Cleaning robot's downstairs control method, cleaning robot, medium and product

Abstract

The application discloses a down-stair control method of a cleaning robot, the cleaning robot, a medium and a product, and belongs to the technical field of cleaning equipment. The cleaning robot comprises a body and two wheel feet. The body has opposite front and tail parts. The down-stair control method comprises the following steps: controlling one of the wheel feet to extend downward and stably support a next step platform, and controlling the other wheel foot to stably support a current step platform with the body; controlling the other wheel foot to extend downward and stably support the next step platform; and controlling the two wheel feet to drive the body to move downward to the next step platform in a posture in which the tail part is closer to the next step platform than the front part. Through the down-stair backward movement mode, the two wheel feet are alternately extended downward and stably supported, and then the body is stably lowered to the next step, so that the stability of the cleaning robot during the down-stair movement is improved, and the body is prevented from shaking and toppling due to the gravity center deviation.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, specifically to a method for controlling a cleaning robot to go downstairs, the cleaning robot, the medium, and the product. Background Technology

[0002] With the rapid popularization of smart homes, cleaning robots have become the mainstream equipment for home cleaning. However, traditional models are limited by their pure wheeled walking structure and can only operate on flat ground, unable to cross obstacles with height differences such as stairs.

[0003] In related technologies, wheeled robots are used to climb stairs, enabling them to overcome obstacles and ascend to higher floors. However, when descending stairs, the wheeled robot is prone to swaying and falling because the direction of gravity and the direction of movement are superimposed, making it difficult to ensure the stability of the cleaning robot during the descent. Summary of the Invention

[0004] This application provides a method for controlling the descent of a cleaning robot, a cleaning robot, a medium, and a product, aiming to improve the problem of insufficient stability of the cleaning robot during the descent process.

[0005] In a first aspect, embodiments of this application provide a method for controlling a cleaning robot to descend stairs. The cleaning robot includes a body and two wheels, the body having a front and a rear facing each other. The method for controlling the robot to descend stairs includes the following steps: Control one of the wheel legs to extend downwards and stably support itself on the next step platform, while the other wheel leg and fuselage support itself on the current step platform; Control the other wheel to extend downwards and provide stable support on the next step platform; With the tail section positioned relatively close to the next step platform, the two wheeled feet are controlled to move the fuselage downwards to the next step platform.

[0006] In some embodiments, the downstairs control method further includes: In response to the detection that the cleaning robot's movement direction is a downward step and has reached the top edge of the step, the robot adjusts the posture of its two wheels according to the target height of the next step platform relative to the current step platform, so that the robot enters a backward descending posture.

[0007] In some embodiments, detecting that the cleaning robot has reached the top edge of the stairs includes at least one of the following methods: The first distance between the cleaning robot and the top edge of the stairs is obtained. If the first distance is less than a preset first edge distance threshold, it is determined that the cleaning robot has reached the top edge of the stairs. Acquire cliff trigger signals from the front and rear sides of the bottom of the cleaning robot. If the cliff trigger signal on the front side is triggered and the cliff trigger signal on the rear side is not triggered, determine that the cleaning robot has reached the top edge of the steps. The system acquires an image of the stairs, identifies the position of the top edge of the stairs, calculates the second distance between the top edge of the stairs and the cleaning robot, and determines that the cleaning robot has reached the top edge of the stairs if the second distance is less than a preset second edge distance threshold.

[0008] In some embodiments, the wheel includes a drive wheel and a joint, the drive wheel being connected to the fuselage via the joint; Based on the target height of the next step platform relative to the current step platform, the two wheel feet are controlled to adjust the attitude of the fuselage, so that the fuselage enters the preparatory attitude for reversing downstairs, including: Obtain the target height of the next step platform relative to the current step platform. Calculate the adjustment angle of the joints of the two wheel feet based on the target height. Adjust the attitude of the fuselage according to the adjustment angle so that the front is higher than the tail, and enter the preparatory posture for reversing downstairs.

[0009] In some embodiments, the wheel includes a drive wheel and a joint, the drive wheel being connected to the fuselage via the joint; Controlling one of the wheel legs to extend downwards and provide stable support on the next step platform includes: Based on the target height and the current angle of one of the wheel joints, calculate the first target angle of the joint of one of the wheel joints, and control the drive wheel of one of the wheel joints to move downwards according to the first target angle, so that the drive wheel of one of the wheel joints stably contacts and supports the next step platform.

[0010] In some embodiments, before controlling one of the wheel legs to extend downwards and stably support itself on the next step surface, the stair-climbing control method further includes: Acquire sensor data from the cleaning robot's sensors; When the sensor data determines that the fuselage is in a stable state, the step of controlling one of the wheel legs to extend downwards is executed.

[0011] In some embodiments, the wheel includes a drive wheel and a joint, the drive wheel being connected to the fuselage via the joint; Controlling the two wheeled legs to move the machine body downwards to the next step platform includes: Obtain the vertical distance between the fuselage and the next step platform; If the vertical distance is less than the preset safe distance threshold, adjust the angular velocity of the joints of the two wheel feet; The maximum permissible speed of the two drive wheels is determined based on the target height of the next step platform relative to the current step platform. The maximum permissible speed is negatively correlated with the target height.

[0012] In some embodiments, the cleaning robot further includes a sweeping module; Methods for controlling descent from the building also include: With one of the wheel legs extending downwards and stably supported on the next step surface, the cleaning module is controlled to clean the current step surface.

