Detection method, apparatus, device, storage medium, program product and cleaning system

Abstract

The embodiment of the invention provides a detection method and device, equipment, a storage medium, a program product and a cleaning system, applied to mobile equipment, the mobile equipment can pass through a specific obstacle, the specific obstacle refers to a stair with multiple layers of steps, the bottom of the mobile equipment comprises at least one first sensor, and the first sensor inclines towards the front end of the mobile equipment. The method comprises the following steps: when the mobile device moves downwards along a specific obstacle, acquiring first distance information of the specific obstacle in the height direction by using the first sensor; the step surface of the specific obstacle is determined through the first distance information, and then the relative position of the mobile device and the specific obstacle is determined. According to the method provided by the invention, the step surface is accurately detected in the process of going upstairs and downstairs, and the terrain sensing capability of the mobile equipment in a complex stair environment is improved.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511999637.0 (22) Application Date 2025.12.26 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Zhang Weiwei, Ban Yong, Chen Bing, Hu Jianhua (74) Patent Agency: Beijing Tongli Juncheng Intellectual Property Agency Co., Ltd. 11205 Patent Attorney: Wu Zixuan (51) Int.Cl. A47L 11 / 40 (2006.01) A47L 11 / 28 (2006.01) A47L 11 / 24 (2006.01) A47L 7 / 00 (2006.01) A47L 9 / 28 (2006.01) B62D 57 / 024 (2006.01) (54) Invention Title: Detection Method, Apparatus, Device, Storage Medium, Program Product, and Cleaning System (57) Abstract: This application provides a detection method, apparatus, device, storage medium, program product, and cleaning system, applied to a mobile device. The mobile device can pass through a specific obstacle, which refers to a staircase with multiple steps. The bottom of the mobile device includes at least one first sensor, which is tilted towards the front end of the mobile device so that it can emit a detection signal tilted towards the front end of the mobile device. The first sensor is used to acquire distance information of the obstacle. The method includes: during the process of the mobile device moving down along the specific obstacle, acquiring first distance information of the specific obstacle in the height direction using the first sensor; determining the step surface of the specific obstacle through the first distance information, and then determining the relative position of the mobile device and the specific obstacle. The method of this application realizes accurate detection of the step surface during the process of going up and down stairs, and improves the terrain perception capability of the mobile device in complex staircase environments. Claims 2 pages, Description 18 pages, Drawings 7 pages, CN 121587624 A 2026.03.03 CN 1 21 58 76 24 A 1. A detection method, characterized in that it is applied to a mobile device, the mobile device being able to pass through a specific obstacle, the specific obstacle being a staircase with multiple steps, the bottom of the mobile device including at least one first sensor, the first sensor being tilted toward the front end of the mobile device so that the first sensor can emit a detection signal tilted toward the front end of the mobile device, the first sensor being used to acquire distance information of the obstacle, the method comprising: the mobile device, while moving downward along the specific obstacle, using the first sensor to acquire first distance information of the specific obstacle in the height direction;1. The method according to claim 1, wherein determining the step surface of the specific obstacle using the first distance information, and thereby determining the relative position of the mobile device and the specific obstacle, comprises: when the first distance information generates a distance abrupt change, determining the plane corresponding to the distance abrupt change as the step surface of the specific obstacle. 2. The method according to claim 2, wherein the first distance information generating a distance abrupt change comprises: comparing the first distance information acquired by the first sensor at the current moment with the first distance information acquired by the first sensor at the previous moment; if the difference is greater than or equal to a preset threshold, then the first distance information generates the distance abrupt change. 4. The method according to claim 3, wherein the preset threshold is greater than the distance the first sensor descends from the previous moment to the current moment as the mobile device moves downwards. 5. The method according to claim 1, wherein the mobile device is provided with an obstacle recognition system, and before the mobile device acquires the first distance information of the specific obstacle in the height direction using the first sensor during the downward movement of the mobile device along the specific obstacle, the method further includes: using the obstacle recognition system to identify the type of the obstacle; when the type of the obstacle is a specific obstacle, controlling the mobile device to move onto the specific obstacle, and controlling the first sensor to start working. 6. The method according to any one of claims 1, wherein the specific obstacle refers to a device used to connect a first working surface and a second working surface, and the method further includes: during the movement of the mobile device on the first working surface or the second working surface, acquiring the second distance information of the first working surface or the second working surface in the height direction using the first sensor; when a distance abrupt change occurs in the second distance information, determining that the area above the plane corresponding to the distance abrupt change is a fall zone, and controlling the mobile device to stop or move away from the fall zone. 7. The method according to claim 1, wherein the first sensor is one or more combinations of an infrared sensor, a line laser sensor, a ToF sensor, an ultrasonic sensor, a millimeter-wave radar, and a multi-view camera. 8. The method according to any one of claims 1-7, wherein the bottom of the mobile device further includes a cleaning brush, the cleaning brush being movably connected to the mobile device, the bottom of the cleaning brush including a second sensor, and after locating the step surface of the specific obstacle by the first sensor, the method further includes: obtaining third distance information between the cleaning brush and the specific obstacle by the second sensor, and controlling the cleaning brush to contact the step surface of the specific obstacle.9. A detection device, characterized in that it is applied to a mobile device, the mobile device being able to pass through a specific obstacle, the specific obstacle being a staircase with multiple steps, the bottom of the mobile device including at least one first sensor, the first sensor being tilted toward the front end of the mobile device so that the first sensor can emit a detection signal tilted toward the front end of the mobile device, the first sensor being used to acquire distance information of the obstacle, the device comprising: an acquisition module, used to acquire first distance information of the specific obstacle in the height direction using the first sensor during the mobile device moving downward along the specific obstacle; a detection module, used to determine the step surface of the specific obstacle using the first distance information, thereby determining the relative position of the mobile device and the specific obstacle. 10. A cleaning system, characterized in that it comprises: a cleaning device for performing a cleaning task; a mobile device for performing the method as described in any one of claims 1-8. 11. An electronic device, characterized in that it comprises: a memory, a processor; the memory storing computer execution instructions; the processor executing the computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-8. 12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method described in any one of claims 1-8. 13. A computer program product, characterized in that it includes a computer program, which, when executed by a processor, implements the method described in any one of claims 1-8. Claims 2 / 2 Page 3 CN 121587624 A Detection Method, Apparatus, Device, Storage Medium, Program Product and Cleaning System Technical Field

[0001] This application relates to the field of smart home technology, and in particular to a detection method, apparatus, device, storage medium, program product and cleaning system. Background Art

[0002] With the increasing diversification of residential apartment types, duplex, split-level, and staggered-level houses are becoming increasingly popular, and stairs have become a common structure connecting different floors. However, many devices are limited by their own mobility and cannot autonomously cross stair steps, resulting in their operating range usually being limited to a single-floor area. To address the aforementioned problems, a stair-climbing device has been provided in the related technology. This device can transport equipment across stair steps, thereby facilitating the transfer and operation of the transported equipment between different floors.

[0003] However, during the process of the stair-climbing device traversing a multi-step staircase, the device cannot sense the position of the step surface it is in contact with at its current posture when passing through each step. Summary of the Invention

[0004] This application provides a detection method, apparatus, device, storage medium, program product, and cleaning system to solve the problem that a stair-climbing device cannot sense the position of the step surface it contacts in its current posture when passing through each step surface of a staircase.

[0005] In a first aspect, this application provides a detection method applied to a mobile device capable of passing through a specific obstacle, the specific obstacle being a staircase with multiple steps. The bottom of the mobile device includes at least one first sensor, the first sensor being tilted toward the front end of the mobile device so that the first sensor can emit a detection signal tilted toward the front end of the mobile device. The first sensor is used to acquire distance information of the obstacle. The method includes:

[0006] During the process of the mobile device moving downward along the specific obstacle, acquiring first distance information of the specific obstacle in the height direction using the first sensor;

[0007] Determining the step surface of the specific obstacle using the first distance information, thereby determining the relative position of the mobile device and the specific obstacle.

[0008] During the process of the mobile device moving down a specific obstacle, the distance information of the step surface of the obstacle is obtained by the detection signal emitted by the first sensor that is tilted towards the front end of the mobile device. This allows the relative position of the mobile device and the specific obstacle to be determined when the mobile device passes through each step, thereby achieving accurate perception of the step surface and improving the terrain perception capability of the mobile device in complex stairwell environments.

