Raising / lowering control method and system, electronic device, and storage medium
By measuring the height of the space using a DToF sensor and controlling the lifting and lowering of the LDS sensor, the problem of collision or jamming of the LDS sensor during lifting and lowering is solved, thus extending its service life.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- BEIJING ROBOROCK INNOVATION TECH CO LTD
- Filing Date
- 2025-11-26
- Publication Date
- 2026-07-30
AI Technical Summary
In existing technologies, LDS sensors are prone to collisions or jamming during lifting and lowering, resulting in a shortened lifespan and difficulty in accurately determining the timing of lifting and lowering.
The DToF sensor is used to measure the height of the space above the upper surface of the device body. When the space height is low, it is determined that the travel route passes through a low space, and the LDS sensor is controlled to descend. When the space height is large, it is determined that it is an open space, and the LDS sensor is controlled to rise.
By using the height measurement value of the DToF sensor, the probability of LDS sensor collision or jamming is reduced, thus extending the service life of the LDS sensor.
Smart Images
Figure CN2025137955_30072026_PF_FP_ABST
Abstract
Description
Lifting control methods, systems, electronic devices and storage media Cross-references to related applications
[0001] This disclosure claims priority to Chinese patent application No. 202510127648.3, filed on January 27, 2025, the entire contents of which are incorporated herein by reference. Technical Field
[0002] This disclosure relates to the field of cleaning equipment technology, specifically to a lifting control method, system, electronic device, and storage medium. Background Technology
[0003] Cleaning equipment equipped with a liftable LDS (Laser Distance Sensor) can achieve positioning and obstacle avoidance when the LDS sensor is raised, and can enter low-ceilinged spaces for cleaning when the LDS sensor is lowered.
[0004] Cleaning equipment equipped with a DToF (Direct Time of Flight) sensor, whose DToF sensor can measure upward altitude. Summary of the Invention
[0005] This disclosure provides a lifting control method, system, electronic device, and storage medium.
[0006] The following technical solution is adopted in this disclosure:
[0007] In a first aspect, this disclosure provides a lifting control method, wherein a first ranging sensor and a second ranging sensor that can be lifted are provided on the device body; in the forward direction of the device body, the first ranging sensor is located in front of the second ranging sensor;
[0008] The method includes:
[0009] Acquire the status of the second ranging sensor, including its raised and lowered states;
[0010] When the second ranging sensor is in the raised state, the descent strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor.
[0011] When the second ranging sensor is in a descending state, the raising strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor.
[0012] Secondly, this disclosure provides a lifting control system, including: a device body, a first ranging sensor disposed on the device body, and a second ranging sensor that can be lifted; in the forward direction of the device body, the first ranging sensor is located in front of the second ranging sensor;
[0013] The system includes:
[0014] The acquisition module is used to acquire the status of the second ranging sensor, including the raised state and the lowered state.
[0015] The descent strategy module is used to determine the descent strategy of the second ranging sensor based on the height measurement result of the first ranging sensor when the second ranging sensor is in the raised state.
[0016] The lifting strategy module is used to determine the lifting strategy of the second ranging sensor based on the height measurement result of the first ranging sensor when the second ranging sensor is in the lowering state.
[0017] Thirdly, this disclosure provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described lifting control method.
[0018] Fourthly, this disclosure provides a computer-readable storage medium storing a computer program that, when instructed by a processor, implements the steps of the above-described lifting control method.
[0019] Fifthly, this disclosure provides a computer program product including computer program instructions stored in a computer-readable storage medium and adapted to be invoked and executed by a processor to cause a computer device having the processor to perform the steps of the above-described lifting control method.
[0020] Sixthly, this disclosure provides a computer program including computer-readable code, which, when run in a computer device, implements the above-described lifting control method. Attached Figure Description
[0021] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:
[0022] Figure 1 shows a schematic diagram of the appearance of a cleaning device according to an embodiment of the present disclosure;
[0023] Figure 2 shows a schematic flowchart of a lifting control method according to an embodiment of the present disclosure;
[0024] Figure 3 shows a schematic flowchart of a lifting control method according to another embodiment of the present disclosure;
[0025] Figure 4 shows a schematic diagram of the structure of a lifting control system according to an embodiment of the present disclosure;
[0026] Figure 5 shows a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Detailed Implementation
[0027] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of this disclosure will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.
[0028] How to accurately determine whether an LDS sensor needs to be raised or lowered using a DToF sensor has become an urgent technical problem to be solved.
