Control method and apparatus for mobile robot, and mobile robot, device and medium

Abstract

A control method and apparatus (300) for a mobile robot (10, 400), and a mobile robot (10, 400), a device and a medium. The mobile robot (10, 400) comprises a body (11), and a ranging assembly (12) which is disposed at a top end of the body (11) in a manner of being able to ascend and descend. The control method for a mobile robot (10, 400) comprises: controlling a mobile robot (10, 400) to start at an initial position in a first state, in which a ranging assembly (12) descends (S101); controlling the mobile robot (10, 400) to acquire, at the initial position, the distance between the mobile robot (10, 400) and an obstacle above the mobile robot (S102); and on the basis of the distance, controlling whether the ranging assembly (12) switches to a second state, and in the second state, controlling the ranging assembly (12) to ascend (S103). In the control method for a mobile robot (10, 400), the risk of damage to related hardware of the ranging assembly (12) when the mobile robot (10, 400) is started in a low area is reduced, and during the starting of the mobile robot (10, 400), the ascending and descending of the ranging assembly (12) can be more intelligently controlled, so as to better adapt to the environment in which the mobile robot (10, 400) is located during starting, thereby improving the hardware safety and the operating performance.

Description

Control methods, devices, mobile robots and equipment, and media for mobile robots

[0001] Cross-reference to related applications

[0002] This application is based on and claims priority to Chinese Patent Application No. 202411654514.9, filed on November 18, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to, but is not limited to, the field of mobile robots, and particularly to a control method, apparatus, mobile robot and equipment, and medium for a mobile robot. Background Technology

[0004] With the rapid development of technology, mobile robots are being used more and more widely. Some mobile robots have a retractable ranging component on top of their bodies to detect the surrounding environment during movement. However, when this ranging component is raised, it protrudes from the top of the body, making it prone to collisions with obstacles in the space, posing a risk of hardware damage and thus affecting the working performance of the mobile robot. Summary of the Invention

[0005] This disclosure provides at least one control method, apparatus, mobile robot and equipment, and medium for a mobile robot.

[0006] In a first aspect of this disclosure, a control method for a mobile robot is provided. The mobile robot includes a body and a ranging component that is vertically and elevatingly disposed at the top of the body. The method includes:

[0007] The mobile robot is controlled to start in a first state at its initial position; in the first state, the ranging component is controlled to descend.

[0008] The mobile robot is controlled to obtain the distance between itself and the obstacle above it at the initial position; and

[0009] Based on the distance, control whether the ranging component switches to a second state, and in the second state, control the ranging component to rise.

[0010] In a second aspect of this disclosure, a control device for a mobile robot is provided. The mobile robot includes a body and a ranging component that is vertically and elevatingly disposed at the top of the body. The device includes:

[0011] A first control module is used to control the mobile robot to start in a first state at an initial position; and in the first state, to control the ranging component to descend.

[0012] The second control module is used to control the mobile robot to obtain the distance between the mobile robot and the obstacle above it at the initial position; and

[0013] The third control module is used to control whether the ranging component switches to the second state based on the distance, and in the second state, controls the ranging component to rise.

[0014] In a third aspect of this disclosure, a mobile robot is provided, comprising:

[0015] The device includes a main body, a ranging component that can be raised and lowered to the top of the main body, and a controller.

[0016] The controller is used to implement some or all of the steps in the method described by the first party.

[0017] In a fourth aspect of this disclosure, a computer device is provided, including a memory and a processor, the memory storing a computer program executable on the processor, the processor executing the program to perform some or all of the steps in the method described in the first aspect above.

[0018] In a fifth aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements some or all of the steps of the method described in the first aspect above.

[0019] In a sixth aspect of this disclosure, a computer program is provided, comprising computer-readable code, which, when executed in a computer device, causes a processor in the computer device to perform some or all of the steps of the method described in the first aspect above.

[0020] In a seventh aspect of this disclosure, a computer program product is provided, comprising a computer program or instructions that, when executed by a processor, implement some or all of the steps in the method described in the first aspect above. Attached Figure Description

[0021] Figure 1A is a schematic diagram of the composition structure of a mobile robot provided in an embodiment of this disclosure;

[0022] Figure 1B is a flowchart illustrating a control method for a mobile robot provided in an embodiment of this disclosure;

[0023] Figure 1C is a schematic diagram of the composition structure of a mobile robot provided in an embodiment of this disclosure;

[0024] Figure 2 is a flowchart illustrating a control method for a mobile robot provided in an embodiment of this disclosure;

[0025] Figure 3 is a schematic diagram of the structure of a control device for a mobile robot provided in an embodiment of this disclosure;

[0026] Figure 4 is a structural schematic diagram of a mobile robot provided in an embodiment of this disclosure;

[0027] Figure 5 is a schematic diagram of the hardware entity of a computer device provided in an embodiment of this disclosure. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of this disclosure are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this disclosure. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0029] In the following description, references to "some embodiments" describe a subset of all possible embodiments; however, it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict. The terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this disclosure.

[0031] To better understand the solutions of the embodiments of this disclosure, the control schemes of mobile robots in related technologies will be described below.

[0032] In related technologies, for mobile robots with adjustable ranging components, the ranging component is typically raised automatically upon startup to detect the surrounding environment. However, the mobile robot may be in a low-lying area upon startup, in which case the automatically raised ranging component may fail to rise, potentially damaging the component itself or its lifting structure. Even if the ranging component does rise from a low-lying area upon startup, incomplete raising may affect the subsequent positioning effectiveness of the mobile robot using the ranging component.

[0033] In this embodiment, the mobile robot includes a body and a ranging component that can be raised and lowered at the top of the body. First, the mobile robot is controlled to start in an initial position with the ranging component lowered (a first state). Then, the mobile robot is controlled to acquire the distance between itself and an obstacle above it from this initial position. Finally, based on this distance, the ranging component is controlled to switch to a second state, in which case it is raised. This approach, on the one hand, reduces the risk of damage to the hardware related to the ranging component from collisions with obstacles when the mobile robot starts in low-lying areas by controlling the initial position with the ranging component lowered (a first state). On the other hand, based on the distance between the mobile robot and the obstacle above it from the initial position, the raising and lowering of the ranging component during startup can be controlled more intelligently to better adapt to the environment in which the mobile robot starts, improving the hardware safety and performance of the mobile robot.

[0034] In this embodiment of the disclosure, a mobile robot refers to a robot capable of autonomous movement. For example, a mobile robot may include, but is not limited to, at least one of the following: cleaning robots (such as sweeping robots, floor scrubbers, mopping robots, and combined washing and mopping machines), guiding robots, and service robots. In implementation, the composition and structure of the mobile robot may be determined according to actual circumstances, and this embodiment of the disclosure does not limit this.