[0013] In some embodiments, before the cleaning module cleans the current step surface, the downstairs control method further includes: Acquire the attitude data of the fuselage, including pitch and roll angles; 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 in a stable state. Once the machine is in a stable state, start the cleaning module.

[0014] In some embodiments, the downstairs control method further includes the following before the cleaning module is started: Acquire an image of the current step surface and determine the cleanliness status of the current step surface based on the image; When the cleaning status indicates that cleaning is required, the cleaning module is activated. When the cleaning state is that cleaning is not required, the cleaning module is not activated, and the step of controlling the other wheel to extend downward and stably support the next step platform is directly executed.

[0015] In some embodiments, controlling the cleaning module to clean the current step surface includes: Control the rotation of the robot body to adjust the direction of travel of the cleaning robot, drive the cleaning robot to move according to the direction of travel and clean the current step surface.

[0016] In some embodiments, controlling the rotation of the robot body to adjust the direction of travel of the cleaning robot includes: Get the current width of the step surface; If the width of the current step surface is greater than or equal to the width threshold, control the body to rotate and adjust the cleaning robot's travel direction to the length direction of the current step surface; If the width of the current step surface is less than the width threshold, control the body to rotate and adjust the cleaning robot's travel direction to the preset cleaning direction. The preset cleaning direction forms a preset angle with the length direction of the current step surface.

[0017] In some embodiments, the cleaning module remains off while performing any of the following steps: Control one of the wheel legs to extend downwards and stably support itself on the next step platform, while the other wheel leg and fuselage support itself on the current step platform; Control the other wheel to extend downwards and provide stable support on the next step platform; Control the two wheels to move the machine body down to the next step platform.

[0018] In some embodiments, after controlling the two wheels to move the machine body down to the next step platform, the downstairs control method further includes: Repeat the process of controlling one of the wheels to extend downwards and provide stable support on the next step surface until the cleaning robot moves to the bottom of the step.

[0019] Secondly, embodiments of this application provide a cleaning robot, which includes a body, two wheels, and a controller. The body has a front and a rear facing each other, and the controller is used to perform the following steps: Control one of the wheel legs to extend downwards and stably support itself on the next step platform, while the other wheel leg and fuselage support itself on the current step platform; Control the other wheel to extend downwards and provide stable support on the next step platform; With the tail section positioned relatively close to the next step platform, the two wheeled feet are controlled to move the fuselage downwards to the next step platform.

[0020] Thirdly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method in the first aspect.

[0021] Fourthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method in the first aspect.

[0022] In this application, the robot descends the stairs backwards, allowing the two wheels to take turns lowering and providing stable support before smoothly lowering the robot body to the next step. This avoids the center of gravity shifting, which could cause the robot body to sway or tip over, thus improving the stability of the cleaning robot when descending stairs. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying 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.

[0024] Figure 1This is a schematic diagram of the structure of a cleaning robot according to an exemplary embodiment of the present disclosure, which provides a method for controlling a cleaning robot to go downstairs. Figure 2 This is a flowchart illustrating a method for controlling a cleaning robot to go downstairs, provided by an exemplary embodiment of this disclosure. Figure 3 This is a schematic diagram of the body movement of a cleaning robot for controlling its descent, provided by an exemplary embodiment of this disclosure. Figure 4 This is another flowchart illustrating a method for controlling a cleaning robot to go downstairs, provided by an exemplary embodiment of this disclosure.

[0025] Explanation of icon numbers: 100. Fuselage; 200. Wheel feet; 201. Drive wheel; 202. Axle joint; 203. Swing joint; 204. First link; 205. Second link. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0029] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0030] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0031] Firstly, this embodiment provides a method for controlling a cleaning robot to go downstairs, such as... Figure 1 As shown, the cleaning robot includes a body 100 and two wheels 200, with the body 100 having a front and a rear.

[0032] Specifically, the front of the fuselage 100 is in the same direction as the forward direction, and the rear is in the opposite direction. The wheel feet 200 include a drive wheel 201 and joints. The drive wheel 201 is connected to the fuselage 100 via joints, which include a pivot joint 202 and a swing joint 203. The pivot joint 202 is located at the bottom of the fuselage 100. The pivot joint 202 and the swing joint 203 are connected via a first connecting rod 204, and the swing joint 203 is connected to the drive wheel 201 via a second connecting rod 205. By adjusting the angles of the pivot joint 202 and the swing joint 203, the attitudes of the first connecting rod 204 and the second connecting rod 205 are changed, thus supporting the fuselage 100. A groove may be provided at the bottom of the fuselage 100 to conceal the wheel feet 200.

[0033] like Figure 2 As shown, the method for controlling the descent includes the following steps: S101, control one of the wheel legs to extend downwards and stably support itself on the next step platform, while the other wheel leg and fuselage support itself on the current step platform.

[0034] Specifically, the current step surface is the step surface where the cleaning robot is currently located, and the next step surface is the step surface that the cleaning robot needs to move to when it goes downstairs. The next step surface is below the current step surface.

[0035] One of the two wheels of the cleaning robot extends downwards until it contacts the next step. Then, one of the wheels is locked and stably supported on the next step, establishing an initial support point. At this time, the other wheel and the robot body are still stably supported on the current step, and the center of gravity of the robot body remains on the current step, preventing the robot body from being suspended in the air and causing it to tip over or overturn.

[0036] S102, control the other wheel to extend downwards and stably support itself on the next step platform.

