Mobile robot assistance device, control method, computer device and storage medium

Abstract

Disclosed in embodiments of the present disclosure are a mobile robot assistance device, a control method, a computer device and a storage medium. By controlling to adjust the orientation of the mobile robot assistance device on the basis of position information of a step in the process of the mobile robot assistance device climbing the step, the orientation of the mobile robot assistance device is perpendicular to the vertical plane of the step. In this way, the mobile robot assistance device can always face the vertical plane of the step when climbing the step, so that a step-climbing route can be safer and more reasonable, thereby reducing step-climbing abnormalities and even falls.

Description

Mobile robot auxiliary equipment, control methods, computer equipment and storage media Cross-reference to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202510147826.9, filed on February 10, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to, but is not limited to, the field of electronic technology, and in particular to a mobile robot auxiliary device, control method, computer device, and storage medium. Background Technology

[0003] With the rapid development of technology, the application of autonomous mobile devices is becoming increasingly widespread. Some autonomous mobile devices capable of climbing stairs are also gradually being used, such as mobile robot assistive devices. These devices can enable mobile robots to climb stairs autonomously or with their assistance. Summary of the Invention

[0004] In view of the above, the present disclosure provides at least one mobile robot auxiliary device, control method, computer device, and storage medium.

[0005] The technical solution of this disclosure embodiment is implemented as follows:

[0006] This disclosure provides a mobile robot auxiliary device, including:

[0007] body;

[0008] The acquisition component, connected to the main unit, obtains the position information of at least one step currently to be climbed in the target staircase; and

[0009] The control component, located inside the device and communicating with the acquisition component, includes:

[0010] Control the mobile robot's auxiliary equipment to climb at least one step;

[0011] During the process of the mobile robot-assisted device climbing at least one step, the orientation of the mobile robot-assisted device is adjusted based on the position information of at least one step;

[0012] Among them, after the orientation of the mobile robot auxiliary equipment is adjusted, the orientation of the mobile robot auxiliary equipment is perpendicular to the vertical plane of at least one step.

[0013] This disclosure provides a control method applied to a mobile robot auxiliary device, the method comprising:

[0014] Obtain the location information of at least one step that is currently to be climbed in the target staircase;

[0015] Control the mobile robot auxiliary device to climb at least one step, and adjust the orientation of the mobile robot auxiliary device based on the position information of at least one step during the process of climbing at least one step;

[0016] Among them, after the orientation of the mobile robot auxiliary equipment is adjusted, the orientation of the mobile robot auxiliary equipment is perpendicular to the vertical plane of at least one step.

[0017] This disclosure provides a computer device including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement the steps in the method described above.

[0018] 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 method.

[0019] This disclosure provides a processor that is communicatively connected to a memory storing a computer program that can run on the processor. When the processor executes the computer program, it implements the steps in the method described above.

[0020] This disclosure provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement the steps in the above-described method. Attached Figure Description

[0021] Figure 1 is a schematic diagram of the implementation process of a control method provided in an embodiment of this disclosure;

[0022] Figure 2 is a schematic diagram of the positional relationship between a step and a mobile robot auxiliary device provided in an embodiment of this disclosure;

[0023] Figure 3 is a schematic diagram of a mobile robot auxiliary device moving forward according to an embodiment of this disclosure;

[0024] Figure 4 is a schematic diagram of the composition structure of a mobile robot auxiliary device provided in an embodiment of this disclosure;

[0025] Figure 5 is a schematic diagram of the implementation process of a control method provided in an embodiment of this disclosure;

[0026] Figure 6 is a schematic diagram of searching for the position of the first step in a control method provided in an embodiment of this disclosure;

[0027] Figure 7 is a schematic diagram of the composition structure of a mobile robot auxiliary device provided in an embodiment of this disclosure;

[0028] Figure 8 is a schematic diagram of the composition structure of a mobile robot auxiliary device provided in an embodiment of this disclosure;

[0029] Figure 9 is a schematic diagram of the composition structure of a mobile robot auxiliary device provided in an embodiment of this disclosure;

[0030] Figure 10 is a schematic diagram of the composition structure of a mobile robot auxiliary device provided in an embodiment of this disclosure. Detailed Implementation

[0031] 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.

[0032] 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.

[0033] 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 belongs. The terminology used herein is for descriptive purposes only and is not intended to limit this disclosure.

[0034] In related technologies, mobile robot-assisted devices may deviate from their climbing path during the process of climbing stairs due to improper machine orientation, which may lead to abnormal climbing or even falls.

[0035] This disclosure provides a control method applicable to mobile robot auxiliary devices. The mobile robot auxiliary device can be any device capable of autonomously or assisting a mobile robot in climbing stairs. In some embodiments, the mobile robot auxiliary device may include a stair-climbing device. A stair-climbing device refers to a device with stair-climbing functionality. In some embodiments, the stair-climbing device may also have both stair-climbing and flat-ground movement capabilities. For example, a stair-climbing device may include, but is not limited to, inter-floor transport devices for transferring objects (such as goods, mobile robots, etc.) between floors, and mobile robots with stair-climbing functionality. 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 sweepers, floor scrubbers, mops, and combined washing and mopping machines), guiding robots, and service robots. Figure 1 is a schematic flowchart of the implementation of a control method provided in this disclosure. As shown in Figure 1, the method includes the following steps S101 and S102:

[0036] Step S101: Obtain the location information of at least one step in the target staircase that is currently to be climbed.

[0037] Here, the target staircase can be the staircase that the mobile robot-assisted device is currently climbing, and the target staircase includes at least one step.

[0038] In some implementations, the target staircase may include, but is not limited to, a downstairs staircase and / or an upstairs staircase. The at least one step to be climbed may be the step that the mobile robot-assisted device is currently climbing or the step that it is currently descending.

[0039] The at least one step to be climbed may include, but is not limited to, the starting step of the target staircase, the middle step of the target staircase, and / or the ending step of the target staircase. This disclosure does not limit this.

[0040] The positional information of the steps may include, but is not limited to, at least one of the following: positional information of multiple points on the steps (e.g., points on vertical and / or horizontal planes), positional information of the vertical plane, and positional information of the horizontal plane. The positional information of the steps may be the positional information of the steps in the map coordinate system of the current scene, or the positional information of the steps relative to the mobile robot auxiliary device; this disclosure does not limit this aspect.

[0041] In some implementations, the vertical surface of the step may include, but is not limited to, the riser surface of the step, and the horizontal surface of the step may include, but is not limited to, the tread surface of the step.

[0042] In some implementations, the environment surrounding the target staircase can be explored to obtain an environmental point cloud. Based on this environmental point cloud, the location information of at least one step to be climbed can be determined. In practice, the mobile robot assistive device can explore the environment surrounding the target staircase using any suitable method, and this disclosure is not limited in this regard. For example, the mobile robot assistive device can use a ranging module to perform distance detection on at least the target staircase to obtain an environmental point cloud of the environment surrounding the target staircase. The ranging module may include, but is not limited to, at least one of a lidar ranging module, an infrared ranging module, etc.