[0035] Figure 1A is a schematic diagram of the structure of a mobile robot provided in an embodiment of this disclosure. As shown in Figure 1A, the mobile robot 10 includes a body 11 and a ranging component 12 that is vertically and retractably disposed on the top of the body 11 (i.e., the upper surface of the body 11). The ranging component 12 may include, but is not limited to, at least one of a laser ranging component, an infrared ranging component, and a visual ranging component.

[0036] Based on this, the present disclosure provides a control method for a mobile robot, which can be executed by a processor of a computer device. The computer device refers to a mobile robot, server, laptop computer, tablet computer, desktop computer, smart TV, set-top box, mobile device (e.g., mobile phone, portable video player, personal digital assistant, dedicated messaging device, portable gaming device), or other device with data processing capabilities.

[0037] Figure 1B is a flowchart illustrating a control method for a mobile robot according to an embodiment of this disclosure. As shown in Figure 1B, the method includes the following steps S101 to S103:

[0038] Step S101: Control the mobile robot to start in the first state at the initial position; in the first state, control the ranging component to descend.

[0039] Here, the initial position refers to the location of the mobile robot when it starts. For example, the initial position could be a location in an open area or a location in a low-lying area.

[0040] An open area refers to a region where obstacles above the mobile robot are relatively far away, such as an open space in a room, the area under a bar stool, or an open lawn outdoors. Open areas typically offer ample space for the mobile robot's ranging components to rise, thus increasing the probability that the ranging components and related hardware will not be damaged by collisions with obstacles when the robot raises them in an open area.

[0041] Low-lying areas refer to regions where obstacles are relatively close to the mobile robot, such as under a bed or the bottom of a low coffee table. In low-lying areas, there is often insufficient space for the mobile robot's ranging components to rise, increasing the likelihood that the ranging components will be damaged by collisions with obstacles when raised.

[0042] Understandably, the environment of the mobile robot's initial location is unknown before it starts; that is, the mobile robot may start in an open area or in a low-lying area. By controlling the mobile robot to start in the initial position with the ranging component descending, the risk of damage to the ranging component's hardware from obstacle collisions can be reduced when the mobile robot starts in a low-lying area.

[0043] Step S102: Control the mobile robot to obtain the distance between the mobile robot and the obstacle above at the initial position.

[0044] Here, the mobile robot can use any suitable method to obtain the distance between the robot and the obstacle above, depending on the actual application scenario. This disclosure does not limit this.

[0045] In some embodiments, the distance is the height value at at least one first sampling point within the detection area where the mobile robot is located at the initial position. In some embodiments, the first sampling point can be any location within the detection area, and the mobile robot determines the height value at each first sampling point by measuring distances (upward distance measurement as described below) at each first sampling point within the detection area.

[0046] For example, the average height value at each of the first sampling points can be used as the distance between the mobile robot at its initial position and the obstacle above it. Alternatively, the mode of the height values ​​at each of the first sampling points can be used as the distance between the mobile robot at its initial position and the obstacle above it. Yet another option is to use the minimum height value at each of the first sampling points as the distance between the mobile robot at its initial position and the obstacle above it.

[0047] In some implementations, the height value is the distance between the top of the fuselage at the first sampling point and the obstacle above.

[0048] Here, the detection area where the initial position is located can be the area surrounding the initial position. The mobile robot can be controlled to collect the height value at at least one first sampling point within the detection area where the initial position is located in order to detect whether the mobile robot is currently suitable for raising the ranging component.

[0049] In implementation, the detection area at the initial position can be determined by those skilled in the art based on the actual situation, and this disclosure does not limit this. For example, the detection area at the initial position can be the area occupied by the mobile robot at that initial position. Alternatively, the detection area at the initial position can be a circular area with the initial position as the center and a preset distance as the radius, where the preset distance can be set according to the actual situation and is not limited here. For example, the preset distance can be the length of the robot body, or half the length of the robot body, etc.

[0050] In some implementations, the ranging component can be used to measure the distance upwards at each first sampling point to obtain the height value at each first sampling point.

[0051] In some implementations, an upward ranging component independent of the ranging component can be used to perform upward ranging at each first sampling point to obtain the height value at each first sampling point.

[0052] Step S103: Based on the distance, control whether the ranging component switches to the second state; in the second state, control the ranging component to rise.

[0053] Understandably, based on the distance between the mobile robot and the obstacle above, it can be determined whether there is enough space above the mobile robot to allow the ranging component of the mobile robot to rise, thereby determining whether the mobile robot is suitable to switch to the second state.

[0054] In practice, those skilled in the art can use any suitable method based on the height value at at least one first sampling point to determine whether the mobile robot has switched to the second state, and this disclosure does not limit this.

[0055] In some implementations, if the distance between the mobile robot and the obstacle above it is greater than a distance threshold, the ranging component can be controlled to switch to a second state; if the distance between the mobile robot and the obstacle above it is less than or equal to the distance threshold, the mobile robot can be controlled to remain in the first state without switching to the second state. The distance threshold can be set according to actual conditions and is not limited here. For example, the distance threshold can be greater than the height of the ranging component protruding from the robot body after it is raised.

[0056] In some implementations, when the distance is the height value at at least one first sampling point collected by the mobile robot within the detection area where the initial position is located, the mobile robot can be controlled to collect height values ​​at multiple first sampling points within the detection area where the initial position is located, and based on the height values ​​at the multiple first sampling points, the mobile robot can be controlled to perform a task in a target state. The target state may include a first state or a second state.

[0057] In some implementations, when the ranging component to be controlled is switched to a second state based on the distance between the mobile robot and an obstacle above, the target rising height of the ranging component can be determined based on the height value at at least one first sampling point, and the ranging component can be controlled to rise to that target rising height. For example, the target rising height of the ranging component can be determined based on the minimum height value among the height values ​​at each first sampling point, so that the target rising height is not higher than the minimum value.

[0058] In some implementations, when the distance is the height value at at least one first sampling point within the detection area where the mobile robot is located at the initial position, the mobile robot can be controlled to perform the task in a second state with the ranging component raised if the height value at each first sampling point is greater than a height threshold; otherwise, the mobile robot can be controlled to perform the task in a first state with the ranging component lowered if the height value at at least one first sampling point is less than or equal to the height threshold. The height threshold can be set according to actual conditions and is not limited here. For example, the height threshold can be greater than the height of the ranging component protruding from the body after it is raised. The height threshold can be equal to or different from the aforementioned distance threshold.

