning is needed, determining whether it is parallel, determining parallel, acquiring the position of the first joint, acquiring the position of the second joint, calculating the pitch angle, calculating the roll angle, determining non-parallelism, adjusting the first joint, adjusting the second joint, determining that cleaning is not needed, acquiring sensing data, determining whether it is in a stable state, determining that it is not in a stable state, acquiring the table width, determining whether it can be steered for cleaning, determining whether it can be steered for cleaning, determining that it cannot be steered for cleaning, acquiring the step distance, and a preset horizontal rotation angle, etc.), and instructions for implementing the various method embodiments described below. The storage data area can also store data created by the wheeled robot 600 during use (such as wheeled robot, cleaning direction, steps, wheels, body, target step, first wheel, second wheel, stable state, cleaning module, first step image, first joint, first joint position, second joint, second joint position, pitch angle, roll angle, pitch angle threshold, roll angle threshold, target height, first drive wheel, second drive wheel, sensing sensor, sensing data, cliff sensor, cliff sensor status, triggered state, non-triggered state, table width, width threshold, minimum table width, step distance, rotation angle, current state, and target state).

[0230] The processor 602 may include one or more processing cores. The processor 602 connects to various parts within the wheeled robot 600 using various interfaces and lines, and performs various functions and processes data of the wheeled robot 600 by running or executing instructions, programs, code sets, or instruction sets stored in the memory 601, and by calling data stored in the memory 601. Optionally, the processor 602 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 602 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 602 and may be implemented separately using a communication chip.

[0231] Please refer to Figure 8 This diagram illustrates a structural block diagram of a computer-readable storage medium provided in an embodiment of this application. The computer-readable storage medium 700 stores program code 701, which can be called by a processor to execute the methods described in the above method embodiments.

[0232] The computer-readable storage medium 700 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium 700 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 700 has storage space for program code 701 that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code 701 may be compressed, for example, in a suitable form.

[0233] Please refer to Figure 9This diagram illustrates a structural block diagram of a computer program product 800 provided in an embodiment of this application. The computer program product 800 includes a computer program / instructions 801, which is stored in a computer-readable storage medium of a computer device. When the computer program product 800 runs on the computer device, the processor of the computer device reads the computer program / instructions 801 from the computer-readable storage medium, and executes the computer program / instructions 801, causing the computer device to perform the methods described in the above-described method embodiments.

[0234] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for cleaning stairs using a wheeled robot, characterized in that, The wheel-legged robot includes a first wheel and a second wheel, and the step cleaning method includes: In response to the detection of a step in the cleaning direction of the wheeled robot, the first wheel and the second wheel are adjusted to move the body of the wheeled robot to the first target step of the step; Control the first wheel to move to the first target step; The cleaning module of the wheeled robot is controlled to clean the first target step; In response to the cleaning module completing the cleaning of the first target step, the second wheel is controlled to move to the first target step.

2. The step cleaning method according to claim 1, characterized in that, The step of adjusting the first and second wheels in response to detecting a step in the cleaning direction of the wheeled robot to move the body of the wheeled robot to the first target step of the step includes: In response to detecting the presence of the step in the cleaning direction, the first joint of the first wheel foot and the second joint of the second wheel foot are adjusted to raise the machine body to the target height of the first target step; Control the first drive wheel of the first wheel foot and the second drive wheel of the second wheel foot to move towards the first target step, so as to move the machine body to the first target step.

3. The step cleaning method according to claim 1 or 2, characterized in that, The cleaning module that controls the wheeled robot to clean the first target step includes: Control the rotation of the robot body so that the traveling direction of the wheel-legged robot is consistent with the length direction of the steps; The cleaning module is controlled to clean the first target step along the length direction.

4. The step cleaning method according to any one of claims 1 to 3, characterized in that, Before the cleaning module controlling the wheeled robot cleans the first target step, the step cleaning method further includes: Obtain the first step image of the first target step; Determine whether the first target step needs to be cleaned based on the first step image; The cleaning module that controls the wheeled robot to clean the first target step includes: When it is determined from the first step image that the first target step needs to be cleaned, the cleaning module is controlled to clean the first target step.

5. The stepped cleaning method according to claim 4, characterized in that, Before the cleaning module cleans the first target step, the step cleaning method further includes: Determine whether the fuselage is parallel to the first target step; The control of the cleaning module to clean the first target step includes: When it is determined that the machine body is parallel to the first target step, the cleaning module is controlled to clean the first target step.