[0043] In some implementations, an environmental image can be obtained by capturing images of the environment surrounding the target staircase. Based on this environmental image, the location information of at least one step to be climbed can be determined. In practice, the mobile robot assistive device can use any suitable method to capture images of the environment surrounding the target staircase, and this disclosure is not limited in this regard. For example, the mobile robot assistive device can use an image acquisition component to capture images of the environment surrounding the target staircase, obtaining an environmental image of the environment.

[0044] In some implementations, a scene map of the scene where the target staircase is located can be pre-built, and based on the scene map, the location information of at least one step to be climbed can be determined.

[0045] Step S102: Control the mobile robot auxiliary device to climb the at least one step, and adjust the orientation of the mobile robot auxiliary device based on the position information of the at least one step during the process of the mobile robot auxiliary device climbing the at least one step.

[0046] Wherein, after the orientation of the mobile robot auxiliary device is adjusted, the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the at least one step.

[0047] Here, the orientation of the mobile robot auxiliary equipment refers to the direction in which the mobile robot auxiliary equipment moves when it is working.

[0048] In practice, those skilled in the art can adjust the orientation of the mobile robot auxiliary device in any suitable way based on the position information of the step so that the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the step. This disclosure does not limit this.

[0049] In some implementations, the adjustment angle for the mobile robot auxiliary device to be adjusted from its current orientation to a target orientation can be determined based on the position information of the step, the target orientation being perpendicular to the vertical plane of the step; thereby, adjusting the orientation of the mobile robot auxiliary device based on the adjustment angle can make the orientation of the mobile robot auxiliary device perpendicular to the vertical plane of the step.

[0050] In some implementations, the mobile robot-assisted device may first adjust its orientation to be perpendicular to the vertical plane of the step before performing the climbing action on the step.

[0051] In some implementations, the mobile robot assist device can adjust its orientation while climbing the step, so that it climbs the step with its orientation perpendicular to the vertical plane of the step.

[0052] In this embodiment, by acquiring the position information of at least one step to be climbed in the target staircase, and controlling the mobile robot-assisted device to climb at least one step, the orientation of the mobile robot-assisted device is adjusted based on the position information of each step during its climb, so that the orientation of the mobile robot-assisted device is perpendicular to the vertical plane of the step. This ensures that the mobile robot-assisted device always faces the vertical plane of the step while climbing, making the climbing route safer and more reasonable, and reducing the possibility of abnormal climbing or even falls.

[0053] In some embodiments, a first driving component is provided on the left side and a second driving component is provided on the right side of the mobile robot auxiliary device. Both the first driving component and the second driving component are used to drive the body of the mobile robot auxiliary device to move forward or backward.

[0054] The step S102 above, which involves adjusting the orientation of the mobile robot auxiliary device based on the position information of the step so that the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the step, may include the following step S111:

[0055] Step S111: Based on the position information of the step, adjust the first driving angular velocity of the first driving component and / or the second driving angular velocity of the second driving component to adjust the orientation of the mobile robot auxiliary device to be perpendicular to the vertical plane of the step.

[0056] Here, the left and right sides of the mobile robot assistive device refer to the left and right sides of the mobile robot assistive device along the direction of travel.

[0057] It is understood that the first drive component and the second drive component drive the mobile robot auxiliary device to move at a first drive angular velocity and a second drive angular velocity, respectively. When the first drive angular velocity and the second drive angular velocity are the same, the first drive component and the second drive component can drive the body of the mobile robot auxiliary device to move forward or backward in a straight line; when there is an angular velocity difference between the first drive angular velocity and the second drive angular velocity, the first drive component and the second drive component can drive the body of the mobile robot auxiliary device to turn. By adjusting the first drive angular velocity of the first drive component and / or the second drive angular velocity of the second drive component, the angular velocity difference between the first drive angular velocity and the second drive angular velocity can be changed, thereby adjusting the orientation of the mobile robot auxiliary device.

[0058] In the above embodiments, based on the position information of the step, the first driving angular velocity of the first driving component and / or the second driving angular velocity of the second driving component are adjusted so that the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the step. This allows for simple and flexible adjustment of the orientation of the mobile robot auxiliary device, quickly aligning it perpendicular to the vertical plane of the step.

[0059] In some embodiments, step S111 may include the following steps S121 and S122:

[0060] Step S121: Based on the position information of the step, determine the first distance and the first included angle between the mobile robot auxiliary device and the step; the first distance is the distance between the mobile robot auxiliary device along the current first orientation and the vertical plane of the step, and the first included angle is the angle between the first orientation and the normal to the vertical plane of the step.

[0061] Step S122: Based on the first distance and the first included angle, adjust the first driving angular velocity and / or the second driving angular velocity so that the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the step.

[0062] Here, for each step, a first distance and a first angle between the mobile robot auxiliary device and the step can be determined based on the step's position information, the current position information of the mobile robot auxiliary device, and its current orientation. Based on this first distance and first angle, the first driving angular velocity of the first driving component and / or the second driving angular velocity of the second driving component can be adjusted so that when the first driving component and the second driving component drive the mobile robot auxiliary device to reach or pass the step, the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the step.

[0063] In implementation, those skilled in the art can determine the first distance and the first angle between the mobile robot auxiliary device and the step by using any suitable geometric algorithm based on the position information of the step, and adjust the first driving angular velocity and / or the second driving angular velocity by using any suitable kinematic algorithm based on the first distance and the first angle. This disclosure does not limit this.

[0064] Figure 2 is a schematic diagram of the positional relationship between a step and a mobile robot auxiliary device provided in an embodiment of this disclosure. As shown in Figure 2, the mobile robot auxiliary device 20 is currently located at position P1 with a first orientation D1. The mobile robot auxiliary device 20 has a first distance L1 between the first orientation D1 and the vertical surface 31 of the step 30, and a first included angle α1 between the first orientation D1 and the normal n of the vertical surface 31. Based on the first distance L1 and the first included angle α1, the first driving angular velocity of the first driving component and / or the second driving angular velocity of the second driving component in the mobile robot auxiliary device 20 can be adjusted so that when the first driving component and the second driving component drive the mobile robot auxiliary device 20 to reach or pass the step 30, the orientation of the mobile robot auxiliary device 20 is perpendicular to the vertical surface 31 of the step 30.

[0065] In some implementations, a first target driving angular velocity of the first driving component and a second target driving angular velocity of the second driving component can be determined based on a first distance, a first included angle, the current first driving angular velocity, and a second driving angular velocity. The first driving component is controlled to run at the first target driving angular velocity, and the second driving component is controlled to run at the second target driving angular velocity, so as to drive the mobile robot auxiliary device to reach or pass the step in a target orientation, the target orientation being a vertical plane perpendicular to the step.

