Mobile robot, cross-floor transfer device, positioning method, and storage medium

Abstract

A mobile robot (600), a cross-floor transfer device (700), a positioning method, and a storage medium. When the positioning that is performed on the basis of environment information of a first floor where the mobile robot (600) is currently located fails, the mobile robot (600) is positioned on the basis of environment information of a second floor, the environment information of the second floor being collected by the cross-floor transfer device (700) or the mobile robot (600). In this way, the probability of successful positioning of the mobile robot (600) can be improved, so that the mobile robot (600) can obtain more accurate positioning information, thereby improving the accuracy and stability of navigation of the mobile robot (600).

Description

Mobile robots, inter-floor transfer equipment, positioning methods and storage media Cross-references to related applications

[0001] This disclosure claims priority and benefits to Chinese Patent Application No. 202510148856.1, filed on February 10, 2025, the entire contents of which are hereby incorporated by reference. Technical Field

[0002] This disclosure relates to, but is not limited to, the field of mobile robots, and particularly to a mobile robot, a cross-floor transfer device, a positioning method, and a storage medium. Background Technology

[0003] With the rapid development of technology, mobile robots are being used more and more widely. During navigation, mobile robots may experience loss of positioning information due to abnormal power outages, sudden environmental changes, or relocation of the equipment, resulting in positioning failure and affecting navigation. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a mobile robot, a cross-floor transfer device, a positioning method, and a storage medium.

[0005] This disclosure provides a mobile robot, including: a robot body; a first acquisition component disposed on the robot body, the first acquisition component acquiring environmental information of the first floor where the mobile robot is currently located; and a first control component disposed on the robot body, the first control component being communicatively connected to the first acquisition component to acquire the environmental information of the first floor, locate the mobile robot, and generate a first positioning result; wherein, when the first positioning result indicates positioning failure, the first control component or a cross-floor transfer device locates the mobile robot based on the environmental information of a second floor to generate a second positioning result, and wherein the environmental information of the second floor is acquired by the cross-floor transfer device or the mobile robot.

[0006] This disclosure provides a cross-floor transfer device, including: a transfer device body and a second control component disposed on the transfer device body; wherein, in response to receiving a transfer trigger signal sent by a mobile robot, the second control component controls the cross-floor transfer device to search for the mobile robot in the current scene; the mobile robot is located on the first floor of the current scene, and the transfer trigger signal is sent by the mobile robot when a first positioning result indicates positioning failure, the first positioning result being generated based on the environmental information of the first floor for locating the mobile robot; the second control component also, in response to reaching the location of the mobile robot, controls the cross-floor transfer device to cooperate with the mobile robot to obtain a second positioning result; the second positioning result is obtained by the mobile robot or the second control component locating the mobile robot based on the environmental information of the second floor, the environmental information of the second floor being collected by the cross-floor transfer device or the mobile robot.

[0007] This disclosure provides a positioning method for a mobile robot. The method includes: acquiring environmental information of the first floor where the mobile robot is currently located; positioning the mobile robot based on the environmental information of the first floor to generate a first positioning result; and acquiring a second positioning result when the first positioning result indicates positioning failure. The second positioning result is generated by the mobile robot or a cross-floor transfer device positioning the mobile robot based on the environmental information of the second floor, which is collected by the cross-floor transfer device or the mobile robot.

[0008] This disclosure provides a positioning method applied to a cross-floor transfer device. The method includes: in response to receiving a transfer trigger signal sent by a mobile robot, locating the mobile robot in the current scene; the mobile robot is located on the first floor of the current scene, and the transfer trigger signal is sent by the mobile robot when a first positioning result indicates positioning failure, the first positioning result being generated based on environmental information of the first floor; in response to reaching the location of the mobile robot, coordinating with the mobile robot to obtain a second positioning result; the second positioning result is obtained by the mobile robot or the cross-floor transfer device locating the mobile robot based on environmental information of the second floor, the environmental information of the second floor being collected by the cross-floor transfer device or the mobile robot.

[0009] This disclosure provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described positioning method.

[0010] This disclosure provides a processor that is communicatively connected to a memory, which stores a computer program that can run on the processor. When the processor executes the computer program, it implements the steps in the above-described positioning method. Attached Figure Description

[0011] Figure 1 is a schematic diagram of the implementation process of a positioning method provided in an embodiment of this disclosure.

[0012] Figure 2 is a schematic diagram of the implementation process of a positioning method provided in an embodiment of this disclosure.

[0013] Figure 3 is a schematic diagram of the implementation process of a positioning method provided in an embodiment of this disclosure.

[0014] Figure 4 is a schematic diagram of the global map of the current scene in a positioning method provided in an embodiment of this disclosure.

[0015] Figure 5 is a schematic diagram of the environmental map obtained by the sweeping robot during the repositioning process in a positioning method provided in an embodiment of this disclosure.

[0016] Figure 6 is a schematic diagram of the composition structure of a mobile robot provided in an embodiment of this disclosure.

[0017] Figure 7 is a schematic diagram of the composition structure of a cross-floor transfer device provided in an embodiment of this disclosure.

[0018] Figure 8 is a schematic diagram of the composition structure of a cross-floor transfer device provided in an embodiment of this disclosure. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] 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.

[0022] This disclosure provides a positioning method applicable to mobile robots. 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 cleaning robots (such as sweeping robots, floor scrubbers, mopping robots, and combined washing and mopping machines), guiding robots, and service robots. Figure 1 is a schematic flowchart illustrating the implementation of a positioning method provided in this disclosure. As shown in Figure 1, the method includes the following steps S101 to S103.

[0023] Step S101: Obtain the environmental information of the first floor where the mobile robot is currently located.

[0024] Here, the first floor refers to the floor where the mobile robot is currently located. This first floor can be any floor in a multi-floor scenario.

[0025] The environmental information of the first floor may include, but is not limited to, at least one of the following: environmental point cloud, environmental image, etc. In implementation, the mobile robot can explore the first floor in any suitable way to obtain the environmental information of the first floor, and this disclosure embodiment is not limited in this respect.