[0037] Specifically, the fuselage rotates so that the tail is closer to the next step platform than the front. The other wheel extends downward until it contacts the next step platform. Then, one wheel is locked, and both wheels are stably supported on the next step platform. At this time, the center of gravity of the fuselage gradually moves to the next step platform.

[0038] As the other wheel foot descends, one of the wheel feet is already stably supported on the next step platform, forming a stable support with the current step platform where the fuselage is located, preventing instability in the fuselage's center of gravity. After both wheel feet are stably supported on the next step platform, the center of gravity gradually shifts to the next step platform, resulting in a smooth transition and real-time controllable overall attitude, preventing the fuselage from tilting or deviating.

[0039] S103. With the tail section in a position close to the next step platform relative to the front section, control the two wheel legs to move the fuselage down to the next step platform.

[0040] Specifically, the rear of the aircraft moves closer to the next step's platform than the front, using a backward motion to control the two wheels to propel the fuselage downwards until the bottom of the fuselage is completely in contact with the next step's platform, completing the descent of a single step. The two stabilized wheels ensure the stability of the aircraft as it moves to the next step's platform.

[0041] This embodiment of the application uses a backward-moving method to allow the two wheels to take turns probing and providing stable support before smoothly lowering the robot body to the next step. This avoids the center of gravity shifting, which could cause the robot body to sway or tip over, thus improving the stability of the cleaning robot when it descends stairs.

[0042] In some embodiments, before controlling one of the wheel feet to extend downwards and stably support itself on the next step, the stair-climbing control method further includes: In response to the detection that the cleaning robot's movement direction is a downward step and has reached the top edge of the step, the robot adjusts the posture of its two wheels according to the target height of the next step platform relative to the current step platform, so that the robot enters a backward descending posture.

[0043] Specifically, the cleaning robot detects its direction of movement while moving. If it determines that there is a step structure below the direction of movement, it adjusts its posture in advance, changing the pitch angle and height off the ground to prepare for moving backward down stairs. By adjusting the joints of the two wheels, the front is made slightly higher than the rear, and the body tilts slightly backward, adapting to the safe state of moving backward down stairs.

[0044] The preparatory posture for descending stairs avoids the front edge of the steps by raising the high-definition scanning module, reducing the risk of frontal impact and improving the stability of the descent.

[0045] In some embodiments, detecting that the cleaning robot has reached the top edge of the stairs includes at least one of the following methods: The first distance between the cleaning robot and the top edge of the stairs is obtained. If the first distance is less than a preset first edge distance threshold, it is determined that the cleaning robot has reached the top edge of the stairs.

[0046] Specifically, the first distance is the straight-line distance from the cleaning robot to the top edge of the stairs, which can be obtained using a distance sensor, such as a time-of-flight sensor or a laser rangefinder. In some examples, the distance sensor can be located at the rear of the robot body and detect the first distance between the rear of the robot body and the top edge of the stairs in real time. The distance sensor can also be located at the front, side, or other positions of the robot body, as long as it can detect the distance between the cleaning robot and the top edge of the stairs. This embodiment does not specifically limit the installation position of the distance sensor.

[0047] The first edge distance threshold is a preset distance threshold used to determine when the robot has reached the top edge of the stairs. As the cleaning robot moves towards the stairs, a distance sensor continuously acquires the first distance between the robot and the top edge of the stairs. This first distance is compared to the first edge distance threshold. If the first distance is less than the threshold, the robot is determined to have reached the top edge of the stairs, stops moving, and initiates a backward descent preparation posture adjustment. The distance sensor directly quantifies the distance, providing stable output and strong anti-interference capabilities.

[0048] Acquire cliff trigger signals from the front and rear sides of the bottom of the cleaning robot. If the cliff trigger signal on the front side is triggered and the cliff trigger signal on the rear side is not triggered, determine that the cleaning robot has reached the top edge of the stairs.

[0049] Specifically, the cleaning robot has a cliff sensor on its bottom front side and a cliff sensor on its bottom rear side. The cliff sensor is used to output a cliff trigger signal. When the cliff sensor detects that the height below is greater than or equal to a preset height threshold, it outputs a high level, and the cliff trigger signal is triggered; when the cliff sensor detects that the height below is less than the preset height threshold, it outputs a low level, and the cliff trigger signal is not triggered.

[0050] If the cliff trigger signal on the front side of the bottom is triggered, while the cliff trigger signal on the rear side of the bottom is not triggered, it indicates that the front side of the cleaning robot is suspended in the air, while the rear side is in contact with the ground. At this point, the robot has reached the top edge of the stairs and triggered the adjustment of its backward descending posture. Using a combination of two cliff sensors for this determination offers higher reliability compared to using a single-sided sensor.

[0051] The system acquires an image of the stairs, identifies the position of the top edge of the stairs, calculates the second distance between the top edge of the stairs and the cleaning robot, and determines that the cleaning robot has reached the top edge of the stairs if the second distance is less than a preset second edge distance threshold.

[0052] Specifically, an image of the stairs can be acquired using a vision sensor. An image recognition algorithm identifies the position of the top edge of the stairs in the image. The position in the image is converted to a real coordinate system using pre-calibrated intrinsic and extrinsic parameters of the vision sensor, and a second distance between the cleaning robot and the top edge of the stairs is calculated. The vision sensor can be positioned at either the rear or front of the robot. After acquiring the second distance, if it is less than a preset second edge distance threshold, it is determined that the cleaning robot has reached the top edge of the stairs, triggering an adjustment to prepare for a backward descent. The vision sensor can identify the top edge of stairs in complex scenarios and at greater distances, allowing for earlier detection and adjustment time.