[0009] In one possible implementation, determining the step surface of the specific obstacle through the first distance information, and then determining the relative position of the mobile device and the specific obstacle, includes:

[0010] When the first distance information generates a distance abrupt change, determining that the plane corresponding to the distance abrupt change is the step surface of the specific obstacle.

[0011] In one possible implementation, the first distance information generating a distance abrupt change includes:

[0012] Comparing the first distance information obtained by the first sensor at the current moment with the first distance information obtained by the first sensor at the previous moment (page 1 / 18 of the specification, CN 121587624 A), if the difference is greater than or equal to a preset threshold, then the first distance information generates the distance abrupt change.

[0013] In one possible implementation, the preset threshold is greater than the distance the first sensor descends from the previous moment to the current moment as the mobile device moves downward.

[0014] In one possible implementation, the mobile device is equipped with an obstacle recognition system. Before the mobile device acquires the first distance information of the specific obstacle in the height direction using the first sensor during its downward movement along the specific obstacle, the method further includes:

[0015] The obstacle recognition system is used to identify the type of the obstacle;

[0016] When the type of the obstacle is a specific obstacle, the mobile device is controlled to move onto the specific obstacle, and the first sensor is controlled to start working.

[0017] In one possible implementation, the specific obstacle refers to the obstacle used to connect the first working surface and the second working surface, and the method further includes:

[0018] During the movement of the mobile device on the first working surface or the second working surface, the first sensor is used to acquire second distance information of the first working surface or the second working surface in the height direction;

[0019] When the second distance information produces a distance abrupt change, the area above the plane corresponding to the distance abrupt change is determined to be a fall area, and the mobile device is controlled to stop or move away from the fall area.

[0020] In one possible implementation, the first sensor is one or more combinations of an infrared sensor, a line laser sensor, a time-of-flight (ToF) sensor, an ultrasonic sensor, a millimeter-wave radar, and a multi-view camera.

[0021] In one possible implementation, the bottom of the mobile device further includes a cleaning brush, the bottom of which includes a second sensor. After locating the step surface of the specific obstacle using the first sensor, the method further includes:

[0022] acquiring third distance information between the cleaning brush and the specific obstacle using the second sensor, and controlling the cleaning brush to contact the step surface of the specific obstacle.

[0023] In a second aspect, embodiments of this application provide a detection device applied to a mobile device capable of passing through a specific obstacle, the specific obstacle referring to a staircase with multiple steps. The bottom of the mobile device includes at least one first sensor, the first sensor being tilted toward the front end of the mobile device to enable the first sensor to emit a detection signal tilted toward the front end of the mobile device. The first sensor is used to acquire distance information of the obstacle. The device includes:

[0024] an acquisition module, used to acquire first distance information of the specific obstacle in the height direction using the first sensor during the process of the mobile device moving downward along the specific obstacle;

[0025] a detection module, used to determine the step surface of the specific obstacle using the first distance information, thereby determining the relative position of the mobile device and the specific obstacle.

[0026] In a third aspect, embodiments of this application provide a cleaning system, comprising:

[0027] a cleaning device for performing a cleaning task;

[0028] a stair-climbing device, the stair-climbing device being capable of combining with the cleaning device to form a combined assembly, and enabling the cleaning device to pass through specific obstacles.

[0029] Fourthly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0030] The memory stores computer execution instructions; Specification 2 / 18 pages 5 CN 121587624 A

[0031] The processor executes the computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0032] Fifthly, embodiments of this application provide a computer-readable storage medium storing computer execution instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect as described above.

[0033] Sixthly, embodiments of this application provide a computer program product, including a computer program, which, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect as described above.

[0034] The detection method, apparatus, device, storage medium, program product, and cleaning system provided in this application embodiment, when a mobile device moves along the specific obstacle, obtains the distance information of the step surface of the obstacle by transmitting a detection signal that is tilted towards the front end of the mobile device through a first sensor. This allows the determination of the relative position of the mobile device and the specific obstacle when the mobile device passes through each step, thereby achieving accurate perception of the step surface. The method of this application achieves accurate detection of the step surface during the process of going up and down stairs, improving the terrain perception capability of the mobile device in complex stairwell environments. Brief Description of the Drawings

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0036] Figure 1 is a top view of the assembly formed by combining the cleaning equipment and the stair-climbing device according to an embodiment of this application;

[0037] Figure 2 is a schematic diagram of the posture of the stair-climbing device according to an embodiment of this application;

[0038] Figure 3 is a schematic diagram of the posture of the stair-climbing device according to an embodiment of this application;

[0039] Figure 4 is a structural schematic diagram of the crawling mechanism according to an embodiment of this application;

[0040] Figure 5 is a schematic flowchart of the detection method according to an embodiment of this application;

[0041] Figure 6 is a schematic diagram of the detection signal of the first sensor according to an embodiment of this application;

[0042] Figure 7 is a schematic flowchart of the detection method according to an embodiment of this application;

[0043] Figure 8 is a schematic diagram of the detection signal of the first sensor according to an embodiment of this application;

[0044] Figure 9 is a schematic diagram of the detection signal of the first sensor according to an embodiment of this application;

[0045] Figure 10 is a schematic flowchart of the detection method according to an embodiment of this application;

[0046] Figure 11 is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application (fourth);

[0047] Figure 12 is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application (fifth);

[0048] Figure 13 is a schematic diagram of the bottom structure of the stair-climbing device provided in one embodiment of this application (fourth);

[0049] Figure 14 is a schematic diagram of the structure of the detection device provided in one embodiment of this application (fiveth);

[0050] Figure 15 is a schematic diagram of the structure of the electronic device provided in this application (fiveth).

[0051] Reference numerals:

[0052] 10-stair-climbing device; 10b-support mechanism; 100-support plate; 120-accommodation space;

[0053] 300-first crawling arm; 30a-front end; 30b-rear end;

[0054] 500-second crawling arm;

[0055] 20-cleaning equipment;

[0056] 40-specific obstacle. Specification 3 / 18 pages 6 CN 121587624 A

[0057] The above-described embodiments of the present application have been shown through the accompanying drawings, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by reference to specific embodiments. Detailed Description

[0058] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0059] The following example is a cleaning system in which a base station has a receiving space disposed on the side wall of the base station and near the bottom of the base station. One side of the receiving space has an opening that penetrates the wall of the base station in the width direction, and the other side of the receiving space extends into the interior of the base station in the width direction. It should be noted that the base station may also include conventional components found on existing base stations, such as energy systems, negative pressure suction systems, sewage tanks, and clean water tanks, which will not be described in detail here.

[0060] Figure 1 is a top view of a combination of a cleaning device 20 and a stair climbing device 10 provided in an embodiment of this application. To clearly show the structure of the combination, the housing parts such as the top cover of the stair climbing device 10 are not shown in the figure. This application provides a cleaning system, which includes a base station, a stair climbing device 10, and a cleaning device 20.

[0061] The stair climbing device 10 in the cleaning system can be applied to the stair-climbing control method of this application. It should be understood that the stair climbing device 10 in the following examples is only one example of a structure that can be applied to the method of this application, and the stair climbing device 10 in the embodiments of this application is only an example of a structure that can be applied to the method of this application.The system must include a crawling mechanism, which comprises a first crawling arm 300 and a second crawling arm 500. Along the forward direction perpendicular to the stair-climbing device 10, at least one set of the first crawling arms 300 is provided on each side of the stair-climbing device 10. Along the forward direction of the stair-climbing device 10, the first crawling arm 300 includes a front end 30a and a rear end 30b. At least one second crawling arm 500 is rotatably connected to the front end 30a and the rear end 30b, respectively. Other structures of the stair-climbing device 10 are not limited.

[0062] The cleaning device 20 is supported by the support plate 100 of the support mechanism 10b of the stair-climbing device 10, allowing the stair-climbing device 10 and the cleaning device 20 to combine and form a combined unit, enabling the cleaning device 20 to pass over specific obstacles 40. Therefore, the applicability and application scenarios of the cleaning device 20 can be expanded.

[0063] The cleaning device 20 described above can autonomously move and complete cleaning tasks on the working surface within the working area without external human input or control. The working area can include indoor and outdoor areas. Indoor areas may include family rooms, offices, shopping malls, factory workshops, etc. Outdoor areas may include lawns, gardens, roads, etc. Cleaning tasks may include sweeping (e.g., washing, mopping, sweeping, etc.), mowing lawns, snow removal, etc.