[0026] In some implementations, the mobile robot may include a first acquisition component, which can be used to acquire environmental information about the first floor where the mobile robot is currently located. The first acquisition component may include, but is not limited to, at least one of a ranging module, an image acquisition component, etc.

[0027] In some implementations, the mobile robot may employ a ranging module to detect the distance to at least some obstacles on the first floor, thereby obtaining an environmental point cloud of the first floor. The ranging module may include, but is not limited to, at least one of a lidar ranging module, an infrared ranging module, etc.

[0028] In some implementations, the mobile robot can use an image acquisition component to acquire images of the environment on the first floor, thereby obtaining an environmental image of the first floor.

[0029] Step S102: Based on the environmental information of the first floor, the mobile robot is located to generate a first positioning result.

[0030] Here, the mobile robot can be located using any suitable positioning method based on the environmental information of the first floor, and this disclosure does not limit this method. In some implementations, the positioning method may include, but is not limited to, positioning methods based on Simultaneous Localization and Mapping (SLAM), positioning methods based on Global Positioning System (GPS), and / or Wi-Fi positioning.

[0031] In some implementations, a target environment map matching the environmental information of the first floor can be determined from the environment maps of each floor in the current scene based on the environmental information of the first floor, and the mobile robot can be located within the target environment map to generate a first positioning result.

[0032] In some implementations, after the mobile robot loses its positioning information, it can be repositioned based on the environmental information of the first floor to generate a first positioning result. It is understood that during navigation, the mobile robot may lose its positioning information due to abnormal power outages, sudden environmental changes, being moved within a floor, or being moved from one floor to another. In such cases, the mobile robot can reposition itself in the target environment; this process is called device repositioning. Through repositioning, the mobile robot can regain its current positioning information.

[0033] It should be noted that step S102 and the positioning described below can be positioning during the normal navigation process of the mobile robot, or repositioning after the positioning information is lost. This disclosure does not limit this.

[0034] In some implementations, the mobile robot can be located based on the environmental information of the first floor in response to a user's location trigger operation or relocation trigger operation, generating a first location result. In some implementations, the location trigger operation or relocation trigger operation may include, but is not limited to, at least one of voice trigger operation, button trigger operation, gesture trigger operation, etc.

[0035] Step S103: When the first positioning result indicates positioning failure, a second positioning result is obtained; the second positioning result is generated by the mobile robot or the cross-floor transfer device locating the mobile robot based on the environmental information of the second floor, and the environmental information of the second floor is collected by the cross-floor transfer device or the mobile robot.

[0036] In some implementations, the second positioning result is obtained by the mobile robot, or by the mobile robot using a cross-floor transfer device. A cross-floor transfer device refers to a device capable of transferring objects between floors. In some implementations, the cross-floor transfer device may include, but is not limited to, at least one of elevators, stair climbers, etc. A stair climber may be a device with stair climbing functionality, or it may be a device with both stair climbing and horizontal movement capabilities.

[0037] The second floor refers to any floor in the current scene other than the first floor. For example, the second floor can be the floor above or below the first floor.

[0038] The environmental information of the second floor may include, but is not limited to, at least one of the following: environmental point cloud, environmental image, etc.

[0039] In some implementations, the environmental information of the second floor is collected by a cross-floor transfer device. After collecting the environmental information of the second floor, the cross-floor transfer device can locate the mobile robot based on this information, generate a second positioning result, and synchronize this second positioning result to the mobile robot. Alternatively, the cross-floor transfer device can also synchronize the environmental information of the second floor to the mobile robot, and the mobile robot can then locate itself based on this information, generating a second positioning result.

[0040] In some implementations, a cross-floor transfer device can be used to transport the mobile robot to the second floor. After arriving at the second floor, the mobile robot can collect environmental information of the second floor and locate the mobile robot based on the environmental information of the second floor, generating a second location result.

[0041] In some implementations, the mobile robot has the ability to move across floors, so that the mobile robot can move autonomously to the second floor. After arriving at the second floor, the mobile robot can collect environmental information of the second floor and locate the mobile robot based on the environmental information of the second floor, generating a second positioning result.

[0042] It is understandable that, if the first / second positioning result indicates successful positioning, the positioning information of the mobile robot after positioning can be determined based on the first / second positioning result, and the mobile robot can navigate based on this positioning information. In some embodiments, the positioning information of the mobile robot may include the floor the mobile robot is currently on. In some embodiments, the positioning information of the mobile robot may include the floor the mobile robot is currently on and its position on that floor, etc.

[0043] In this embodiment, a first positioning result is generated by locating the mobile robot based on the environmental information of the first floor where it is currently located. If the first positioning result indicates positioning failure, a second positioning result is obtained. This second positioning result is generated by the mobile robot or a cross-floor transfer device locating the mobile robot based on the environmental information of the second floor, which is collected by either the cross-floor transfer device or the mobile robot. In this way, in multi-floor scenarios, if the mobile robot fails to locate, environmental information from other floors can be obtained using the cross-floor transfer device or the mobile robot, and the mobile robot can be relocated based on this information. This increases the probability of successful positioning, allowing the mobile robot to obtain more accurate positioning information, thereby improving the accuracy and stability of the mobile robot's navigation.

[0044] In some embodiments, obtaining the second positioning result in step S103 above may include the following steps S111 to S113.

[0045] Step S111: Control the inter-floor transfer device to transport the mobile robot from the first floor to the second floor.

[0046] In some implementations, the mobile robot can locate inter-floor transfer devices using infrared signals, WiFi signals, and / or other signals. Once located, the robot controls the transfer device to transport the mobile robot from the first floor to the second floor. In some embodiments, the inter-floor transfer device is an elevator. The mobile robot can locate the elevator entrance on its current floor, enter the elevator, and then send a transfer trigger signal to the elevator to transport the mobile robot to the second floor. Alternatively, the inter-floor transfer device can be a stair climber located at the stairwell entrance. The mobile robot can locate the stair climber on the first floor using infrared signals, WiFi signals, and / or other signals. Once located, the robot sends a transfer trigger signal to the stair climber to transport the mobile robot to the second floor.