[0029] The concept of this disclosure is as follows: A DToF sensor can measure the height of the space above the upper surface of the device body. When the DToF sensor detects a small height, it can determine that the travel path passes through a low-ceilinged space; when the DToF sensor detects a large height, it can determine that the travel path passes through an open space. This disclosure uses the height measurement value of the DToF sensor to determine the timing of the LDS sensor's rise or fall, thereby reducing the probability of the LDS sensor colliding or getting stuck and extending the service life of the liftable LDS sensor.
[0030] In this disclosure, the cleaning equipment is equipped with intelligent modules commonly found in existing cleaning equipment (including cleaning robots), such as cameras, gyroscopes, and actuators, thereby enabling functions commonly found in existing cleaning equipment, such as sensing the surrounding environment, driving the cleaning equipment's movement, and interacting with maps. These will not be described in detail in the embodiments of this disclosure.
[0031] The present disclosure will now be described in detail through specific embodiments.
[0032] Figure 1 shows a schematic diagram of the appearance of a cleaning device according to an embodiment of the present disclosure. As shown in Figure 1, the cleaning device includes: a device body 1, a first ranging sensor 2 located on the device body 1, and a second ranging sensor 3 that is retractable on the device body 1; in the forward direction of the device body 1, the first ranging sensor 2 is located in front of the second ranging sensor 3.
[0033] Referring to Figure 1, which shows a top view of the cleaning equipment, Figure 1 uses a circular equipment body 1 as an illustration, but this disclosure does not limit the appearance shape of the equipment body 1. In addition to a circle, rectangular or other irregular shapes may also be included.
[0034] The first ranging sensor 2 is located on the upper surface of the device body 1. The first ranging sensor 2 can be a DToF sensor. Figure 1 shows a rectangular first ranging sensor 2 as an illustration, but this disclosure does not limit the appearance shape of the first ranging sensor 2. In addition to rectangles, circular or other irregular shapes may also be included. This disclosure does not limit the arrangement of the first ranging sensor 2, as long as the first ranging sensor 2 can achieve the function of accurately measuring the height upward from the upper surface of the device body 1.
[0035] The second ranging sensor 3 can be raised and lowered on the upper surface of the device body 1. The second ranging sensor 3 can be an LDS sensor. Figure 1 shows a circular second ranging sensor 3 as an illustration, but this disclosure does not limit the appearance shape of the second ranging sensor 3. In addition to a circle, a rectangular or other irregular shape may also be included. When the second ranging sensor 3 is in the raised state, the upper surface of the second ranging sensor 3 is higher than the upper surface of the device body 1; when the second ranging sensor 3 is in the lowered state, the upper surface of the second ranging sensor 3 is not higher than the upper surface of the device body 1 (that is, the second ranging sensor 3 is housed in the device body 1, and is level with or slightly lower than the upper surface of the device body 1).
[0036] In the forward direction of the device body 1, the first ranging sensor 2 is located in front of the second ranging sensor 3. The arrow in Figure 1 is used to indicate the forward direction. As shown in Figure 1, the first ranging sensor 2 can be located on the upper surface of the device body 1 about half a body length away from the forward direction, and the second ranging sensor 3 can be raised and lowered on the upper surface of the device body 1 about half a body length away from the forward direction.
[0037] Figure 2 shows a schematic flowchart of a lifting control method according to an embodiment of this disclosure. Referring to the appearance of the cleaning equipment shown in Figure 1, the lifting control method includes steps S210 to S230.
[0038] Step S210: Obtain the state of the second ranging sensor, which includes the raised state and the lowered state.
[0039] First, the state of the second ranging sensor is acquired. The state of the second ranging sensor can be divided into a raised state and a lowered state. That is, whether the second ranging sensor is raised from the upper surface of the device body or housed within the device body.
[0040] The "raised" state indicates that the second ranging sensor has been raised from the upper surface of the device body. In this case, the height of the upper surface of the second ranging sensor is higher than the height of the upper surface of the device body.
[0041] At this time, the second ranging sensor can achieve accurate positioning or obstacle avoidance. However, for low-lying areas where the height is between the height of the upper surface of the device body and the height of the upper surface of the second ranging sensor, it may collide with or get stuck on the second ranging sensor, causing wear on the second ranging sensor.
[0042] The lowered state indicates that the second ranging sensor is housed within the device body. In this case, the height of the upper surface of the second ranging sensor is no higher than the height of the upper surface of the device body.
[0043] At this time, the second ranging sensor cannot achieve accurate positioning or obstacle avoidance. However, the cleaning equipment can clean low-lying areas where the height is between the height of the upper surface of the device body and the height of the upper surface of the second ranging sensor. Here, the height of the upper surface of the second ranging sensor refers to the height of the upper surface of the second ranging sensor when it is in the raised state.