[0064] Taking a cleaning robot as an example, the above-mentioned cleaning equipment 20 includes, but is not limited to: sweeping robots, washing robots, sweeping and mopping robots, lawn mowing robots, snow removal robots, etc. The cleaning equipment 20 can clean by sweeping in front and mopping in the back or by sweeping and mopping separately. Among them, the sweeping in front and mopping in the back method can sweep and mop at the same time, which can improve cleaning efficiency. The sweeping and mopping separately method can sweep first and then mop after sweeping, which can improve the cleaning effect.

[0065] In order to perform its cleaning function, the cleaning equipment 20 includes at least a body, cleaning components, a sensor system and a controller. The cleaning components are installed on the body for cleaning the surface to be cleaned. Among them, the above-mentioned cleaning components may specifically include one or more of the following: side brushes, main brushes (or roller brushes), mop pads (or mop pads), etc.

[0066] The cleaning component described above can be circular, square, or other shapes (e.g., semi-circular, arc-shaped, triangular, etc.). The circular shape facilitates the rotating cleaning of the cleaning component. The irregular shape facilitates the cleaning of corner areas. The side brush can gather foreign objects and move them towards the center of the bottom of the cleaning device 20. The main brush can sweep up foreign objects from the bottom of the cleaning device 20, allowing them to enter the dust collection box through the suction port. The mop tray is used for wiping or mopping the floor.

[0067] To improve the cleaning effect of the cleaning device 20, the cleaning component typically has a wet cleaning function. Specifically, the above...A mop is provided on the mop tray. A water tank is provided on the cleaning device 20. Water in the water tank flows through the hole to the mop, wetting the mop. The wet mop is used for mopping the floor.

[0068] The main brush is provided in the main brush cavity at the bottom of the cleaning device 20. The main brush cavity is connected to the dust suction channel of the cleaning device 20. Small debris such as dust and hair swept up by the main brush and / or side brushes will be sucked into the cleaning device 20 through the main brush cavity.

[0069] Specifically, the shape of the above-mentioned body can be circular, square or other shapes. For example, part of the above-mentioned body can be circular and another part can be square.

[0070] The above-mentioned sensor system can be provided on the body. The sensor system can be, for example, an ultrasonic sensor, a monocular vision sensor, a binocular vision sensor, a line laser sensor, a surface laser sensor, a laser distance sensor (LDS), a direct time-of-flight (Dtof) sensor, or an indirect time-of-flight (Itof) sensor.

[0071] The above-mentioned controller may include a microcontroller unit (MCU). Of course, the above-mentioned controller may also include other devices capable of control functions.

[0072] In the embodiments of this application, the stair-climbing device 10 can be combined with the cleaning equipment 20 to form a combination, enabling the cleaning equipment 20 to pass under a specific obstacle 40. The specific obstacle 40 may be a staircase. The structural form of the stair-climbing device 10 is not limited, for example, it may be a tracked crawling structure.

[0073] When the stair-climbing device 10 is combined with the cleaning equipment 20, when facing a staircase, the tracked crawling structure can drive the cleaning equipment 20 to climb or cross the obstacle smoothly through the grip and support force of its tracks. The stair-climbing device 10 may also be a multi-wheeled crawling structure. After the cleaning equipment 20 is combined with the multi-wheeled crawling structure, it can pass smoothly on obstacles of different heights and shapes through the flexible adjustment and drive of the wheel set.

[0074] It should be noted that, under the condition of meeting the combination requirements between the cleaning equipment 20 and the stair-climbing device 10, in one embodiment, the cleaning equipment 20 can automatically walk to the position of the stair-climbing device 10 and automatically combine with the stair-climbing device 10 to form a combined body. In another embodiment, the cleaning equipment 20 can also achieve the combination with the stair-climbing device 10 to form a combined body through manual intervention or intervention of other assembly devices.

[0075] In order to improve the automation level of the cleaning system, optionally, in this embodiment, the cleaning equipment 20 can automatically walk to the position of the stair-climbing device 10 and automatically combine with the stair-climbing device 10. At the same time, the cleaning equipment 20 can also automatically separate from the stair-climbing device 10 through operation, so as to facilitate the cleaning equipment 20 to perform cleaning operations.

[0076] In one embodiment, the assembly can enter the receiving space 120 through the opening of the receiving space 120. In another embodiment, the assembly can exit the receiving space 120 through the opening of the receiving space 120. In this embodiment, the assembly can both enter and exit the receiving space 120 through the opening of the receiving space 120.

[0077] In this embodiment, since the cleaning system is equipped with a stair-climbing device 10, the stair-climbing device 10 can be combined with the cleaning equipment 20 to form an assembly, enabling the cleaning equipment 20 to pass through specific obstacles 40. Therefore, the applicability and application scenarios of the cleaning equipment 20 can be expanded.

[0078] Meanwhile, since the assembly can enter the receiving space 120 through the opening of the receiving space 120, when the cleaning equipment 20 returns to the base station after completing the cleaning task, the assembly will enter the receiving space 120 through the opening of the receiving space 120, thus completing the storage of the cleaning equipment 20 and the stair-climbing device 10 in the base station. In this way, there is no need to set up an additional storage space to store the stair-climbing device 10, thereby reducing the overall storage space of the cleaning system.

[0079] In addition, since the assembly can drive out of the receiving space 120 through the opening of the receiving space 120, when the cleaning equipment 20 needs to perform a cleaning task, the assembly can drive out of the receiving space 120 through the opening of the receiving space 120.

[0080] With this configuration, when the cleaning device 20 receives a cleaning task, it does not need to travel to another location to combine with the stair-climbing device 10. The cleaning device 20 and the stair-climbing device 10 can be quickly combined within the receiving space 120. Therefore, the response speed of the cleaning device 20 can be improved, which is beneficial for improving cleaning efficiency.

[0081] It should be noted that when the cleaning device 20 needs to perform a routine cleaning task, i.e., when there is no specific obstacle 40 on the path of the cleaning device 20, the cleaning device 20 can exit the receiving space 120 independently, while the stair-climbing device 10 remains within the receiving space 120. Under this condition, the cleaning device 20 can normally enter and exit the receiving space 120 and perform the cleaning task normally. At the same time, it can also avoid unnecessary exposure of the stair-climbing device 10, reducing its wear and tear and the risk of accidental damage.

[0082] In other embodiments, the stair-climbing device 10 may not be housed within the housing space 120 and may be freely placed in other areas outside the base station. The cleaning device 20 can form a combination with the stair-climbing device 10 in the placement area of ​​the stair-climbing device 10.

[0083] In one embodiment of this application, both the cleaning device 20 and the stair-climbing device 10 are equipped with sensor systems. The sensor systems can perceive the environment to achieve navigation of the walking path, that is, to enable the cleaning device 20 and the stair-climbing device 10 to move according to the path.Autonomous walking along a planned path. The sensor system can have various structural forms, such as one or more combinations of infrared sensors, line laser sensors, ToF sensors, ultrasonic sensors, millimeter-wave radar, and multi-view cameras. The sensor system can be set at any position on the cleaning equipment 20 and the stair climbing device 10, such as the bottom, side, and top, as long as it can meet the needs of environmental perception.

[0084] The stair climbing device 10 is also equipped with a walking control system, which is communicatively connected to the sensor system on the cleaning equipment 20 and / or the stair climbing device 10. The walking control system can include any system related to the walking control of the stair climbing device 10, such as a motor drive module, motion controller, displacement sensing system, etc. The walking control system can use the sensing signals generated by the sensor system to control the walking status of the stair climbing device 10, such as walking direction, walking distance, and walking speed. The combination can achieve autonomous walking function through the coordinated action of the sensor system and the walking control system of the stair climbing device 10.

[0085] The combination can achieve autonomous walking function through the coordinated action of the sensor system and the walking control system. Specifically, when the cleaning equipment 20 and the stair-climbing device 10 form a combination, the sensor system of the cleaning equipment 20 can cooperate with the sensor system of the stair-climbing device 10 and communicate with the walking control system. In this way, the sensors of the cleaning equipment 20 and the stair-climbing device 10 can be fully utilized to improve the accuracy of environmental recognition. When the cleaning equipment 20 and the stair-climbing device 10 form a combination, the sensor system of the cleaning equipment 20 may not cooperate with the sensor system of the stair-climbing device 10. Only the sensor system of the stair-climbing device 10 is communicated with the walking control system. In this way, the energy consumption of the cleaning equipment 20 can be reduced, thereby increasing the service life of the cleaning equipment 20 in subsequent work.

