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

Abstract

The application discloses a downstairs cleaning control method of a cleaning robot, the cleaning robot, a medium and a product, and belongs to the technical field of cleaning equipment. The downstairs cleaning control method comprises the following steps: during the process that the cleaning robot goes downstairs, when one of the wheel feet has stretched to the next step platform and the body and the other wheel foot are both supported on the current step platform, a cleaning module is started to clean the current step platform. Through the cleaning of the current step platform by the cleaning module when one of the wheel feet has stretched to the next step platform, the cleaning module and the wheel foot movement are cooperatively actuated, the cleaning module is prevented from being started when the body is unstable, and the safety of the cleaning module when being started is ensured.

Description

Technical Field

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

[0002] Robotic vacuum cleaners and other cleaning robots are common household cleaning devices. However, traditional cleaning robots use a wheeled walking structure, which can only operate on flat ground and cannot cross obstacles with height differences such as stairs, making it difficult to clean in scenarios with significant height differences, such as stairs.

[0003] In related technologies, wheeled cleaning robots can climb stairs and overcome obstacles to reach higher floors. However, for bottom-up cleaning, the already cleaned steps are easily re-contaminated; and for top-down cleaning, the wheeled cleaning robot's descent is limited by the stability of the machine, which may make the cleaning operation unsafe. Summary of the Invention

[0004] This application provides a cleaning robot control method for cleaning robots going downstairs, a cleaning robot, a medium, and a product, aiming to solve the problem that cleaning robots are prone to starting cleaning when the robot body is unstable during the process of going downstairs, resulting in insufficient safety in the cleaning process.

[0005] In a first aspect, embodiments of this application provide a method for controlling the cleaning of a cleaning robot as it moves downstairs. The cleaning robot includes a body, two wheels, and a cleaning module. The cleaning module is located at the bottom of the body, and the two wheels are configured to alternately extend to the next step and cooperate to move the body down from the current step to the next step. The method for controlling cleaning downstairs includes the following steps: During the process of the cleaning robot going downstairs, when one of its wheels has extended to the next step and the robot body and the other wheel are both supported on the current step, the cleaning module is activated to clean the current step.

[0006] In some embodiments, the cleaning module is kept off after the current step surface has been cleaned.

[0007] In some embodiments, the cleaning robot also includes an attitude sensor for acquiring the attitude of the robot body; Downstairs cleaning control methods also include: With the cleaning module off, the attitude sensor is controlled to collect the attitude of the fuselage at a first sampling frequency; With the cleaning module in the activated state, the attitude sensor is controlled to collect the attitude of the machine body at a second sampling frequency, which is greater than the first sampling frequency.

[0008] In some embodiments, the downstairs cleaning control method further includes: With the cleaning module activated, the attitude of the machine body is continuously monitored; If the machine's posture exceeds the preset posture range, the cleaning module will be shut down.

[0009] In some embodiments, it also includes: Continuously monitor the support status of the wheel feet supporting the current step surface; If the support condition of the wheel feet is abnormal, shut down the cleaning module.

[0010] In some embodiments, the wheel includes a drive wheel and a joint, the drive wheel is connected to the body via the joint, and a pressure sensor is provided in the drive wheel and / or a position sensor is provided in the joint; Before starting the cleaning module, the following is also included: Obtain the pressure feedback from the drive wheel of the pressure sensor and / or the joint position of the position sensor; If the feedback pressure of the drive wheel is greater than the preset pressure threshold and / or the joint position is at the target position, it is determined that one of the wheel feet has extended to the next step platform.

[0011] In some embodiments, the downstairs cleaning control method further includes, prior to activating the cleaning module: 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, activate the cleaning module.

[0012] In some embodiments, the downstairs cleaning control method further includes, prior to activating the cleaning module: 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 status indicates that cleaning is not required, the cleaning module is not activated, and the other wheel is directly controlled to extend downwards to the next step platform.

[0013] In some embodiments, controlling the cleaning module to clean the current step surface includes: Drive the cleaning robot to move and clean the current step surface.

[0014] In some embodiments, prior to driving the cleaning robot to move, the following is also included: Control the rotation of the machine body to adjust the direction of travel of the cleaning robot.

[0015] 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.

[0016] In some embodiments, when the width of the current step surface is less than a width threshold, the robot body is rotated to adjust the robot's travel direction to a preset cleaning direction.

[0017] In some embodiments, the preset cleaning direction forms a preset angle with the length direction of the current step surface.

[0018] In some embodiments, controlling the rotation of the robot body to adjust the direction of travel of the cleaning robot includes: Control the rotation of the robot body to make the direction of travel of the cleaning robot consistent with the length direction of the current step surface.

[0019] In some embodiments, it also includes: In response to the detection that the cleaning robot's movement direction is a downward step and that it 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 the downstairs preparation posture.

[0020] 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.

[0021] 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 fuselage attitude, bringing the fuselage into the pre-descendance posture, 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 to bring the fuselage into the preparatory attitude for going downstairs.

[0022] In some embodiments, the stability of the cleaning robot is also monitored during the process of the robot going downstairs, and if an abnormality in the stability of the robot is detected, a stability control operation is performed.

[0023] In some embodiments, monitoring the stability of the fuselage includes: Obtain the distance between the fuselage's center of gravity and the leading edge of the fuselage's stable region; If the distance is less than or equal to a preset safe distance threshold, it is determined that the stability of the fuselage is abnormal.

[0024] In some embodiments, obtaining the distance between the fuselage's center of gravity and the leading boundary of the fuselage's stable region includes: Obtain the position of the fuselage's center of gravity and the positions of the two wheels; The fuselage stability zone is determined based on the position of the two wheel feet; Determine the location of the fuselage's center of gravity and the distance to the leading edge of the fuselage's stable region.

[0025] In some embodiments, the wheel includes a drive wheel and a joint, the drive wheel being connected to the fuselage via the joint; The fuselage stabilization zone is determined based on the position of the two wheel feet, including: Obtain the angle data of the joints of the two wheel feet; The horizontal projection coordinates of the drive wheels of the two wheel feet are determined based on the angle data of the joints of the two wheel feet, and the support line segment is obtained. The fuselage stabilization zone is determined based on the support line segments; the front boundary of the fuselage stabilization zone is the boundary line relative to the drive wheel as it approaches the next step platform.