[0044] The method for obtaining the operating status of the second ranging sensor may include, but is not limited to, determining the status based on the lifting module that drives the second ranging sensor to rise and fall, or jointly determining the status based on information collected by other intelligent modules. This disclosure does not limit the method.
[0045] The timing for acquiring the operating status of the second ranging sensor may include, but is not limited to, acquiring it before the cleaning equipment begins cleaning, or acquiring it during the cleaning process. This disclosure does not impose any limitations.
[0046] Step S220: When the second ranging sensor is in the raised state, the descent strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor.
[0047] If the state of the second ranging sensor indicates that the second ranging sensor is raised, then the descent strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor.
[0048] The first ranging sensor accurately measures the height from the top surface of the device body upwards. Based on this height measurement, it determines whether the device body has entered a low-lying area and controls the second ranging sensor to descend when the device body enters such an area. The second ranging sensor descends into the low-lying area where a collision may occur, reducing wear on the anti-collision components of its side cover. In this embodiment, the focus is on determining whether the second ranging sensor should descend based on the height measurement result of the first ranging sensor; therefore, the application scenario primarily involves situations where the device body can enter the low-lying area. Therefore, the height measurement result or measurement result of the first ranging sensor is greater than 0.
[0049] In some embodiments, when the second ranging sensor is in the raised state, step S220 determines the descent strategy of the second ranging sensor based on the height measurement result of the first ranging sensor, including: when the first height measurement result of the first ranging sensor is lower than the first limit threshold, recording or marking the current first position of the device body; and when the device body continues to move forward a first preset distance, determining the descent strategy of the second ranging sensor based on the second height measurement result of the first ranging sensor.
[0050] Determining the descent strategy for the second ranging sensor mainly involves two steps: the first step is basic judgment; the second step is secondary confirmation.
[0051] In the first basic judgment, the first ranging sensor measures the initial height of the upper surface of the device body upwards. The initial height measurement indicates the spatial height of the upper surface of the device body from the obstacle.
[0052] If the first height measurement result is lower than the first limit threshold, it indicates that the cleaning equipment may need to enter a low-lying area. At this time, the current first position of the equipment body should be recorded or marked.
[0053] In some embodiments, the first limit threshold can be set as needed. For example, the first limit threshold can be set to be greater than the height of the upper surface of the second ranging sensor above the upper surface of the device body when the second ranging sensor is in the raised state. This disclosure does not limit this.
[0054] For example: When the second ranging sensor is in the raised state, the height of its upper surface above the upper surface of the device body is approximately 2 to 2.5 cm. Therefore, the first limit threshold can be 3 cm. When the first ranging sensor measures a height of 2.8 cm (<3 cm), the current first position of the device body is recorded.
[0055] During the second confirmation step, the device body continues to travel the first preset distance in the forward direction, and during this process, it determines whether the second distance sensor should descend based on the second height measurement result of the first distance sensor.
[0056] In some embodiments, the second height measurement result includes multiple first sub-height measurement results. As the device body continues to advance a first preset distance, a descent strategy for the second ranging sensor is determined based on the second height measurement result of the first ranging sensor, including: as the device body continues to advance a first preset distance, the first ranging sensor collects multiple first sub-height measurement results; if at least one first sub-height measurement result is lower than a first safety threshold, the second ranging sensor is lowered; if none of the multiple first sub-height measurement results are lower than the first safety threshold, the recording or marking of the current first position is canceled.
[0057] In some embodiments, the first safety threshold is greater than or equal to the height of the upper surface of the second ranging sensor above the upper surface of the device body when the second ranging sensor is in the raised state.
[0058] When the first ranging sensor detects a height measurement result lower than a first limit threshold, the device body continues to move along the forward direction. In some embodiments, the first preset distance the device body continues to move is less than the distance from the foremost edge of the device body in the forward direction to the front edge of the second ranging sensor. In some embodiments, the first preset distance is less than the distance between the first ranging sensor and the second ranging sensor.
[0059] Understandably, although the first height measurement result is lower than the first limit threshold, the spatial height between the upper surface of the device and the obstacle must allow the device to enter. Since the first preset distance the device continues to travel is less than the distance from the foremost edge of the device's forward direction to the front edge of the second ranging sensor, the second ranging sensor in its raised state does not reach the obstacle when the device continues to travel the first preset distance, thus avoiding collision or jamming with the second ranging sensor.