[0066] In the above embodiments, based on the position information of the step, a first distance and a first included angle between the mobile robot auxiliary device and the step are determined; the first distance is the distance between the mobile robot auxiliary device along its current first orientation and the vertical plane of the step, and the first included angle is the angle between the first orientation and the normal to the vertical plane of the step; based on the first distance and the first included angle, a first driving angular velocity and / or a second driving angular velocity are adjusted so that the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the step. This allows for quick and accurate adjustment of the first driving angular velocity and / or the second driving angular velocity, thereby quickly and accurately adjusting the orientation of the mobile robot auxiliary device.

[0067] In some embodiments, step S111 may further include step S131:

[0068] Step S131: Based on the position information of the step, determine the second distance and the third distance between the mobile robot auxiliary device and the step; the second distance and the third distance are respectively the distances between the first intersection point and the left and right ends of the step, and the first intersection point is the intersection point between the mobile robot auxiliary device along the forward path of the first orientation and the vertical plane of the step.

[0069] Step S122 above may include the following step S132:

[0070] Step S132: Based on the first distance, the first included angle, the second distance, and the third distance, adjust the first driving angular velocity and / or the second driving angular velocity so that the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the step, and the mobile robot auxiliary device passes through the target position of the step; the distance difference between the target position and the left and right ends of the step is less than the first distance threshold.

[0071] Here, for each step, based on the step's position information, as well as the mobile robot's current position information and orientation, the current first distance, first angle, second distance, and third distance between the mobile robot and the step can be determined. Based on these first distance, first angle, second distance, and third distance, the first driving angular velocity of the first drive component and / or the second driving angular velocity of the second drive component can be adjusted so that when the first and second drive components drive the mobile robot to reach or pass the step, the orientation of the mobile robot is perpendicular to the vertical plane of the step, and the mobile robot passes through the target position of the step.

[0072] Referring to Figure 2, the mobile robot auxiliary device 20, along its forward path toward the first direction D1, intersects the vertical plane 31 of the step 30 at the first intersection point P2. The second distance L2 is the distance between the first intersection point P2 and the left end of the step 30, and the third distance L3 is the distance between the first intersection point P2 and the right end of the step 30.

[0073] In implementation, those skilled in the art can use any suitable geometric algorithm based on the position information of the step to determine the first distance, the first included angle, the second distance, and the third distance between the mobile robot auxiliary device and the step, and use any suitable kinematic algorithm based on the first distance, the first included angle, the second distance, and the third distance to adjust the first driving angular velocity and / or the second driving angular velocity. The embodiments of this disclosure are not limited in this respect.

[0074] Wherein, the distance difference between the target position and the left and right ends of the step is less than a first distance threshold, which can be preset by those skilled in the art according to the actual situation, and this disclosure does not limit it.

[0075] It is understandable that if the distance difference between the target position and the left and right ends of the step is less than the first distance threshold, the distance difference between the target position and the left and right ends of the step is small, thus the target position is located in the middle section of the step. Therefore, by adjusting the first driving angular velocity and / or the second driving angular velocity based on the first distance, the first included angle, the second distance, and the third distance, the orientation of the mobile robot-assisted device is perpendicular to the vertical plane of the step, and the mobile robot-assisted device passes through the target position on the step. This allows the mobile robot-assisted device to be aligned with the vertical plane of the step while also being located as close as possible to the middle section of the step during its ascent, thereby further improving the safety of the mobile robot-assisted device's climbing route and reducing the possibility of abnormal climbing or even falls.

[0076] In some embodiments, the process of adjusting the orientation of the mobile robot auxiliary device based on the position information of the step during the climbing of each step in step S102 above, so that the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the step, may include the following steps S141 and S142:

[0077] Step S141: During the process of the mobile robot-assisted device climbing the first step of the at least one step, based on the position information of the first step, the mobile robot-assisted device is controlled to move towards the first step, and the mobile robot-assisted device contacts the first step with a target orientation; the target orientation is perpendicular to the vertical plane of the first step.

[0078] Step S142: Control the mobile robot auxiliary device to perform a climbing action on the first step in the target orientation.

[0079] Here, those skilled in the art can design corresponding climbing actions for the mobile robot auxiliary device based on its composition and structure. By controlling the mobile robot auxiliary device to execute the corresponding climbing actions, climbing stairs can be achieved. This disclosure does not limit the corresponding climbing actions of the mobile robot auxiliary device.

[0080] In some embodiments, the front of the mobile robot assist device is provided with two impact sensors, which are offset in the vertical direction. The impact sensors are used to detect impact forces that are opposite to the orientation of the mobile robot assist device.

[0081] When the mobile robot-assisted device climbs the at least one step, step S142 may include the following steps S151 and S152:

[0082] Step S151: Control the mobile robot auxiliary device to move forward to contact the first step.

[0083] Step S152: In response to the two impact sensors simultaneously detecting an impact force opposite to the orientation of the mobile robot assist device, control the mobile robot assist device to perform a climbing action on the first step with the target orientation.

[0084] Understandably, because the mobile robot's auxiliary device has two vertically offset impact sensors at its front, as the device moves forward, its front will first contact the step. If the device is facing a vertical plane perpendicular to the step, both impact sensors will simultaneously detect an impact force opposite to its orientation. If the device is facing a vertical plane not perpendicular to the step, the sensors will not simultaneously detect an impact force opposite to its orientation. Therefore, by controlling the mobile robot's forward movement and detecting whether the two impact sensors simultaneously detect an impact force opposite to its orientation, it can be determined whether the device's orientation is perpendicular to the vertical plane of the step.

[0085] Figure 3 is a schematic diagram of a mobile robot auxiliary device moving forward according to an embodiment of the present disclosure. The front of the mobile robot auxiliary device 20 is provided with impact sensors 21 and 22 that are offset in the vertical direction. When the mobile robot auxiliary device 20 moves forward and contacts the first step 301, if the mobile robot auxiliary device is facing a vertical plane perpendicular to the first step 301, the impact sensors 21 and 22 will simultaneously impact the vertical plane of the first step 301. Thus, the impact sensors 21 and 22 can simultaneously detect impact forces opposite to the direction of the mobile robot auxiliary device 20.

[0086] In the above embodiment, the front of the mobile robot assistive device is equipped with two impact sensors, which are vertically offset. These impact sensors are used to detect impact forces opposite to the orientation of the mobile robot assistive device. By controlling the mobile robot assistive device to move forward to contact the first step, and in response to the two impact sensors simultaneously detecting impact forces opposite to the orientation of the mobile robot assistive device, the mobile robot assistive device is controlled to perform a climbing action on the first step with a target orientation. In this way, the orientation of the mobile robot assistive device when climbing the first step can be more accurate, thereby further improving the safety and rationality of the climbing route of the mobile robot assistive device.

[0087] In some embodiments, step S142 may further include: in response to a single impact sensor detecting an impact force opposite to the orientation of the mobile robot assist device, controlling the mobile robot assist device to adjust its orientation and continue moving forward.