6. The stepped cleaning method according to claim 5, characterized in that, Determining whether the fuselage is parallel to the first target step includes: Obtain the position of the first joint of the first joint of the first wheel foot and the position of the second joint of the second wheel foot; Calculate the pitch angle and roll angle of the fuselage based on the positions of the first joint and the second joint; The aircraft fuselage is determined to be parallel to the first target step based on the pitch angle and the roll angle.

7. The stepped cleaning method according to claim 6, characterized in that, Determining whether the fuselage is parallel to the first target step based on the pitch angle and the roll angle includes: When the pitch angle is less than the pitch angle threshold and the roll angle is less than the roll angle threshold, it is determined that the fuselage is parallel to the first target step; When the pitch angle is greater than or equal to the pitch angle threshold, and / or the roll angle is greater than or equal to the roll angle threshold, it is determined that the fuselage is not parallel to the first target step.

8. The step cleaning method according to any one of claims 4 to 7, characterized in that, Also includes: When it is determined from the first step image that the first target step does not need to be cleaned, the second wheel is controlled to move to the first target step.

9. The stair cleaning method according to any one of claims 1 to 8, characterized in that, Before controlling the first wheel to move to the first target step, the step cleaning method further includes: Acquire the sensor data of the wheel-legged robot; Based on the sensing data, determine whether the fuselage is in a stable state on the first target step; The control of the first wheel foot to move to the first target step includes: When it is determined from the sensing data that the fuselage is in a stable state on the first target step, the first wheel is controlled to move to the first target step.

10. The step cleaning method according to claim 9, characterized in that, The sensing sensor is a cliff sensor, and the sensing data is the state of the cliff sensor. Determining whether the aircraft is stable on the first target step based on the sensing data includes: When the cliff sensor is in the triggered state, it is determined that the fuselage is not in the stable state on the first target step; When the cliff sensor is in a non-triggered state, it is determined that the fuselage is in a stable state on the first target step.

11. The step cleaning method according to any one of claims 1 to 10, characterized in that, Before controlling the first wheel to move to the first target step, the step cleaning method further includes: Obtain the width of the platform of the first target step; The width of the platform determines whether the machine body can be turned to clean the first target step. The control of the first wheel foot to move to the first target step includes: When it is determined that the machine body can be steered to clean the first target step based on the width of the platform, the first wheel is controlled to move to the first target step.

12. The step cleaning method according to claim 11, characterized in that, The step of determining whether the machine body can be turned to clean the first target step based on the width of the platform includes: When the width of the platform is greater than or equal to the width threshold, it is determined that the machine body can turn to clean the first target step. The width threshold is used to characterize the minimum platform width required when the machine body turns to clean the first target step. When the width of the platform is less than the width threshold, it is determined that the machine body cannot be turned to clean the first target step.

13. The step cleaning method according to claim 11 or 12, characterized in that, Also includes: When it is determined that the machine body cannot be turned to clean the first target step based on the width of the platform, the machine body is controlled to rotate horizontally by a preset rotation angle. Control the first wheel to move to the first target step.

14. The stair cleaning method according to any one of claims 1 to 13, characterized in that, The staircase further includes a second target step. After controlling the second wheel to move to the first target step, the staircase cleaning method further includes: The first wheel and the second wheel are adjusted to move the fuselage from a first position on the first target step to a second position on the second target step, the first position and the second position being located at opposite ends of the length of the step.

15. A wheel-legged robot, characterized in that, Includes a fuselage, a first wheel, a second wheel, and a controller, wherein the controller is configured to: In response to the detection of a step in the cleaning direction of the wheeled robot, the first and second wheels are adjusted to move the robot body to the first target step of the step; Control the first wheel to move to the first target step; The cleaning module of the wheeled robot is controlled to clean the first target step; In response to the cleaning module completing the cleaning of the first target step, the second wheel is controlled to move to the first target step.

16. The wheel-legged robot according to claim 15, characterized in that, The step of adjusting the first and second wheels in response to detecting a step in the cleaning direction of the wheeled robot to move the robot body to the first target step of the step includes: the controller being configured to: In response to detecting the presence of the step in the cleaning direction, the first joint of the first wheel foot and the second joint of the second wheel foot are adjusted to raise the machine body to the target height of the first target step; Control the first drive wheel of the first wheel foot and the second drive wheel of the second wheel foot to move towards the first target step, so as to move the machine body to the first target step.

17. The wheel-legged robot according to claim 15 or 16, characterized in that, The cleaning module that controls the wheeled robot to clean the first target step includes: the controller being configured to: Control the rotation of the robot body so that the traveling direction of the wheel-legged robot is consistent with the length direction of the steps; The cleaning module is controlled to clean the first target step along the length direction.