[0059] In this embodiment, the mobile robot includes a body and a ranging component that can be raised and lowered at the top of the body. First, the mobile robot is controlled to start in an initial position with the ranging component lowered (a first state). Then, the mobile robot is controlled to acquire the distance between itself and an obstacle above it from this initial position. Finally, based on this distance, the ranging component is controlled to switch to a second state, in which it is raised. This approach, on the one hand, reduces the risk of damage to the ranging component's hardware from collisions with obstacles when the robot starts in low-lying areas by controlling the initial position with the ranging component lowered (a first state). On the other hand, based on the distance between the mobile robot and the obstacle above it from the initial position, the raising and lowering of the ranging component during startup can be more intelligently controlled to better adapt to the environment in which the robot starts, improving the robot's hardware safety and performance.

[0060] In some embodiments, referring to FIG1C, the mobile robot 10 further includes an upward ranging component 13 disposed at the top of the body 11.

[0061] Step S102 above may include the following step S111 (not shown in the accompanying drawings):

[0062] Step S111: Control the mobile robot to move so that the upward ranging component moves within the detection area where the initial position is located, and obtain the height values ​​of multiple first sampling points collected by the upward ranging component during the movement.

[0063] Here, the upward ranging component may include, but is not limited to, at least one of an infrared ranging component, a direct time-of-flight (dTof) ranging component, etc. The upward ranging component may be located at any suitable position on the top of the fuselage, and this disclosure does not limit this.

[0064] The mobile robot can move the upward ranging component within the detection area of ​​its initial position in any suitable manner. For example, the mobile robot can be controlled to rotate in place, move in circles, and / or move in a straight line to move the upward ranging component for distance measurement.

[0065] In some implementations, the upward ranging component can be positioned at the front of the top of the robot body, so that controlling the mobile robot to rotate in place once can make the distance between the two farthest first sampling points close to the length of the robot body.

[0066] In some implementations, the upward ranging component is positioned at the very center of the top of the robot body, controlling the mobile robot to move in a circle or along a straight line, such that the distance between the two farthest first sampling points is approximately equal to the length of the robot's body. For example, the mobile robot can be controlled to move in a straight line a distance equal to the length of the robot body, or it can be controlled to move in a circle with a radius equal to half the length of the robot body.

[0067] In the above embodiments, by controlling the movement of the mobile robot, the upward ranging component set on the top of the robot body moves and measures distance within the detection area where the initial position is located, and the height values ​​at multiple first sampling points can be collected simply and quickly.

[0068] In some embodiments, the upward ranging component is located at a non-central position on the top of the fuselage.

[0069] Step S111 above may include the following step S121 (not shown in the accompanying drawings):

[0070] Step S121: Control the mobile robot to rotate in place so as to drive the upward ranging component to move within the detection area where the initial position is located.

[0071] Because the upward ranging component is located at a non-central position on the top of the robot body, it can rotate around the center of the robot body as the mobile robot rotates in place. This allows for the rapid acquisition of height values ​​at multiple initial sampling points and reduces the displacement of the mobile robot, thereby simplifying the positioning and control logic of the mobile robot.

[0072] In some implementations, the mobile robot can be controlled to rotate once in place to move the upward ranging component within the detection area where the initial position is located. In this way, after collecting the height values ​​at each of the first sampling points, the pose of the mobile robot will not change, thereby further simplifying the positioning control logic of the mobile robot.

[0073] In some embodiments, the top of the fuselage has a horizontally outward-facing opening for emitting or receiving laser light after the ranging component descends.

[0074] When the target state is the first state, the above method may further include the following step S131 (not shown in the accompanying drawings):

[0075] Step S131: In the first state, control the ranging component to perform laser ranging through the opening.

[0076] Here, a horizontally outward opening is provided at the top of the fuselage. The size and position of this opening can be determined by those skilled in the art based on the actual situation, and this embodiment does not limit it. For example, the opening can be located in front of, behind, and / or on the side of the ranging component's lifting cavity.

[0077] In some embodiments, the ranging component includes a laser ranging component that can perform laser ranging through the opening.

[0078] In the above embodiments, since the ranging component can emit and receive lasers through the horizontal outward opening at the top of the body after it descends, the mobile robot can control the ranging component to explore the surrounding environment through the opening in the first state, thereby improving the accuracy of positioning of the mobile robot when performing tasks in the first state of the ranging component descending.

[0079] In some embodiments, the above method further includes the following steps S141 to S142 (not shown in the accompanying drawings):

[0080] Step S141: During the process of controlling the mobile robot to switch from the first state to the second state, in response to the detection that the ranging component failed to rise, the mobile robot is controlled to switch back to the first state.

[0081] Step S142: When the mobile robot moves to the third detection point, control the mobile robot to switch from the first state to the second state. The third detection point is the position reached by the mobile robot after it has moved a first target distance after switching back to the first state, or the height value at the third detection point is greater than the height threshold.

[0082] Here, after detecting a failure to raise the ranging component, the mobile robot can be controlled to switch back to the first state and continue performing the task in the first state. When the mobile robot reaches the third detection point, it can be controlled to switch back from the first state to the second state.

[0083] The first target distance and height thresholds can both be set according to the actual situation, and this disclosure does not limit them.

[0084] In the above embodiments, since the third detection point is the position reached by the mobile robot after it has moved the first target distance since the last switch back to the first state, or the height value of the third detection point is greater than the height threshold, the third detection point may no longer be in a low-lying area. When the mobile robot moves to the third detection point, by controlling the mobile robot to switch from the first state to the second state, it is possible to try to raise the ranging component to increase the exploration range of the ranging component and improve the accuracy of the mobile robot's positioning.

[0085] In some embodiments, after the mobile robot moves to the third detection point and switches from the first state to the second state, the above method may further include the following steps S151 to S153 (not shown in the accompanying drawings):

[0086] Step S151: In response to the detection that the ranging component failed to rise, the mobile robot is controlled to switch back to the first state.

[0087] Step S152: If the number of times the ranging component fails to rise does not exceed the third threshold, detect whether the mobile robot has moved to the next third detection point.

[0088] Step S153: When the mobile robot moves to the next third detection point, control the mobile robot to switch from the first state to the second state.

[0089] Here, the threshold for the third count can be set according to the actual situation, and this embodiment of the disclosure does not limit it.

[0090] In some implementations, if the ranging component fails to rise at the third detection point and the number of times the ranging component fails to rise does not exceed the third threshold, the mobile robot can continue to detect whether it has moved to the next third detection point. At the next third detection point, the mobile robot can be controlled to switch from the first state to the second state again to try to raise the ranging component again, until the ranging component rises successfully or the number of times the ranging component fails to rise exceeds the third threshold.