[0053] In some embodiments, based on the target height of the next step platform relative to the current step platform, the attitude of the two wheels is adjusted to bring the fuselage into a preparatory posture for reversing downstairs, including: Obtain the target height of the next step platform relative to the current step platform. Calculate the adjustment angle of the joints of the two wheel feet based on the target height. Adjust the attitude of the fuselage according to the adjustment angle so that the front is higher than the tail, and enter the preparatory posture for reversing downstairs.

[0054] Specifically, the target height is the vertical height difference between the next step surface and the current step surface. The target height can be calculated by acquiring images containing the current step surface and the next step surface using a vision sensor, identifying the positions of the current step surface and the next step surface, and then calculating the target height.

[0055] After obtaining the target height, the required adjustment angle for the two wheel feet is calculated based on the target height. The adjustment angle includes at least one of the following: a first angle between the second link and the ground, a second angle between the first link and the second link, and a third angle between the first link and the fuselage. Either the axle joint or the swing joint can be adjusted as needed, or both the axle joint and the swing joint can be adjusted simultaneously, so that the wheel feet rotate to the position that satisfies the adjustment angle.

[0056] By controlling the rotation of the pivot joint and / or swing joint, the first angle between the second link and the ground, the second angle between the first link and the second link, and the third angle between the first link and the fuselage are adjusted, so that the front of the fuselage is higher than the tail, and the fuselage is in a backward descending preparatory posture.

[0057] The preparatory posture for descending stairs avoids the front edge of the steps by raising the high-definition scanning module, reducing the risk of frontal impact and improving the stability of the descent.

[0058] In some embodiments, controlling one of the wheel legs to extend downwards and stably support itself on the next step surface includes: Based on the target height and the current angle of one of the wheel joints, calculate the first target angle of the joint of one of the wheel joints, and control the drive wheel of one of the wheel joints to move downwards according to the first target angle, so that the drive wheel of one of the wheel joints stably contacts and supports the next step platform.

[0059] Specifically, the current angle of one of the wheel joints is the current real-time angle of the axle joint and the sway joint, serving as the reference for attitude adjustment. The first target angle is the angle that the joint of one of the wheel joints needs to rotate when the drive wheel of one of the wheel joints is stably in contact with and supported on the next step platform. The first target angle includes the first axle joint target angle and the first sway joint target angle.

[0060] Based on the target height and the first target angle, control the rotation of the shaft joint and the swing joint towards the target angle of the first shaft joint and the target angle of the first swing joint, so that the drive wheel of one of the wheel feet moves downward until it stably contacts and supports the next step platform.

[0061] The first target angle is determined by the target height to avoid the drive wheel being impacted if the angle of the wheel is too large during the downward movement of the wheel foot, or the support on the next step platform being too small if the angle is too small. It adapts to steps of different heights, provides stable support, and provides stable support for the subsequent downward movement of the other wheel foot.

[0062] In some embodiments, controlling another wheel to extend downwards and stably support itself on the next step surface includes: Based on the target height and the current angle of the joint of the other wheel, calculate the second target angle of the joint of the other wheel, and control the drive wheel of the other wheel to move downward according to the second target angle, so that the drive wheel of the other wheel can stably contact and support the next step platform.

[0063] Specifically, the current angle of the joint of the other wheel is the current real-time angle of the axle joint and the sway joint, serving as a reference for attitude adjustment. The second target angle is the angle that the joint of the other wheel needs to rotate when the drive wheel of the other wheel is stably in contact with and supported on the next step platform. The second target angle includes the target angle of the first axle joint and the target angle of the first sway joint.

[0064] Based on the target height and the second target angle, control the axle joint and swing joint of the other wheel to rotate towards the target angle of the second axle joint and the target angle of the second swing joint, so that the drive wheel of the other wheel moves downward until it stably contacts and supports the next step platform.

[0065] The second target angle is determined by the target height to avoid the drive wheel being impacted if the wheel angle is too large during the wheel foot's descent, or if the angle is too small and there is no stable support on the next step platform. This adapts to steps of different heights, provides stable support, and provides stable support for the subsequent lowering of the fuselage.

[0066] In some embodiments, before controlling one of the wheel legs to extend downwards and stably support itself on the next step surface, the stair-climbing control method further includes: Acquire sensor data from the cleaning robot's sensors; when the robot is determined to be in a stable state based on the sensor data, execute the step of controlling one of its wheels to extend downwards.

[0067] Specifically, the sensing sensors include at least one of cliff sensors, time-of-flight sensors, or collision sensors, and the sensing data is used to determine whether the aircraft is in a stable state.

[0068] In some examples, sensing data is acquired through cliff sensors, which represent the state of the cliff sensors. When the cliff sensors are in an activated state, it is determined that the aircraft is in an unstable state; when the cliff sensors are in an unactivated state, it is determined that the aircraft is in a stable state.

[0069] In other examples, sensing data is acquired through a time-of-flight sensor. The sensing data is the distance between the fuselage and the current step platform. If the distance between the fuselage and the current step platform is greater than or equal to a preset distance threshold, the fuselage is determined to be in an unstable state; if the distance between the fuselage and the current step platform is less than the preset distance threshold, the fuselage is determined to be in a stable state.

[0070] In other examples, perception data is acquired through collision sensors, which measure the collision force. If the collision force is greater than or equal to a collision force threshold, the fuselage is determined to be in an unstable state; if the collision force is less than the collision force threshold, the fuselage is determined to be in a stable state.