[0088] Here, if one impact sensor detects an impact force opposite to the orientation of the mobile robot assist device, while the other impact sensor does not detect an impact force opposite to the orientation of the mobile robot assist device, it can be determined that the mobile robot assist device has contacted the first step, but its orientation is not perpendicular to the vertical plane of the first step. In this case, the mobile robot assist device can be controlled to adjust its orientation and continue moving forward to retest whether its orientation is perpendicular to the vertical plane of the first step.

[0089] In some embodiments, the above method may further include the following step S161:

[0090] Step S161: Obtain the step height and step depth of at least one step.

[0091] The step S102 described above, which involves controlling the mobile robot auxiliary device to climb at least one step, may include the following step S162:

[0092] Step S162: Based on the height and depth of at least one step, control the mobile robot auxiliary device to perform a climbing action on the at least one step.

[0093] Here, those skilled in the art can use any suitable method to obtain the step height and step depth of each level of steps according to the actual situation, and the embodiments disclosed herein are not limited in this regard.

[0094] In some implementations, an environmental point cloud can be obtained by exploring the environment in which the target staircase is located. Based on this environmental point cloud, the height and depth of at least one step can be determined.

[0095] In some implementations, an environmental image can be obtained by acquiring images of the environment in which the target staircase is located. Based on this environmental image, the height and depth of at least one step can be determined.

[0096] In some implementations, a scene map of the scene where the target staircase is located can be pre-built, and based on the scene map, the height and depth of at least one step can be determined.

[0097] Referring to Figure 2, before climbing step 30, the step height h and step depth d of step 30 can be obtained. Based on the step height h and step depth d of step 30, the mobile robot auxiliary device can be controlled to perform the climbing action of step 30.

[0098] In some embodiments, step S162 may include: if the step height is less than or equal to a height threshold, controlling the mobile robot auxiliary device to perform a climbing action on the step based on the step height and step depth.

[0099] In some implementations, if the height of the step exceeds a certain height threshold, the mobile robot assistance device can be controlled to stop climbing the step.

[0100] In the above embodiments, when the step height is less than a height threshold, the mobile robot-assisted device is controlled to perform a climbing action on the step based on the step height and step depth. This reduces the climbing safety risks caused by excessively high steps, thereby further improving the safety of the mobile robot-assisted device climbing steps.

[0101] In some embodiments, the mobile robot assistive device has a forearm and a rear arm for assisting climbing.

[0102] When the mobile robot assist device climbs the at least one step, step S162 above may include the following steps S171 to S173:

[0103] Step S171: Based on the step height and step depth of the first step in the at least one step, control the forearm to be raised to be parallel to the slope of the target staircase, and control the mobile robot auxiliary device to continue moving forward while keeping the forearm parallel to the slope of the target staircase.

[0104] In step S172, in response to the forearm contacting the first step, the rear arm is controlled to press down to lift the body of the mobile robot auxiliary device, and the mobile robot auxiliary device is controlled to continue moving forward until the rear arm is parallel to the slope of the target staircase.

[0105] Step S173: Control the mobile robot auxiliary device to continue moving forward until it completes the ascent of at least one step.

[0106] Here, the forearm of the mobile robot assist device is located at the front of the mobile robot assist device along the forward direction, and the rear arm of the mobile robot assist device is located at the rear of the mobile robot assist device along the forward direction.

[0107] In some implementations, the slope of the target staircase can be determined based on the step height and step depth of the first step in at least one staircase, thereby allowing the forearm of the mobile robot auxiliary device to be raised to be parallel to the slope of the target staircase according to the slope.

[0108] By controlling the downward pressure of the rear arm, an upward force can be applied to the body of the mobile robot auxiliary device to lift it up.

[0109] Figure 4 is a schematic diagram of the composition structure of a mobile robot auxiliary device provided in an embodiment of the present disclosure. As shown in Figure 4, the mobile robot auxiliary device 20 includes a rear arm 201, a body 202 and a forearm 203 in sequence along the forward direction D1. The forearm 203 is rotatably connected to the body 202 through a first connecting part 204, and the rear arm 201 is rotatably connected to the body 202 through a second connecting part 205.

[0110] In some embodiments, the mobile robot assistive device has a forearm and a rear arm for assisting climbing.

[0111] When the mobile robot assist device climbs down the at least one step in a backward manner, the above step S162 may include the following steps S181 to S183:

[0112] Step S181: Based on the step height and step depth of the first step in the at least one step, control the rear arm to swing down to be parallel to the slope of the target staircase, and control the mobile robot auxiliary device to move downward in a backward manner.

[0113] In some implementations, the slope of the target staircase can be determined based on the height and depth of the first step in at least one staircase, thereby allowing the rear arm of the mobile robot auxiliary device to swing down to be parallel to the slope of the target staircase.

[0114] In step S182, in response to the rear arm contacting the next step, the forearm is controlled to press down to lift the body of the mobile robot auxiliary device, and the mobile robot auxiliary device is controlled to continue moving downward in a backward manner until the forearm is parallel to the slope of the target staircase.

[0115] By controlling the forearm to press down, an upward force can be provided to the body of the mobile robot auxiliary device to lift the body of the mobile robot auxiliary device, making it easier for the mobile robot auxiliary device to move downward and backward.

[0116] Step S183: Control the mobile robot auxiliary device to continue retreating until it completes the downward climb of at least one step.

[0117] In some embodiments, the above method may further include the following steps S191 and S192:

[0118] Step S191: In response to detecting that the body of the mobile robot auxiliary device is in a horizontal state, detect whether the mobile robot auxiliary device has reached the platform in the middle of the target staircase or the next floor.

[0119] Here, any suitable method can be used to detect whether the body of the mobile robot auxiliary device is in a horizontal state, and this embodiment of the disclosure is not limited to this. For example, the tilt angle of the body can be detected by a gyroscope installed on the body, and the horizontal state of the body can be determined based on the tilt angle.

[0120] Step S192: In response to detecting that the mobile robot auxiliary device has reached the platform in the middle of the target staircase, control the mobile robot auxiliary device to perform a step search; or, in response to detecting that the mobile robot auxiliary device has reached the next floor, control the mobile robot auxiliary device to put down the cleaning equipment it is carrying, so that the cleaning equipment can perform a cleaning task on the next floor.

[0121] In some implementations, if the mobile robot assist device is detected to have reached the platform in the middle of the target staircase, it indicates that the mobile robot assist device has not yet finished climbing the target staircase. The mobile robot assist device can then be controlled to search for steps in order to continue climbing the steps.

[0122] In some implementations, when it is detected that the mobile robot-assisted device has reached the next floor, indicating that the mobile robot-assisted device has climbed the target stairs and reached the next floor, the mobile robot-assisted device can be controlled to put down the cleaning equipment it is carrying, so that the cleaning equipment can perform cleaning tasks on the next floor.

[0123] Understandably, when the robot is in a horizontal position, the mobile robot-assisted device may reach the platform in the middle of the target staircase or the next floor. By detecting whether the mobile robot-assisted device has reached the platform in the middle of the target staircase or the next floor, it can facilitate the mobile robot-assisted device to perform the next action.