[0091] In the above embodiments, on the one hand, controlling the mobile robot to switch back to the first state when the ranging component fails to rise can reduce damage to the hardware related to the ranging component; on the other hand, when the mobile robot moves to the next third detection point, controlling the mobile robot to switch from the first state to the second state to try to raise the ranging component again can increase the probability of the ranging component successfully rising during the mobile robot's task execution, thereby improving the accuracy of the mobile robot's positioning.

[0092] In some embodiments, the above method may further include the following steps S161 to S162:

[0093] Step S161: In response to detecting that the mobile robot has successfully switched from the first state to the second state, control the ranging component to collect point cloud data of the environment around the mobile robot.

[0094] In some implementations, the ranging component includes a laser ranging component that emits a laser beam into the surrounding environment. When the laser beam encounters an obstacle, it is immediately reflected back and received by a laser ranging sensor within the laser ranging component. By measuring the time difference between laser emission and reception, the distance between the mobile robot and the obstacle can be calculated, thereby enabling the acquisition of a point cloud of the mobile robot's surrounding environment.

[0095] In some implementations, after the mobile robot successfully switches from the first state to the second state, while the ranging component is rising in the raised state, the ranging component can be controlled to rotate 360 ​​degrees to collect point clouds of the environment within a 360-degree range around the mobile robot.

[0096] Step S162: If the point cloud of the environment surrounding the mobile robot meets the target conditions, control the mobile robot to switch back to the first state; the target conditions include that the distance between the mobile robot and a point cloud exceeding a target proportion in the point cloud of the environment surrounding the mobile robot is less than a second distance threshold.

[0097] Here, the target ratio and the second distance threshold can both be set according to the actual situation, and this disclosure does not limit this.

[0098] Understandably, if the distance between the mobile robot and a point cloud exceeding a target proportion in the surrounding environment is less than the second distance threshold, the ranging component is considered to have difficulty detecting distant wall environments and can only detect low-lying obstacles at the top. Therefore, in this situation, the mobile robot is more likely to be in a low-lying area. By controlling the mobile robot to switch back to the first state, the risk of damage to the ranging component's hardware can be reduced.

[0099] In some embodiments, the above method may further include the following step S171 (not shown in the accompanying drawings):

[0100] Step S171: In response to detecting that the mobile robot triggers a top cover collision event of the ranging component within the target time window, control the mobile robot to switch back to the first state; the target time window has a target length and starts from the moment when the mobile robot successfully switches to the second state.

[0101] In some embodiments, a bumper may be disposed beneath the top cover of the ranging component to detect whether the top cover is impacted by a horizontal force. If the top cover of the ranging component is impacted by a horizontal force, the bumper will be triggered, resulting in a top cover collision event. The type of bumper is not limited in this disclosure. For example, the bumper may include a microswitch.

[0102] The target length can be set according to the actual situation, and this disclosure does not limit it.

[0103] Since the target time window has a target length and starts from the moment the mobile robot successfully switches to the second state, if the mobile robot triggers a top-cover collision event of the ranging component within the target time window, it can be assumed that the mobile robot triggered the top-cover collision event immediately or very quickly during its forward movement after raising the ranging component. In other words, although the ranging component successfully rises, it still touches the obstacle above it. In this case, the mobile robot is more likely to be in a low-lying area. By controlling the mobile robot to switch back to the first state, the risk of damage to the ranging component's hardware can be reduced.

[0104] This disclosure provides a control method for a mobile robot, which can be executed by a processor of a computer device. The mobile robot includes a body and a ranging component that is vertically and retractably mounted on the top of the body. As shown in FIG2, the method includes the following steps S201 to S203:

[0105] Step S201: Control the mobile robot to start in the first state at the initial position; in the first state, control the ranging component to descend.

[0106] Step S202: Control the mobile robot to obtain the distance between the mobile robot and the obstacle above at the initial position.

[0107] Here, steps S201 to S202 can correspond to steps S101 to S102 in the foregoing embodiments, and the implementation of steps S101 to S102 can be referred to in the implementation.

[0108] Wherein, the distance is the height value at at least one first sampling point collected by the mobile robot within the detection area where the initial position is located.

[0109] Step S203: Based on the distance, control whether the ranging component switches to the second state; in the second state, control the ranging component to rise.

[0110] Wherein, step S203 above includes at least one of the following steps S211 to S212:

[0111] Step S211: When the height value at each of the first sampling points is higher than the height threshold, control the ranging component to switch to the second state.

[0112] Understandably, if the height values ​​at each of the first sampling points are higher than the height threshold, it can be assumed that the mobile robot is currently far from the obstacle above, and the possibility that the mobile robot is in a low-lying area is small. Therefore, the mobile robot is controlled to switch to the second state, so that the robot can perform tasks by raising the ranging component. This can improve the accuracy of the mobile robot's positioning and reduce the risk of damage to the ranging component and related hardware.

[0113] Step S212: If the height value at at least one of the first sampling points is less than or equal to the height threshold, select a target detection point from the current scene, control the mobile robot to move to the target detection point in the first state, and collect the height value at at least one second sampling point in the detection area where the target detection point is located. Based on the height value at the at least one second sampling point, control whether the ranging component switches to the second state.

[0114] The target detection point can be any suitable point different from the initial position selected from the current scene, and this embodiment of the disclosure does not limit this.

[0115] The detection area where the target detection point is located can be the area surrounding the target detection point. The mobile robot can be controlled to collect the height value at at least one second sampling point within the detection area where the target detection point is located in order to detect whether the mobile robot is currently suitable for raising the ranging component.

[0116] In implementation, the detection area where the target detection point is located can be determined by those skilled in the art based on the actual situation, and this disclosure does not limit this. For example, the detection area where the target detection point is located can be the area occupied by the mobile robot at the target detection point. Alternatively, the detection area where the target detection point is located can be a circular area with the target detection point as the center and a preset distance as the radius.

[0117] Understandably, if the height value at at least one first sampling point is less than or equal to a height threshold, it can be assumed that there is a nearby obstacle above the current position of the mobile robot, and the mobile robot is likely in a low-lying area, making it unsuitable to raise the ranging component. In this case, by selecting a target detection point from the current scene, controlling the mobile robot to move to the target detection point while maintaining the first state of the ranging component descending, and collecting the height value at at least one second sampling point within the detection area of ​​the target detection point, the mobile robot is controlled to perform the task in either the first state or the second state based on the height value at at least one second sampling point. In this way, on the one hand, by controlling the mobile robot to move to the target detection point while maintaining the first state of the ranging component descending, the risk of damage to the ranging component hardware due to obstacle collisions when the mobile robot starts in a low-lying area can be reduced; on the other hand, based on the height value of the mobile robot at at least one second sampling point within the detection area of ​​the target detection point, the raising and lowering of the ranging component in the mobile robot can be controlled more intelligently to better adapt to the environment of the target detection point, improving the hardware safety and working performance of the mobile robot.