[0071] It is worth noting that the above are just some examples of how to determine if the aircraft is in a stable state. Sensing data can be obtained through one of the cliff sensors, time-of-flight sensors, or collision sensors, or through a combination of several of them.

[0072] By assessing the stability of the fuselage, the step of controlling one of the wheels to extend downwards is only executed when the fuselage is in a stable state. This prevents the fuselage from becoming unstable during the downward extension of the wheel, which could lead to tipping or falling, thus improving the stability and safety during the descent.

[0073] In some embodiments, controlling the two wheels to move the machine body downwards to the next step platform includes: Obtain the vertical distance between the fuselage and the next step platform; if the vertical distance is less than the preset safety distance threshold, adjust the angular velocity of the joints of the two wheel feet; determine the maximum allowable speed of the drive wheels of the two wheel feet according to the target height of the next step platform relative to the current step platform, and the maximum allowable speed is negatively correlated with the target height.

[0074] Specifically, the vertical distance can be obtained in real time using a laser rangefinder or a cliff sensor. The safe distance threshold is the safety boundary value between the fuselage and the next step platform. If the vertical distance between the fuselage and the next step platform is less than the safe distance threshold, deceleration is required to prevent a collision.

[0075] When the vertical distance is less than the preset safe distance threshold, adjust the angular velocity of the joints of the two wheel feet, reduce the rotational angular velocity of the axle joints and swing joints of the two wheel feet, so that the machine body moves slowly and smoothly to the next step platform, avoiding the machine body from falling too fast and hitting the front edge of the step.

[0076] During the descent of the aircraft, the maximum permissible speed of the two drive wheels is dynamically determined based on the target height of the next step platform relative to the current step platform. The maximum permissible speed is the upper limit of the safe operating speed of the drive wheels, preventing impact, slippage, or loss of attitude caused by high-speed movement of the drive wheels. The maximum permissible speed is negatively correlated with the target height; that is, the higher the target height, the lower the maximum permissible speed, thereby further realizing deceleration control during the descent.

[0077] In some embodiments, the cleaning robot further includes a cleaning module, which includes a side brush, a roller brush, a vacuum fan, and a dust collection box. The side brush and roller brush collect dust from the current step surface and the vacuum fan sucks it into the dust collection box.

[0078] Methods for controlling descent from the building also include: With one of the wheel legs extending downwards and stably supported on the next step surface, the cleaning module is controlled to clean the current step surface.

[0079] Specifically, with one of its wheels extended downwards and stably supported on the next step, the machine moves forward or backward, using the cleaning module to clean the current step. The cleaning module includes a side brush, a roller brush, a vacuum fan, and a dust collection box. The side brush and roller brush collect dust from the current step, which is then sucked into the dust collection box by the vacuum fan, thus cleaning the current step.

[0080] Since one of the wheel legs is already stably supported on the next step platform, maintaining the stability of the machine body on the current step platform, the machine body will not tip over due to instability when moving forward or backward to clean on the current step platform.

[0081] In some embodiments, before the cleaning module cleans the current step surface, the downstairs control method further includes: Acquire the attitude data of the machine body, including pitch angle and roll angle; if the pitch angle is less than the pitch angle threshold and the roll angle is less than the roll angle threshold, determine that the machine body is in a stable state; if the machine body is in a stable state, start the cleaning module.

[0082] Specifically, attitude data consists of spatial attitude parameters collected in real time by the fuselage, used to characterize the fuselage's tilt or yaw state. Attitude data can be acquired through sensors such as gyroscopes or accelerometers within the fuselage. Pitch angle is the angle of tilt in the forward / backward direction; a larger value indicates a greater angle of forward or backward tilt, used to determine forward / backward stability. Roll angle is the angle of tilt in the left / right direction; a larger value indicates a greater angle of left or right tilt, used to determine left / right stability.

[0083] The pitch angle threshold is the safe critical value for the forward and backward tilt angle of the fuselage. When the pitch angle is less than the pitch angle threshold, the fuselage is stable forward and backward; when the pitch angle is greater than or equal to the pitch angle threshold, the fuselage is unstable forward and backward.

[0084] The roll angle threshold is the safe critical value for the left and right tilt angle of the fuselage. When the roll angle is less than the roll angle threshold, the fuselage is stable from left to right; when the roll angle is greater than or equal to the roll angle threshold, the fuselage is unstable from left to right.

[0085] The cleaning module is only activated when the pitch angle and roll angle are both less than the pitch angle threshold and the roll angle is less than the roll angle threshold, ensuring the machine is in a stable state. This guarantees the machine remains in contact with the current step surface and further ensures the cleaning effect. The cleaning module will not be activated if the machine is in an unstable state to prevent vibrations caused by the cleaning module during cleaning from further interfering with stability and causing the machine to tip over.

[0086] If the pitch angle is detected to be greater than or equal to the pitch angle threshold, or the roll angle is detected to be greater than or equal to the roll angle threshold, the joints of the two wheels are adjusted so that the pitch angle is less than the pitch angle threshold and the roll angle is less than the roll angle threshold, thus maintaining the stability of the machine body, and then the cleaning module is started to clean.

[0087] In some embodiments, the downstairs control method further includes the following before the cleaning module is started: Acquire an image of the current step surface and determine its cleanliness status based on the image. If the cleanliness status indicates that cleaning is required, start the cleaning module. If the cleanliness status indicates that cleaning is not required, do not start the cleaning module and directly execute the step of controlling the other wheel to extend downward and stably support the next step surface.