18. The wheel-legged robot according to any one of claims 15 to 17, characterized in that, Before the cleaning module controlling the wheeled robot cleans the first target step, the controller is further configured to: Obtain the first step image of the first target step; Determine whether the first target step needs to be cleaned based on the first step image; When it is determined from the first step image that the first target step needs to be cleaned, the cleaning module is controlled to clean the first target step.

19. The wheel-legged robot according to claim 18, characterized in that, Before the cleaning module is controlled to clean the first target step, the controller is further configured to: Determine whether the fuselage is parallel to the first target step; When it is determined that the machine body is parallel to the first target step, the cleaning module is controlled to clean the first target step.

20. The wheel-legged robot according to claim 19, characterized in that, Determining whether the fuselage is parallel to the first target step includes: the controller is configured to: Obtain the position of the first joint of the first joint of the first wheel foot and the position of the second joint of the second wheel foot; Calculate the pitch angle and roll angle of the fuselage based on the positions of the first joint and the second joint; The aircraft fuselage is determined to be parallel to the first target step based on the pitch angle and the roll angle.

21. The wheel-legged robot according to claim 20, characterized in that, The step of determining whether the fuselage is parallel to the first target step based on the pitch angle and the roll angle includes: the controller, configured to: When the pitch angle is less than the pitch angle threshold and the roll angle is less than the roll angle threshold, it is determined that the fuselage is parallel to the first target step; When the pitch angle is greater than or equal to the pitch angle threshold, and / or the roll angle is greater than or equal to the roll angle threshold, it is determined that the fuselage is not parallel to the first target step.

22. The wheel-legged robot according to any one of claims 18 to 21, characterized in that, The controller is also configured to: When it is determined from the first step image that the first target step does not need to be cleaned, the second wheel is controlled to move to the first target step.

23. The wheel-legged robot according to any one of claims 15 to 22, characterized in that, Before controlling the first wheel to move to the first target step, the controller is further configured to: Acquire the sensor data of the wheel-legged robot; Based on the sensing data, determine whether the fuselage is in a stable state on the first target step; When it is determined from the sensing data that the fuselage is in a stable state on the first target step, the first wheel is controlled to move to the first target step.

24. The wheel-legged robot according to claim 23, characterized in that, The sensing sensor is a cliff sensor, and the sensing data is the state of the cliff sensor. Determining whether the aircraft is in a stable state on the first target step based on the sensing data includes: the controller, configured to: When the cliff sensor is in the triggered state, it is determined that the fuselage is not in the stable state on the first target step; When the cliff sensor is in a non-triggered state, it is determined that the fuselage is in a stable state on the first target step.

25. The wheel-legged robot according to any one of claims 15 to 24, characterized in that, Before controlling the first wheel to move to the first target step, the controller is further configured to: Obtain the width of the platform of the first target step; The width of the platform determines whether the machine body can be turned to clean the first target step. When it is determined that the machine body can be steered to clean the first target step based on the width of the platform, the first wheel is controlled to move to the first target step.

26. The wheel-legged robot according to claim 25, characterized in that, The step of determining whether the machine body can be turned to clean the first target step based on the width of the platform includes: the controller, configured to: When the width of the platform is greater than or equal to the width threshold, it is determined that the machine body can turn to clean the first target step. The width threshold is used to characterize the minimum platform width required when the machine body turns to clean the first target step. When the width of the platform is less than the width threshold, it is determined that the machine body cannot be turned to clean the first target step.

27. The wheel-legged robot according to claim 25 or 26, characterized in that, The controller is also configured to: When it is determined that the machine body cannot be turned to clean the first target step based on the width of the platform, the machine body is controlled to rotate horizontally by a preset rotation angle. Control the first wheel to move to the first target step.

28. The wheel-legged robot according to any one of claims 15 to 27, characterized in that, The staircase also includes a second target step, and after the controller moves the second wheel to the first target step, the controller is further configured to: The first wheel and the second wheel are adjusted to move the fuselage from a first position on the first target step to a second position on the second target step, the first position and the second position being located at opposite ends of the length of the step.

29. A computer-readable storage medium, characterized in that, The computer-readable storage medium contains program code that can be called by a processor to execute the stair cleaning method as described in any one of claims 1 to 14.

30. A computer program product, characterized in that, When the computer program product is run on a computer device, the computer device performs the step cleaning method as described in any one of claims 1 to 14.

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