[0118] In some embodiments, the target detection point includes a first detection point. The step S212 described above, which involves selecting a target detection point from the current scene, may include the following steps S221 to S223 (not shown in the accompanying drawings):

[0119] Step S221: If the historical height measurement map of the mobile robot in the current scene exists, obtain the historical height measurement map, which contains multiple historical sampling points in the current scene and the historical height value of each historical sampling point.

[0120] Step S222: Based on the historical altimetry map, determine the historical open area from the current environment; the historical height value of each historical sampling point in the historical open area is higher than the height threshold, and the area of ​​the historical open area is greater than the area threshold.

[0121] Here, the area threshold can be set according to the actual situation, and this disclosure does not limit it.

[0122] Step S223: Select the first detection point from the historical open area.

[0123] In the above embodiments, since the first detection point is selected from a historical open area, it can be assumed that the first detection point is likely to still be an open area at the current moment. Using the first detection point as the target detection point to detect whether the mobile robot is suitable for raising the ranging component can increase the probability of determining that the ranging component is suitable for raising. This allows the mobile robot to perform the task in the second state with a higher probability when the risk of hardware damage is low, thereby improving the accuracy of the mobile robot's positioning.

[0124] In some embodiments, controlling whether the ranging component switches to the second state based on the height value at the at least one second sampling point in step S212 above may include at least one of the following steps S231 to S232 (not shown in the accompanying drawings):

[0125] Step S231: When the height value at each of the second sampling points is higher than the height threshold, control the ranging component to switch to the second state.

[0126] This improves the accuracy of mobile robot positioning and reduces the risk of damage to the ranging components and related hardware.

[0127] Step S232: If the height value at at least one of the second sampling points is less than or equal to the height threshold, select the next first detection point from the current scene, control the mobile robot to move to the next first detection point in the first state, and collect the height value at at least one new second sampling point in the next detection area where the next first detection point is located. Based on the height value at the at least one new second sampling point, control whether the ranging component switches to the second state.

[0128] In this way, on the one hand, controlling the mobile robot to move to the next first detection point in the first state when the height value at at least one second sampling point is less than or equal to the height threshold can reduce damage to the hardware related to the ranging component; on the other hand, when the mobile robot moves to the next first detection point, controlling whether the mobile robot switches to the second state based on the height value at at least one new second sampling point can attempt to raise the ranging component again. This allows the mobile robot to perform the task in the second state with a higher probability when the risk of hardware damage is low, thereby improving the accuracy of the mobile robot's positioning.

[0129] In some embodiments, if the height value at at least one of the second sampling points is less than or equal to the height threshold, the above method may further include the following step S241 (not shown in the accompanying drawings):

[0130] Step S241: If there is no new first detection point in the current scene, or if the first number of times the first detection point is selected reaches the first number threshold, control the ranging component to switch to the second state.

[0131] The threshold for the first count can be set according to the actual situation, and this embodiment of the disclosure does not limit it.

[0132] In this way, if there is no new first detection point in the current scene, or if the first number of times the first detection point is selected reaches the first number threshold, the accuracy of the mobile robot's positioning can be improved by controlling the mobile robot to switch to the second state and attempting to raise the ranging component.

[0133] In some embodiments, the target detection point includes a second detection point. The step S212 described above, which involves selecting a target detection point from the current scene, may include the following step S251 (not shown in the accompanying drawings):

[0134] Step S251: If the historical height measurement map of the mobile robot in the current scene does not exist, select a second detection point from the current scene. The distance between the second detection point and the current location of the mobile robot is a first distance threshold. The historical height measurement map contains multiple historical sampling points in the current scene and the historical height value of each historical sampling point.

[0135] Here, the first distance threshold can be set according to the actual situation, and this embodiment of the disclosure does not limit it.

[0136] In the above embodiments, since the distance between the second detection point and the current location of the mobile robot is a first distance threshold, it can be considered that the second detection point is likely to have left the low-lying area. Using the second detection point as the target detection point to detect whether the mobile robot is suitable for raising the ranging component can increase the probability of determining that the ranging component is suitable for raising. This allows the mobile robot to perform the task in the second state with a higher probability when the risk of hardware damage is low, thereby improving the accuracy of the mobile robot's positioning.

[0137] In some embodiments, controlling whether the ranging component switches to the second state based on the height value at the at least one second sampling point in step S212 above may include at least one of the following steps S261 to S262 (not shown in the accompanying drawings):

[0138] Step S261: When the height value at each of the second sampling points is higher than the height threshold, control the ranging component to switch to the second state.

[0139] This improves the accuracy of mobile robot positioning and reduces the risk of damage to the ranging components and related hardware.

[0140] Step S262: If the height value at at least one of the second sampling points is less than or equal to the height threshold, select the next second detection point from the current scene, control the mobile robot to move to the next second detection point in the first state, and collect the height value at at least one new second sampling point in the next detection area where the next second detection point is located. Based on the height value at the at least one new second sampling point, control whether the ranging component switches to the second state.

[0141] In this way, on the one hand, controlling the mobile robot to move to the next second detection point in the first state when the height value at at least one second sampling point is less than or equal to the height threshold can reduce damage to the hardware related to the ranging component; on the other hand, when the mobile robot moves to the next second detection point, controlling whether the mobile robot switches to the second state based on the height value at at least one new second sampling point can attempt to raise the ranging component again. This allows the mobile robot to perform the task in the second state with a higher probability when the risk of hardware damage is low, thereby improving the accuracy of the mobile robot's positioning.

[0142] In some embodiments, if the height value at at least one of the second sampling points is less than or equal to the height threshold, the above method may further include the following step S271 (not shown in the accompanying drawings):

[0143] Step S271: When the second number of times the second detection point is selected reaches the second number threshold, control the ranging component to switch to the second state.

[0144] The second threshold number can be set according to the actual situation, and this embodiment of the present disclosure does not limit it.

[0145] In this way, when the second number of times the second detection point is selected reaches the second number threshold, the accuracy of the mobile robot's positioning can be improved by controlling the mobile robot to switch to the second state and attempting to raise the ranging component.

[0146] The following describes the application of the mobile robot control method provided in this disclosure in a real-world scenario, taking the lifting control strategy of the laser distance sensor (LDS) in a scenario where a sweeping robot is started in a low-ceilinged area as an example.

[0147] When a robot vacuum starts up, it may be in any location, including low-lying areas. If the LDS (Lower Steering System) is raised in a low-lying area, it may not be able to rise properly, damaging the lifting mechanism. Even if it does rise, it may affect the machine's positioning performance.