[0088] Specifically, the current step surface image can be acquired through a vision sensor. The image can be used to identify whether there are any objects that need to be cleaned, such as dust, hair, or stains. If an object is identified, the cleaning status is determined to be "needs cleaning"; if no object is identified, the cleaning status is determined to be "does not need cleaning".

[0089] The cleaning module is activated only when the cleaning status indicates that cleaning is required, thus reducing energy consumption and improving the overall efficiency of going downstairs and cleaning.

[0090] In some embodiments, controlling the cleaning module to clean the current step surface includes: Control the rotation of the robot body to adjust the direction of travel of the cleaning robot, drive the cleaning robot to move according to the direction of travel and clean the current step surface.

[0091] Specifically, the cleaning robot's direction of travel is determined based on the width of the current step surface. The cleaning robot is driven to move and clean the current step surface according to the direction of travel. The cleaning robot moves forward or backward along the direction of travel, and at the same time, the cleaning module cleans the current step surface.

[0092] In some embodiments, controlling the rotation of the robot body to adjust the direction of travel of the cleaning robot includes: Obtain the current width of the step surface; if the current width of the step surface is greater than or equal to the width threshold, control the body to rotate and adjust the travel direction of the cleaning robot to the length direction of the current step surface; if the current width of the step surface is less than the width threshold, control the body to rotate and adjust the travel direction of the cleaning robot to the preset cleaning direction, and the preset cleaning direction forms a preset angle with the length direction of the current step surface.

[0093] Specifically, the current step length direction refers to the left-right extension of the stair treads, which is the longest horizontal direction of the treads. Cleaning along this direction covers the largest cleaning area and is the optimal cleaning path direction. The current step width can be determined by acquiring an image of the current step surface using a vision sensor, and the width of the current step surface is identified through the image. The width threshold is the minimum width of the current step surface that allows the robot to move normally along its length.

[0094] When the width of the current step surface is greater than or equal to the width threshold, there is sufficient space on the current step surface, and the driving direction is aligned with the length direction of the step. At this time, the center of gravity of the machine is in the middle, and the cleaning module covers laterally along the length direction of the step, achieving the maximum area covered in a single cleaning cycle.

[0095] If the width of the current step surface is less than a width threshold, there is insufficient space on the current step surface. To ensure the stability of the robot during cleaning, the robot's travel direction is adjusted to a preset cleaning direction, which forms a preset angle with the length direction of the current step surface. The preset angle is pre-calibrated based on the width of the current step surface, increasing the cleaning range of the current step surface while ensuring the stability of the robot and avoiding collisions between the side brushes, roller brushes, and the front edge or side wall of the step.

[0096] By adjusting the cleaning robot's direction of travel to adapt to steps of varying widths, the cleaning range is increased and cleaning efficiency is improved while ensuring the robot's stability during the cleaning process.

[0097] In some embodiments, the cleaning module remains off while performing any of the following steps: Control one of the wheel legs to extend downwards and stably support itself on the next step platform, while the other wheel leg and the fuselage support itself on the current step platform; control the other wheel leg to extend downwards and stably support itself on the next step platform; control both wheel legs to move the fuselage downwards to the next step platform.

[0098] Specifically, the cleaning robot only activates the cleaning module to clean when it maintains stability and detects a target to be cleaned on the current step surface, and promptly shuts off the cleaning module after cleaning is complete. The cleaning module remains off during the descent to reduce energy consumption and prevent vibrations from affecting stability.

[0099] In some embodiments, after controlling the two wheels to move the machine body down to the next step platform, the downstairs control method further includes: Repeat the process of controlling one of the wheels to extend downwards and provide stable support on the next step surface until the cleaning robot moves to the bottom of the step.

[0100] Specifically, after controlling the two wheels to move the robot body down to the next step, the robot returns to the previous step as the current step and repeats the process of controlling one of the wheels to extend downward and stably support itself on the next step until the cleaning robot moves to the bottom of the stairs, thus completing the robot's descent control.

[0101] like Figures 3-4 As shown below, a specific example illustrates the steps of the complete downstairs control method.

[0102] S201. In response to detecting that the cleaning robot's movement direction has a downward step and has reached the top edge of the step, according to the target height of the next step platform relative to the current step platform, control the two wheel legs to adjust the robot's posture so that the robot enters a backward downstairs preparatory posture.

[0103] At this point, one of the wheels is suspended in the air, while the other wheel is supported on the current step surface. The machine is in a preparatory posture for reversing downstairs, and the cleaning module is off. The machine maintains stability by adjusting to this preparatory posture, ready to descend the stairs.

[0104] S202, control one of the wheel legs to extend downwards and stably support itself on the next step platform, while the other wheel leg and fuselage support itself on the current step platform.

[0105] At this point, one of its wheels extends downwards and provides stable support on the next step, while the other wheel supports the current step. The robot body is positioned on the current step, and the cleaning module is off. By using one wheel to support the robot on the next step, the robot maintains its stability.

[0106] S203. With one of the wheel legs extended downwards and stably supported on the next step surface, the cleaning module is controlled to clean the current step surface.

[0107] At this point, one wheel is supported on the next step, and the other wheel is supported on the current step. The machine body is positioned on the current step, and the cleaning module starts cleaning the current step. After cleaning, the cleaning module is turned off. By supporting the machine on the next step, stability is ensured when cleaning the current step.

[0108] S204, Control the other wheel to extend downwards and stably support itself on the next step platform.