[0047] In some implementations, the mobile robot can control an inter-floor transfer device to locate it via infrared, WiFi, and / or other signals, and then transport it from the first floor to the second floor. For example, the inter-floor transfer device could be a stair climber capable of moving horizontally within a floor. The mobile robot could send a transfer trigger signal to the stair climber, which would then locate and transport the mobile robot to the second floor.

[0048] Step S112: Explore the environment of the second floor to obtain environmental information of the second floor.

[0049] Here, the method of obtaining environmental information of the second floor by exploring the environment is similar to the method of obtaining environmental information of the first floor. When implementing it, you can refer to the implementation method of the aforementioned step S101.

[0050] Step S113: Based on the environmental information of the second floor, the mobile robot is located to generate the second location result.

[0051] Here, the second localization result can be obtained by locating the mobile robot based solely on the environmental information of the second floor, or it can be obtained by locating the mobile robot based on the environmental information of the second floor and the environmental information of other floors besides the second floor.

[0052] In some implementations, the method of locating the mobile robot based on the environmental information of the second floor can be similar to the method of locating the mobile robot based on the environmental information of the first floor in step S102 above. When implementing, the implementation method of step S102 above can be referred to.

[0053] In the above embodiment, the cross-floor transfer device is controlled to transport the mobile robot from the first floor to the second floor. The robot then explores the environment of the second floor, obtaining environmental information. Based on this information, the robot is located, yielding a second location result. This allows for convenient and rapid transport of the mobile robot to the second floor using the cross-floor transfer device's mobility, increasing the robot's field of vision and enabling it to quickly acquire environmental information. Furthermore, because the robot directly collects environmental information from the second floor in real time, it obtains more accurate information, further increasing the probability of successful localization.

[0054] In some embodiments, step S113 may include step S121.

[0055] Step S121: Based on the environmental information of the first floor and the environmental information of the second floor, the mobile robot is located to generate the second location result.

[0056] Here, the mobile robot can be located using any suitable positioning method based on the environmental information of the first floor and the environmental information of the second floor, and this embodiment of the disclosure is not limited in this regard. For example, the positioning method may include, but is not limited to, SLAM-based positioning, GPS-based positioning, and / or Wi-Fi positioning.

[0057] In the above embodiments, by comprehensively considering the environmental information of the first floor and the environmental information of the second floor, the mobile robot can be located, which can further improve the probability of successful positioning and obtain a more accurate second positioning result.

[0058] In some embodiments, step S121 may include steps S131 to S132.

[0059] Step S131: Obtain the global map of the current scene; the global map contains the environment map of each floor in the current scene.

[0060] Here, the current scene may include multiple floors. The global map of the current scene may be collected by mobile robots and / or cross-floor transfer equipment during historical exploration, or it may be pre-configured by the user; this disclosure does not limit this aspect.

[0061] In some implementations, a global map of the current scene may be stored in the mobile robot’s local memory and / or in the cloud.

[0062] Step S132: Based on the environmental information of the first floor, the environmental information of the second floor, and the environmental map of each floor in the current scene, the mobile robot is located to generate the second location result.

[0063] In some implementations, the environmental information of the first floor and the environmental information of the second floor can be used to match the environmental maps of each floor in the current scene. Based on the matching relationship between the environmental information of the first floor and the environmental maps of each floor, and the matching relationship between the environmental information of the second floor and the environmental maps of each floor, the target environmental map corresponding to the first floor and / or the target environmental map matching the second floor can be determined. The mobile robot can then be located based on the target environmental map corresponding to the first floor and / or the target environmental map matching the second floor to generate a second localization result.

[0064] In the above embodiments, environmental maps of each floor in the current scene are obtained. Based on the environmental information of the first floor, the environmental information of the second floor, and the environmental maps of each floor in the current scene, the mobile robot is located, generating a second localization result. In this way, by integrating environmental information from multiple floors to locate the mobile robot in the environmental maps of each floor, the success rate and accuracy of mobile robot localization can be further improved.

[0065] In some embodiments, step S132 may include steps S141 to S142.

[0066] Step S141: Based on the environmental information of the first floor, the environmental information of the second floor, and the positional relationship between the first floor and the second floor, determine the target environmental map that matches the second floor from the environmental maps of each floor in the current scene.

[0067] In some implementations, the positional relationship between the first floor and the second floor can be predetermined. For example, the second floor may be the floor above the first floor, the floor below the first floor, the second floor above, or the second floor below, etc.

[0068] In some implementations, the positional relationship between the first floor and the second floor can be recorded during the movement of the mobile robot and / or the inter-floor transfer device between the first floor and the second floor. For example, during the inter-floor movement, the mobile robot and / or the inter-floor transfer device can record the number of floors traversed from the first floor to the second floor, and the positional relationship between the first floor and the second floor can be determined based on this number of floors.

[0069] In some implementations, matching can be performed on the environmental maps of each floor in the current scene based on the environmental information of the first floor and the environmental information of the second floor. The target environmental map matching the second floor can be determined based on the matching relationships between the environmental information of the first floor and the environmental maps of each floor, the matching relationships between the environmental information of the second floor and the environmental maps of each floor, and the positional relationship between the first and second floors. In some embodiments, the environmental information of the first floor is matched with the environmental map of the first candidate floor, and the environmental information of the second floor is matched with the environmental map of the second candidate floor. If the positional relationship between the first and second candidate floors is the same as the positional relationship between the first and second floors, then the first candidate floor can be considered the first floor, and the second candidate floor can be considered the second floor. Therefore, the environmental map of the first candidate floor can be determined as the target environmental map matching the first floor, and the environmental map of the second candidate floor can be determined as the target environmental map matching the second floor.

