Cleaning-robot assistance device, search method, medium, and program product

Abstract

A cleaning-robot assistance device (1), a search method, a medium, and a program product. The cleaning-robot assistance device (1) comprises: a device main body (101); a displacement assembly (102), which is connected to the device main body (101), wherein the displacement assembly (102) carries the device main body (101) and / or a carried object to move in an extension direction of at least one operating surface; a sensor assembly (103), which is connected to the device main body (101); a positioning assembly (104), which is connected to the device main body (101), wherein the positioning assembly (104) determines the current location of the cleaning-robot assistance device (1) on the current floor; and a processor (105), which is disposed inside the device main body (101), wherein the processor (105) acquires a target object to be found, controls the sensor assembly (103) to collect first data of the environment where the cleaning robot assistance device (1) is located, acquires the current location from the positioning assembly (104), acquires the first data from the sensor assembly (103), and on the basis of the current position and the first data, controls the displacement assembly (102) to carry the device main body (101) to move at least on the current floor to search for said target object. The cleaning-robot assistance device (1), such as a stair-climbing device, can move to search for a target object, and therefore the cleaning-robot assistance device (1) can satisfy object searching and positioning requirements in multiple scenarios.

Description

Cleaning robot auxiliary equipment, search methods, media and program products Cross-reference to related applications

[0001] This disclosure claims priority to Chinese patent application No. 202510148834.5, filed on February 10, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of cleaning robot auxiliary equipment technology, and in particular to a cleaning robot auxiliary equipment, search method, medium and program product. Background Technology

[0003] In related technologies, cleaning robot auxiliary equipment, such as stair-climbing equipment, can only move various objects, including items and people, up and down stairs. Summary of the Invention

[0004] Based on the above technical problems, this disclosure provides a cleaning robot auxiliary device, a search method, a medium, and a program product.

[0005] The technical solution provided by the embodiments of this disclosure is as follows:

[0006] This disclosure first provides a cleaning robot auxiliary device, including...

[0007] Equipment body;

[0008] A displacement assembly, connected to the device body, wherein the displacement assembly at least supports the movement of the device body and / or the supported object along the extension direction of at least one operating surface;

[0009] Sensor assembly, connected to the main body of the device; and

[0010] A positioning component, connected to the main body of the device, determines the current position of the cleaning robot auxiliary device on the current floor;

[0011] A processor, disposed inside the main body of the device, wherein the processor:

[0012] Retrieve the target object to be searched;

[0013] The sensor assembly is controlled to collect first data about the environment in which the cleaning robot auxiliary equipment is located.

[0014] The current position is obtained from the positioning component;

[0015] Acquire the first data from the sensor component; and,

[0016] Based on the current location and the first data, the cleaning robot auxiliary device is controlled to move at least on the current floor to search for the target object.

[0017] This disclosure also provides a search method, including:

[0018] Retrieve the target object to be searched;

[0019] Determine the current position of the cleaning robot auxiliary device on the current floor; wherein the cleaning robot auxiliary device is at least capable of moving the main body of the cleaning robot auxiliary device and / or the object it carries along the extension direction of at least one operating surface;

[0020] Collect first data about the environment in which the cleaning robot's auxiliary equipment is located;

[0021] Based on the current location and the first data, the cleaning robot auxiliary device is controlled to move at least on the current floor to search for the target object.

[0022] This disclosure also provides a computer-readable storage medium storing a computer program; when executed by a processor of a cleaning robot auxiliary device, the computer program can implement the search method described above.

[0023] This disclosure also provides a computer program product, which includes a computer program; when the computer program is executed by the processor of a cleaning robot auxiliary device, it can implement the search method described above. Attached Figure Description

[0024] Figure 1 is a schematic diagram of the structure of the cleaning robot auxiliary equipment provided in an embodiment of this disclosure;

[0025] Figure 2 is a schematic diagram of the structure of the stair-climbing device provided in this embodiment of the present disclosure for searching for target objects across floors;

[0026] Figure 3 is a schematic diagram of the process for searching target objects provided in an embodiment of this disclosure;

[0027] Figure 4 is a flowchart illustrating the search method provided in an embodiment of this disclosure;

[0028] Figure 5 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of this disclosure;

[0029] Figure 6 is a schematic diagram of the storage structure of a computer program product provided in an embodiment of this disclosure. Detailed Implementation

[0030] The technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0031] It should be understood that the specific embodiments described herein are merely illustrative of this disclosure and are not intended to limit this disclosure.