[0109] At this point, one of the wheels is supported on the next step, while the other wheel extends down and supports itself on the next step. The machine is in a transitional state, resting on the current step and waiting to move downwards. The cleaning module is off. Both wheels are simultaneously supported on the next step, maintaining stability during the descent.

[0110] S205. With the tail section in a position close to the next step platform relative to the front section, control the two wheel legs to move the fuselage down to the next step platform.

[0111] At this point, both wheels are supported on the next step platform, and the machine body is lowered to the next step platform, with the cleaning module in the off state. The simultaneous movement of the two wheels drives the machine body down, ensuring stability during the lowering process.

[0112] S206. Repeat the step of controlling one of the wheels to extend downwards and stably support itself on the next step surface until the cleaning robot moves to the bottom of the step.

[0113] Return to step S202 until the cleaning robot moves to the bottom of the stairs, completing the control of the cleaning robot going downstairs and cleaning. The cleaning robot cleans the stairs from top to bottom while going downstairs.

[0114] Secondly, embodiments of this application provide a cleaning robot, such as... Figure 1 As shown, the cleaning robot includes a body 100, two wheels 200, and a controller. The body 100 has opposing front and rear sections. The controller is used to perform the following steps: Control one of the wheel legs 200 to extend downwards and stably support itself on the next step platform, while the other wheel leg 200 and the fuselage 100 support itself on the current step platform.

[0115] Specifically, the current step surface is the step surface where the cleaning robot is currently located, and the next step surface is the step surface that the cleaning robot needs to move to when it goes downstairs. The next step surface is below the current step surface.

[0116] One of the two wheels 200 of the cleaning robot extends downward until it contacts the next step platform. Then, one wheel 200 is locked and stably supported on the next step platform, establishing an initial support point. At this time, the other wheel 200 and the body 100 are still stably supported on the current step platform, and the center of gravity of the body 100 remains on the current step platform, preventing the body 100 from being suspended in the air, which would cause the body 100 to tip over or overturn.

[0117] Control the other wheel 200 to extend downwards and provide stable support on the next step platform.

[0118] Specifically, the fuselage 100 rotates so that the tail is closer to the next step platform than the front. Another wheel 200 extends downward until it contacts the next step platform. Then, one wheel 200 is locked, and both wheels 200 are stably supported on the next step platform. At this time, the center of gravity of the fuselage 100 gradually moves to the next step platform.

[0119] During the descent of the other wheel 200, since one of the wheel 200s was already stably supported on the next step platform, forming a stable support with the current step platform where the fuselage 100 is located, the center of gravity of the fuselage 100 was prevented from becoming unstable. After both wheel 200s were stably supported on the next step platform, the center of gravity gradually shifted to the next step platform. The transition of the center of gravity was smooth, and the overall attitude was controllable in real time, preventing the fuselage 100 from tilting or deviating.

[0120] With the tail section positioned relatively close to the next step platform, the two wheel feet 200 are controlled to move the fuselage 100 downwards to the next step platform.

[0121] Specifically, the rear end, relative to the front end, approaches the next step's platform. In a backward motion, the two wheels 200 control the fuselage 100 to move downwards until the bottom of the fuselage 100 is completely against the next step's platform, completing the single-step descent. The two stably supported wheels 200 ensure the stability of the fuselage 100 as it moves to the next step's platform.

[0122] In this embodiment, the two wheels 200 take turns descending and providing stable support as the robot body 100 is lowered smoothly to the next step by reversing downstairs. This avoids the robot body 100 from shaking or tipping over due to a shift in the center of gravity, thus improving the stability of the cleaning robot when descending stairs.

[0123] The cleaning equipment control device provided in this application embodiment can execute the cleaning equipment control method in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0124] Thirdly, this application also provides a computer-readable storage medium, which may include: a USB flash drive, a portable hard drive, or a read-only memory (ROM). Various media capable of storing program code, such as computer-readable storage media (ROM), random access memory (RAM), disk, or optical disk, are used. Specifically, the computer-readable storage medium stores program instructions that are used in the methods described in the above embodiments.

[0125] Fourthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the method in the first aspect.

[0126] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0127] The foregoing has provided a detailed description of a method for controlling a cleaning robot to go downstairs, the cleaning robot, the medium, and the product provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for controlling a cleaning robot to descend stairs, characterized in that, The cleaning robot includes a body and two wheels, the body having a front and a rear facing each other; the method for controlling the robot to descend stairs includes the following steps: Control one of the wheel legs to extend downwards and stably support itself on the next step platform, while the other wheel leg and the fuselage support itself on the current step platform; Control the other wheel to extend downwards and provide stable support on the next step platform; With the tail section in a position relative to the front section and close to the next step platform, the two wheel legs are controlled to move the body downwards to the next step platform.

2. The method for controlling the descent of stairs according to claim 1, characterized in that, The method for controlling descent also includes: In response to the detection that the cleaning robot's movement direction has a downward step and has reached the top edge of the step, the two wheels are controlled to adjust the robot's posture according to the target height of the next step platform relative to the current step platform, so that the robot enters a backward descending posture.

3. The method for controlling the descent of stairs according to claim 2, characterized in that, The detection that the cleaning robot has reached the top edge of the stairs includes at least one of the following methods: Obtain a first distance between the cleaning robot and the top edge of the stairs. If the first distance is less than a preset first edge distance threshold, determine that the cleaning robot has reached the top edge of the stairs. Acquire cliff trigger signals from the front and rear sides of the bottom of the cleaning robot. If the cliff trigger signal on the front side of the bottom is in a triggered state and the cliff trigger signal on the rear side of the bottom is in a non-triggered state, determine that the cleaning robot has reached the top edge of the steps. The system acquires an image of the stairs, identifies the position of the top edge of the stairs, calculates a second distance between the top edge of the stairs and the cleaning robot, and determines that the cleaning robot has reached the top edge of the stairs if the second distance is less than a preset second edge distance threshold.