[0070] In some implementations, based on the environmental information of the first floor, the environmental maps of each floor in the current scene can be matched to determine at least one first candidate environmental map that matches the first floor, and the floor corresponding to each first candidate environmental map can be determined as the first candidate floor. Then, for each first candidate floor, based on the positional relationship between the first floor and the second floor, a second candidate floor that satisfies the positional relationship with the first candidate floor can be determined. If the environmental map of the second candidate floor matches the environmental information of the second floor, then the first candidate floor can be considered as the first floor and the second candidate floor can be considered as the second floor. Thus, the environmental map of the first candidate floor can be determined as the target environmental map that matches the first floor, and the environmental map of the second candidate floor can be determined as the target environmental map that matches the second floor.

[0071] Step S142: Based on the target environment map, locate the mobile robot to generate the second location result.

[0072] In some implementations, the mobile robot can be located based on a target environment map and the environmental information of the second floor currently collected, generating a second location result.

[0073] In some implementations, the mobile robot can continue exploring the environment on the second floor based on a target environment map to achieve localization of the mobile robot.

[0074] In the above embodiments, based on the environmental information of the first floor, the environmental information of the second floor, and the positional relationship between the first floor and the second floor, the target environmental map matching the second floor can be determined more quickly and accurately from the environmental maps of each floor in the current scene, thereby further improving the success rate and accuracy of mobile robot positioning.

[0075] In some embodiments, the above method may further include the following steps S151 to S154.

[0076] Step S151: When the second positioning result indicates positioning failure, determine whether there are any unexplored floors in the current scene.

[0077] Step S152: When there are unexplored floors in the current scene, use the cross-floor transfer device to move from the second floor to the unexplored third floor.

[0078] Here, the third floor can be a floor that has not yet been explored during the current positioning process, and this embodiment of the disclosure is not limited to this.

[0079] In some implementations, the third floor refers to any floor in the current scenario other than the first and second floors. In some embodiments, if the second floor is above the first floor, the third floor can be either above the second floor or below the first floor; it can also be the second floor above the second floor or the second floor below the first floor, etc. In other embodiments, if the second floor is below the first floor, the third floor can be either below the second floor or above the first floor; it can also be the second floor below the second floor or the second floor above the first floor, etc.

[0080] Step S153: Explore the environment of the third floor to obtain environmental information of the third floor.

[0081] Here, the method of obtaining environmental information of the third floor by exploring the environment is similar to the method of obtaining environmental information of the first floor. When implementing it, you can refer to the implementation method of the aforementioned step S101.

[0082] Step S154: Based on the environmental information of the third floor, the mobile robot is located to generate a third positioning result.

[0083] Here, the third localization result can be obtained by locating the mobile robot based solely on the environmental information of the third floor, or it can be obtained by locating the mobile robot based on the environmental information of the third floor and the environmental information of other floors besides the third floor (such as the first floor and / or the second floor).

[0084] In some implementations, the method of locating the mobile robot based on the environmental information of the third floor can be similar to the method of locating the mobile robot based on the environmental information of the second floor in step S113 above. When implementing, the implementation method of step S113 above can be referred to.

[0085] In the above embodiments, when the second positioning result indicates positioning failure, it is determined whether there are unexplored floors in the current scene; if there are unexplored floors in the current scene, a cross-floor transfer device is used to move from the second floor to the unexplored third floor; the environment of the third floor is explored to obtain environmental information of the third floor; based on the environmental information of the third floor, the mobile robot is positioned to generate a third positioning result. In this way, by continuously acquiring environmental information from more floors and positioning the mobile robot based on the newly acquired environmental information, the success rate and accuracy of mobile robot positioning can be further improved.

[0086] In some embodiments, if the third positioning result indicates positioning failure, the cross-floor transfer device can be used to continue acquiring environmental information of more floors, and the mobile robot can be positioned based at least on the newly acquired environmental information of the floors, until the number of successful positioning or positioning failures reaches a set threshold.

[0087] In some embodiments, obtaining the second positioning result in step S103 above may include the following steps S161 to S162.

[0088] Step S161: Send a transfer trigger signal to the cross-floor transfer device so that the cross-floor transfer device responds to the transfer trigger signal to locate the mobile robot.

[0089] Step S162: In response to the inter-floor transfer device arriving at the location of the mobile robot, receive the second positioning result sent by the inter-floor transfer device; the second positioning result is generated by the inter-floor transfer device locating the mobile robot based on the environmental information of the second floor during the process of searching for the mobile robot.

[0090] Here, when the cross-floor transfer device receives the transfer trigger signal sent by the mobile robot, it is located on a floor other than the first floor. During the process of the cross-floor transfer device responding to the transfer trigger signal to search for the mobile robot, the cross-floor transfer device can pass through the second floor to reach the first floor where the mobile robot is located. During the process of passing through the second floor, the cross-floor transfer device can obtain the environmental information of the second floor by exploring the environment of the second floor. In the process of searching for the mobile robot, the cross-floor transfer device is located at least based on the environmental information of the second floor, and the second location result is obtained.

[0091] In some implementations, the second positioning result sent by the inter-floor transfer device to the mobile robot can be the positioning result obtained by the inter-floor transfer device at the moment of arrival at the location of the mobile robot. The inter-floor transfer device can perform positioning based on at least the environmental information of the second floor at the moment of arrival at the location of the mobile robot, obtain the second positioning result, and send the second positioning result to the mobile robot.

[0092] In some implementations, the inter-floor transfer device has successfully located itself based on the environmental information of at least the second floor before reaching the location of the mobile robot. After successful location, it continues to move and locate itself until it reaches the location of the mobile robot. Then, the inter-floor transfer device sends the current location information to the mobile robot as the second location result.

[0093] It is understandable that when the cross-floor transfer equipment arrives at the location of the mobile robot, the current position of the cross-floor transfer equipment is the same as the position of the mobile robot. Therefore, the cross-floor transfer equipment can synchronize its current positioning result or positioning result as the second positioning result of the mobile robot to the mobile robot, thus realizing the positioning of the mobile robot.