[0060] Referring to the appearance of the cleaning device shown in Figure 1, the first preset distance can be the radius of the circular device body (i.e., half the length of the device body).
[0061] In some embodiments, as the device body continues to move in the forward direction, the first ranging sensor continuously measures multiple first sub-height measurements above the upper surface of the device body. If any of the first sub-height measurements falls below a first safety threshold, it indicates that the device body has entered a low-profile area, thereby allowing the second ranging sensor to descend.
[0062] The spatial height of obstacles may not be constant. Some parts may have a relatively high spatial height, while others may have a relatively low spatial height. Therefore, during the process of the device traveling the first preset distance, multiple first sub-height measurements are continuously taken by the first ranging sensor. If any of the measurements is lower than the first safety threshold, the second ranging sensor is lowered.
[0063] For example, the first safety threshold is typically 42cm. If at least one of the multiple first sub-height measurements obtained by the first ranging sensor is below 42cm, the second ranging sensor is lowered.
[0064] However, if, during the process of the device body traveling the first preset distance, all of the multiple first sub-height measurement results are not lower than the first safety threshold, then the record or mark of the current first position is cancelled, and the second ranging sensor remains in the raised state.
[0065] In some embodiments, if the previous first height measurement result is lower than the height of the upper surface of the second ranging sensor above the upper surface of the device body while the second ranging sensor remains in the raised state, the device body continues to move, and the raised second ranging sensor will collide with it. In this case, the collision can be triggered based on the second ranging sensor, causing the second ranging sensor to descend.
[0066] The following describes the specific steps for determining whether the second ranging sensor should descend based on the height measurement result of the first ranging sensor when the second ranging sensor is in the raised state.
[0067] The upper surface of the second ranging sensor in the raised state is 2cm higher than the upper surface of the device body, the first limit threshold is 3cm, and the first safety threshold is 42cm.
[0068] Scenario 1: The first height measurement result is 2.8cm, and several of the multiple first sub-height measurement results are lower than 42cm. Then record or mark the current first position and lower the second distance sensor.
[0069] Scenario 2: The first height measurement result is 2.8cm, and multiple first sub-height measurements are all no less than 42cm. In this case, keep the second distance sensor raised.
[0070] Scenario 3: If the first height measurement result is 1.5cm, and several of the multiple first sub-height measurement results are below 42cm, then record or mark the current first position and lower the second distance sensor.
[0071] Scenario 4: If the first height measurement result is 1.5cm, and multiple first sub-height measurements are all no less than 42cm, then keep the second ranging sensor raised until a collision is triggered based on the second ranging sensor, at which point the second ranging sensor will descend.
[0072] The above specific examples are merely illustrative and are not intended to be limiting.
[0073] Step S230: When the second ranging sensor is in a descending state, determine the raising strategy of the second ranging sensor based on the height measurement result of the first ranging sensor.
[0074] If the state of the second ranging sensor determines that the second ranging sensor is descending, then the raising strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor.
[0075] The first ranging sensor accurately measures the height from the top surface of the device body upwards. Based on this height measurement, it determines whether the device body has entered an open area and controls the second ranging sensor to rise when the device body enters an open area. The second ranging sensor rises in an open area, enabling it to achieve accurate positioning and obstacle avoidance functions.
[0076] In some embodiments, when the second ranging sensor is in a descending state, step S230 determines the raising strategy of the second ranging sensor based on the height measurement result of the first ranging sensor, including: when the third height measurement result of the first ranging sensor is not lower than the second safety threshold, recording or marking the current second position of the device body; and when the device body continues to move forward a second preset distance, determining the raising strategy of the second ranging sensor based on the fourth height measurement result of the first ranging sensor.
[0077] Determining the lifting strategy for the second ranging sensor mainly involves two steps: the first step is basic judgment; the second step is secondary confirmation.
[0078] In the first basic judgment, the first ranging sensor measures the third elevation of the upper surface of the device body upwards. The third elevation measurement result indicates the spatial height of the upper surface of the device body from the obstacle.
[0079] If the third height measurement result is not lower than the second safety threshold, it indicates that the cleaning equipment may have entered an open area. At this time, the current second position of the equipment body should be recorded or marked.
[0080] In some embodiments, the second safety threshold can be set as needed. For example, the second safety threshold can be set to be greater than the height of the upper surface of the second ranging sensor above the upper surface of the device body. This disclosure does not limit this. The second safety threshold and the first safety threshold may be equal or unequal, and this disclosure does not limit this.
[0081] For example, the second safety threshold is typically 42cm. When the first ranging sensor measures a third height result of 44cm (>42cm), the current second position of the device body is recorded or marked.