[0032] In related technologies, cleaning robot assistive devices, such as stair-climbing devices, can move various objects, including items and people, up and down stairs. However, for complex home and office scenarios, cleaning robot assistive devices such as stair-climbing devices only have the function of loading and moving objects up and down stairs, which is limited in function and cannot meet the search and positioning needs in home and office scenarios.

[0033] To address the aforementioned technical issues, this disclosure provides a cleaning robot auxiliary device, a search method, a medium, and a program product. This solution enables cleaning robot auxiliary devices, such as stair-climbing devices, to perform mobile search for target objects, thereby meeting the object search and location needs in scenarios such as home and office.

[0034] In one embodiment, the cleaning robot auxiliary equipment may include a stair-climbing device; wherein the stair-climbing device may have stair-climbing functionality and may also be able to move on the floor. In some embodiments, the stair-climbing device may include a stair-climbing machine.

[0035] In one embodiment, the stair-climbing device can move on the ground of the current floor, including the ability to move on a flat surface of the current floor, and the ability to climb or descend on a surface with a certain slope within the current floor.

[0036] Figure 1 is a schematic diagram of the structure of the cleaning robot auxiliary device provided in the embodiment of this disclosure. As shown in Figure 1, the cleaning robot auxiliary device 1 may include a device body 101; a displacement component 102 connected to the device body 101, the displacement component 102 carrying at least the device body and / or the object being carried moving along the extension direction of at least one operating surface; a sensor component 103 connected to the device body 101; a positioning component 104 connected to the device body, the positioning component 104 determining the current position of the cleaning robot auxiliary device on the current floor; a processor 105 disposed inside the device body 101, the processor 105 acquiring the target object to be searched; controlling the sensor component 103 to collect first data of the environment in which the cleaning robot auxiliary device is located, and obtaining the current position from the positioning component 104, obtaining the first data from the sensor component 103, and controlling the displacement component 102 carrying the device body to move at least on the current floor to search for the target object based on the current position and the first data.

[0037] In one embodiment, the processor 105 may be at least one of the following: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), Controller, Micro Controller Unit (MCU), and Microprocessor.

[0038] In one embodiment, at least one operating surface may be a plane. In some embodiments, the plane may be horizontal or inclined.

[0039] In one embodiment, the operating surface may be non-planar. In some embodiments, the non-planar surface may include at least one of an uneven floor or ground, a joint between a carpet and a floor, and a carpet surface. In some embodiments, the non-planar surface may also include a continuous irregular surface formed by at least two steps in a staircase. In some embodiments, the displacement component 102 may have a driving function and a moving function for climbing along the staircase direction, and may also have a displacement function within the floor space.

[0040] In one embodiment, sensor assembly 103 may include a distance sensor and an infrared (IR) sensor, etc. In some embodiments, the distance sensor may include a radar assembly.

[0041] In one embodiment, the positioning component 104 can determine the current position of the cleaning robot auxiliary device based on the data collected by the sensor component 103.

[0042] In one implementation, the carrier may include a person, a pet, or an item.

[0043] In one embodiment, the processor 105 can control the operating state of the displacement component and the sensor component.

[0044] In one implementation, the target object may not be movable. In some embodiments, the target object may include walls and furniture, etc.

[0045] In one implementation, the target object may be mobile. In some embodiments, the target object may include a cleaning robot in a mobile cleaning state. In some embodiments, the cleaning robot may include a sweeping robot, a mopping robot, or a vacuum and mop combo robot with displacement capabilities.

[0046] In one implementation, the target object may not have any signs of life; for example, the target object may include furniture and electronic devices.

[0047] In one implementation, the target object may also possess vital signs; for example, the target object may include people and pets.

[0048] In one implementation, the processor 105 can acquire the target object in any of the following ways:

[0049] The input component of a cleaning robot's auxiliary device, such as a stair-climbing device, responds to user input operations and integrates the corresponding input parameters to determine the target object. In some embodiments, the input operation may include voice input, gesture input, and button input. In some embodiments, the input parameters may include object characteristics and object type set by the user. In some embodiments, object characteristics may include external features such as size, posture, shape, color, and brightness. In some embodiments, the object type may be reflected in dimensions such as whether it possesses vital signs and / or whether it has mobility.