[0026] In some embodiments, the stability control operation includes at least one of the following: Reduce the pitch angle of the front of the fuselage relative to the tail; Adjust the angle of the joints of the two wheel feet to adjust the position of the fuselage relative to the drive wheel; The auxiliary support component, located at the front of the machine body, extends out and supports the stepped platform.

[0027] In some embodiments, the auxiliary support is a robotic arm.

[0028] In some embodiments, the cleaning robot descends the stairs in any of the following postures: The rear of the fuselage is closer to the next step platform than the front; or The front of the fuselage is closer to the next step platform than the rear.

[0029] Secondly, embodiments of this application provide a cleaning robot, which includes a body, two wheels, a cleaning module, and a controller. The cleaning module is located at the bottom of the body, and the two wheels are configured to alternately extend to the next step surface and cooperate to move the body from the current step surface to the next step surface. The controller is used to execute the downstairs cleaning control method in the first aspect.

[0030] In some embodiments, it also includes: An auxiliary support component, located at the front of the machine body and connected to the controller, is used to support the stepped platform when extended.

[0031] 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 downstairs cleaning control method in the first aspect.

[0032] Fourthly, an embodiment of this application provides a computer program product, including a computer program that, when executed by a processor, implements the downstairs cleaning control method in the first aspect.

[0033] This application activates the cleaning module to clean the current step surface when one wheel has extended to the next step surface, and keeps the cleaning module closed after cleaning is completed. This achieves coordinated movement between the cleaning module and the wheel, avoiding activation of the cleaning module when the machine is unstable and ensuring safety when the cleaning module is activated. Attached Figure Description

[0034] 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.

[0035] Figure 1 This 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 for cleaning. Figure 2 This is a flowchart illustrating a cleaning robot's downstairs cleaning control method according to an exemplary embodiment of this disclosure; Figure 3 This is a schematic diagram of the stable area of ​​the robot body in a downstairs control method provided by an exemplary embodiment of the present disclosure; Figure 4 This is a schematic diagram of the structure of an auxiliary support component for a method of controlling a cleaning robot to go downstairs, provided in an exemplary embodiment of this disclosure; Figure 5 This is a schematic diagram of the structure of the robotic arm of a method for controlling a cleaning robot to go downstairs, provided in an exemplary embodiment of this disclosure; Figure 6 This is a flowchart illustrating the specific downstairs cleaning process of a cleaning robot's downstairs cleaning control method provided in an exemplary embodiment of this disclosure.

[0036] Explanation of icon numbers: 100. Body; 200. Wheels; 201. Drive wheel; 202. Axle joint; 203. Swing joint; 204. First link; 205. Second link; 300. Cleaning module; 301. Side brush; 302. Roller brush; 303. Vacuum fan; 400. Auxiliary support; 500. Robotic arm. Detailed Implementation

[0037] 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.

[0038] 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.

[0039] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0040] 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.

[0041] 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.

[0042] Firstly, this embodiment provides a method for controlling a cleaning robot to go downstairs for cleaning, such as... Figure 1 As shown, the cleaning robot includes a body 100, two wheels 200 and a cleaning module 300, which is located at the bottom of the body 100.

[0043] 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.

[0044] The cleaning module 300 includes a side brush 301, a roller brush 302, and a vacuum fan 303. The side brush 301 and the roller brush 302 can gather the objects to be cleaned at the bottom of the cleaning robot to the vacuum fan 303, and the vacuum fan 303 sucks the objects to be cleaned into the dust collection box to complete the cleaning.

[0045] A pressure sensor is provided inside the drive wheel 201 and / or a position sensor is provided inside the joint. The pressure sensor is used to provide feedback on the pressure on the drive wheel 201, and the position sensor is used to provide feedback on the position of the joint or the drive wheel 201.

[0046] The two wheel feet 200 are configured to alternately extend to the next step platform and cooperate to move the body 100 down to the next step platform.

[0047] In some examples, the two wheel legs 200 perform the following steps: one wheel leg 200 extends downward and is stably supported on the next step platform, while the other wheel leg 200 and the fuselage 100 are supported on the current step platform; the other wheel leg 200 extends downward and is stably supported on the next step platform; the two wheel legs 200 drive the fuselage 100 to move downward to the next step platform.

[0048] like Figure 2 As shown, the downstairs cleaning control method includes the following steps: S101. During the process of the cleaning robot going downstairs, when one of its wheels has extended to the next step and the robot body and the other wheel are both supported on the current step, the cleaning module is activated to clean the current step.

[0049] Specifically, when both the main body and the other wheel are supported on the current step surface, the cleaning robot has multiple stable support points, ensuring a stable overall posture without wobbling. As one wheel extends towards the next step, it can either contact the next step to support the main body or remain suspended, allowing it to be immediately supported by the next step in case of instability, maintaining stability. The cleaning robot's stability is sufficient to support the cleaning module initiating cleaning of the current step surface, ensuring the safety of the cleaning process.

[0050] The cleaning module is activated to clean the current step surface as one wheel extends to the next step. After cleaning, the cleaning module is kept off, thus achieving coordinated movement between the cleaning module and the wheel movement. This avoids activating the cleaning module when the machine is unstable, ensuring safety when the cleaning module is activated.

[0051] In some embodiments, the downstairs cleaning control method further includes: S102. After cleaning the current step surface, keep the cleaning module in the off state.

[0052] Specifically, after cleaning is complete, the cleaning robot needs to continue its descent. The rotating side brush, the patting roller brush, and the high-speed operation of the vacuum fan all generate mechanical vibrations, affecting the stability of the robot during this process and increasing the burden on its stability control. The cleaning module cannot perform its cleaning function during the descent, and keeping it continuously active increases the robot's energy consumption. Therefore, the cleaning module should be kept off during the descent to conserve energy.

[0053] Before starting the cleaning module, a self-test is performed to confirm its status. If the cleaning module is in a normal state, it is started. If the cleaning module is in an abnormal state, an alarm signal is issued and the cleaning module is stopped from starting.