[0094] In the above embodiment, a transfer trigger signal is sent to the inter-floor transfer device, causing the device to locate the mobile robot in response. Furthermore, upon reaching the mobile robot's location, the device receives a second positioning result. This second positioning result is generated by the inter-floor transfer device locating the mobile robot based on environmental information from the second floor during the robot's search. This fully utilizes the time the inter-floor transfer device spends searching for the mobile robot, and the second positioning result is directly synchronized to the mobile robot upon arrival, saving positioning time and improving efficiency. Moreover, since the mobile robot directly receives the second positioning result from the inter-floor transfer device, it is not necessary to transport the robot to the second floor for positioning, thus reducing the device's energy consumption.

[0095] This disclosure provides a positioning method that can be applied to cross-floor transfer equipment. Figure 2 is a schematic diagram of the implementation process of a positioning method provided in this disclosure. As shown in Figure 2, the method includes the following steps S201 to S202.

[0096] Step S201: In response to receiving a transfer trigger signal sent by the mobile robot, locate the mobile robot in the current scene; the mobile robot is located on the first floor of the current scene, and the transfer trigger signal is sent by the mobile robot when the first positioning result indicates that the positioning has failed. The first positioning result is generated based on the environmental information of the first floor to locate the mobile robot.

[0097] Step S202: In response to reaching the location of the mobile robot, a second positioning result is obtained in collaboration with the mobile robot; the second positioning result is obtained by the mobile robot or the cross-floor transfer device locating the mobile robot based on the environmental information of the second floor, and the environmental information of the second floor is collected by the cross-floor transfer device or the mobile robot.

[0098] In this embodiment of the disclosure, in a multi-floor scenario, if the mobile robot fails to locate, the environmental information of other floors can be obtained by using a cross-floor transfer device, and the mobile robot can be located again based on the environmental information of other floors. This can increase the probability of successful location and enable the mobile robot to obtain more accurate location information, thereby improving the accuracy and stability of the mobile robot navigation.

[0099] In some embodiments, the above method may further include the following step S211.

[0100] Step S211: During the process of locating the mobile robot, obtain the environmental information of the second floor.

[0101] The step S202 above, which involves coordinating with the mobile robot to obtain the second positioning result, may include the following steps S212 to S213.

[0102] Step S212: Based on the environmental information of the second floor, locate the cross-floor transfer device and generate the second location result.

[0103] Here, the method of locating the cross-floor transfer equipment based at least on the environmental information of the second floor is similar to the method of locating the mobile robot based at least on the environmental information of the second floor in step S113 above. When implementing it, you can refer to the implementation method of step S113 above.

[0104] Step S213: Send the second positioning result to the mobile robot.

[0105] In some embodiments, the cross-floor transfer device can locate itself based on the environmental information of the second floor when it arrives at the location of the mobile robot, generate a second positioning result, and send the second positioning result to the mobile robot.

[0106] In some implementations, before reaching the location of the mobile robot, the cross-floor transfer device performs multiple positioning operations based on the environmental information of the second floor. After successful positioning, it continues to move and perform positioning until it reaches the location of the mobile robot. Then, the cross-floor transfer device uses the current positioning information as the second positioning result of the mobile robot and sends the second positioning result to the mobile robot.

[0107] In the above embodiments, the inter-floor transfer device acquires environmental information from the second floor while searching for the mobile robot, and uses this information to locate itself, generating a second positioning result which is then sent to the mobile robot. This allows for full utilization of the time the inter-floor transfer device spends searching for the mobile robot. Once the device reaches the robot's location, the second positioning result is directly synchronized with the robot, saving positioning time and improving efficiency. Furthermore, the mobile robot directly receives the second positioning result from the inter-floor transfer device, eliminating the need to transport it to the second floor for positioning, thus reducing the device's energy consumption.

[0108] In some embodiments, step S212 may include step S221.

[0109] Step S221: Based on the environmental information of the first floor and the environmental information of the second floor, locate the cross-floor transfer device to generate the second positioning result.

[0110] Here, the method of locating the cross-floor transfer equipment based on the environmental information of the first floor and the environmental information of the second floor is similar to the method of locating the mobile robot based on the environmental information of the first floor and the environmental information of the second floor in step S121 above. When implementing it, you can refer to the implementation method of step S121 above.

[0111] In the above embodiments, by comprehensively considering the environmental information of the first floor and the environmental information of the second floor, the cross-floor transfer equipment can be located, which can further improve the probability of successful positioning and obtain a more accurate second positioning result.

[0112] In some embodiments, step S221 may include steps S231 to S232.

[0113] Step S231: Obtain the global map of the current scene; the global map contains the environment map of each floor in the current scene.

[0114] Step S232: Based on the environmental information of the first floor, the environmental information of the second floor, and the environmental map of each floor in the current scene, the cross-floor transfer device is located to generate the second positioning result.

[0115] Here, steps S231 to S232 correspond to steps S131 to S132 in the previous embodiment, and the implementation of steps S131 to S132 can be referred to in the implementation.

[0116] In the above embodiments, environmental maps of each floor in the current scene are obtained. Based on the environmental information of the first floor, the environmental information of the second floor, and the environmental maps of each floor in the current scene, the cross-floor transfer equipment is located to generate a second positioning result. In this way, by integrating the environmental information of multiple floors to locate the cross-floor transfer equipment in the environmental map of the attic floor, the success rate and accuracy of cross-floor transfer equipment positioning can be further improved, thereby further improving the success rate and accuracy of mobile robot positioning.

[0117] In some embodiments, the step S202 above, which involves coordinating with the mobile robot to obtain a second positioning result, may include the following step S241.

[0118] Step S241: The mobile robot is transported to the second floor so that the mobile robot can explore the environment of the second floor to obtain environmental information of the second floor, and the mobile robot is located based on the environmental information of the second floor to generate the second positioning result.