[0124] In some embodiments, detecting whether the mobile robot assist device has reached the platform in the middle of the target staircase or the next floor in step S191 above may include the following steps S1101 to S1103:

[0125] Step S1101: Control the mobile robot auxiliary device to rotate in place once to construct an environmental map of the current environment.

[0126] Step S1102: Based on the environmental map, determine the first area of ​​the flat area where the mobile robot auxiliary device is currently located.

[0127] Step S1103: When the first area is less than the first area threshold, determine that the mobile robot auxiliary device has now reached the platform in the middle of the target staircase.

[0128] Here, any suitable method can be used to construct the environmental map of the current environment, and this disclosure does not limit this approach. For example, Simultaneous Localization and Mapping (SLAM) can be used to construct the environmental map of the current environment.

[0129] The first area threshold can be a suitable value preset by those skilled in the art based on the actual situation, and is not limited here.

[0130] In some implementations, the mobile robot assistance device can be determined to have reached the next floor if the first area is greater than or equal to a second area threshold. The second area threshold can be greater than or equal to the first area threshold. In practice, the second area threshold can be a suitable value preset by those skilled in the art based on actual conditions, and is not limited here.

[0131] In the above embodiments, the mobile robot auxiliary device is controlled to rotate once in place to construct an environmental map of the current environment. Based on this environmental map, a first area of ​​the flat area where the mobile robot auxiliary device is currently located is determined. If the first area is less than an area threshold, it is determined that the mobile robot auxiliary device has reached the platform in the middle of the target staircase. In this way, the situation where the mobile robot auxiliary device has reached the platform in the middle of the target staircase can be quickly identified. Furthermore, since the mobile robot auxiliary device only needs to rotate once in place during the identification process, it does not need to occupy too much space. Therefore, even if the area of ​​the flat area where the mobile robot auxiliary device is currently located is small, it can still accurately identify that it is the platform in the middle of the target staircase.

[0132] In some embodiments, when the mobile robot assisting device carries cleaning equipment, the detection in step S191 above of whether the mobile robot assisting device has reached the platform in the middle of the target staircase or the next floor may include the following steps S1111 and S1112:

[0133] Step S1111: Control the mobile robot auxiliary device to lower the cleaning device and send an exploration command to the cleaning device; the exploration command is used to instruct the cleaning device to clean within a preset size area and explore the cleanable area outside the preset size area.

[0134] Step S1112: In response to the cleaning device detecting a cleanable area outside the area range, determine that the mobile robot auxiliary device has now reached the next floor.

[0135] Here, cleaning equipment may include at least one of the following: a sweeping robot, a floor scrubber, a mopping robot, a washer-mop combo, etc.

[0136] Mobile robot-assisted devices can communicate with cleaning equipment via infrared signals, WiFi signals, and / or other signals to send exploration commands to the cleaning equipment.

[0137] The preset area size can be pre-set by those skilled in the art based on actual conditions, and this disclosure does not limit this. For example, the preset area size can be a rectangular area of ​​2 meters × 2 meters.

[0138] In some implementations, the mobile robot-assisted device may determine that it has reached the platform in the middle of the target staircase in response to the cleaning device detecting that there is no cleanable area outside the area range.

[0139] In the above embodiments, the mobile robot assist device is controlled to lower the cleaning equipment and send an exploration command to the cleaning equipment. This exploration command instructs the cleaning equipment to clean within a preset area and explore cleanable areas outside that area. In response to the cleaning equipment discovering a cleanable area outside the preset area, the mobile robot assist device is determined to have reached the next floor. This allows for the accurate identification of whether the next floor has been reached by utilizing the cleaning equipment's environmental exploration capabilities, eliminating the need for the mobile robot assist device to implement complex environmental exploration functions, thus simplifying its design.

[0140] In some embodiments, step S101 may include the following steps S1121 and S1122:

[0141] Step S1121: Control the mobile robot auxiliary device to move to the stairwell area on the current floor.

[0142] Step S1122: Control the mobile robot auxiliary device to search for steps in the stairwell area and obtain the location information of at least one step.

[0143] In some implementations, the stairwell area on the current floor can be determined by exploring the environment on the current floor, and the mobile robot-assisted device can be controlled to move to the stairwell area.

[0144] In some implementations, the stairwell area on the current floor can be determined based on a pre-established floor map, and the mobile robot auxiliary device can be controlled to move to that stairwell area.

[0145] In the above embodiments, the mobile robot auxiliary device is controlled to move to the stairwell area on the current floor, and then searches for steps in the stairwell area to obtain the location information of at least one step. By first determining the stairwell area and then searching for steps within it, the efficiency and accuracy of step searching can be improved, thus enabling the rapid and accurate acquisition of the location information of at least one step.

[0146] In some implementations, if no steps are found in the current stairwell area, the next stairwell area on the current floor can be obtained, and the mobile robot auxiliary device can be controlled to move to the next stairwell area and search for steps in the stairwell area to obtain the location information of at least one step.

[0147] In some embodiments, when the mobile robot assistive device climbs down the at least one step, step S1122 may include the following step S1131:

[0148] Step S1131: Control the mobile robot auxiliary device to search for steps in the stairwell area at a downward tilting detection angle to obtain the position information of at least one step.

[0149] Here, the downward tilting detection angle can be set according to the actual situation, and this disclosure does not limit it.

[0150] Understandably, in scenarios involving downward climbing, since steps are typically located below the plane where the mobile robot assisting device is currently positioned, it might fail to detect steps if it searches for them at a horizontal detection angle. By controlling the mobile robot assisting device to search for steps in the stairwell area at a downward tilting detection angle, it can more quickly and accurately locate the steps.

[0151] In some embodiments, controlling the mobile robot auxiliary device to search for steps in the stairwell area at a downward-tilted detection angle, as described in step S1131 above, may include at least one of steps S1141 and S1142 below:

[0152] Step S1141: Control the mobile robot auxiliary device to tilt its body using the auxiliary arm, so that the ranging direction of the horizontal ranging sensor in the mobile robot auxiliary device is tilted downward, and control the mobile robot auxiliary device to search for steps in the stairwell area using the horizontal ranging sensor after the ranging direction is tilted.

[0153] Here, the auxiliary arm can include, but is not limited to, forearms and / or rear arms used to assist climbing. Using the auxiliary arm, the mobile robot's auxiliary device can be controlled to tilt its body at a certain angle, thereby causing the horizontal ranging sensor installed in the mobile robot's auxiliary device to tilt its ranging direction downwards to the target detection angle. The mobile robot's auxiliary device, in its tilted state, can then use the horizontal ranging sensor, with its ranging direction tilted, to search for steps in the stairwell area.

[0154] In this way, the existing horizontal ranging sensor in the mobile robot auxiliary equipment can be reused to search for steps in the stairwell area with a downward tilting detection angle, thereby obtaining the position information of at least one step. This simplifies the structure of the mobile robot auxiliary equipment and reduces hardware costs.