[0086] In one embodiment of this application, the stair-climbing device 10 includes a support mechanism 10b and a crawling mechanism. The support mechanism 10b is disposed on the crawling mechanism and is used to support the cleaning equipment 20. The crawling mechanism is used to walk on the working surface. The structure of the crawling mechanism can be a tracked crawling mechanism, a multi-wheeled crawling mechanism, etc. The position of the crawling mechanism relative to the support mechanism 10b is not limited. For example, it can be set on both sides of the support mechanism 10b or below the support mechanism 10b. The number of crawling mechanisms is also not limited. For example, there can be two sets or one set, as long as the cleaning device 20 can pass under the specific obstacle 40. Specification 6 / 18 pages 9 CN 121587624 A

[0087] In this embodiment, by separating the support mechanism 10b and the crawling mechanism, the segmented functional design of the crawling mechanism can be realized. This design allows the support mechanism 10b and the crawling mechanism to be independently designed according to their respective functional requirements.Design and optimization. The support mechanism 10b can focus on providing stable support to ensure that the cleaning device 20 does not tip over or shake when crossing complex terrain or obstacles. The crawling mechanism can focus on achieving efficient walking and obstacle crossing capabilities, enabling the assembly to easily cope with various complex terrains. This independent design approach can improve the design flexibility of the product, allowing it to better meet the usage needs in different scenarios.

[0088] Referring to Figure 1, in one embodiment of this application, the cleaning device 20 is placed on the support mechanism 10b of the stair climbing device 10. Along the forward direction perpendicular to the stair climbing device 10, at least one set of first crawling arms 300 is provided on both sides of the crawling mechanism. The crawling mechanism includes a first crawling arm 300 and a second crawling arm 500. With reference to the support structure, along the forward direction perpendicular to the stair climbing device 10, the support structure is provided with a first side and a second side, and at least one set of first crawling arms 300 is provided on the first side and the second side, respectively. Along the forward direction of the stair-climbing device 10, the first crawling arm 300 includes a front end 30a and a rear end 30b, and the second crawling arm 500 is rotatably connected to at least one of the front end 30a and the rear end 30b respectively. For example, one set of crawling mechanisms is provided on the first side and another set is provided on the second side, and the support mechanism 10b is provided between the two sets of crawling mechanisms.

[0089] As an example, the two sets of crawling mechanisms can also be spaced apart at the bottom of the support mechanism 10b.

[0090] Optionally, in this embodiment, the two sets of crawling mechanisms are respectively provided on the first side and the second side of the support mechanism 10b, which can increase the spacing between the two sets of crawling mechanisms, thereby facilitating a better stable support for the support mechanism 10b.

[0091] In this embodiment, by providing the support mechanism 10b between the two sets of crawling mechanisms, the crawling mechanisms on both sides can provide a relatively stable and reliable support for the support mechanism 10b, thereby improving the support stability of the support mechanism 10b for the cleaning equipment 20. This configuration structure can improve the stability of the assembly when passing over a specific obstacle 40, and reduce the risk of the cleaning equipment 20 tilting or shaking.

[0092] In one embodiment of this application, the crawling mechanism includes a first crawling arm 300 and a second crawling arm 500, with the second crawling arm 500 rotatably connected to one end of the first crawling arm 300 along its length. The rotatable connection between the first crawling arm 300 and the second crawling arm 500 is not limited; for example, it can be rotatably connected through a shaft hole fit, or it can be rotatably connected through a slewing bearing, etc. The specific rotatable connection method needs to be determined according to the specific structure between the second crawling arm 500 and the first crawling arm 300. By setting the first crawling arm 300 and the second crawling arm 500, and rotatably connecting the second crawling arm 500 to one end of the first crawling arm 300 along its length, this configuration allows the crawling mechanism to better adapt to various complex terrains. For example, as shown in Figure 2, whenWhen encountering a specific obstacle 40 including multiple steps, the second crawling arm 500 can rotate to adjust its angle and work in conjunction with the first crawling arm 300 to provide stronger obstacle-crossing capability.

[0093] Referring to FIG1, in one embodiment of this application, two second crawling arms 500 are provided, one of which is rotatably connected to the front end 30a of the first crawling arm 300, and the other is rotatably connected to the rear end 30b of the first crawling arm 300. The two second crawling arms 500 can be symmetrically arranged at the front end 30a and the rear end 30b of the first crawling arm 300, or they can be asymmetrically arranged.

[0094] Optionally, in this embodiment, two second crawling arms 500 are symmetrically arranged at the front end 30a and rear end 30b of the first crawling arm 300, and along the width direction of the support mechanism 10b, both second crawling arms 500 are arranged on the side of the first crawling arm 300 away from the support mechanism 10b, that is, on the outside of the first crawling arm 300. With this arrangement, the two second crawling arms 500 can provide a more uniform support force at both ends of the first crawling arm 300, making the operation of the stair climbing device 10 more stable.

[0095] As shown in Figures 3 and 4, by rotatably connecting a second crawling arm 500 to each end of the first crawling arm 300, the two second crawling arms 500 provide double-point support at both ends of the length direction of the first crawling arm 300 during operation. Compared with the single-point support of a single second crawling arm 500, the double-point support can significantly improve the stability of the crawling mechanism in passing over a specific obstacle 40 (stairs).

[0096] In one embodiment of this application, the first crawling arm 300 includes a first track, and the first crawling arm 300 achieves crawling action through the contact between the first track and the working surface. The second crawling arm 500 includes a second track, and the second crawling arm achieves crawling action through the contact between the second track and the working surface.

[0097] The first track and the second track can have the same width and length, or they can have different widths and lengths, which need to be determined according to the structural dimensions of the first crawling arm 300 and the second crawling arm 500. In one embodiment, the first track and the second track can be driven by independent motors. In another embodiment, the first track and the second track can also work together through a synchronous drive system, that is, the first track and the second track are driven synchronously by a single motor. This design can ensure that the first track and the second track can always maintain a consistent speed and direction during movement, improving the stability of the crawling mechanism.

[0098] Because the contact area between the track and the working surface is large, both the first track and the second track can obtain a large support contact area when they contact the working surface, thereby enabling the climbing device 10 to have a large support contact area during the climbing process.Better operational stability. Compared with wheeled crawling structures, tracked crawling structures can better distribute pressure on uneven working surfaces, reducing the risk of slippage or overturning, thus ensuring stable operation in complex environments. In addition, the continuous movement of the first and second tracks can maintain stable power output, avoiding power interruption or sudden speed changes, enabling the stair climbing device 10 to complete the passage task more efficiently and improve passage efficiency.

[0099] In one embodiment of this application, the support plate of the support mechanism 10b of the stair climbing device 10 is equipped with a cleaning component system for cleaning.

[0100] In one embodiment, the cleaning component system is a vacuuming system. When the stair climbing device 10 drives the cleaning equipment 20 to move along a specific obstacle 40, the vacuuming system can vacuum and clean the surface of the specific obstacle 40 to be cleaned. The surface of the specific obstacle 40 to be cleaned can be the side of a staircase, the surface of a step, etc. It should be noted that the vacuuming system can include various specifications and models. Different specifications and models of vacuuming systems can be selected according to the different shapes and positions of the surface to be cleaned of the specific obstacle 40.

[0101] The vacuuming system can include a vacuum fan and a dust box. The dust box has an exhaust port and a dust inlet. The exhaust port is equipped with a filter. The air inlet of the vacuum fan can be connected to the exhaust port. The dust inlet is connected to the suction port. The vacuuming system is controlled to work so as to vacuum the surface of the specific obstacle 40. The operation of the vacuuming system can effectively remove dust, debris and small particles in the surrounding area.

[0102] For example, the vacuum fan is located in the cleaning device 20. The air inlet of the vacuum fan is connected to the roller brush chamber. The dust box is located in the stair climbing device 10, and the dust inlet is connected to the suction port. When the stair climbing device 10 and the cleaning device 20 are combined to form a mobile device, the roller brush chamber of the cleaning device 20 is connected to the exhaust port. By activating the vacuum cleaner fan of the cleaning device 20, dust is sucked into the dust collection box of the stair-climbing device 10 to clean the surface of the specific obstacle 40.