[0082] During the second confirmation step, the device body continues to travel the second preset distance in the forward direction, and during this process, it determines whether the second distance sensor should be raised based on the fourth height measurement result of the first distance sensor.
[0083] In some embodiments, the fourth height measurement result includes multiple second sub-height measurement results. As the device body continues to advance a second preset distance, a raising strategy for the second ranging sensor is determined based on the fourth height measurement result of the first ranging sensor, including: as the device body continues to advance a second preset distance, the first ranging sensor collects multiple second sub-height measurement results; if all multiple second sub-height measurement results are not lower than a second limit threshold, the second ranging sensor is raised; if at least one second sub-height measurement result is lower than the second limit threshold, the recording or marking of the current first position is canceled.
[0084] In some embodiments, the second limit threshold is greater than or equal to the height of the upper surface of the second ranging sensor above the upper surface of the device body when the second ranging sensor is in the raised state. The second limit threshold may be equal to or unequal to the first limit threshold; this disclosure does not impose any limitation on this.
[0085] Once the first ranging sensor detects that the third altitude measurement result is not lower than the second safety threshold, the device body continues to move along the forward direction. In some embodiments, the second preset distance the device body continues to move is greater than the distance between the rear edges of the first and second ranging sensors. In some embodiments, the second preset distance is greater than the distance from the foremost edge of the device body in the forward direction to the rear edge of the second ranging sensor.
[0086] It is understandable that although the third height measurement result is not lower than the second safety threshold, the device body is still in a low-lying area (when the second ranging sensor is raised, the spatial height between the upper surface of the device body and the obstacle may not allow the second ranging sensor to pass). Therefore, in this embodiment of the present disclosure, as the device body continues to travel the second preset distance, the second ranging sensor remains in a descending state, which can ensure that it will not collide with the obstacle and avoid jamming the raised second ranging sensor.
[0087] Referring to the appearance of the cleaning device shown in Figure 1, the second preset distance can be the diameter of the circular device body (i.e., one body length of the device body).
[0088] In some embodiments, as the device body continues to move in the forward direction, the first ranging sensor continuously measures multiple second sub-height measurements above the upper surface of the device body. Only when all multiple second sub-height measurements are not lower than a second limit threshold is it indicated that the device body has entered an open area, thereby allowing the second ranging sensor to be controlled to rise.
[0089] The spatial height of obstacles may not be constant. Some parts may have a relatively high spatial height, while others may have a relatively low spatial height. Therefore, during the process of the device traveling the second preset distance, multiple second sub-height measurements are continuously taken by the first ranging sensor. The second ranging sensor is only raised when all multiple second sub-height measurements are not lower than the second limit threshold.
[0090] For example, if the upper surface of the second ranging sensor is approximately 2 to 2.5 cm above the upper surface of the device body when the second ranging sensor is in the raised state, then the second limit threshold can be 3 cm. The second ranging sensor is only raised when multiple measurements of the second sub-height obtained by the first ranging sensor are all not less than 3 cm.
[0091] The following describes the specific situation of determining whether the second ranging sensor should be raised based on the height measurement result of the first ranging sensor when the second ranging sensor is in the descending state.
[0092] The upper surface of the second ranging sensor in the raised state is 2cm higher than the upper surface of the device body, the second limit threshold is 3cm, and the second safety threshold is 42cm.
[0093] Scenario 1: If the first height measurement result is 44cm, and multiple second height measurements are all no less than 3cm, then record or mark the current second position and raise the second distance sensor.
[0094] Scenario 2: If the first height measurement result is 44cm, and at least one of the multiple second sub-height measurements is less than 42cm, then continue lowering the second distance sensor.
[0095] The above specific examples are merely illustrative and are not intended to be limiting.
[0096] Figure 3 shows a schematic flowchart of a lifting control method according to another embodiment of the present disclosure. Referring to the appearance of the cleaning equipment shown in Figure 1, the lifting control method includes steps S301 to S314.
[0097] Step S301: Determine the state of the second ranging sensor. If it is in the raised state, proceed to step S302; if it is in the lowered state, proceed to step S309.
[0098] Step S302: Determine whether the first height measurement result of the first ranging sensor is lower than the first limit threshold. If not, proceed to step S303; if yes, proceed to step S304.
[0099] In step S303, the second ranging sensor remains in the raised state.
[0100] Step S304: Record or mark the current first position of the device body, and as the device body continues to move forward half a body length, the first ranging sensor collects multiple first sub-height measurement results. Proceed to step S305.