[0119] In the above embodiments, the cross-floor mobility of the cross-floor transfer equipment can be used to conveniently and quickly transport the mobile robot to the second floor, increasing the mobile robot's field of vision and enabling it to quickly obtain environmental information of the second floor. Furthermore, since the mobile robot directly collects environmental information of the second floor in real time, it can obtain more accurate environmental information, thereby further improving the probability of successful positioning of the mobile robot.

[0120] The following describes the application of the positioning method provided in this embodiment in a real-world scenario, using a scenario where a home cleaning robot works in conjunction with a home stair climber to autonomously clean multiple floors as an example.

[0121] With the rapid development of technology and the continuous improvement of people's living standards, the proportion of multi-story households is increasing. Commonly used home cleaning robots cannot autonomously climb stairs, so without human assistance, they can only clean one floor at a time. Even if the user carries the robot to another floor, it cannot perform tasks such as washing the mop or refilling water during the cleaning process on the new floor, which is extremely inconvenient for the user. Home stair-climbing robots that carry home cleaning robots to autonomously climb stairs can improve these problems.

[0122] However, in related technologies, when a home cleaning robot is picked up and moved or is disturbed, it will perform a global relocation. If the relocation fails, the cleaning robot will not know its floor, making it difficult to obtain accurate location information and affecting subsequent cleaning tasks.

[0123] The positioning method provided in this disclosure can be applied to scenarios where a cleaning robot is picked up and moved by a person while working on a certain floor, and then global repositioning is required.

[0124] Taking a robotic vacuum cleaner as an example, if the vacuum cleaner performs a global relocation but fails, a stair-climbing robot needs to be activated. This robot uses infrared signals (or other signals) to locate the vacuum cleaner. During this process, the stair-climbing robot continuously explores new environmental information to perform relocation calculations. If the stair-climbing robot successfully relocates, its current location information can be synchronized with the vacuum cleaner the moment it finds it, allowing the vacuum cleaner to continue operating.

[0125] If the stair-climbing robot finds the sweeping robot but hasn't successfully located it yet, it can move the sweeping robot to another floor, allowing the sweeping robot to observe more of its surroundings for relocation. This would greatly increase the probability of successful relocation.

[0126] Figure 3 is a schematic diagram of the implementation process of a positioning method provided in an embodiment of this disclosure. As shown in Figure 3, the method may include the following steps S301 to S311.

[0127] Step S301: Global repositioning of the robot vacuum failed.

[0128] Here, the robot vacuum failed to perform a global relocation on its current location on the first floor. Global relocation refers to relocation within the global map of the current scene.

[0129] Step S302: Start the stair climber.

[0130] Step S303: The stair climber searches for the sweeper.

[0131] The stair-climbing machine performs repositioning calculations simultaneously while searching for the sweeping machine.

[0132] If the stair climber successfully locates the sweeper, proceed to step S304; if the stair climber fails to locate the sweeper, proceed to step S311.

[0133] Step S304: If the stair climber has successfully repositioned, then the positioning information is obtained.

[0134] In step S305, the stair climber synchronizes its location information with the sweeper.

[0135] Here, the stair-climbing robot can synchronize its current location information with the sweeper when it finds the sweeper's location. This is because the stair-climbing robot and the sweeper share a map, meaning their coordinate systems are the same. Therefore, when the stair-climbing robot reaches the sweeper's location, its location information can be used as the sweeper's location information.

[0136] Step S306: The robot vacuum continues to perform the cleaning task based on the positioning information.

[0137] Step S307: If the stair climber fails to reposition, the stair climber does not obtain positioning information.

[0138] Here, if the stair-climbing robot hasn't successfully relocated when it finds the sweeping robot, it cannot obtain location information.

[0139] Step S308: The stair-climbing machine carries the sweeper to the next floor via the stairwell.

[0140] Step S309: The robot vacuum continues to reposition itself on the new floor.

[0141] If relocation is successful, proceed to step S306; if relocation fails, proceed to step S310.

[0142] Here, the new floor corresponds to the unexplored floor in the aforementioned embodiments, such as the second floor or the third floor.

[0143] Step S310: Determine whether all possible floors have been explored.

[0144] If not, proceed to step S308; if yes, proceed to step S311.

[0145] Here, a robot vacuum cleaner and / or a stair climber can determine whether all possible floors have been explored.

[0146] Step S311, repositioning failed, the robot vacuum cleaner abandoned cleaning.

[0147] In some technical solutions, the relocation algorithm can only match environmental information on a single environmental map. If there are two similar environmental maps for each floor of the current scene, it may not be able to distinguish which floor the robot vacuum cleaner is on, thus causing the relocation to fail.

[0148] In the positioning method provided in this embodiment, the stair-climbing robot's climbing ability can be utilized to explore environmental information on more floors, thereby obtaining a more accurate repositioning result. For example, as shown in Figure 4, the global map of the current scene includes environmental maps corresponding to floors 1 to 5 (corresponding to 41 to 45 in Figure 4). The environmental map of floor 3 is quite similar to that of floor 1. During the repositioning process on floor 3, the robot vacuum cannot distinguish whether its current position is on the environmental map of floor 3 or floor 1, resulting in repositioning failure. According to the positioning method provided in this embodiment, the stair-climbing robot leads the robot vacuum to the stairwell entrance, and the robot vacuum arrives at a new floor, exploring a completely new environment. As shown in Figure 5, the environmental map obtained by the robot vacuum during the repositioning process includes the environmental map 51 of the first floor and the environmental map 52 of the second floor. Based on the positional relationship between the first and second floors, it is relatively easy to locate the starting point 53a of the exploration trajectory 53 of the robot vacuum's repositioning process on the global map as being on floor 3 (i.e., the first floor) rather than floor 1, thereby improving the success rate and accuracy of the robot vacuum's repositioning.

[0149] Furthermore, referring to Figure 4, during the relocation process on the 3rd floor, the robot vacuum cannot distinguish whether its current position is on the environmental map of the 3rd floor or the 1st floor, leading to relocation failure. According to the positioning method provided in this embodiment, the stair-climbing robot can also carry the robot vacuum through the stairwell to a new floor (i.e., the 2nd floor). Since there are no environmental maps of other floors similar to the 2nd floor in the current scene's global map, the robot vacuum can easily locate its current floor as the 2nd floor in the global map, and the starting point of the relocation process is on the 3rd floor (i.e., the first floor). This improves the success rate and accuracy of the robot vacuum's relocation.