[0155] Step S1142: Control the mobile robot auxiliary device to search for steps in the stairwell area using a ranging sensor that is tilted downwards in the ranging direction.

[0156] Here, the mobile robot's auxiliary equipment can be equipped with at least one ranging sensor that is tilted downwards. By using this ranging sensor to search for steps in the stairwell area, the location information of at least one step can be obtained.

[0157] In some implementations, a ranging sensor with a downward-sloping ranging direction can be installed on the auxiliary arm or the top of the mobile robot's auxiliary device.

[0158] In some implementations, a downward-directed vertical ranging sensor can be installed on the auxiliary arm or top of the mobile robot's auxiliary device. By controlling this vertical ranging sensor to search for steps in the stairwell area, the position information of at least one step can be obtained. For example, a downward-directed vertical ranging sensor can be installed on the forearm or rear arm of the mobile robot's auxiliary device. By extending the forearm or rear arm, the vertical ranging sensor can detect downward environmental information, thereby achieving step search.

[0159] In this way, controlling the mobile robot auxiliary device to search for steps in the stairwell area using a ranging sensor that tilts downwards in the ranging direction does not require changing the tilt state of the mobile robot auxiliary device, which can improve the stability and safety of the mobile robot auxiliary device during the step search process.

[0160] The following describes the application of the control method provided in the embodiments of this disclosure in a real-world scenario.

[0161] The control method provided in this disclosure can be applied to scenarios where mobile robot-assisted equipment goes upstairs and / or downstairs.

[0162] Figure 5 is a schematic diagram of the implementation flow of a control method provided in an embodiment of this disclosure. As shown in Figure 5, the method may include the following steps S501 to S504:

[0163] Step S501: Control the mobile robot's auxiliary equipment to detect the position of the stairs;

[0164] Here, the environmental point cloud collected by the Time-of-Flight (TOF) ranging sensor of the mobile robot-assisted device can be used to obtain the first distance, first angle, second distance and third distance between at least one step of the target staircase to be climbed and the mobile robot-assisted device, as well as the step height and step depth of at least one step.

[0165] In some implementations, after reaching the suspected step, the mobile robot assist device is controlled to move forward. The orientation of the mobile robot assist device is adjusted, and two bumpers (corresponding to the impact sensors in the aforementioned embodiments) are set at the front of the mobile robot assist device to probe forward. When the two bumpers are triggered simultaneously, it is assumed that the orientation of the mobile robot assist device is perpendicular to the vertical plane of the step.

[0166] Step S502: Control the mobile robot's auxiliary equipment to search for the position of the first step;

[0167] In some implementations, the mobile robot assist device can be controlled to perform a mobile search action within a small area based on the environmental point cloud collected by the ranging sensor to search for the first step, and stop searching after finding the position of the first step, and adjust the orientation of the mobile robot assist device according to the first distance and the first included angle corresponding to the first step.

[0168] Figure 6 is a schematic diagram of searching for the position of the first step in a control method provided in an embodiment of this disclosure. As shown in Figure 6, there may be an obstacle 40 between the mobile robot auxiliary device and the first step 30. The mobile robot auxiliary device can move sequentially to position A, position B, position C, position D, position E and position F to search for the step until the first step 30 is found and then the search stops. In this way, the influence of the obstacle 40 on the step search can be reduced.

[0169] Step S503: Control the mobile robot's auxiliary equipment to perform up and down stairs;

[0170] The mobile robot-assisted device faces the target and reaches the first step of the target staircase, and then begins to move up and down the stairs. The target is a vertical plane perpendicular to the first step.

[0171] In some implementations, during the ascent, if the mobile robot assists the device to detect that the height of a step exceeds a height threshold, it abandons the ascent. If the mobile robot assists the device to detect that the height of a step does not exceed the height threshold, it adjusts the tilt angle of the forearm of the mobile robot assists the step according to the height and distance of the first step detected. The rear arm of the mobile robot assists the device remains parallel to the ground, and it is controlled to crawl forward until the forearm contacts the first step. Then, the rear arm presses down to lift the body of the mobile robot assists the device, and it continues to climb upwards. During the ascent, the angular velocities of the first and second drive components in the mobile robot assists the device are adjusted according to the first included angle and first distance of the next step continuously detected by the TOF sensor, so that the orientation of the mobile robot assists the device remains perpendicular to the vertical plane of the next step. This climbing action is repeated until no next step is detected, at which point the climbing stops.

[0172] In some implementations, during the descent, if the mobile robot assists the device to detect a suspected step, it extends its rear arm backward. Based on the distance sensor on the rear arm, it measures the height of the first step. If the height of the first step exceeds a height threshold, it is considered a potential cliff and unsafe, and the descent is abandoned. If the height of the first step does not exceed the height threshold, based on the detected height, the rear arm angle is adjusted to be parallel to the stair slope, the forearm is pressed downward to support the body of the mobile robot assists the device, and the device is controlled to move downward in a backward motion. During the descent of the first step, the mobile robot assists the device adjusts the angular velocities of the first and second drive components based on the first included angle and first distance corresponding to the next step continuously detected by the TOF distance sensor. This ensures the mobile robot assists the device's orientation remains perpendicular to the vertical plane of the next step, and the climbing action is repeated until no next step is detected, at which point the climbing stops.

[0173] It should be noted that in some embodiments, the TOF ranging sensor located at the rear of the mobile robot auxiliary device is tilted downwards. Moving backwards down the steps can improve the ranging field of view of the mobile robot auxiliary device, thereby making it easier to obtain the height and / or depth of the next step.

[0174] In some real-world scenarios, there might be small platforms in the middle of a staircase. These platforms don't store maps. The following two methods can be used to detect whether a mobile robot's auxiliary device has reached a small platform or the next floor:

[0175] 1) Control the mobile robot auxiliary device to turn around in place to build a map. If the first area of ​​the flat area where the mobile robot auxiliary device is located in the map is less than the first area threshold, it is considered that the mobile robot auxiliary device has reached a platform rather than a flat floor (i.e., the next floor).

[0176] 2) Control the mobile robot auxiliary device to put down the cleaning equipment it is carrying, and control the cleaning equipment to clean a small area (e.g., a rectangular area of ​​2m×2m). If, after cleaning, it is found that there is still an area without obstacles that can be cleaned (corresponding to the cleanable area in the previous embodiment), then it is considered that the mobile robot auxiliary device has reached the level floor.

[0177] Step S504, abnormal drop detection.

[0178] The mobile robot auxiliary device can be equipped with a gyroscope. If the gyroscope detects that the tilt angle of the device exceeds a preset angle threshold, it is considered that the mobile robot auxiliary device is at risk of falling, and the movement of the mobile robot auxiliary device is stopped.

[0179] In some implementations, a vertical ranging sensor that measures downwards can be added to the auxiliary arm or the top of the machine. The point cloud data collected downwards by the vertical ranging sensor can be used to determine the position, height, and / or depth of at least one step.