[0054] Specifically, the self-test uses built-in sensors, motor drive feedback, or electrical parameters to detect and determine whether each component of the cleaning module is functioning properly, thereby confirming the module's status. The cleaning module's status includes normal and abnormal states. In a normal state, the cleaning module can perform its cleaning function correctly. In an abnormal state, a component of the cleaning module malfunctions, causing the module to malfunction; in this case, an alarm signal is issued and the cleaning module is stopped from starting.

[0055] Alarm signals can be output through sound, light, or terminal prompts, such as sound from a buzzer, flashing of an indicator light, or push notification text or images to a mobile terminal, to facilitate users in troubleshooting.

[0056] The self-test monitors the cleaning module's status, protecting it and preventing hardware malfunctions caused by forced activation. In case of a fault, an alarm signal quickly notifies the user for assistance.

[0057] In some examples, the self-test of the cleaning module can be used to detect the status of the side brush, roller brush, and vacuum fan; if any of the side brush, roller brush, and vacuum fan is detected to be faulty, the cleaning module is determined to be in an abnormal state; if the side brush, roller brush, and vacuum fan are detected to be fault-free, the cleaning module is determined to be in a normal state.

[0058] Specifically, a malfunction in any of the side brush, roller brush, or vacuum blower will prevent the cleaning module from performing normal cleaning. Therefore, if a malfunction is detected in any of these components, the cleaning module is declared to be in an abnormal state. Malfunctions in the side brush, roller brush, and vacuum blower can include: hair or cable entanglement causing the side brush or roller brush to become blocked; severely worn or missing bristles on the side brush; the vacuum blower not rotating or rotating at an abnormal speed; or a short circuit or open circuit in the motor drive circuit of the side brush or roller brush.

[0059] If the side brush, roller brush, and vacuum fan are all functioning correctly, the cleaning module can perform cleaning normally, therefore the cleaning module is determined to be in a normal state.

[0060] By performing self-checks on the side brushes, roller brushes, and vacuum blowers, the status of the cleaning module is determined, preventing hardware malfunctions caused by forcibly starting the cleaning module.

[0061] In some embodiments, the cleaning robot also includes an attitude sensor for acquiring the robot's attitude. The attitude sensor can be an inertial measurement unit (IMU), which can calculate and output data such as the robot's pitch angle, roll angle, and yaw angle in real time to determine the robot's attitude.

[0062] The downstairs cleaning control method also includes: when the cleaning module is in the off state, controlling the attitude sensor to collect the attitude of the machine body at a first sampling frequency; when the cleaning module is in the on state, controlling the attitude sensor to collect the attitude of the machine body at a second sampling frequency, the second sampling frequency being greater than the first sampling frequency.

[0063] Specifically, when the cleaning module is off, it uses a lower first sampling frequency to collect the robot's posture, reducing energy consumption during the robot's descent. When it is on, it uses a higher second sampling frequency to continuously monitor the robot's posture and stability, allowing for timely responses in case of insufficient stability.

[0064] In some embodiments, the downstairs cleaning control method further includes: continuously monitoring the attitude of the machine body when the cleaning module is in the activated state; and shutting down the cleaning module when the attitude of the machine body exceeds a preset attitude range.

[0065] Specifically, attitude sensors acquire data such as the aircraft's pitch, roll, and yaw angles to determine the aircraft's attitude. If the aircraft's attitude exceeds the preset range—for example, if the pitch angle, roll angle, or yaw angle exceeds the preset range—the aircraft may be at risk of instability and requires immediate stabilization.

[0066] By monitoring the attitude of the fuselage, the stability of the fuselage can be determined. If there is a risk of instability in the fuselage, the cleaning module needs to be shut down in time to avoid the vibration of the cleaning module from interfering with the stability control of the wheel support.

[0067] In some embodiments, the downstairs cleaning control method further includes: continuously monitoring the support status of the wheel feet supported on the current step surface; and shutting down the cleaning module if the support status of the wheel feet is abnormal.

[0068] Specifically, if the drive wheel slips relative to the step surface or the pressure sensor pressure is lower than the preset pressure threshold during the support process, it is determined that the wheel is abnormal and cannot stably support the stability of the machine body.

[0069] By monitoring the support status of the wheel feet, the stability of the machine body can be determined. If there is a risk of instability in the machine body, the cleaning module needs to be shut down in time to avoid the vibration of the cleaning module from interfering with the stability control of the wheel foot support.

[0070] In some embodiments, before activating the cleaning module, the downstairs cleaning control method further includes: obtaining the drive wheel feedback pressure of the pressure sensor and / or the joint position of the position sensor; and determining that one of the wheel feet has extended to the next step surface when the drive wheel feedback pressure is greater than a preset pressure threshold and / or the joint position is at a target position.

[0071] Specifically, it is possible to obtain only the drive wheel feedback pressure of the pressure sensor, or only the joint position of the position sensor, or simultaneously obtain both the drive wheel feedback pressure of the pressure sensor and the joint position of the position sensor.

[0072] The target position is the ideal angle or position that the wheel joint should reach, calculated based on the height difference between the current step surface and the next step surface. The target position can be between the current step surface and the next step surface, so that if the fuselage experiences instability, one of the wheel feet can be supported on the next step surface in time to ensure the stability of the fuselage.

[0073] If the feedback pressure from the drive wheel exceeds the preset pressure threshold or the joint position is at the target position, it can be determined that one of the wheel feet is stably supported on the next step platform. Simultaneous monitoring of both allows for mutual verification, improving the reliability of the wheel foot stability support. Once it is confirmed that one of the wheel feet has extended onto the next step platform, the cleaning module is activated for cleaning, ensuring the safe operation of the cleaning module.

[0074] In some embodiments, before activating the cleaning module, the downstairs cleaning control method further includes: acquiring attitude data of the fuselage, wherein the attitude data includes pitch angle and roll angle; determining that the fuselage is in a stable state when the pitch angle is less than a pitch angle threshold and the roll angle is less than a roll angle threshold; and activating the cleaning module when the fuselage is in a stable state.

[0075] 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 attitude sensors 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.