[0150] This disclosure provides a mobile robot. Figure 6 is a schematic diagram of the composition structure of a mobile robot provided in this disclosure. As shown in Figure 6, the mobile robot 600 includes: a robot body 610, a first acquisition component 620, and a first control component 630.

[0151] The first acquisition component 620 is installed on the robot body 610. The first acquisition component acquires the environmental information of the first floor where the mobile robot 610 is currently located.

[0152] The first control component 630 is disposed on the robot body 610. The first control component 630 is communicatively connected to the first acquisition component 620 to acquire environmental information of the first floor, locate the mobile robot and generate a first positioning result.

[0153] When the first positioning result indicates positioning failure, the first control component 630 or the cross-floor transfer device locates the mobile robot based on the environmental information of the second floor to generate a second positioning result.

[0154] The environmental information on the second floor is collected by cross-floor transfer equipment or mobile robots.

[0155] The first control component and the second control component described below can be implemented by logic circuits or by a processor. The processor can be at least one of the following: a microcontroller, a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA).

[0156] The first acquisition component and the second acquisition component described below may include, but are not limited to, at least one of the following: a ranging module, an image acquisition component, etc.

[0157] The communication connection between the first acquisition component and the first control component, as well as the communication connection between the second acquisition component and the second control component (hereinafter referred to as the second control component), are not limited in terms of connection method. They can be connected directly or indirectly through wired communication, wireless communication, or other methods. This disclosure does not limit the specific connection method.

[0158] In some embodiments, when the first positioning result indicates positioning failure, the first control component further controls the inter-floor transfer device to transport the mobile robot from the first floor to the second floor; and the first acquisition component further explores the environment of the second floor to obtain environmental information of the second floor; and the first control component further obtains the environmental information of the second floor from the first acquisition component, and based on the environmental information of the second floor, positions the mobile robot to generate the second positioning result.

[0159] In some embodiments, the first control component further locates the mobile robot based on the environmental information of the first floor and the environmental information of the second floor to generate the second positioning result.

[0160] In some embodiments, the first control component further acquires a global map of the current scene; the global map includes environmental maps of each floor in the current scene; the first control component further locates the mobile robot based on the environmental information of the first floor, the environmental information of the second floor, and the environmental maps of each floor in the current scene to generate the second positioning result.

[0161] In some embodiments, the first control component further determines a target environment map matching the second floor from the environment maps of each floor in the current scene based on the environmental information of the first floor, the environmental information of the second floor, and the positional relationship between the first floor and the second floor; the first control component further performs positioning of the mobile robot based on the target environment map to generate the second positioning result.

[0162] In some embodiments, when the second positioning result indicates positioning failure: the first control component further determines whether there are unexplored floors in the current scene, and when there are unexplored floors in the current scene, controls the cross-floor transfer device to move the mobile robot from the second floor to the unexplored third floor; the first acquisition component further explores the environment of the third floor to obtain the environmental information of the third floor; the first control component further positions the mobile robot based on the environmental information of the third floor to generate a third positioning result.

[0163] In some embodiments, the first control component further sends a transfer trigger signal to the inter-floor transfer device; the inter-floor transfer device responds to the transfer trigger signal to locate the mobile robot; the first control component further responds to the inter-floor transfer device reaching the location of the mobile robot and receives the second positioning result sent by the inter-floor transfer device; the second positioning result is generated by the inter-floor transfer device locating the mobile robot based on the environmental information of the second floor during the process of locating the mobile robot.

[0164] This disclosure provides an inter-floor transfer device. Figure 7 is a schematic diagram of the composition structure of an inter-floor transfer device provided in this disclosure. As shown in Figure 7, the inter-floor transfer device 700 includes: a transfer device body 710 and a second control component 720, the second control component 720 being disposed on the transfer device body 710.

[0165] The second control component 720, in response to receiving a transfer trigger signal sent by the mobile robot, controls the cross-floor transfer device to search for the mobile robot in the current scene; the mobile robot is located on the first floor of the current scene, and the transfer trigger signal is sent by the mobile robot when the first positioning result indicates that the positioning has failed, and the first positioning result is generated based on the environmental information of the first floor to locate the mobile robot.

[0166] The second control component 720 also responds to arriving at the location of the mobile robot by controlling the inter-floor transfer device to cooperate with the mobile robot to obtain a second positioning result; the second positioning result is obtained by the mobile robot or the second control component based on the environmental information of the second floor to locate the mobile robot, and the environmental information of the second floor is collected by the inter-floor transfer device or the mobile robot.

[0167] In some embodiments, as shown in FIG8, the inter-floor transfer device 700 further includes a second acquisition component 730, which is disposed on the transfer device body 710.

[0168] The second acquisition component 730 acquires environmental information of the second floor while searching for the mobile robot.

[0169] The second control component 720 is communicatively connected to the second acquisition component 730 to obtain environmental information of the second floor, locate the cross-floor transfer equipment, generate a second positioning result, and send the second positioning result to the mobile robot.

[0170] In some embodiments, the second control component further locates the cross-floor transfer device based on the environmental information of the first floor and the environmental information of the second floor to generate the second positioning result.

[0171] In some embodiments, the second control component also acquires a global map of the current scene; the global map contains environmental maps of each floor in the current scene.

[0172] The second control component also locates the cross-floor transfer device based on the environmental information of the first floor, the environmental information of the second floor, and the environmental map of each floor in the current scene, generating the second positioning result.

[0173] In some embodiments, the second control component also controls the inter-floor transfer device to transport the mobile robot to the second floor.

[0174] The mobile robot also explores the environment on the second floor to obtain environmental information, and uses this information to locate itself and generate the second location result.