[0180] This disclosure provides a mobile robot auxiliary device. Figure 7 is a schematic diagram of the composition structure of a mobile robot auxiliary device provided in this disclosure embodiment. As shown in Figure 7, the mobile robot auxiliary device 700 includes: a body 710, a data acquisition component 720, and a control component 730, wherein:

[0181] The acquisition component 720 is connected to the body 710, and the acquisition component 720 acquires the position information of at least one step to be climbed in the target staircase;

[0182] The control component 730 is located inside the housing 710 and is communicatively connected to the acquisition component 720. The control component 730 includes:

[0183] Control the mobile robot's auxiliary equipment to climb at least one step;

[0184] During the process of the mobile robot-assisted device climbing at least one step, the orientation of the mobile robot-assisted device is adjusted based on the position information of at least one step;

[0185] Among them, after the orientation of the mobile robot auxiliary equipment is adjusted, the orientation of the mobile robot auxiliary equipment is perpendicular to the vertical plane of at least one step.

[0186] The control component can be implemented through logic circuits or through a processor. The processor can be, but is not limited to, at least one of a microcontroller, a central processing unit (CPU), a microprocessor unit (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA).

[0187] The acquisition component may include, but is not limited to, at least one of the following: a ranging module, an image acquisition component, etc.

[0188] The communication connection between the acquisition component and the control component, as well as the communication connection between the first drive component, the second drive component, the impact sensor, etc. and the control component, are not limited in terms of connection method. They can be directly or indirectly connected through wired communication, directly or indirectly connected through wireless communication, or through other methods. The embodiments disclosed herein are not limited to these methods.

[0189] In some embodiments, as shown in FIG8, a first drive component 740 is provided on the left side of the body 710 and a second drive component 750 is provided on the right side. The first drive component 740 and the second drive component 750 are both communicatively connected to the control component 730. The control component 730 drives the body 710 of the mobile robot auxiliary device to move forward or backward by controlling the first drive component 740 and the second drive component 750.

[0190] The control component 730 also adjusts the first drive angular velocity of the first drive component 740 and / or the second drive angular velocity of the second drive component 750 based on the position information of the step, so as to adjust the orientation of the mobile robot auxiliary device to be perpendicular to the vertical plane of the step.

[0191] In some embodiments, the control component: determines a first distance and a first angle between the mobile robot auxiliary device and the step based on the position information of the step; and adjusts the first drive angular velocity and / or the second drive angular velocity based on the first distance and the first angle.

[0192] Wherein, the first distance is the distance between the mobile robot auxiliary device along the current first orientation and the vertical plane of the step, and the first included angle is the angle between the first orientation and the normal to the vertical plane of the step.

[0193] In some embodiments, the control component: determines a second distance and a third distance between the mobile robot auxiliary device and the step based on the position information of the step; and adjusts the first drive angular velocity and / or the second drive angular velocity based on the first distance, the first included angle, the second distance, and the third distance.

[0194] Wherein, the second distance and the third distance are the distances between the first intersection point and the left and right ends of the step, respectively, and the first intersection point is the intersection point between the mobile robot auxiliary device along the forward path of the first orientation and the vertical plane of the step;

[0195] After the orientation of the mobile robot auxiliary device is adjusted, the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the step, and the mobile robot auxiliary device passes through the target position of the step; the distance difference between the target position and the left and right ends of the step is less than a first distance threshold.

[0196] In some embodiments, the control component: during the process of the mobile robot-assisted device climbing the first step of the at least one step, based on the position information of the first step, controls the mobile robot-assisted device to move towards the first step and makes the mobile robot-assisted device contact the first step with a target orientation; controls the mobile robot-assisted device to perform a climbing action on the first step with the target orientation;

[0197] The target is oriented towards a vertical plane perpendicular to the first step.

[0198] In some embodiments, as shown in FIG9, the front of the mobile robot assist device 700 is provided with two impact sensors 760, which are offset in the vertical direction. The impact sensors 760 are used to detect impact forces that are opposite to the orientation of the mobile robot assist device 700. Each impact sensor 760 is communicatively connected to the control component 730.

[0199] When the mobile robot assist device climbs at least one step, the control component 730: controls the mobile robot assist device to move forward to contact the first step; in response to the two impact sensors 760 simultaneously detecting an impact force opposite to the orientation of the mobile robot assist device, controls the mobile robot assist device to perform the climbing action on the first step in the target orientation.

[0200] In some embodiments, the acquisition component obtains the step height and step depth of at least one level of the steps;

[0201] The control component controls the mobile robot-assisted device to perform a climbing action on the at least one step based on the step height and step depth of at least one step.

[0202] In some embodiments, as shown in FIG10, the mobile robot assistance device 700 has a forearm 770 and a rear arm 780 for assisting climbing, both of which are connected to the body 710.

[0203] When the mobile robot assist device climbs at least one step upwards, control component 730:

[0204] Based on the step height and step depth of the first step in at least one step, control the forearm 770 to rise to be parallel to the slope of the target staircase, and control the mobile robot auxiliary device to continue moving forward while keeping the forearm 770 parallel to the slope of the target staircase.

[0205] In response to the forearm 770 contacting the first step, the rear arm 780 is controlled to press down to lift the body 710 of the mobile robot assist device, and the mobile robot assist device is controlled to continue moving forward until the rear arm 780 is parallel to the slope of the target staircase.

[0206] Control the mobile robot-assisted equipment to continue moving forward until it completes the ascent of at least one step.

[0207] The forearm 770 and the rear arm 780 can be directly or indirectly connected to the fuselage 710, or they can be fixed or movable. This embodiment does not limit the connection method.

[0208] In some embodiments, continuing to refer to FIG10, the mobile robot assistance device 700 has a forearm 770 and a rear arm 780 for assisting climbing, both of which are connected to the body 710.

[0209] When the mobile robot assist device climbs down at least one step in a backward manner, control component 730:

[0210] Based on the height and depth of the first step in at least one staircase, the rear arm 780 is controlled to swing down until it is parallel to the slope of the target staircase, and the mobile robot auxiliary device is controlled to move downwards in a backward manner; in response to the rear arm 780 contacting the next step, the forearm 770 is controlled to press down to lift the body 710 of the mobile robot auxiliary device, and the mobile robot auxiliary device is controlled to continue moving downwards in a backward manner until the forearm 770 is parallel to the slope of the target staircase; the mobile robot auxiliary device is controlled to continue moving backwards until the downward climbing of the at least one step is completed.

[0211] In some embodiments, the control component:

[0212] In response to detecting that the body of the mobile robot assist device is in a horizontal state, it is detected whether the mobile robot assist device has reached the platform in the middle of the target staircase or the next floor;

[0213] In response to detecting that the mobile robot assist device has reached the platform in the middle of the target staircase, control the mobile robot assist device to perform a step search; or,

[0214] In response to detecting that the mobile robot assist device has reached the next floor, the mobile robot assist device is controlled to put down the cleaning equipment it is carrying, so that the cleaning equipment can perform cleaning tasks on the next floor.