[0076] 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.

[0077] 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.

[0078] A stable state is defined as the aircraft's attitude meeting preset stability conditions, specifically: the pitch angle of the aircraft, obtained through the attitude sensor, is less than a preset pitch angle threshold, and the roll angle of the aircraft is less than a preset roll angle threshold. When these conditions are met, it indicates that the aircraft has not excessively tilted forward, backward, or sideways on the current step surface, and its overall attitude is stable, allowing for safe activation of the cleaning module or execution of the descent action. Conversely, if 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 aircraft is determined to be in an unstable state, posing a risk of tipping over or losing control.

[0079] The cleaning module is only activated when the pitch angle and roll angle are both below the pitch angle threshold and the machine body is in a stable state. This ensures the machine body remains in contact with the current step surface, further guaranteeing the cleaning module's effectiveness. The cleaning module will not be activated if the machine body is in an unstable state to prevent vibrations during cleaning from further interfering with stability and causing the machine body to tip over.

[0080] 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, adjust the joints of the two wheel feet to make the pitch angle less than the pitch angle threshold and the roll angle less than the roll angle threshold, maintain the stability of the machine body, and then start the cleaning module to clean.

[0081] In some embodiments, before activating the cleaning module, the downstairs cleaning control method further includes: acquiring an image of the current step surface and determining the cleaning status of the current step surface based on the image; activating the cleaning module if the cleaning status requires cleaning; and not activating the cleaning module and directly controlling another wheel to extend downwards to the next step surface if the cleaning status does not require cleaning.

[0082] 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".

[0083] 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.

[0084] In some embodiments, controlling the cleaning module to clean the current step surface includes: driving a cleaning robot to move in order to clean the current step surface.

[0085] Specifically, the cleaning robot can move forward or backward along the length of the current step surface and clean the current step surface through the cleaning module.

[0086] In some embodiments, before driving the cleaning robot to move, the method further includes: controlling the body to rotate and adjusting the direction of travel of the cleaning robot.

[0087] Specifically, when the cleaning robot extends one of its wheels to the next step, the direction of travel of the cleaning robot may be different from the path direction for cleaning the current step. Therefore, it is necessary to first control the rotation of the robot body to adjust the direction of travel of the cleaning robot to facilitate cleaning of the current step.

[0088] In some embodiments, controlling the cleaning module to clean the current step surface includes: controlling the body to rotate and adjusting the travel direction of the cleaning robot, including: obtaining the width of the current step surface; if the width of the current step surface is greater than or equal to a width threshold, controlling the body to rotate and adjusting the travel direction of the cleaning robot to the length direction of the current step surface.

[0089] Specifically, the direction of travel of the cleaning robot 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.

[0090] The current step surface length direction refers to the left-right extension of the stair steps, which is the longest horizontal direction of the steps. Cleaning along this direction can cover the largest cleaning area and is the optimal cleaning path direction. The current step surface width can be obtained by acquiring an image of the current step surface through 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 can accommodate the machine body to move normally along its length.

[0091] 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 operation.

[0092] In some embodiments, when the width of the current step surface is less than a width threshold, the robot body is rotated to adjust the robot's travel direction to a preset cleaning direction.

[0093] Specifically, if the width of the current step surface is less than a width threshold, there is insufficient space. To ensure the stability of the robot during the cleaning process, the robot's travel direction is adjusted to a preset cleaning direction. The preset cleaning direction is a pre-defined direction that allows the robot to clean the current step surface even when its width is less than the threshold. Multiple preset cleaning directions can be available, and the appropriate direction is adaptively selected based on the width of the current step surface.

[0094] By adjusting the cleaning robot's direction of travel to adapt to steps of varying widths, the robot's stability during the cleaning process is ensured while simultaneously increasing the cleaning range and improving cleaning efficiency.

[0095] In some embodiments, the preset cleaning direction forms a preset angle with the length direction of the current step surface.

[0096] Specifically, the preset cleaning direction forms a preset angle with the length of the current step surface. The preset angle is pre-calibrated based on the width of the current step surface, which increases the cleaning range of the current step surface while ensuring the stability of the machine body, and avoids collision between the side brushes and roller brushes and the front edge or side wall of the step.

[0097] In some embodiments, controlling the rotation of the robot body to adjust the travel direction of the cleaning robot includes: controlling the rotation of the robot body so that the travel direction of the cleaning robot is consistent with the length direction of the current step surface.

[0098] Specifically, the cleaning robot can be directly controlled to rotate, aligning its direction of travel with the length of the current step surface. At this point, the robot's center of gravity is centered, and the cleaning module covers the step laterally, maximizing the area covered in a single cleaning cycle.

[0099] In some embodiments, the downstairs cleaning control method further includes: in response to detecting that there is a downward step in the direction of movement of the cleaning robot and that the top edge of the step has been reached, controlling the two wheel legs to adjust the posture of the robot body according to the target height of the next step platform relative to the current step platform, so that the robot body enters the downstairs preparation posture.

[0100] 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.

[0101] 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.

[0102] 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 machine body are adjusted, so that the front of the machine body is higher than the rear, thereby raising the cleaning module to avoid the front edge of the step, reducing the impact risk of the cleaning module, and improving the stability of the descent.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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.

[0109] 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.

[0110] 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.

[0111] In some embodiments, the attitude of the fuselage is adjusted by controlling the two wheel feet according to the target height of the next step platform relative to the current step platform, so that the fuselage enters the pre-descending attitude. This includes: obtaining the target height of the next step platform relative to the current step platform, calculating the adjustment angle of the joints of the two wheel feet according to the target height, and adjusting the attitude of the fuselage according to the adjustment angle, so that the fuselage enters the pre-descending attitude.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] In some embodiments, the stability of the cleaning robot is also monitored during the process of the robot going downstairs, and if an abnormality in the stability of the robot is detected, a stability control operation is performed.

[0117] Specifically, monitoring the robot's stability involves real-time assessment of whether the cleaning robot will lose its balance. For example, if the robot's center of gravity shifts by a distance greater than a preset threshold, it is determined that the robot's stability has become abnormal. The stability control operation is the action performed to restore the robot's stability when an abnormality occurs.