[0175] The descriptions of the above mobile robot embodiments and cross-floor transfer equipment embodiments are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the mobile robot embodiments and cross-floor transfer equipment embodiments of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0176] In the embodiments disclosed above, the mobile robot is located based on the environmental information of the first floor where it is currently located, generating a first positioning result. If the first positioning result indicates positioning failure, a second positioning result is obtained. This second positioning result is generated by the mobile robot or a cross-floor transfer device locating the mobile robot based on the environmental information of the second floor. The environmental information of the second floor is collected by either the cross-floor transfer device or the mobile robot. In this way, in multi-floor scenarios, if the mobile robot fails to locate, the environmental information of other floors can be obtained using the cross-floor transfer device or the mobile robot, and the mobile robot can be relocated based on this information. This increases the probability of successful positioning, enabling the mobile robot to obtain more accurate positioning information, thereby improving the accuracy and stability of the mobile robot's navigation.

[0177] It should be noted that, in the embodiments of this disclosure, if the above-described positioning 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 USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this disclosure are not limited to any specific hardware and software combination.

[0178] This disclosure provides a computer device including a memory and a processor. The memory stores a computer program that can run on the processor. When the processor executes the program, it implements some or all of the steps in the above-described method.

[0179] This disclosure provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements some or all of the steps in the above-described method. The computer-readable storage medium may be transient or non-transient.

[0180] 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 embodiment, the computer program product is specifically embodied as a computer storage medium; in another embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0181] 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.

[0182] This disclosure provides a processor that is communicatively connected to a memory, which stores a computer program that can run on the processor. When the processor executes the computer program, it implements the steps in the above-described positioning method.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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.

[0189] 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.

[0190] 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.

[0191] 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 mobile robot, characterized in that, include: The robot itself; A first acquisition component is installed on the robot body, and the first acquisition component acquires environmental information of the first floor where the mobile robot is currently located. as well as A first control component is disposed on the robot body. The first control component is communicatively connected to the first acquisition component to obtain environmental information of the first floor, locate the mobile robot, and generate a first positioning result. Wherein, when the first positioning result indicates positioning failure, the first control component or the inter-floor transfer device performs positioning of the mobile robot based on the environmental information of the second floor to generate a second positioning result, and The environmental information of the second floor is collected by the cross-floor transfer equipment or the mobile robot.

2. The mobile robot according to claim 1, characterized in that, When the first positioning result indicates positioning failure, the first control component also controls the cross-floor transfer device to transport the mobile robot from the first floor to the second floor; as well as The first acquisition component also performs environmental exploration on the second floor to obtain environmental information of the second floor; and The first control component also obtains environmental information of the second floor from the first acquisition component, and performs positioning of the mobile robot based on the environmental information of the second floor to generate the second positioning result.

3. The mobile robot according to claim 2, characterized in that, The first control component also performs positioning on the mobile robot based on the environmental information of the first floor and the environmental information of the second floor to generate the second positioning result.

4. The mobile robot according to claim 2 or 3, characterized in that, The first control component also acquires a global map of the current scene; the global map contains environmental maps of each floor in the current scene; The first control component also performs positioning on the mobile robot based on the environmental information of the first floor, the environmental information of the second floor, and the environmental map of each floor in the current scene to generate the second positioning result.

5. The mobile robot according to any one of claims 1 to 4, characterized in that, The first control component also sends a transfer trigger signal to the inter-floor transfer device; The inter-floor transfer equipment responds to the transfer trigger signal and searches for the mobile robot; The first control component also receives the second positioning result sent by the cross-floor transfer device in response to the cross-floor transfer device arriving at the location of the mobile robot; the second positioning result is generated by the cross-floor transfer device locating the mobile robot based on the environmental information of the second floor during the process of searching for the mobile robot.

6. A cross-floor transfer device, characterized in that, include: The main body of the transfer equipment, and a second control component disposed on the main body of the transfer equipment; The second control component, in response to receiving a transfer trigger signal sent by the mobile robot, controls the cross-floor transfer device to locate the mobile robot in the current scene; the mobile robot is located on the first floor of the current scene, and the transfer trigger signal is sent by the mobile robot when the first positioning result indicates that the positioning has failed, and the first positioning result is generated based on the environmental information of the first floor to locate the mobile robot; The second control component also responds to the arrival at the location of the mobile robot by controlling the inter-floor transfer device to work with the mobile robot to obtain a second positioning result; the second positioning result is obtained by the mobile robot or the second control component based on the environmental information of the second floor to locate the mobile robot, and the environmental information of the second floor is collected by the inter-floor transfer device or the mobile robot.

7. A positioning method, characterized in that, Applied to mobile robots, the method includes: Obtain the environmental information of the first floor where the mobile robot is currently located; Based on the environmental information of the first floor, the mobile robot is located, and a first location result is generated; When the first positioning result indicates positioning failure, a second positioning result is obtained; the second positioning result is generated by the mobile robot or the cross-floor transfer device based on the environmental information of the second floor to locate the mobile robot, and the environmental information of the second floor is collected by the cross-floor transfer device or the mobile robot.

8. A positioning method, characterized in that, The method, applied to inter-floor transfer equipment, includes: In response to receiving a transfer trigger signal sent by the mobile robot, the system searches for the mobile robot in the current scene; the mobile robot is located on the first floor of the current scene, and the transfer trigger signal is sent by the mobile robot when the first positioning result indicates that the positioning has failed. The first positioning result is generated based on the environmental information of the first floor to locate the mobile robot. In response to reaching the location of the mobile robot, a second positioning result is obtained in collaboration with the mobile robot; the second positioning result is obtained by the mobile robot or the cross-floor transfer device based on the environmental information of the second floor, and the environmental information of the second floor is collected by the cross-floor transfer device or the mobile robot.

9. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the steps of the method as described in claim 7 or 8.

10. A processor, characterized in that, The processor is communicatively connected to a memory, which stores a computer program that can run on the processor. When the processor executes the computer program, it implements the steps of the method of claim 7 or 8.

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