[0103] Exemplarily, both the vacuum cleaner fan and the dust box are located inside the cleaning device 20, and the dust inlet is connected to the roller brush chamber. When the stair-climbing device 10 and the cleaning device 20 are combined to form a mobile device, the roller brush chamber of the cleaning device 20 is connected to the vacuum system. By activating the vacuum cleaner fan of the cleaning device 20, dust is sucked into the dust collection box of the cleaning device 20 to clean the surface of the specific obstacle 40.

[0104] In another embodiment, the cleaning system is a wet cleaning system. The wet cleaning system includes a robotic arm and a wet cleaning component. One end of the robotic arm is a mounting end, and the other end is a free end. The mounting end is fixed to the mobile device, and the wet cleaning component is mounted on the free end. When the stair-climbing device 10 drives the cleaning equipment 20 to move along the specific obstacle 40, it can clean the specific obstacle 40.The surface to be cleaned is wiped clean. The wet cleaning component can be a flat cloth structure, a cloth tray structure, etc., and this embodiment is not limited to this. It should be noted that the wet cleaning component can also include various specifications and models. According to the different shapes and positions of the surface to be cleaned of the specific obstacle 40, different specifications and models of wiping components can be selected.

[0105] In one embodiment of this application, the dust collection system of the stair climbing device 10 also includes a dust full detection unit. For example, the dust full detection unit includes a wind speed sensor installed in the air duct of the dust box inlet and outlet, and the dust full detection is achieved by monitoring the wind speed through the wind speed sensor. For example, the dust full detection unit includes a sensor system deployed on both sides of the dust box, and the dust full detection is achieved by monitoring dust blockage through the sensor system. This embodiment does not limit the structure of the dust full detection unit.

[0106] When the stair climbing device 10 drives the cleaning device 20 to move along the specific obstacle 40, the cleaning component system can clean the surface to be cleaned of the specific obstacle 40. Therefore, this design not only enriches the function of the stair climbing device 10, making it applicable to more application scenarios, but also flexibly selects different cleaning component systems according to different cleaning tasks and environments, thereby better meeting the cleaning requirements of different surfaces to be cleaned and ensuring better cleaning results.

[0107] In related technologies, when the stair climbing device passes through a multi-step staircase, it cannot sense the position of the step surface it is in contact with in its current posture when it passes through each step surface of the staircase.

[0108] To this end, this application provides a detection method applied to a mobile device, which can be the above-mentioned cleaning device, climbing device, or combination. To clearly illustrate the detection method of this application embodiment, the following embodiment uses a mobile device as a combination and the detection method applied to the controller of the combination as an example.

[0109] Figure 5 is a flowchart of a detection method provided in an embodiment of this application. Please refer to Figure 5, the detection method includes:

[0110] S501, when the mobile device moves down along a specific obstacle, it uses a first sensor to obtain the first distance information of the specific obstacle in the height direction.

[0111] The specific obstacle refers to a staircase with multiple steps.

[0112] The first sensor is a sensor tilted to the bottom surface of the stair-climbing device. The first sensor is tilted towards the front end of the mobile device so that it can emit a detection signal tilted towards the front end of the mobile device. The first sensor is used to acquire distance information of the obstacle. The first distance information is the distance information of a specific obstacle in the height direction acquired by the first sensor.

[0113] In one embodiment, after the cleaning device is combined with the stair-climbing device to form a combination, the controller can control the combination to move the cleaning device by the stair-climbing device crawling on a specific obstacle. Exemplarily, the controller can...The position of the stair-climbing device is adjusted so that the assembly moves along the surface of a specific obstacle in an inclined posture. Referring to Figure 3, the crawling mechanism of the stair-climbing device is flattened, and the stair-climbing device is in an inclined posture, so that the entire crawling mechanism is parallel to the plane formed by the corners of multiple steps of the specific obstacle. The crawling mechanism contacts the corners of the steps of the specific obstacle, which can realize the stable movement of the crawling mechanism on the specific obstacle.

[0114] In the above embodiment, the stair-climbing device is in an inclined posture, and the first sensor emits a detection signal tilted towards the front end of the mobile device, which can cover the step surface area near the stair-climbing device. Compared with the blind spot of the vertically set sensor in the inclined posture of the stair-climbing device, the first sensor can detect the first distance information of the step surface of the specific obstacle in the height direction.

[0115] For example, when there are multiple first sensors, the controller can acquire the distance information collected by multiple first sensors to obtain the first distance information of the specific obstacle in the height direction. For example, the controller can acquire distance information collected by each of the multiple first sensors and determine it as the first distance information; for example, the controller can acquire distance information collected by any one of the multiple first sensors and determine it as the first distance information; or for example, the controller can acquire distance information collected by multiple first sensors and acquire the average of the distance information collected by multiple first sensors and determine it as the first distance information.

[0116] For example, the controller can acquire the first distance information of a specific obstacle in the height direction based on a fixed time interval. For example, the controller can acquire the first distance information once every 2 seconds. For example, the controller can acquire the first distance information of a specific obstacle in the height direction based on fixed movement distance information, for example, acquiring the first distance information once every 3 centimeters when the stair climbing device moves. In other examples, the controller can also acquire the first distance information of a specific obstacle in the height direction in real time.

[0117] S502, determine the step surface of the specific obstacle through the first distance information, and then determine the relative position of the mobile device and the specific obstacle.

[0118] Figure 6 is a schematic diagram of the detection signal of the first sensor provided in one embodiment of this application. Taking the first sensor located near the rear end of the bottom of the stair-climbing device as an example, please refer to Figure 6. The stair-climbing device is in an inclined posture. The rectangle on the step surface in the figure is a schematic diagram of the climbing device. The first sensor is tilted towards the front end of the mobile device and emits a detection signal, which can detect the first distance information of the step surface below the first sensor in the height direction.

[0119] When the stair-climbing device passes through each step surface, the first sensor passes through the edge of the step surface of a specific obstacle, and the first distance information detected by it changes from the distance information of any step surface in the height direction to that of its adjacent step surface.Distance information of a step surface in the height direction. For example, when the stair-climbing device is climbing upwards, the first distance information detected by the first sensor changes from the distance of any step surface in the height direction to the distance information of the next step surface above that step surface in the height direction. As another example, when the stair-climbing device is going downhill, the first distance information detected by the first sensor changes from the distance of any step surface in the height direction to the distance information of the next step surface below that step surface in the height direction.

[0120] Therefore, when the stair-climbing device drives the first sensor through the edge of the step surface, i.e., the corner of the step, the first distance information detected by it will undergo a distance change. Based on this distance change, it can be determined that the plane currently measured by the first sensor is a step surface of a specific obstacle and is within the measurement range of the current first downward-looking sensor. Based on the multiple distance changes that occur in the first distance information during the process of the stair-climbing device passing through a specific obstacle, the positions of multiple step surfaces of the specific obstacle can be determined sequentially.

[0121] The above detection method, during the process of the mobile device moving down along a specific obstacle, obtains the distance information of the step surface of the obstacle by transmitting a detection signal that is tilted towards the front end of the mobile device through the first sensor, and can determine the relative position of the mobile device and the specific obstacle when the mobile device passes through each step, thereby achieving accurate perception of the step surface. The method of this application realizes accurate detection of the step surface during the process of going up and down stairs, and improves the terrain perception capability of the mobile device in complex stairwell environments.

[0122] In one embodiment of this application, the controller can, for example, determine that the plane corresponding to the distance change is the step surface of the specific obstacle when the first distance information produces a distance change.

[0123] Wherein, the distance change refers to the difference between the first distance information detected at two time points exceeding a preset threshold.

[0124] Figure 7 is a flowchart of the detection method provided in one embodiment of this application. Referring to Figure 7, it may include:

[0125] S701, obtaining the first distance information collected by the first sensor.

[0126] S702, determining whether the first distance information produces a distance change.

[0127] If yes, then execute S703;

[0128] If no, then execute S701. Specification 10 / 18 pages 13 CN 121587624 A

[0129] The following describes whether a distance information abruptly changes. Figure 8 is a schematic diagram of the detection signal of the first sensor provided in an embodiment of this application. Figure 9 is a schematic diagram of the detection signal of the first sensor provided in an embodiment of this application.

[0130] As shown in Figures 8 and 9, the combination of the stair climbing device and the cleaning equipment is positioned at an angle on the surface of a specific obstacle. The first sensor is located at its rear end. The first sensor can detect the distance information of the step surface below the first sensor.Please refer to Figure 8. When the first sensor is located above step surface A, the first distance information it detects is the distance information of step surface A. Please refer to Figure 9. When the first sensor is located below step surface A, the first distance information it detects is the first distance information of step surface B, the next layer below step surface A.