[0118] By monitoring the stability of the robot body in real time, proactive intervention is carried out in case of any abnormalities in the stability of the robot body, ensuring the safety of the cleaning robot while ensuring that it can descend the stairs normally.

[0119] In some embodiments, monitoring the stability of the fuselage includes: obtaining the distance between the center of gravity of the fuselage and the front boundary of the stable region of the fuselage; and determining that the stability of the fuselage is abnormal if the distance is less than or equal to a preset safe distance threshold.

[0120] Specifically, the fuselage stability zone is the range determined by the support points of the two wheel feet, and the stability of the fuselage is determined by the position of the fuselage's center of gravity within the fuselage stability zone.

[0121] If the vertical distance from the fuselage's center of gravity to the leading edge is greater than the safe distance threshold, the fuselage's stability is considered normal. If the vertical distance from the fuselage's center of gravity to the leading edge is less than or equal to the safe distance threshold, the fuselage's stability is considered abnormal.

[0122] When the vertical distance from the center of gravity of the robot body to the front boundary is less than or equal to the safe distance threshold, but has not yet decreased to 0, although the stability has become abnormal and there is a risk of tipping over, it has not yet tipped over. At this time, timely control of the stability of the robot body can intervene in the stability of the robot body in advance and prevent the cleaning robot from tipping over.

[0123] In some embodiments, obtaining the distance between the center of gravity of the fuselage and the front boundary of the fuselage stabilization region includes: obtaining the center of gravity of the fuselage and the positions of the two wheel feet; determining the fuselage stabilization region based on the positions of the two wheel feet; and determining the distance between the center of gravity of the fuselage and the front boundary of the fuselage stabilization region.

[0124] Specifically, such as Figure 3 As shown, A is the support point of one wheel, and B is the support point of the other wheel. The fuselage stabilization region L is a rectangular area extending a predetermined width towards the front and rear of the fuselage, with the line connecting the two wheel support points as the center line. The boundary of the fuselage stabilization region L closest to the front of the fuselage is the front boundary. .

[0125] In the scenario of a cleaning robot descending a stairs, the primary factor causing it to tip over is horizontal displacement, not a change in height. Therefore, the center of gravity G of the robot is the vertical projection of its center of gravity onto the horizontal plane. The center of gravity G is located at the front boundary of the robot's stable area. The distance d is the distance from the fuselage's center of gravity G to the front boundary of the fuselage's stable region. The vertical distance.

[0126] By quantifying the distance between the fuselage's center of gravity and the front boundary of its stable zone, a basis for monitoring the fuselage's stability is provided, preventing tipping or swaying during descent. Furthermore, the location of the fuselage's center of gravity and the front boundary of its stable zone are easy to calculate and adaptable to steps of varying heights.

[0127] In some embodiments, determining the fuselage stabilization region based on the positions of the two wheel feet includes: acquiring angle data of the joints of the two wheel feet; determining the horizontal projection coordinates of the drive wheels of the two wheel feet based on the angle data of the joints of the two wheel feet to obtain a support line segment; and determining the fuselage stabilization region based on the support line segment; wherein the front boundary of the fuselage stabilization region is the boundary line of the drive wheel closer to the next step platform.

[0128] Specifically, the angle data of the wheel joints include the axle joint angle and the yaw joint angle. The axle joint angle and the yaw joint angle can be adjusted independently to determine the bending posture, extension length, and spatial position of the drive wheel.

[0129] The position of the drive wheel can be calculated based on the axle joint angle and swing joint angle of the wheel foot, as well as the lengths of the first and second links. The position of the drive wheel can be projected onto the horizontal plane to obtain the horizontal projection coordinates. The support line segment can be obtained by connecting the horizontal projection coordinates of the two drive wheels.

[0130] Using the support line segment as the center line, expand forward and backward by a preset width to form a rectangular area, thus obtaining the fuselage stabilization area. The boundary of the rectangular area closest to the next step, i.e., the boundary of the fuselage stabilization area in the direction of going downstairs, is the front boundary.

[0131] By calculating the horizontal projection coordinates of the drive wheel using the angle data of the joints of the two wheel feet, the support line segment is obtained to determine the stable area of ​​the fuselage, clarifying the boundary of the stable area of ​​the fuselage, providing a reference for monitoring the center of gravity position of the fuselage, and preventing the fuselage from tilting forward or tipping over.

[0132] In some embodiments, the stability control operation includes at least one of the following: reducing the pitch angle of the front of the fuselage relative to the tail; adjusting the angle of the joints of the two wheel feet to adjust the position of the fuselage relative to the drive wheel; and controlling the extension of the auxiliary support member located at the front of the fuselage to support the stepped platform.

[0133] In some examples, the center of gravity of the fuselage can be shifted towards the tail by controlling the joints of the two wheel legs, such as the angle of the axle joint or the yaw joint, thereby increasing the distance between the center of gravity of the fuselage and the front boundary of the stable support area and maintaining the stability of the fuselage.

[0134] The joints controlling the two wheel feet can be adjusted by adjusting the axle joints, thereby adjusting the angle between the first link and the fuselage, causing the fuselage to translate relative to the rear of the drive wheel, shifting the center of gravity of the fuselage to the rear, increasing the distance between the center of gravity of the fuselage and the front boundary of the stable support area, and maintaining the stability of the fuselage.

[0135] The joints of the two wheel feet can also be adjusted to adjust the swing joint, thereby adjusting the angle between the first link and the second link, so that the fuselage moves backward while descending, the fuselage translates relative to the rear of the drive wheel, the center of gravity of the fuselage moves backward, increasing the distance between the center of gravity of the fuselage and the front boundary of the stable support area, and maintaining the stability of the fuselage.

[0136] In other examples, the pitch angle is the angle of rotation of the fuselage around its lateral axis. When the front of the fuselage is lower than the tail, the pitch angle is negative; when the front of the fuselage is higher than the tail, the pitch angle is positive. If the nose of the fuselage is too low, the center of gravity shifts forward, which can easily lead to instability. The pitch angle of the fuselage can be adjusted through the axle joints of the wheel feet. By adjusting the pitch angle, the height of the front of the fuselage is made higher than the height of the tail, maintaining an upward pitch posture. This shifts the center of gravity backward, increasing the distance between the fuselage's center of gravity and the leading edge of the fuselage's stable region, thus achieving stability control of the fuselage.