[0101] Step S305: Determine whether the multiple first sub-height measurement results are all not lower than the first safety threshold. If yes, proceed to step S306; if no, proceed to step 307.
[0102] Step S306: Cancel the recording or marking of the current first position; the second ranging sensor remains in the raised state. Proceed to step S308.
[0103] Step S307: Lower the second ranging sensor.
[0104] Step S308: Determine whether the second ranging sensor has triggered a collision. If not, proceed to step S303; if yes, proceed to step S307.
[0105] Step S309: Determine whether the third height measurement result of the first ranging sensor is not lower than the second safety threshold. If not, proceed to step S310; if yes, proceed to step S311.
[0106] In step S310, the second ranging sensor continues to descend.
[0107] Step S311: Record or mark the current second position of the device body, and as the device body continues to move forward one body length, the first ranging sensor collects multiple second sub-height measurement results. Proceed to step S312.
[0108] Step S312: Determine whether all the measurements of the second sub-height are not lower than the second limit threshold. If yes, proceed to step S313; otherwise, proceed to step S314.
[0109] Step S313: Raise the second ranging sensor.
[0110] Step S314: Cancel the recording or marking of the current second position, and the second ranging sensor continues to descend.
[0111] This application provides a lifting control method. The device body is equipped with a first ranging sensor and a liftable second ranging sensor. In the forward direction of the device body, the first ranging sensor is located in front of the second ranging sensor. The method includes: acquiring the state of the second ranging sensor, including a raised state and a lowered state; when the second ranging sensor is in the raised state, determining a lowering strategy for the second ranging sensor based on the height measurement result of the first ranging sensor; and when the second ranging sensor is in the lowered state, determining a raising strategy for the second ranging sensor based on the height measurement result of the first ranging sensor. The method provided in this application determines the lifting strategy of the second ranging sensor based on the height measurement result of the first ranging sensor, depending on whether the second ranging sensor is in the raised or lowered state, thereby reducing the probability of the second ranging sensor colliding or getting stuck and improving the service life of the liftable second ranging sensor.
[0112] Figure 4 shows a schematic diagram of the structure of a lifting control system according to an embodiment of the present disclosure. Referring to the appearance of the cleaning equipment shown in Figure 1, it includes: a device body, a first ranging sensor disposed on the device body, and a second ranging sensor that can be raised and lowered; in the forward direction of the device body, the first ranging sensor is located in front of the second ranging sensor; the system 400 includes:
[0113] The acquisition module 410 is used to acquire the state of the second ranging sensor, which includes a raised state and a lowered state.
[0114] The descent strategy module 420 is used to determine the descent strategy of the second ranging sensor based on the height measurement result of the first ranging sensor when the second ranging sensor is in the raised state.
[0115] The lifting strategy module 430 is used to determine the lifting strategy of the second ranging sensor based on the height measurement result of the first ranging sensor when the second ranging sensor is in a lowered state.
[0116] In some embodiments, in the system 400 described above, the descent strategy module 420 further includes: a first position recording submodule, configured to record or mark the current first position of the device body when the first height measurement result of the first ranging sensor is lower than the first limit threshold; and a first preset distance monitoring submodule, configured to determine the descent strategy of the second ranging sensor based on the second height measurement result of the first ranging sensor as the device body continues to move forward a first preset distance.
[0117] In some embodiments, the first preset distance is less than the distance from the foremost edge of the device body in the forward direction to the front edge of the second ranging sensor.
[0118] In some embodiments, the first preset distance is less than the distance between the first ranging sensor and the second ranging sensor.
[0119] In some embodiments, in the system 400 described above, the first preset distance monitoring submodule further includes: a height measurement acquisition unit, used to acquire multiple first sub-height measurement results by a first ranging sensor as the device body continues to move forward a first preset distance; a descent decision unit, used to descend a second ranging sensor when at least one first sub-height measurement result is lower than a first safety threshold; and to cancel the recording or marking of the current first position when none of the multiple first sub-height measurement results are lower than the first safety threshold.
[0120] In some embodiments, in the system 400 described above, the lifting strategy module 430 further includes: a second position recording submodule, used to record or mark the current second position of the device body when the third height measurement result of the first ranging sensor is not lower than the second safety threshold; and a second preset distance monitoring submodule, used to determine the lifting strategy of the second ranging sensor based on the fourth height measurement result of the first ranging sensor as the device body continues to move forward a second preset distance.
[0121] In some embodiments, the second preset distance is greater than the distance between the rear edge of the first ranging sensor and the rear edge of the second ranging sensor.