[0131] The stair-climbing device moves the first sensor from the position shown in Figure 8 to the position shown in Figure 9, indicating that the first distance information has a distance mutation.

[0132] Optionally, when there are multiple first sensors, the controller can acquire the distance information collected by multiple first sensors. Based on the distance information collected by multiple first sensors, it is determined whether the first distance information has a distance mutation. For example, the controller can acquire the distance information collected by each of the multiple first sensors and determine it as the first distance information; if all the distance information in the first distance information has a distance mutation, it is determined that the first distance information has a distance mutation. For another example, if more than half of the distance information in the first distance information has a distance mutation, it is determined that the first distance information has a distance mutation.

[0133] For example, the controller can acquire distance information collected by any one of the multiple first sensors and determine it as the first distance information to determine whether the first distance information has a distance mutation. For another example, the controller can acquire distance information collected by multiple first sensors and acquire the average value of the distance information collected by multiple first sensors, determine it as the first distance information, and determine whether a distance mutation has occurred based on the first distance information.

[0134] S703, determine that the plane corresponding to the distance mutation is the step surface of a specific obstacle.

[0135] When a distance mutation occurs, the step surface corresponding to the first distance information is the step surface measured by the current first sensor.

[0136] Please refer to Figures 8 and 9. In the case of a current distance mutation, the first distance information acquired by the first sensor is the distance information of step surface B in the height direction, and the plane corresponding to the distance mutation is the step surface B of a specific obstacle.

[0137] The detection method in the above embodiment determines the relative position of the mobile device and the specific obstacle by the distance mutation in the first distance information collected by the first sensor, realizes the accurate perception of the position of each step, and improves the perception ability of the mobile device in going up and down stairs.

[0138] In one embodiment of this application, a specific obstacle is used to connect the first working surface and the second working surface, wherein the first working surface is lower than the second working surface in the height direction.

[0139] In one embodiment, when the assembly moves from the second working surface to the first working surface, the controller can acquire the first distance information collected by the first sensor to determine the relative position of each step surface and the mobile device during the descent of the stairs.

[0140] Figure 10 is a schematic flowchart of a detection method provided in one embodiment of this application. Referring to Figure 10, it may include:

[0141] S1001. Obtain the first detection distance information collected by the first sensor.

[0142] In one embodiment, the mobile device can periodically collect the first detection distance information based on a preset interval.

[0143] In another embodiment, the mobile device can acquire the first detection distance information collected by the first sensor once every preset distance during the movement of the mobile device.

[0144] In other embodiments, the mobile device can also collect the first distance information in real time.

[0145] S1002. Determine whether the difference between the first distance information acquired at the current moment and the first distance information acquired by the first sensor at the previous moment exceeds a preset threshold.

[0146] If yes, then execute S1003;

[0147] If no, then execute S1001.

[0148] The preset threshold is a distance difference threshold. For example, during the downward movement of the mobile device, the preset threshold is greater than the distance the first sensor has decreased from the previous moment to the current moment as the mobile device moves downward.

[0149] The controller can compare the first distance information acquired by the first sensor at the current moment with the first distance information acquired by the first sensor at the previous moment. If the difference is greater than or equal to a preset threshold, the first distance information will generate a distance mutation.

[0150] The following describes whether the first distance information generates a distance mutation with reference to FIG11. FIG11 is a schematic diagram of the detection signal of the first sensor provided in an embodiment of this application. Referring to FIG11, the stair climbing device moves from the first step surface to the extension direction of the second step surface.

[0151] Taking the stair climbing device driving the cleaning equipment to descend z0 in the height direction as an example, if the first distance information acquired at the current moment is z1 and the first distance information acquired by the first sensor at the previous moment is z2, the difference between the first distance information z1 acquired at the current moment and the first distance information z2 acquired by the first sensor at the previous moment exceeds the preset threshold, and the distance information collected by the first sensor generates a distance mutation. Wherein, the preset distance is greater than z0.

[0152] S1003, determine that the plane corresponding to the distance mutation is the step surface of a specific obstacle.

[0153] If the difference between the first distance information acquired at the current moment and the first distance information acquired by the first sensor at the previous moment exceeds a preset threshold, it indicates that the first sensor has detected the next step surface, and it can be determined that the plane corresponding to the distance change is the step surface of a specific obstacle. Please refer to Figure 11. When the first distance information produces a distance change, the detected plane is the second step surface.

[0154] The detection method in the above embodiment, for the scenario of a mobile device going downstairs, uses a distance threshold to determine whether the first distance information detected by the first sensor produces a distance change, and further determines that the plane corresponding to the distance change is a specific obstacle.The step surface of the obstacle enables accurate perception of each step surface of a specific obstacle during the process of the mobile device going downstairs. Since the preset threshold is greater than the distance that the first sensor descends from the previous moment to the current moment as the mobile device moves down, the measurement error caused by the movement distance of the mobile device itself can be avoided, thus improving the reliability of the perception of the step surface.

[0155] In another embodiment, when the assembly moves from the second working surface to the first working surface, the controller can acquire the first distance information collected by the first sensor to determine the relative position of each step surface and the mobile device during the process of the climbing device going downstairs.

[0156] In this way, referring to the steps shown in FIG10, in S1002, the preset threshold is greater than the distance that the first sensor rises from the previous moment to the current moment as the mobile device moves up. The controller can compare the first distance information acquired by the first sensor at the current moment with the first distance information acquired by the first sensor at the previous moment. If the difference is greater than or equal to the preset threshold, the first distance information will generate a distance change.

[0157] The following describes whether the distance information generates a distance change with reference to FIG12. FIG12 is a schematic diagram of the detection signal of the first sensor provided in an embodiment of this application. Please refer to Figure 12. The stair-climbing device moves from the second step surface towards the extension direction of the first step surface.

[0158] Taking the stair-climbing device driving the cleaning equipment to rise z3 in the height direction as an example, if the first distance information obtained at the current moment is z4 and the first distance information obtained by the first sensor at the previous moment is z5, the difference between the first distance information z4 obtained at the current moment and the first distance information z5 obtained by the first sensor at the previous moment exceeds a preset threshold, and the distance information collected by the first sensor undergoes a distance mutation. Among them, the preset distance is a negative number, and the absolute value of the preset distance is greater than z0.

[0159] In S1003, during the upward movement of the mobile device, it is determined that the plane corresponding to the distance mutation is the step surface of a specific obstacle. If the difference between the first distance information obtained at the current moment and the first distance information obtained by the first sensor at the previous moment exceeds the preset threshold, it indicates that the first sensor has detected another step surface, and it can be determined that the plane corresponding to the distance mutation is the step surface of a specific obstacle. Please refer to Figure 12. When the first distance information generates a distance abrupt change, the detected plane is the first step surface.

[0160] The detection method in the above embodiment, for the scenario of mobile devices going up and down stairs, uses a distance threshold to determine whether the first distance information detected by the first sensor generates a distance abrupt change, and further determines that the plane corresponding to the distance abrupt change is the step surface of a specific obstacle, so as to achieve accurate perception of each step surface of a specific obstacle during the process of mobile devices going up and down stairs.Since the preset threshold is greater than the distance the first sensor rises as the mobile device moves upward from the previous moment to the current moment, measurement errors caused by the mobile device's own movement distance can be avoided, thus improving the reliability of sensing the step surface.

[0161] In one embodiment of this application, the controller can also use the first sensor to acquire second distance information of the first working surface or the second working surface in the height direction during the process of the mobile device moving on the first working surface or the second working surface; when the second distance information generates a distance change, it is determined that the area above the plane corresponding to the distance change is a fall zone, and the mobile device is controlled to stop or move away from the fall zone.

[0162] The second distance information is the distance information of the first working surface or the second working surface in the height direction measured by the first sensor.

[0163] The controller can monitor the height change of the first working surface or the second working surface through the first sensor. During the process of the mobile device moving on the first working surface and / or the second working surface, when a distance change is detected, it indicates that the area above the plane corresponding to the distance change is a fall zone, that is, there is a cliff on the first working surface and / or the second working surface. To avoid falling, the mobile device can be controlled to stop or move away from the fall zone. For example, the mobile device can be controlled to stop, turn, or detour.

[0164] The detection method in the above embodiments generates a distance mutation through the distance information collected by the first sensor, monitors the change in ground height, and controls the mobile device to stop or move away from the fall area, so as to avoid the mobile device falling on the plane and improve the driving safety of the mobile device during movement on the plane.