[0137] If the distance between the fuselage's center of gravity and the leading edge of the fuselage's stable zone is less than a safety threshold, the angles of the axle joints of the two wheel sets are adjusted to raise the front and lower the rear, creating an upward-tilting posture. At this time, the fuselage's center of gravity moves away from the leading edge of the stable zone, increasing the distance between the fuselage's center of gravity and the leading edge of the stable zone, returning it to within the safety threshold range, thus achieving stability control of the fuselage and preventing it from tilting forward or tipping over.

[0138] In other examples, the drive wheels are stably supported on a stepped platform, and the fuselage can move relative to the drive wheels via joint movements, such as forward / backward, up / down, or rotational movements. The position of the fuselage relative to the drive wheels is changed by adjusting the angle of the joints of the two wheel feet.

[0139] Since the position of the drive wheels remains unchanged and the support line segment does not change, the fuselage's stable area also remains unchanged. At this point, by adjusting the axle joint angles and swing joint angles of the two wheel feet, the fuselage moves rearward relative to the drive wheels. This shifts the fuselage's center of gravity away from the front boundary of the stable area, increasing the distance between the center of gravity and the front boundary of the stable area, returning it to within the safe threshold range, thus achieving fuselage stability control and preventing the fuselage from tilting forward or tipping over.

[0140] The center of gravity of the fuselage is changed by adjusting the position of the fuselage relative to the drive wheels, without changing the stable area of ​​the fuselage, and the response speed is fast.

[0141] In other examples, such as Figure 4 As shown, an auxiliary support member 400 is provided at the front of the robot body 100. The auxiliary support member 400 has a telescopic structure, switching between a retracted state and an extended state. In the retracted state, the auxiliary support member 400 is stored inside the robot body or close to the bottom of the robot body, without affecting the robot's normal cleaning and movement. In the extended state, the auxiliary support member 400 extends downward, and its end can contact and support the stepped platform.

[0142] Stability control operations include: controlling the extension of auxiliary support components to support the stepped platform.

[0143] Specifically, the auxiliary support is in a retracted state. If an abnormality in the stability of the machine body is detected, the auxiliary support is switched to an extended state. The auxiliary support extends downward and its end contacts and supports the stepped platform.

[0144] Because the auxiliary support components add auxiliary support points at the front of the fuselage, the support line segment extends forward, thereby increasing the distance between the center of gravity of the fuselage and the front boundary of the fuselage's stable area, bringing the distance back within the safe threshold range, achieving stability control of the fuselage, and preventing the fuselage from tilting forward or tipping over.

[0145] In some examples, the auxiliary support components include telescopic arms, support legs, drive motors, and pressure sensors.

[0146] The telescopic boom consists of at least two sliding sections of boom tube, with support feet located at the ends for contacting the step surface. A drive motor is used to extend and retract the telescopic boom. Pressure sensors are mounted on the support feet to collect the contact pressure between the support feet and the step surface.

[0147] The auxiliary support can be located at the center of the front of the fuselage. If an abnormality in fuselage stability is detected, the auxiliary support extends downward from the center of the front of the fuselage and supports the stepped platform to keep the fuselage stable.

[0148] In some embodiments, the auxiliary support is a robotic arm. For example... Figure 5 As shown, the cleaning robot is equipped with a robotic arm 500, which can be used to grasp objects and clear obstacles in front of it. In this case, the robotic arm 500 can be reused as an auxiliary support component. When going downstairs, the robotic arm 500 can be extended and supported on the lower step platform without the need to add any new hardware structure.

[0149] The auxiliary support components can also be configured as two, located on the left and right sides of the front of the fuselage respectively. If an abnormality in fuselage stability is detected, both auxiliary support components can extend simultaneously, or only the auxiliary support component in the direction of the abnormality can extend.

[0150] The auxiliary support can be placed on the next step or the step below it. The spatial distribution of multiple support points expands the range of stability support for the fuselage, thereby increasing the distance between the fuselage's center of gravity and the front boundary of the fuselage's stable area, and maintaining stability during the descent.

[0151] It is worth noting that the stability control operation can be selected to perform any one of the following: control the height of the front part to be higher than the height of the tail part, adjust the position of the fuselage relative to the drive wheel, or control the auxiliary support to extend and support the platform. Alternatively, a combination of these methods can be selected.

[0152] In some embodiments, the cleaning robot descends the stairs in one of the following postures: the tail of the robot is closer to the next step platform than the front of the robot; or the front of the robot is closer to the next step platform than the tail of the robot.

[0153] Specifically, the cleaning robot's descending posture refers to the orientation of the robot's body during the descent, including a forward descending posture and a backward descending posture. In the backward descending posture, the tail of the robot is closer to the next step platform than the front, while in the forward descending posture, the front of the robot is closer to the next step platform than the tail.

[0154] like Figure 6 As shown below, a specific example illustrates the complete cleaning process performed by a cleaning robot as it goes downstairs.

[0155] 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, the two wheels adjust the robot's posture according to the target height of the next step platform relative to the current step platform to raise the cleaning module.

[0156] At this point, one of the wheel legs is suspended in the air, while the other wheel leg is supported on the current step surface, and the cleaning module is in the off state. By adjusting the body posture, the cleaning module is raised to avoid the leading edge of the step, reducing the risk of impact to the cleaning module and improving the stability of the descent.

[0157] S202, one of the wheel legs extends downward and is stably supported on the next step platform, while the other wheel leg and fuselage are supported on the current step platform.

[0158] 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 in the off state. By first supporting itself on the next step, the cleaning robot maintains its stability.

[0159] S203. With one of the wheel legs extended downwards and stably supported on the next step surface, the cleaning module is activated to clean the current step surface.

[0160] At this point, one of the wheels 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. Supporting the machine on the next step with one of the wheels ensures stability during cleaning of the current step.

[0161] S204, the other wheel extends downwards and provides stable support on the next step platform.