[0215] In some embodiments, the control component:

[0216] The mobile robot auxiliary device is controlled to rotate the data acquisition component once in place to construct an environmental map of the current environment.

[0217] Based on the environmental map, determine the first area of ​​the flat area where the mobile robot auxiliary device is currently located;

[0218] When the first area is less than the first area threshold, it is determined that the mobile robot auxiliary device has now reached the platform in the middle of the target staircase.

[0219] In some embodiments, when the mobile robot assist device carries cleaning equipment, the control component:

[0220] The mobile robot auxiliary device is controlled to lower the cleaning device and send an exploration command to the cleaning device; the exploration command is used to instruct the cleaning device to clean within a preset area and explore the cleanable area outside the preset area.

[0221] In response to the cleaning equipment detecting a cleanable area outside the designated area, the mobile robot-assisted device is determined to have reached the next floor.

[0222] In some embodiments, the control component: controls the mobile robot auxiliary device to move to the stairwell area on the current floor; controls the mobile robot auxiliary device to search for steps in the stairwell area through the acquisition component, and obtains the location information of at least one step.

[0223] In some embodiments, when the mobile robot-assisted device climbs down at least one step, the control component controls the mobile robot-assisted device to drive the acquisition component to search for steps in the stairwell area at a downward tilting detection angle, thereby obtaining the position information of the at least one step.

[0224] In some embodiments, the mobile robot auxiliary device further includes an auxiliary arm connected to the body, the acquisition component includes a horizontal ranging sensor disposed on the body, and the control component is further configured to: control the mobile robot auxiliary device to tilt the body through the auxiliary arm so that the ranging direction of the horizontal ranging sensor is tilted downward, and control the mobile robot auxiliary device to search for steps in the stairwell area through the horizontal ranging sensor after the ranging direction is tilted.

[0225] In some embodiments, the acquisition component includes a ranging sensor tilted downwards in the ranging direction, and the ranging sensor is disposed on the body of the device;

[0226] The control component controls the mobile robot's auxiliary equipment to search for steps in the stairwell area using the ranging sensor.

[0227] The description of the mobile robot assistive device embodiments above is similar to the description of the method embodiments above, and has similar beneficial effects. For technical details not disclosed in the mobile robot assistive device embodiments of this disclosure, please refer to the description of the method embodiments of this disclosure for understanding.

[0228] It should be noted that, in the embodiments of this disclosure, if the control method for the mobile robot auxiliary device described above is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this disclosure, or the part that contributes to related technologies, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk. Thus, the embodiments of this disclosure are not limited to any specific hardware and software combination.

[0229] 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.

[0230] 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.

[0231] This disclosure provides a processor that is communicatively connected to a memory storing a computer program that can run on the processor. When the processor executes the computer program, it implements the steps in the method described above.

[0232] This disclosure provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. When the computer program is read and executed by a computer, it implements some or all of the steps in the above-described method. This computer program product can be implemented specifically through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied as a computer storage medium; in another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0233] 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.

[0234] It should be noted that the descriptions of the storage medium, computer program product and device embodiments, and processor embodiments described above are similar to the descriptions of the method embodiments described above, and have similar beneficial effects. For technical details not disclosed in the storage medium, computer program product and device embodiments of this disclosure, please refer to the descriptions of the method embodiments of this disclosure for understanding.

[0235] 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.

[0236] 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.

[0237] 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.

[0238] 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.

[0239] 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.

[0240] 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.

[0241] 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.

[0242] 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 auxiliary device, characterized in that, include: body; A data acquisition component, connected to the main body, acquires the position information of at least one step to be climbed in the target staircase; as well as A control component, which is disposed inside the housing and communicatively connected to the acquisition component, wherein the control component: Control the mobile robot auxiliary device to climb the at least one step; During the process of the mobile robot-assisted device climbing the at least one step, the orientation of the mobile robot-assisted device is adjusted based on the position information of the at least one step; Wherein, after the orientation of the mobile robot auxiliary device is adjusted, the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the at least one step.

2. The mobile robot auxiliary device according to claim 1, characterized in that, The left side of the fuselage is provided with a first drive component and the right side is provided with a second drive component; Both the first drive component and the second drive component are communicatively connected to the control component. The control component drives the body of the mobile robot auxiliary device to move forward or backward by controlling the first drive component and the second drive component. The control component further adjusts the first driving angular velocity of the first driving component and / or the second driving angular velocity of the second driving component based on the position information of the step, so as to adjust the orientation of the mobile robot auxiliary device to be perpendicular to the vertical plane of the step.

3. The mobile robot auxiliary device according to claim 2, characterized in that, The control component: Based on the position information of the step, a first distance and a first included angle between the mobile robot auxiliary device and the step are determined; Based on the first distance and the first included angle, adjust the first driving angular velocity and / or the second driving angular velocity; Wherein, the first distance is the distance between the mobile robot auxiliary device along the current first orientation and the vertical plane of the step, and the first included angle is the angle between the first orientation and the normal to the vertical plane of the step.

4. The mobile robot auxiliary device according to claim 3, characterized in that, The control component: Based on the position information of the step, a second distance and a third distance between the mobile robot auxiliary device and the step are determined; Based on the first distance, the first included angle, the second distance, and the third distance, adjust the first drive angular velocity and / or the second drive angular velocity; Wherein, the second distance and the third distance are the distances between the first intersection point and the left and right ends of the step, respectively, and the first intersection point is the intersection point between the mobile robot auxiliary device along the forward path in the first direction and the vertical plane of the step; After the orientation of the mobile robot auxiliary device is adjusted, the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the step, and the mobile robot auxiliary device passes through the target position of the step; the distance difference between the target position and the left and right ends of the step is less than a first distance threshold.

5. The mobile robot auxiliary device according to any one of claims 1 to 4, characterized in that, The control component: During the process of the mobile robot-assisted device climbing the first step of the at least one set of stairs, based on the position information of the first step, the mobile robot-assisted device is controlled to move towards the first step and to contact the first step with the target orientation; Control the mobile robot auxiliary device to perform a climbing action on the first step in the target orientation; The target is oriented towards a vertical plane perpendicular to the first step.

6. A control method, characterized in that, The method, applied to mobile robot auxiliary devices, includes: Obtain the location information of at least one step in the target staircase that is currently to be climbed; Control the mobile robot auxiliary device to climb the at least one step, and adjust the orientation of the mobile robot auxiliary device based on the position information of the at least one step during the process of the mobile robot auxiliary device climbing the at least one step; Wherein, after the orientation of the mobile robot auxiliary device is adjusted, the orientation of the mobile robot auxiliary device is perpendicular to the vertical plane of the at least one step.

7. A computer device comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method of claim 6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method of claim 6.

9. 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 6.

10. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or the instructions are executed by the processor, the steps in the method of claim 6 are implemented.

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