[0122] In some embodiments, the second preset distance is greater than the distance from the foremost edge of the device body in the forward direction to the rear edge of the second ranging sensor.
[0123] In some embodiments, in the system 400 described above, the second preset distance monitoring submodule further includes: a height measurement re-acquisition unit, used to collect multiple second sub-height measurement results by the first ranging sensor as the device body continues to move forward a second preset distance; a lift decision unit, used to lift the second ranging sensor when all multiple second sub-height measurement results are not lower than a second limit threshold; and to cancel the recording or marking of the current second position when at least one second sub-height measurement result is lower than the second limit threshold.
[0124] It should be noted that the aforementioned lifting control system 400 can implement all of the aforementioned lifting control methods, which will not be elaborated further.
[0125] Figure 5 shows a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Referring to Figure 5, the internal structure of the electronic device may include a processor, memory, network interface, display screen (not shown in Figure 5), and input device (not shown in Figure 5) connected via a system bus. The processor of the electronic device provides computing and control capabilities. The memory of the electronic device includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the electronic device is used to communicate with external clients via a network connection. When the computer program is executed by the processor, it implements the functions or steps of the lifting control method.
[0126] In one embodiment, the electronic device provided in this disclosure includes a memory and a processor. The memory stores a database and a computer program that can run on the processor. When the processor executes the computer program, it performs the following steps:
[0127] Acquire the status of the second ranging sensor, including its raised and lowered states;
[0128] When the second ranging sensor is in the raised state, the descent strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor.
[0129] When the second ranging sensor is in a descending state, the raising strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor.
[0130] In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, the computer program performing the following steps when executed by a processor:
[0131] Acquire the status of the second ranging sensor, including its raised and lowered states;
[0132] When the second ranging sensor is in the raised state, the descent strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor.
[0133] When the second ranging sensor is in a descending state, the raising strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor.
[0134] In one embodiment, a computer program product is also provided, including computer program instructions stored in a computer-readable storage medium and adapted to be invoked and executed by a processor to cause a computer device having the processor to perform the steps of the lifting control method as described in the foregoing embodiments.
[0135] In one embodiment, a computer program is also provided, including computer-readable code, which, when run in a computer device, implements the lifting control method as described in the foregoing embodiments.
[0136] It should be noted that the functions or steps that the electronic device, computer-readable storage medium, or computer program product can achieve are described in the relevant descriptions in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.
[0137] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this disclosure can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.
[0138] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.
[0139] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.
[0140] All embodiments disclosed herein can be executed individually or in combination with other embodiments, and are all considered to be within the scope of protection claimed by this disclosure.
Claims
1. A lifting control method, wherein a first ranging sensor and a second ranging sensor that can be lifted are provided on the device body; in the forward direction of the device body, the first ranging sensor is located in front of the second ranging sensor; the method includes: Acquire the state of the second ranging sensor, including an elevated state and a lowered state; When the second ranging sensor is in the raised state, the descent strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor; When the second ranging sensor is in a descending state, the raising strategy of the second ranging sensor is determined based on the height measurement result of the first ranging sensor.
2. The lifting control method according to claim 1, wherein, When the second ranging sensor is in the raised state, determining the descent strategy of the second ranging sensor based on the height measurement result of the first ranging sensor includes: When the first height measurement result of the first ranging sensor is lower than the first limit threshold, the current first position of the device body is recorded or marked. As the device body continues to advance a first preset distance, the descent strategy of the second ranging sensor is determined based on the second height measurement result of the first ranging sensor.
3. The lifting control method according to claim 2, wherein, As the device body continues to advance a first preset distance, the descent strategy of the second ranging sensor is determined based on the second altitude measurement result of the first ranging sensor, including: As the device body continues to move forward a first preset distance, the first ranging sensor collects multiple first sub-height measurement results; If at least one first sub-height measurement result is below a first safety threshold, the second ranging sensor is lowered; If all of the multiple first sub-height measurements are not lower than the first safety threshold, the recording or marking of the current first position is cancelled.
4. The lifting control method according to claim 2 or 3, wherein, The first preset distance is less than the distance from the foremost edge of the device body in the forward direction to the front edge of the second ranging sensor.
5. The lifting control method according to claim 4, wherein, The first preset distance is less than the distance between the first ranging sensor and the second ranging sensor.
6. The lifting control method according to any one of claims 1-5, wherein, When the second ranging sensor is in a descending state, determining the raising strategy of the second ranging sensor based on the height measurement result of the first ranging sensor includes: When the third height measurement result of the first ranging sensor is not lower than the second safety threshold, the current second position of the device body is recorded or marked. As the device body continues to advance a second preset distance, the raising strategy of the second ranging sensor is determined based on the fourth height measurement result of the first ranging sensor.