[0162] 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 in the off state. Both wheels are simultaneously supported on the next step, maintaining stability during the descent.

[0163] S205, the two wheels drive the machine body down to the next step platform.

[0164] 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 two wheels move simultaneously to lower the machine body, ensuring stability during the lowering process.

[0165] S206. Repeat the step of extending one of the wheels downwards and providing stable support on the next step surface until the cleaning robot moves to the bottom of the step.

[0166] Return to step S202 until the cleaning robot moves to the bottom of the stairs, completing the control of the cleaning robot's descent and cleaning. The cleaning robot cleans the stairs from top to bottom while descending.

[0167] 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, a cleaning module 300, and a controller. The cleaning module 300 is located at the bottom of the body 100. The two wheels 200 are configured to alternately extend to the next step platform and cooperate to move the body 100 down to the next step platform. The controller is used to execute the control method of the cleaning module 300 in the first aspect.

[0168] The cleaning robot includes a body 100, two wheels 200, and a cleaning module 300, which is located at the bottom of the body 100.

[0169] 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.

[0170] The cleaning module 300 includes a side brush 301, a roller brush 302, and a vacuum fan 303. The side brush 301 and the roller brush 302 can gather the objects to be cleaned at the bottom of the cleaning robot to the vacuum fan 303, and the vacuum fan 303 sucks the objects to be cleaned into the dust collection box to complete the cleaning.

[0171] A pressure sensor is provided inside the drive wheel 201 and / or a position sensor is provided inside the joint. The pressure sensor is used to provide feedback on the pressure on the drive wheel 201, and the position sensor is used to provide feedback on the position of the joint or the drive wheel 201.

[0172] The two wheel feet 200 are configured to alternately extend to the next step platform and cooperate to move the body 100 down to the next step platform.

[0173] In some examples, the two wheel legs 200 perform the following steps: one wheel leg 200 extends downward and is stably supported on the next step platform, while the other wheel leg 200 and the fuselage 100 are supported on the current step platform; the other wheel leg 200 extends downward and is stably supported on the next step platform; the two wheel legs 200 drive the fuselage 100 to move downward to the next step platform.

[0174] The controller is used to perform the following steps: When one of the wheel legs 200 has extended to the next step surface during the cleaning robot's descent, and the robot body and the other wheel leg are both supported on the current step surface, the cleaning module is activated to clean the current step surface.

[0175] Specifically, when both the robot body 100 and the other wheel 200 are supported on the current step surface, the cleaning robot has multiple stable support points, ensuring a stable overall posture without wobbling. As one of the wheels 200 extends towards the next step surface, it can either contact the next step surface for support or remain suspended, providing timely support to the next step surface in case of instability, thus maintaining the stability of the robot body 100. The cleaning robot's stability is sufficient to support the activation of the cleaning module to clean the current step surface, ensuring the safety of the cleaning process.

[0176] The cleaning module is activated only when one wheel has extended to the next step and the machine body is stably supported on the current step. After cleaning, the cleaning module is kept off, thus achieving coordinated movement between the cleaning module and the wheel movement. This avoids activating the cleaning module when the machine body is unstable, ensuring safety when the cleaning module is activated.

[0177] In some embodiments, such as Figure 4 As shown, the cleaning robot also includes an auxiliary support 400, which is located at the front of the robot body and connected to the controller, for supporting the step surface when extended.

[0178] Specifically, the auxiliary support is in a retracted state. If an abnormality in the stability of the machine body is detected, the auxiliary support is switched to an extended state. The auxiliary support extends downward and its end contacts and supports the stepped platform.

[0179] Because the auxiliary support components add auxiliary support points at the front of the fuselage, the support line segment extends forward, thereby increasing the distance between the center of gravity of the fuselage and the front boundary of the fuselage's stable area, bringing the distance back within the safe threshold range, achieving stability control of the fuselage, and preventing the fuselage from tilting forward or tipping over.

[0180] In some examples, the auxiliary support components include telescopic arms, support legs, drive motors, and pressure sensors.

[0181] The telescopic boom consists of at least two sliding sections of boom tube, with support feet located at the ends for contacting the step surface. A drive motor is used to extend and retract the telescopic boom. Pressure sensors are mounted on the support feet to collect the contact pressure between the support feet and the step surface.

[0182] The auxiliary support can be located at the center of the front of the fuselage. If an abnormality in fuselage stability is detected, the auxiliary support extends downward from the center of the front of the fuselage and supports the stepped platform to keep the fuselage stable.

[0183] In some embodiments, the auxiliary support is a robotic arm. For example... Figure 5 As shown, the cleaning robot is equipped with a robotic arm 500, which can be used to grasp objects and clear obstacles in front of it. In this case, the robotic arm 500 can be reused as an auxiliary support component. When going downstairs, the robotic arm 500 can be extended and supported on the lower step platform without the need to add any new hardware structure.

[0184] The auxiliary support components can also be configured as two, located on the left and right sides of the front of the fuselage respectively. If an abnormality in fuselage stability is detected, both auxiliary support components can extend simultaneously, or only the auxiliary support component in the direction of the abnormality can extend.

[0185] The auxiliary support can be placed on the next step or the step below it. The spatial distribution of multiple support points expands the range of stability support for the fuselage, thereby increasing the distance between the fuselage's center of gravity and the front boundary of the fuselage's stable area, and maintaining stability during the descent.

[0186] 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.

[0187] 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.

[0188] 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.

[0189] The foregoing has provided a detailed description of a cleaning robot's downstairs cleaning control method, 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 its 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 go downstairs for cleaning, characterized in that, The cleaning robot includes a body, two wheels, and a cleaning module. The cleaning module is located at the bottom of the body. The two wheels are configured to alternately extend to the next lower step and cooperate to move the body from the current step to the next lower step. The downstairs cleaning control method includes the following steps: During the process of the cleaning robot descending the stairs, when one of its wheels has extended to the next step and the robot body and the other wheel are both supported on the current step, the cleaning module is activated to clean the current step.

2. The downstairs cleaning control method according to claim 1, characterized in that, After cleaning the current step surface, keep the cleaning module in the off state.