[0148] This disclosure provides a control method for a mobile robot, which can implement a lifting control strategy for the LDS (Local Displacement System) in scenarios where the robot vacuum cleaner is started in low-ceilinged areas, reducing the risk of damage to the LDS lifting structure and interference with machine positioning caused by accidental lifting of the LDS. The control method implements the following LDS lifting control strategy:

[0149] 1) With the sweeper lowered, start the sweeper and control it to rotate in place for one revolution. Check the distance measurement result of the single-point upward distance measuring component (such as the upward dTof component). Record the height measurement value of the upward distance measuring component during this revolution (i.e., the height value in the aforementioned embodiment). If the height measurement value is not higher than the preset height A (corresponding to the height threshold in the aforementioned embodiment), the LDS is not allowed to be raised directly.

[0150] 2) Check if there is a historical elevation map. If there is a historical elevation map, select a point in a historical open area on the historical elevation map as the target detection point P (corresponding to the first detection point in the aforementioned embodiment). Then control the sweeper to walk to point P, and then rotate once. Record the elevation value of the upward distance measuring component during this rotation. If the elevation values ​​in the historical open area are not all higher than the preset height A, then look for a new historical open area. If there is no new historical open area or the number of attempts exceeds the preset number T1 (corresponding to the first number threshold in the aforementioned embodiment), then raise the LDS to continue the cleaning task.

[0151] The historical altimetry map is composed of historical altimetry results recorded by at least one of the following components: upward dTof component, vertical line laser component, and area array light component. The map records the altimetry results at various locations.

[0152] The historical open area is the area where the height value of each historical sampling point is higher than the preset height A and the area is greater than the preset size B (corresponding to the area threshold in the aforementioned embodiment).

[0153] Each time a new historical open area is found, if it is detected that not all the height measurements in the historical open area are higher than the preset height A, then the next attempt is made until the number of attempts exceeds the preset number T1.

[0154] 3) If there is no historical height measurement map, find a position (corresponding to the second detection point in the previous embodiment) that is greater than the current position of the sweeper by a preset distance S1 (corresponding to the first distance threshold in the previous embodiment). Walk to that position and rotate once, recording the height measurement value of the upward distance measuring component during this rotation. If not all height measurement values ​​are higher than the preset height A, find a new detection position. If the number of attempts exceeds the preset number T2 (corresponding to the second number threshold in the previous embodiment), raise the LDS.

[0155] 4) During the LDS raising process, if the LDS cannot be raised to the correct position, it is considered that the current height is insufficient for the LDS to rise. Therefore, the LDS is lowered to perform the cleaning task in the lowered state. When the distance traveled exceeds the preset distance S2 (corresponding to the first target distance in the aforementioned embodiment) or the distance measured by the single-point upward ranging component exceeds the preset height A, another attempt is made to raise the LDS. During the raising, it is checked whether the LDS can be raised to the correct position. If it cannot be raised to the correct position, the LDS is lowered and the next attempt is made (the point reached after traveling more than the preset distance S2 from the previous attempt point, or the point where the distance measured by the single-point upward ranging component exceeds the preset height A). The maximum number of attempts is T3 (corresponding to the third threshold in the aforementioned embodiment). After reaching the preset number of attempts T1, the cleaning is performed with the LDS lowered.

[0156] 5) After the LDS is raised, if the point cloud acquired by the LDS matches the characteristics of a low-lying area, that is, the distances of points in the LDS point cloud exceeding a preset proportion R (corresponding to the target proportion in the aforementioned embodiment) are all within a preset distance S3 (corresponding to the second distance threshold in the aforementioned embodiment), then it is considered that the LDS cannot detect the distant wall environment and can only detect the low-lying area at the top; or, if the LDS top cover bumper (i.e., top cover collision event) is triggered immediately after the robot vacuum cleaner raises the LDS and moves forward, it is considered that the robot vacuum cleaner has hit a low-lying area after raising the LDS. In these cases, the LDS is controlled to descend, and the cleaning task is performed in the descended state. When the robot vacuum cleaner travels beyond the preset distance S3 or reaches a single point where the upward ranging component measures a distance exceeding the preset height A, the LDS is raised again. After the LDS is raised, the LDS point cloud characteristics are checked to see if they match the characteristics of a low-lying area. If they do, the LDS is lowered and the robot vacuum cleaner moves to the next attempt point to try again, up to a maximum of a preset number of attempts T4. After reaching the preset number of attempts, the cleaning is performed with the LDS lowered.

[0157] This disclosure provides a control device for a mobile robot, which includes a body and a ranging component that can be raised and lowered and mounted on the top of the body.

[0158] Figure 3 is a schematic diagram of the structure of a control device for a mobile robot provided in an embodiment of this disclosure. As shown in Figure 3, the control device 300 for the mobile robot includes: a first control module 310, a second control module 320, and a third control module 330, wherein:

[0159] The first control module 310 is used to control the mobile robot to start in a first state at an initial position; and in the first state, to control the ranging component to descend.

[0160] The second control module 320 is used to control the mobile robot to obtain the distance between the mobile robot and the obstacle above at the initial position;

[0161] The third control module 330 is used to control whether the ranging component switches to a second state based on the distance, and in the second state, controls the ranging component to rise.

[0162] In some embodiments, the distance is the height value at at least one first sampling point collected by the mobile robot within the detection area where the initial position is located.

[0163] In some embodiments, the height value is the distance between the top of the fuselage and the obstacle above at the first sampling point.

[0164] In some embodiments, the mobile robot further includes an upward ranging component disposed at the top of the body; the second control module is further configured to: control the mobile robot to move so as to drive the upward ranging component to move within the detection area where the initial position is located, and acquire the height values ​​at multiple first sampling points collected by the upward ranging component during the movement.

[0165] In some embodiments, the upward ranging component is disposed at a non-central position on the top of the body; the second control module is further configured to: control the mobile robot to rotate in place around the central position of the body to drive the upward ranging component to move within the detection area where the initial position is located.

[0166] In some embodiments, the third control module is also used for at least one of the following:

[0167] When the height value at each of the first sampling points is higher than the height threshold, the ranging component is controlled to switch to the second state;

[0168] If the height value at at least one of the first sampling points is less than or equal to the height threshold, a target detection point is selected from the current scene, the mobile robot is controlled to move to the target detection point in the first state, and the height value at at least one second sampling point is collected in the detection area where the target detection point is located. Based on the height value at the at least one second sampling point, the ranging component is controlled to switch to the second state.

[0169] In some embodiments, the target detection point includes a first detection point; the third control module is further configured to: if a historical height measurement map of the mobile robot in the current scene exists, acquire the historical height measurement map, the historical height measurement map containing multiple historical sampling points in the current scene and the historical height value of each historical sampling point; based on the historical height measurement map, determine a historical open area from the current environment; the historical height value of each historical sampling point in the historical open area is higher than the height threshold, and the area of ​​the historical open area is greater than the area threshold; select a first detection point from the historical open area.