[0165] In one embodiment of this application, the controller can also control the movement of the mobile device according to the distance mutation in the distance information collected by the third sensor during the movement of the mobile device on the first working surface and / or the second working surface.

[0166] Wherein, the third sensor can emit a detection signal perpendicular to the bottom surface of the mobile device to detect the distance information of the first working surface and / or the second working surface.

[0167] In one embodiment, the controller can monitor the change in the height of the plane in the direction perpendicular to the bottom of the support plate through the third sensor. During the movement on the first working surface and / or the second working surface, when the distance information acquired by the third sensor generates a distance mutation, it indicates that the area above the plane corresponding to the distance mutation is the fall area. In order to avoid falling, the mobile device can be controlled to stop or move away from the fall area. For example, the mobile device can be controlled to stop moving and / or move around.

[0168] The detection method in the above embodiment monitors the change in ground height by collecting distance information from the third sensor and controlling the movement of the mobile device to avoid the mobile device falling on the plane and improve the safety of the mobile device during the movement of the mobile device on the plane.

[0169] In one embodiment of this application, before locating the step surface of a specific obstacle using the first sensor, the controller may adjust the pose of the mobile device based on the distance change generated by the distance information acquired by the third sensor during the movement of the mobile device on the first working surface and / or the second working surface, so that the mobile device contacts the surface of the specific obstacle, and control the first sensor to collect distance information.

[0170] For example, the controller may control the mobile device to perform a downstairs action to pass through a specific obstacle. For example, the controller may detect a distance change at a position close to the specific obstacle on the second working plane using the third sensor, adjust the pose of the mobile device so that the mobile device contacts the surface of the specific obstacle, perform the downstairs action, and control the first sensor to collect information so that the step surface of the specific obstacle can be detected by the first sensor when the mobile device moves along the specific obstacle.

[0171] In one embodiment of this application, the mobile device is equipped with an obstacle recognition system. Before the mobile device acquires the first distance information of the specific obstacle in the height direction using the first sensor while moving downwards along a specific obstacle, the controller can also use the obstacle recognition system to identify the type of the obstacle. When the type of the obstacle is a specific obstacle, the controller controls the mobile device to move onto the specific obstacle and controls the first sensor to start working.

[0172] In one embodiment of this application, the obstacle recognition system may include any sensor or combination of sensors that can identify the type of obstacle. For example, the obstacle recognition system may be one or more combinations of an AI camera, a line laser sensor, a ToF sensor, an ultrasonic sensor, and a multi-view camera.

[0173] Exemplarily, the type of obstacle is a category obtained based on the outline of the obstacle. For example, the type of obstacle may be a category of the obstacle's volume. For example, based on the outline of the identified obstacle, the volume of the obstacle is predicted, and the category is determined based on the size of the volume to obtain the type of obstacle. Another example is that the type of obstacle may be the category of the object to which the obstacle belongs. For example, based on the outline of the identified obstacle, the obstacle is predicted to be a staircase, a pillar, etc., to obtain the type of obstacle.

[0174] In one embodiment, the obstacle recognition system includes a visual sensor. The controller can capture video images through the visual sensor and identify the type of obstacle using image processing technology and machine learning algorithms. In another embodiment, the obstacle recognition system includes a line laser sensor. The controller can scan and obtain object contour information through the line laser sensor, construct three-dimensional geometric data, and identify the type of obstacle.

[0175] In one embodiment, the stair-climbing device is equipped with an obstacle recognition system, and multiple first sensors and third sensors are arranged at the bottom of the stair-climbing device. Figure 13 is a schematic diagram of the bottom structure of the stair-climbing device provided in one embodiment of this application.Referring to the sensor system at the bottom of the stair-climbing device shown in Figure 13, a third sensor is provided on both sides of the front end and both sides of the rear end of the stair-climbing device, and a first sensor is also provided on both sides of the rear end.

[0176] During the movement of the stair-climbing device on the second working surface, the controller can use the obstacle recognition system to identify the type of obstacle. When the type of obstacle is a specific obstacle, the controller can drive the stair-climbing device to move in the direction of the specific obstacle.

[0177] Further, the controller can control the stair-climbing device to move to a position close to the specific obstacle on the second working surface based on the distance information obtained by the third sensor, control the stair-climbing device to perform the downstairs action, and activate the first sensor to obtain the first distance information of the specific obstacle in the height direction. When the first distance information produces a distance change, the plane corresponding to the distance change is determined to be the step surface of the specific obstacle.

[0178] When it is determined that the plane corresponding to the distance change is the step surface of the specific obstacle, the controller can also control the climbing device to reduce its speed and control the vacuuming component to clean the step surface.

[0179] The detection method in the above embodiments identifies the type of obstacle through an obstacle recognition system, and uses a third sensor to emit a detection signal in a direction perpendicular to the bottom of the mobile device to monitor changes in ground height. It also uses a first sensor to emit a detection signal tilted towards the front of the mobile device to obtain distance information about the step surface of the obstacle, thereby determining the relative position of the mobile device and the specific obstacle when the mobile device passes each step. The obstacle recognition system enables the identification of specific obstacles, and the coordinated action of the first and third sensors enables the switching from planar movement to stair movement. The detection method in this embodiment, through sensor monitoring, achieves the identification of obstacles, fall zones, and accurate identification of step surfaces during the ascent and descent process, thereby improving the comprehensive perception capability of the mobile device in complex terrain.

[0180] In one embodiment of this application, the bottom of the mobile device also includes a cleaning brush, which is movably connected to the mobile device. The bottom of the cleaning brush includes a second sensor. After detecting the step surface of a specific obstacle through the first sensor, the controller can also obtain third distance information between the cleaning brush and the specific obstacle through the second sensor, and control the cleaning brush to contact the step surface of the specific obstacle.

[0181] The detection method in the above embodiment, after detecting the step surface of a specific obstacle through the first sensor, obtains third distance information between the cleaning brush and the specific obstacle through the second sensor, and controls the cleaning brush to contact the step surface of the specific obstacle, enables the mobile device to stably cross multiple steps and accurately clean the step surface based on the cleaning brush, ensuring that the cleaning brush accurately fits the step surface and improves cleaning efficiency.

[0182] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise expressly stated herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0183] Based on the same inventive concept, the embodiments of this application also provide a detection device for implementing the detection method involved above. The solution to the problem provided by the detection device is similar to the implementation solution described in the detection method above. Therefore, the specific limitations of one or more device embodiments provided below can be found in the limitations of the detection method above, and will not be repeated here.

[0184] Figure 14 is a schematic diagram of the structure of a detection device provided in an embodiment of this application. As shown in Figure 14, a detection device 1400 is provided, applied to a mobile device. The mobile device can pass through a specific obstacle, the specific obstacle being a staircase with multiple steps. The bottom of the mobile device includes at least one first sensor, which is tilted toward the front end of the mobile device so that it can emit a detection signal tilted toward the front end of the mobile device. The first sensor is used to acquire distance information of the obstacle.

[0185] The detection device 1400 includes: an acquisition module 1401 and a detection module 1402. Optionally, the detection device may also include an identification module and a cleaning module.

[0186] The acquisition module 1401 is used to acquire first distance information of the specific obstacle in the height direction using the first sensor as the mobile device moves downward along the specific obstacle.

[0187] The detection module 1402 is used to determine the step surface of the specific obstacle through the first distance information, thereby determining the relative position of the mobile device and the specific obstacle.

[0188] In some optional embodiments, the detection module 1402 is specifically used for:

[0189] When a distance abrupt change occurs in the first distance information, determining that the plane corresponding to the distance abrupt change is the step surface of the specific obstacle specification page 15 / 18, CN 121587624 A.

[0190] In some optional embodiments, the detection module 1402 is specifically used for:

[0191] Comparing the first distance information acquired by the first sensor at the current moment with the first distance information acquired by the first sensor at the previous moment; if the difference is greater than or equal to a preset threshold, then a distance abrupt change occurs in the first distance information.

[0192] In some optional embodiments, the preset threshold is greater than the distance the first sensor descends from the previous moment to the current moment as the mobile device moves downward.

[0193] In some optional embodiments, the mobile device is equipped with an obstacle recognition system. Before the first sensor acquires the first distance information of the specific obstacle in the height direction while the mobile device is moving downward along a specific obstacle, the recognition module is specifically used to:

[0194] Identify the type of obstacle using the obstacle recognition system;

[0195] When the type of obstacle is a specific obstacle, control the mobile device to move onto the specific obstacle and control the first sensor to start working.