4. The method for controlling the descent of stairs according to claim 2, characterized in that, The wheel includes a drive wheel and a joint, and the drive wheel is connected to the fuselage through the joint; The step of controlling the two wheels to adjust the attitude of the fuselage based on the target height of the next step platform relative to the current step platform, so that the fuselage enters a preparatory posture for reversing downstairs, includes: Obtain the target height of the next step platform relative to the current step platform, calculate the adjustment angle of the joints of the two wheel feet according to the target height, adjust the posture of the body according to the adjustment angle, so that the front part is higher than the tail part, and enter the preparatory posture for reversing downstairs.

5. The method for controlling the descent of stairs according to claim 2, characterized in that, The wheel includes a drive wheel and a joint, and the drive wheel is connected to the fuselage through the joint; The control of one of the wheel legs extending downwards and stably supporting itself on the next step platform includes: Based on the target height and the current angle of the joint of one of the wheel feet, calculate the first target angle of the joint of one of the wheel feet, and control the drive wheel of one of the wheel feet to move downward according to the first target angle, so that the drive wheel of one of the wheel feet stably contacts and supports the next step platform.

6. The method for controlling the descent of stairs according to claim 1, characterized in that, The method for controlling one of the wheel legs to extend downwards and stably support itself on the next step surface further includes: Acquire the sensing data from the sensing sensors of the cleaning robot; When the fuselage is determined to be in a stable state based on the sensing data, the step of controlling one of the wheel legs to extend downwards is executed.

7. The method for controlling the descent of stairs according to claim 1, characterized in that, The wheel includes a drive wheel and a joint, and the drive wheel is connected to the fuselage through the joint; The control of the two wheels to move the machine body downwards to the next step platform includes: Obtain the vertical distance between the fuselage and the next step platform; If the vertical distance is less than a preset safety distance threshold, adjust the angular velocity of the joints of the two wheel feet; The maximum permissible speed of the two drive wheels is determined based on the target height of the next step platform relative to the current step platform, and the maximum permissible speed is negatively correlated with the target height.

8. The method for controlling the descent of stairs according to claim 1, characterized in that, The cleaning robot also includes a sweeping module; The method for controlling descent also includes: With one of the wheel legs extended downwards and stably supported on the next step surface, the cleaning module is controlled to clean the current step surface.

9. The method for controlling the descent of stairs according to claim 8, characterized in that, Before the cleaning module is controlled to clean the current step surface, the downstairs control method further includes: Acquire the attitude data of the fuselage, wherein the attitude data includes pitch angle and roll angle; If 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 in a stable state. When the machine body is in the stable state, the cleaning module is activated.

10. The method for controlling the descent of stairs according to claim 9, characterized in that, Before activating the cleaning module, the downstairs control method further includes: Acquire an image of the current step surface, and determine the cleanliness status of the current step surface based on the image; When the cleaning status indicates that cleaning is required, the cleaning module is activated; When the cleaning state is that cleaning is not required, the cleaning module is not activated, and the step of controlling the other wheel to extend downward and stably support the next step platform is directly executed.

11. The method for controlling the descent of stairs according to claim 8, characterized in that, The control of the cleaning module to clean the current step surface includes: Control the rotation of the robot body, adjust the driving direction of the cleaning robot, drive the cleaning robot to move according to the driving direction, and clean the current step surface.

12. The method for controlling the descent of stairs according to claim 11, characterized in that, Controlling the rotation of the robot body and adjusting the direction of travel of the cleaning robot includes: Get the width of the current step surface; If the width of the current step surface is greater than or equal to a width threshold, control the body to rotate and adjust the travel direction of the cleaning robot to the length direction of the current step surface; If the width of the current step surface is less than a width threshold, the robot body is controlled to rotate, and the driving direction of the cleaning robot is adjusted to a preset cleaning direction. The preset cleaning direction forms a preset angle with the length direction of the current step surface.

13. The method for controlling the descent of stairs according to claim 8, characterized in that, The cleaning module remains off while performing any of the following steps: One of the wheel legs is controlled to extend downward and stably support the next step platform, while the other wheel leg and the machine body are supported on the current step platform; Control the other wheel to extend downwards and stably support itself on the next step platform; Control the two wheels to move the machine body downwards to the next step platform.

14. The method for controlling the descent of stairs according to claim 1, characterized in that, After the two wheels drive the machine body downwards to the next step platform, the downstairs control method further includes: Repeat the step of controlling one of the wheels to extend downwards and stably support itself on the next step surface until the cleaning robot moves to the bottom of the step.

15. A cleaning robot, characterized in that, The cleaning robot includes a body, two wheels, and a controller. The body has a front and a rear facing each other. The controller is used to perform the following steps: Control one of the wheel legs to extend downwards and stably support itself on the next step platform, while the other wheel leg and the fuselage support itself on the current step platform; Control the other wheel to extend downwards and provide stable support on the next step platform; With the tail section in a position relative to the front section and close to the next step platform, the two wheel legs are controlled to move the body downwards to the next step platform.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method of any one of claims 1 to 14.

17. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 14.

Images