[0170] In some embodiments, the third control module is also used for at least one of the following:

[0171] When the height value at each of the second sampling points is higher than the height threshold, the ranging component is controlled to switch to the second state;

[0172] If the height value at at least one of the second sampling points is less than or equal to the height threshold, select the next first detection point from the current scene, control the mobile robot to move the next first detection point in the first state, and collect the height value at at least one new second sampling point in the next detection area where the next first detection point is located. Based on the height value at the at least one new second sampling point, control whether the ranging component switches to the second state.

[0173] In some embodiments, the device further includes a fourth control module, configured to control the ranging component to switch to the second state when the height value at at least one of the second sampling points is less than or equal to the height threshold, and when there is no new first detection point in the current scene, or when the first number of times the first detection point is selected reaches the first number threshold.

[0174] In some embodiments, the target detection point includes a second detection point; the third control module is further configured to: select a second detection point from the current scene when there is no historical height measurement map of the mobile robot in the current scene, wherein the distance between the second detection point and the current location of the mobile robot is a first distance threshold; the historical height measurement map includes multiple historical sampling points in the current scene and the historical height value of each historical sampling point.

[0175] In some embodiments, the third control module is also configured to perform at least one of the following:

[0176] When the height value at each of the second sampling points is higher than the height threshold, the ranging component is controlled to switch to the second state;

[0177] If the height value at at least one of the second sampling points is less than or equal to the height threshold, select the next second detection point from the current scene, control the mobile robot to move to the next second detection point in the first state, and collect the height value at at least one new second sampling point in the next detection area where the next second detection point is located. Based on the height value at the at least one new second sampling point, control whether the ranging component switches to the second state.

[0178] In some embodiments, the device further includes a fifth control module, configured to control the ranging component to switch to the second state when the height value at at least one of the second sampling points is less than or equal to the height threshold, and when the second number of times the second detection point is selected reaches a second number threshold.

[0179] In some embodiments, the top of the fuselage is provided with a horizontally outward opening, which is used for the ranging component to emit or receive laser light after it descends; when the target state is the first state, the third control module is further used to control the ranging component to perform laser ranging through the opening.

[0180] In some embodiments, the device further includes: a sixth control module, configured to: during the process of controlling the mobile robot to switch from the first state to the second state, in response to detecting a failure of the ranging component to rise, control the mobile robot to switch back to the first state; and when the mobile robot moves to a third detection point, control the mobile robot to switch from the first state to the second state, wherein the third detection point is the position reached by the mobile robot after continuing to move a first target distance after the last switch back to the first state, or the height value of the third detection point is greater than the height threshold.

[0181] In some embodiments, the device further includes a seventh control module, configured to: when the mobile robot moves to the third detection point, after controlling the mobile robot to switch from the first state to the second state, in response to detecting a failure of the ranging component to rise, control the mobile robot to switch back to the first state; if the number of times the ranging component fails to rise does not exceed a third threshold, detect whether the mobile robot has moved to the next third detection point; and when the mobile robot moves to the next third detection point, control the mobile robot to switch from the first state to the second state.

[0182] In some embodiments, the device further includes: an eighth control module, configured to: in response to detecting that the mobile robot has successfully switched from the first state to the second state, control the ranging component to acquire point clouds of the environment surrounding the mobile robot; and, if the point clouds of the environment surrounding the mobile robot meet target conditions, control the mobile robot to switch back to the first state; the target conditions include that the distance between the mobile robot and a point cloud exceeding a target proportion in the point cloud of the environment surrounding the mobile robot is less than a second distance threshold.

[0183] In some embodiments, the device further includes: a ninth control module, configured to control the mobile robot to switch back to the first state in response to detecting that the mobile robot triggers a top cover collision event of the ranging component within a target time window; the target time window has a target length and is started from the moment when the mobile robot successfully switches to the second state.

[0184] This disclosure provides a mobile robot, as shown in FIG4. The mobile robot 400 includes: a body 410, a ranging component 420 that can be raised and lowered and disposed on the top of the body, and a controller 430; the controller 430 is used to implement the control method of the mobile robot described above.

[0185] The descriptions of the above device and mobile robot embodiments are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the device and mobile robot embodiments of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0186] It should be noted that, in the embodiments of this disclosure, if the above-described mobile robot control method is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this disclosure, or the part that contributes to related technologies, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk. Thus, the embodiments of this disclosure are not limited to any specific hardware and software combination.

[0187] This disclosure provides a computer device including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement the steps in the method described above.

[0188] This disclosure provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the above-described method. The computer-readable storage medium can be transient or non-transient.

[0189] This disclosure provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement some or all of the steps in the above-described method.

[0190] This disclosure provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied as a computer storage medium; in another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0191] It should be noted that the descriptions of the above-described storage media, computer program products, and device embodiments are similar to the descriptions of the above-described method embodiments, and have similar beneficial effects. For technical details not disclosed in the embodiments of the storage media, computer program products, and devices of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0192] It should be noted that Figure 5 is a schematic diagram of the hardware entity of a computer device provided in an embodiment of this disclosure. As shown in Figure 5, the hardware entity of the computer device 500 includes: a processor 501, a communication interface 502, and a memory 503, wherein:

[0193] Processor 501 typically controls the overall operation of computer device 500.

[0194] Communication interface 502 enables computer devices to communicate with other terminals or servers via a network.

[0195] The memory 503 is configured to store instructions and applications executable by the processor 501, and can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data, and video communication data) of the processor 501 and various modules in the computer device 500. It can be implemented using flash memory or random access memory (RAM). Data transfer between the processor 501, the communication interface 502, and the memory 503 can be performed via bus 504.

[0196] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this disclosure. Therefore, "in one embodiment" or "one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this disclosure, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure. The sequence numbers of the above-described embodiments are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0197] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0198] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components may be combined, or integrated into another system, or some features may be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0199] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0200] In addition, each functional unit in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0201] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to 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 method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0202] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, magnetic disks, or optical disks.

[0203] The above description is merely an embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A control method for a mobile robot, wherein the mobile robot includes a body and a ranging component that can be raised and lowered to the top of the body, the method comprising: The mobile robot is controlled to start in the first state at the initial position; In the first state, the ranging component is controlled to descend; The mobile robot is controlled to obtain the distance between itself and the obstacle above it at the initial position; as well as Based on the distance, control whether the ranging component switches to a second state, and in the second state, control the ranging component to rise.

2. The method according to claim 1, wherein, The distance is the height value at at least one first sampling point collected by the mobile robot within the first detection area where the initial position is located.