[0196] In some optional embodiments, the specific obstacle refers to the obstacle used to connect the first working surface and the second working surface. The detection module 1402 is also used to:

[0197] While the mobile device is moving on the first working surface or the second working surface, acquire the second distance information of the first working surface or the second working surface in the height direction using the first sensor;

[0198] When the second distance information produces a distance abrupt change, determine that the area above the plane corresponding to the distance abrupt change is the fall area, and control the mobile device to stop or move away from the fall area.

[0199] In some optional embodiments, the first sensor is one or more combinations of an infrared sensor, a line laser sensor, a ToF sensor, an ultrasonic sensor, a millimeter-wave radar, and a multi-view camera.

[0200] In some optional embodiments, the bottom of the mobile device also includes a cleaning brush, the bottom of which includes a second sensor. After locating the step surface of a specific obstacle through the first sensor, the cleaning module is specifically used to:

[0201] Obtain the third distance information between the cleaning brush and the specific obstacle through the second sensor, and control the cleaning brush to contact the step surface of the specific obstacle.

[0202] Each module in the above device can be implemented entirely or partially through software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor in the computer device in hardware form, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0203] Figure 15 is a schematic diagram of the structure of the electronic device provided in this application. As shown in Figure 15, the electronic device 1500 provided in this embodiment includes: at least one processor 1501 and a memory 1502. Optionally, the device 1500 also includes a communication component 1503. The processor 1501, memory 1502, and communication component 1503 are connected via bus 1504.

[0204] In a specific implementation, at least one processor 1501 executes computer execution instructions stored in memory 1502, causing at least one processor 1501 to perform the above-described method.

[0205] The specific implementation process of processor 1501 can be found in the above-described method embodiments, and its implementation principle and technical effects are similar.Similarly, this embodiment will not be described in detail here.

[0206] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly embodied in the execution of the hardware processor, or executed by the combination of hardware and software modules in the processor described on pages 16 / 18 of the specification CN 121587624 A.

[0207] The memory may include random access memory (RAM), and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0208] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses in the accompanying drawings of this application are not limited to only one bus or one type of bus.

[0209] This application also provides a cleaning system, including:

[0210] a cleaning device for performing cleaning tasks;

[0211] a mobile device for implementing the above-described method.

[0212] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0213] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0214] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory.Storage, disk, or optical disk. A readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0215] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an Application Specific Integrated Circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0216] The division of units is merely a logical functional division; in actual implementation, there may be other division methods, such as multiple units or components being combined or integrated into another system, or some features being ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed between each other can be an indirect coupling or communication connection through some interface, device, or unit, and can be electrical, mechanical, or other forms.

[0217] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0218] In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0219] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage media include: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code. (Specification page 17 / 18, 20 CN 121587624 A

[0220] ) Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented through…The program is executed through hardware related to the program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0221] Finally, it should be noted that other embodiments of the invention will be readily apparent to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims. Instruction Manual 18 / 18 Page 21 CN 121587624 A Figure 1 Figure 2 Instruction Manual Figure 1 / 7 Page 22 CN 121587624 A Figure 3 Figure 4 Figure 5 Instruction Manual Figure 2 / 7 Page 23 CN 121587624 A Figure 6 Figure 7 Instruction Manual Figure 3 / 7 Page 24 CN 121587624 A Figure 8 Figure 9 Instruction Manual Figure 4 / 7 Page 25 CN 121587624 A Figure 10 Figure 11 Instruction Manual Figure 5 / 7 Page 26 CN 121587624 A Figure 12 Figure 13 Instruction Manual Figure 6 / 7 Page 27 CN 121587624 A Figure 14 Figure 15 Instruction Manual Figure 7 / 7 Page 28 CN 121587624 A DETECTION METHOD, APPARATUS, DEVICE, STORAGE MEDIUM, PROGRAM PRODUCT AND CLEANING SYSTEM Abstract Embodiments of the present application provides a detection method, apparatus, device, storage medium, program product and cleaning system, which are applied to a mobile device capable of passing a specific obstacle, where the specific obstacle refers to a stair withmultiple steps. The bottom of the mobile device comprises at least one first sensor, and the first sensor is inclined toward the front end of the mobile device so that the first sensor can emit a detection signal inclined toward the front end of the mobile device. The first sensor is used for acquiring distance information of an obstacle. The method includes: in a process that the mobile device moves downward along the specific obstacle, acquiring, by using the first sensor, first distance information of the specific obstacle in a height direction; and determining a step surface of the specific obstacle according to the first distance information, so as to determine a relative position between the mobile device and the specific obstacle. The method of the present application realizes accurate detection of the step surface in the process of going up and down stairs, and improves the terrain perception capability of the mobile device in a complex stair environment.

Claims

1. A detection method, characterized in that, Applied to a mobile device capable of navigating a specific obstacle, such as a staircase with multiple steps, the mobile device includes at least one first sensor on its bottom, the first sensor being tilted towards the front end of the mobile device to emit a detection signal indicating this tilt, the first sensor being used to acquire distance information about the obstacle, the method comprising: As the mobile device moves downward along the specific obstacle, it uses the first sensor to obtain first distance information of the specific obstacle in the height direction. The step surface of the specific obstacle is determined by the first distance information, thereby determining the relative position of the mobile device and the specific obstacle.

2. The method according to claim 1, characterized in that, The step of determining the step surface of the specific obstacle through the first distance information, and then determining the relative position of the mobile device and the specific obstacle, includes: When the first distance information generates a distance abrupt change, the plane corresponding to the distance abrupt change is determined to be the step surface of the specific obstacle.

3. The method according to claim 2, characterized in that, The first distance information generates a distance abrupt change, including: The first distance information acquired by the first sensor at the current moment is compared with the first distance information acquired by the first sensor at the previous moment. If the difference is greater than or equal to a preset threshold, the first distance information generates the distance mutation.

4. The method according to claim 3, characterized in that, The preset threshold is greater than the distance the first sensor descends from the previous moment to the current moment as the mobile device moves downwards.

5. The method according to claim 1, characterized in that, The mobile device is equipped with an obstacle recognition system. Before the mobile device acquires the first distance information of the specific obstacle in the height direction using the first sensor during its downward movement along the specific obstacle, the method further includes: The obstacle recognition system is used to identify the type of obstacle; When the obstacle is a specific type of obstacle, the mobile device is controlled to move onto the specific obstacle, and the first sensor is controlled to start working.

6. The method according to any one of claims 1, characterized in that, The specific obstacle refers to the obstacle used to connect the first working surface and the second working surface, and the method further includes: During the movement of the mobile device on the first working surface or the second working surface, the first sensor is used to obtain second distance information of the first working surface or the second working surface in the height direction. When the second distance information causes a distance abrupt change, the area above the plane corresponding to the distance abrupt change is determined to be the fall zone, and the mobile device is controlled to stop or move away from the fall zone.

7. The method according to claim 1, characterized in that, The first sensor is one or more of the following: infrared sensor, line laser sensor, ToF sensor, ultrasonic sensor, millimeter-wave radar, and multi-view camera.

8. The method according to any one of claims 1-7, characterized in that, The bottom of the mobile device also includes a cleaning brush, which is movably connected to the mobile device. The bottom of the cleaning brush includes a second sensor. After locating the step surface of the specific obstacle using the first sensor, the method further includes: The third distance information between the cleaning brush and the specific obstacle is obtained by the second sensor, and the cleaning brush is controlled to contact the step surface of the specific obstacle.

9. A detection device, characterized in that, An apparatus for use with a mobile device capable of navigating a specific obstacle, such as a staircase with multiple steps, includes at least one first sensor on its bottom, the first sensor tilted toward the front of the mobile device to emit a detection signal indicating this tilt. The first sensor is used to acquire distance information about the obstacle. The apparatus comprises: The acquisition module is used to acquire first distance information of the specific obstacle in the height direction using the first sensor as the mobile device moves downward along the specific obstacle; The detection module is used to determine the step surface of the specific obstacle through the first distance information, and then determine the relative position of the mobile device and the specific obstacle.

10. A cleaning system, characterized in that, include: Cleaning equipment used to perform cleaning tasks; A mobile device for performing the method as described in any one of claims 1-8.

11. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-8.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-8.

13. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-8.

Images