7. The lifting control method according to claim 6, wherein, As the device body continues to advance a second preset distance, the raising strategy of the second ranging sensor is determined based on the fourth height measurement result of the first ranging sensor, including: As the device body continues to advance a second preset distance, the first ranging sensor collects multiple second sub-height measurement results; If multiple second sub-height measurements are not lower than the second limit threshold, raise the second ranging sensor; If at least one second sub-height measurement result is lower than the second limit threshold, the recording or marking of the current second position is cancelled.
8. The lifting control method according to claim 6 or 7, wherein, The second preset distance is greater than the distance between the rear edge of the first ranging sensor and the rear edge of the second ranging sensor.
9. The lifting control method according to claim 8, wherein, The second preset distance is greater than the distance from the foremost edge of the device body in the forward direction to the rear edge of the second ranging sensor.
10. A lifting control system, comprising: The device body is equipped with a first ranging sensor and a liftable second ranging sensor. In the forward direction of the device body, the first ranging sensor is located in front of the second ranging sensor; The system also includes: The acquisition module is used to acquire the state of the second ranging sensor, which includes a raised state and a lowered state; The descent strategy module is used to determine the descent strategy of the second ranging sensor based on the height measurement result of the first ranging sensor when the second ranging sensor is in the raised state. The lifting strategy module is used to determine the lifting strategy of the second ranging sensor based on the height measurement result of the first ranging sensor when the second ranging sensor is in a lowering state.
11. The lifting control system according to claim 10, wherein, The descent strategy module further includes: The first position recording submodule is used to record or mark the current first position of the device body when the first height measurement result of the first ranging sensor is lower than the first limit threshold. The first preset distance monitoring submodule is used to determine the descent strategy of the second distance sensor based on the second height measurement result of the first distance sensor as the device body continues to move forward a first preset distance.
12. The lifting control system according to claim 11, wherein the first preset distance is less than the distance from the foremost edge of the device body in the forward direction to the front edge of the second ranging sensor.
13. The lifting control system according to claim 12, wherein, The first preset distance is less than the distance between the first ranging sensor and the second ranging sensor.
14. The lifting control system according to any one of claims 11-13, wherein, The first preset distance monitoring submodule further includes: The height measurement and acquisition unit is used to collect multiple first sub-height measurement results from the first ranging sensor as the device body continues to move forward a first preset distance. A descent decision unit is configured to control the second ranging sensor to descend if at least one first sub-height measurement result is lower than a first safety threshold; and to cancel the recording or marking of the current first position if none of the plurality of first sub-height measurement results are lower than the first safety threshold.
15. The lifting control system according to any one of claims 10-14, wherein, The lifting strategy module further includes: The second position recording submodule is used to record or mark the current second position of the device body when the third height measurement result of the first ranging sensor is not lower than the second safety threshold. The second preset distance monitoring submodule is used to determine the raising strategy of the second distance sensor based on the fourth height measurement result of the first distance sensor as the device body continues to move forward a second preset distance.
16. The lifting control system according to claim 15, wherein the second preset distance is greater than the distance between the rear end edges of the first ranging sensor and the second ranging sensor.
17. The lifting control system according to claim 16, wherein, The second preset distance is greater than the distance from the foremost edge of the device body in the forward direction to the rear edge of the second ranging sensor.
18. The lifting control system according to any one of claims 15-17, wherein, The second preset distance monitoring submodule further includes: The height measurement and re-acquisition unit is used to collect multiple second sub-height measurement results from the first ranging sensor as the device body continues to move forward a second preset distance. The lifting decision unit is used to control the second ranging sensor to rise when multiple second sub-height measurement results are not lower than the second limit threshold; and to cancel the recording or marking of the current second position when at least one second sub-height measurement result is lower than the second limit threshold.
19. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, When the processor executes the computer program, it implements the steps of the lifting control method as described in any one of claims 1 to 9.
20. A computer-readable storage medium storing a computer program, wherein, When the computer program is instructed by the processor, it implements the steps of the lifting control method as described in any one of claims 1 to 9.
21. A computer program product comprising computer program instructions stored in a computer-readable storage medium and adapted to be invoked and executed by a processor to cause a computer device having said processor to perform the steps of the method as claimed in any one of claims 1 to 9.
22. A computer program comprising computer-readable code that, when executed in a computer device, implements the method as described in any one of claims 1 to 9.