3. The method according to claim 2, wherein, The height value is the distance between the top of the fuselage and the obstacle above at the first sampling point.

4. The method according to claim 3, wherein, The mobile robot also includes an upward ranging component disposed on the top of the body; The process of controlling the mobile robot to obtain the distance between the mobile robot and the obstacle above it at the initial position includes: The mobile robot is controlled to move so as to move the upward ranging component within the first detection area, and the height values ​​at multiple first sampling points collected by the upward ranging component during the movement are obtained.

5. The method according to claim 4, wherein, The upward ranging component is located at a non-central position on the top of the fuselage; The control of the mobile robot to move so as to move the upward ranging component within the first detection area includes: The mobile robot is controlled to rotate in place around the center of its body to drive the upward ranging component to move within the detection area.

6. The method according to claim 2, wherein, The control of whether the ranging component switches to the second state based on the distance includes at least one of the following: When the height value at each of the first sampling points is higher than the height threshold, the ranging component is controlled to switch to the second state; If the height value at at least one of the first sampling points is less than or equal to the height threshold, a target detection point is selected from the current scene, the mobile robot is controlled to move to the target detection point in the first state, and the height value at at least one second sampling point is collected in the second detection area where the target detection point is located. Based on the height value at the at least one second sampling point, the ranging component is controlled to switch to the second state.

7. The method according to claim 6, wherein, The target detection point includes a first detection point; The step of selecting target detection points from the current scene includes: If the mobile robot has a historical height measurement map in the current scene, it acquires the historical height measurement map, wherein the historical height measurement map includes multiple historical sampling points in the current scene and the historical height value of each historical sampling point; Based on the historical altimetry map, a historical open area is determined from the current scene, wherein the historical height value of each historical sampling point in the historical open area is higher than the height threshold, and the area of ​​the historical open area is greater than the area threshold; and The first detection point is selected from the aforementioned historical open area.

8. The method according to claim 7, wherein, Controlling whether the ranging component switches to the second state based on the height value at the at least one second sampling point includes at least one of the following: When the height value of each of the second sampling points is higher than the height threshold, the ranging component is controlled to switch to the second state; If the height value of at least one of the second sampling points is less than or equal to the height threshold, select the next first detection point from the current scene, control the mobile robot to move to the next first detection point in the first state, and collect the height value of at least one new second sampling point in the next detection area where the next first detection point is located. Based on the height value of the at least one new second sampling point, control whether the ranging component switches to the second state.

9. The method according to claim 8, wherein, If the height value of at least one of the second sampling points is less than or equal to the height threshold, the method further includes: If there is no new first detection point in the current scenario, or if the first number of times the first detection point is selected reaches the first number threshold, the ranging component is controlled to switch to the second state.

10. The method according to claim 6, wherein, The target detection point includes a second detection point; The step of selecting target detection points from the current scene includes: If the historical height measurement map of the mobile robot in the current scene does not exist, the second detection point is selected from the current scene, and the distance between the second detection point and the current location of the mobile robot is a first distance threshold; the historical height measurement map includes multiple historical sampling points in the current scene and the historical height value of each historical sampling point.

11. The method according to claim 10, wherein, Controlling whether the ranging component switches to the second state based on the height value of the at least one second sampling point includes at least one of the following: When the height value of each of the second sampling points is higher than the height threshold, the ranging component is controlled to switch to the second state; If the height value of at least one of the second sampling points is less than or equal to the height threshold, select the next second detection point from the current scene, control the mobile robot to move to the next second detection point in the first state, and collect the height value of at least one new second sampling point in the next detection area where the next second detection point is located. Based on the height value of the at least one new second sampling point, control whether the ranging component switches to the second state.

12. The method according to claim 11, wherein, If the height value of at least one of the second sampling points is less than or equal to the height threshold, the method further includes: When the second number of times the second detection point is selected reaches the second threshold, the ranging component is controlled to switch to the second state.

13. The method according to any one of claims 1 to 12, wherein, The top of the fuselage is provided with a horizontally outward opening, which is used for the ranging component to emit or receive laser after it descends. The method further includes: In the first state, the ranging component is controlled to measure distance through the opening.

14. The method according to any one of claims 1 to 12, further comprising: During the process of controlling the mobile robot to switch from the first state to the second state, in response to the detection that the ranging component failed to rise, the mobile robot is controlled to switch back to the first state; as well as When the mobile robot moves to the third detection point, the mobile robot is controlled to switch from the first state to the second state, wherein the third detection point is the position reached by the mobile robot after it has moved a first target distance after switching back to the first state, or the height value of the third detection point is greater than the height threshold.

15. The method according to claim 14, wherein, When the mobile robot moves to the third detection point, after controlling the mobile robot to switch from the first state to the second state, the method further includes: In response to the detection that the ranging component failed to rise, the mobile robot is controlled to switch back to the first state; If the number of times the ranging component fails to rise does not exceed the third threshold, detect whether the mobile robot has moved to the next third detection point; and When the mobile robot moves to the next third detection point, control the mobile robot to switch from the first state to the second state.

16. The method according to any one of claims 1 to 12, further comprising: In response to detecting that the mobile robot has successfully switched from the first state to the second state, the ranging component is controlled to collect point cloud data of the environment around the mobile robot. as well as If the point cloud meets the target conditions, the mobile robot is controlled to switch back to the first state, wherein the target conditions include the distance between the mobile robot and a point cloud exceeding a target proportion being less than a second distance threshold.

17. The method according to any one of claims 1 to 12, further comprising: In response to detecting a collision event on the top cover of the ranging component triggered by the mobile robot within a target time window, the mobile robot is controlled to switch back to the first state, wherein the target time window has a target length and is started from the moment when the mobile robot successfully switches to the second state.

18. A control device for a mobile robot, wherein the mobile robot includes a body and a ranging component that is liftably mounted on the top of the body, the device comprising: The first control module is used to control the mobile robot to start in a first state at the initial position; In the first state, the ranging component is controlled to descend; The second control module is used to control the mobile robot to obtain the distance between the mobile robot and the obstacle above at the initial position; as well as The third control module is used to control whether the ranging component switches to the second state based on the distance, and in the second state, controls the ranging component to rise.

19. A mobile robot, comprising: The device includes a main body, a ranging component that can be raised and lowered to the top of the main body, and a controller. The controller is used to implement the method as described in any one of claims 1 to 17.

20. A computer device comprising a memory and a processor, characterized in that, The memory stores a computer program that runs on a processor, which, when executing the program, implements the method as described in any one of claims 1 to 17.

21. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any one of claims 1 to 6.

22. A computer program product comprising a computer program or instructions which, when executed, cause the method of any one of claims 1 to 17 to be performed.

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