3. The downstairs cleaning control method according to claim 1, characterized in that, The cleaning robot also includes an attitude sensor, which is used to collect the attitude of the robot body; The downstairs cleaning control method also includes: With the cleaning module in the off state, the attitude sensor is controlled to collect the attitude of the fuselage at a first sampling frequency; When the cleaning module is in the activated state, the attitude sensor is controlled to collect the attitude of the body at a second sampling frequency, which is greater than the first sampling frequency.

4. The downstairs cleaning control method according to claim 1, characterized in that, The downstairs cleaning control method also includes: With the cleaning module activated, the attitude of the machine body is continuously monitored; If the body's posture exceeds the preset posture range, the cleaning module will be shut down.

5. The downstairs cleaning control method according to claim 4, characterized in that, Also includes: Continuously monitor the support status of the wheel feet supporting the current step surface; If the support condition of the wheel feet becomes abnormal, the cleaning module shall be shut down.

6. The downstairs cleaning control method according to claim 1, characterized in that, The wheel includes a drive wheel and a joint. The drive wheel is connected to the machine body through the joint. A pressure sensor is provided in the drive wheel and / or a position sensor is provided in the joint. Before activating the cleaning module, the following is also included: Obtain the pressure feedback from the drive wheel of the pressure sensor and / or the joint position of the position sensor; If the feedback pressure of the drive wheel is greater than the preset pressure threshold and / or the joint position is at the target position, it is determined that one of the wheel feet has extended to the next step platform.

7. The downstairs cleaning control method according to claim 1, characterized in that, Before activating the cleaning module, the downstairs cleaning 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.

8. The downstairs cleaning control method according to claim 1, characterized in that, Before activating the cleaning module, the downstairs cleaning 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 other wheel is directly controlled to extend downwards to the next step platform.

9. The downstairs cleaning control method according to claim 1, characterized in that, The control of the cleaning module to clean the current step surface includes: Drive the cleaning robot to move and clean the current step surface.

10. The downstairs cleaning control method according to claim 9, characterized in that, Before driving the cleaning robot to move, the method further includes: Control the rotation of the machine body to adjust the driving direction of the cleaning robot.

11. The downstairs cleaning control method according to claim 10, 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.

12. The downstairs cleaning control method according to claim 11, characterized in that, If the width of the current step surface is less than a width threshold, control the body to rotate and adjust the cleaning robot's travel direction to a preset cleaning direction.

13. The downstairs cleaning control method according to claim 12, characterized in that, The preset cleaning direction forms a preset angle with the length direction of the current step surface.

14. The downstairs cleaning control method according to claim 10, characterized in that, Controlling the rotation of the robot body and adjusting the direction of travel of the cleaning robot includes: Control the rotation of the robot body so that the direction of travel of the cleaning robot is consistent with the length direction of the current step surface.

15. The downstairs cleaning control method according to claim 1, characterized in that, Also 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 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 the downstairs preparation posture.

16. The downstairs cleaning control method according to claim 15, 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.

17. The downstairs cleaning control method according to claim 15, characterized in that, The wheel includes a drive wheel and a joint, and the drive wheel is connected to the fuselage via 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 the pre-descent posture, 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, and adjust the attitude of the fuselage according to the adjustment angle to make the fuselage enter the downstairs preparation attitude.

18. The downstairs cleaning control method according to claim 1, characterized in that, During the process of the cleaning robot descending the stairs, the stability of the robot body is also monitored. If an abnormality in the stability of the robot body is detected, a stability control operation is performed.

19. The downstairs cleaning control method according to claim 18, characterized in that, The monitoring of the stability of the fuselage includes: Obtain the distance between the center of gravity of the fuselage and the front boundary of the fuselage's stable region; If the distance is less than or equal to a preset safe distance threshold, it is determined that the stability of the fuselage is abnormal.

20. The downstairs cleaning control method according to claim 19, characterized in that, The step of obtaining the distance between the center of gravity of the fuselage and the front boundary of the fuselage's stable region includes: Obtain the center of gravity position of the fuselage and the positions of the two wheels; The fuselage stability zone is determined based on the positions of the two wheel feet; Determine the position of the fuselage's center of gravity and the distance between the front boundary of the fuselage's stable region.

21. The downstairs cleaning control method according to claim 20, characterized in that, The wheel includes a drive wheel and a joint, and the drive wheel is connected to the fuselage via the joint; The step of determining the fuselage stability zone based on the positions of the two wheel feet includes: Obtain the angle data of the joints of the two wheel feet; The horizontal projection coordinates of the drive wheels of the two wheel feet are determined based on the angle data of the joints of the two wheel feet, and the support line segment is obtained. The fuselage stabilization region is determined based on the support line segment; wherein, the front boundary of the fuselage stabilization region is the boundary line relative to the drive wheel and closer to the next step platform.

22. The downstairs cleaning control method according to claim 18, characterized in that, The stability control operation includes at least one of the following: Reduce the pitch angle of the front of the fuselage relative to the tail; Adjust the angle of the joints of the two wheel feet to adjust the position of the fuselage relative to the drive wheel; The auxiliary support component located at the front of the machine body extends out and supports the stepped platform.

23. The downstairs cleaning control method according to claim 22, characterized in that, The auxiliary support component is a robotic arm.

24. The downstairs cleaning control method according to claim 1, characterized in that, The cleaning robot can descend the stairs in any of the following postures: The rear of the fuselage is closer to the next step platform than the front; or The front of the fuselage is closer to the next step platform than the rear.

25. A cleaning robot, characterized in that, The cleaning robot includes a body, two wheels, a cleaning module, and a controller. The cleaning module is located at the bottom of the body. The two wheels are configured to alternately extend to the next lower step and cooperate to move the body from the current step to the next lower step. The controller is used to execute the downstairs cleaning control method according to any one of claims 1-24.

26. The cleaning robot according to claim 25, characterized in that, Also includes: An auxiliary support component is located at the front of the machine body and connected to the controller, used to support the stepped platform when extended.

27. 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 downstairs cleaning control method as described in any one of claims 1 to 24.

28. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the downstairs cleaning control method as described in any one of claims 1 to 24.

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