[0050] The cleaning robot receives input parameters from its control device via a communication component, such as that of a stair-climbing device, and determines the target object based on these parameters. In some embodiments, the control device may include a host computer device for the stair-climbing device; for example, it may include a terminal device with an application configured to control the stair-climbing device. In some embodiments, the terminal device may include a smartphone or a laptop computer.

[0051] In one implementation, the building to which the current floor belongs may include multiple floors, and the current floor may be any of the multiple floors. Furthermore, cleaning robot assistance devices, such as stair-climbing devices, can move to any floor via stairs set between the multiple floors.

[0052] In one embodiment, the current location may include the floor identifier of the floor where the cleaning robot's auxiliary device, such as a stair-climbing device, is currently located, and the distance data of the stair-climbing device relative to at least one reference object on the current floor. In some embodiments, the floor identifier may include the number of the current floor, such as the first floor, the second floor, etc. In some embodiments, the reference object may include an object on the current floor that is not capable of movement, such as a wall or furniture on the current floor.

[0053] In one implementation, the current position can be determined in any of the following ways:

[0054] In response to a user's location setting operation for a cleaning robot auxiliary device, such as a stair-climbing device, via an input component or communication component, the positioning component 104 integrates the location data corresponding to the location setting operation to determine the current location. In some embodiments, the location setting operation can be implemented in the same way as the input operation in the foregoing embodiments. In some embodiments, the location data may include the floor identifier of the current floor and the distance data of the stair-climbing device relative to at least one reference point.

[0055] The processor 105 acquires the location of objects and / or walls on the current floor, and simultaneously acquires distance data between the cleaning robot auxiliary equipment, such as the stair-climbing equipment, and the objects and / or walls as determined by the sensor components. The positioning component 104 then integrates the various distance data to determine the current location.

[0056] In one implementation, the first data may include the distance data described above.

[0057] In one implementation, multiple target objects may exist on the current floor, and the different target objects may be the same or different.

[0058] In one implementation, the mobile search target can be moved in any of the following ways:

[0059] The processor 105 determines the search path starting from the current position, and during the carpet-like movement of the displacement component 102 based on the search path and the real-time updated first data, it controls the image acquisition component of the cleaning robot auxiliary equipment, such as the stair-climbing equipment, to acquire environmental images, and then identifies the environmental images to determine whether the target object has been found.

[0060] In one implementation, if the cleaning robot's auxiliary equipment, such as a stair-climbing device, does not find the target object on the current floor, it can move to other floors to continue searching for the target object.

[0061] As can be seen from the above, in the cleaning robot auxiliary device provided in this embodiment, after the processor obtains the target object to be searched and obtains the current position of the cleaning robot auxiliary device on the current floor as determined by the positioning component, the processor controls the sensor component to collect the first data of the environment where the cleaning robot auxiliary device is located, and controls the displacement component to move the main body of the device at least on the current floor to search for the target object based at least on the current position and the first data. Thus, through the above operations, not only is precise control achieved over the acquisition of first data by the control sensor components, but comprehensive data support is also provided for the process of moving and searching for target objects, thereby improving the efficiency and accuracy of the cleaning robot auxiliary device in moving and searching for target objects. Furthermore, by moving and searching for target objects at least within the current floor, the time cost incurred by the cleaning robot auxiliary device in switching search starting points and search areas can also be reduced. At the same time, since the displacement component at least carries the main body of the device and / or the object it carries along the extension direction of at least one operating surface, component support is provided for the cleaning robot auxiliary device to search for target objects across floors. In summary, when the cleaning robot auxiliary device is a stair-climbing device and the operating surface is a staircase, the technical solution provided in this disclosure enables the stair-climbing device to retain its original functions while also possessing the function of searching for target objects across floors, thereby enabling the stair-climbing device to meet the search and positioning needs for target objects in complex home and office scenarios.

[0062] Based on the foregoing embodiments, in the cleaning robot auxiliary device 1 provided in this disclosure, the processor 105 obtains the object parameters of the target object, determines the search strategy based on the object parameters, and controls the displacement component 102 to move the main body of the device at least in the current floor to search for the target object, starting from the current position and based on the search strategy and the first data.

[0063] In one implementation, the object parameters may include the object type and / or object characteristics of the target object.

[0064] In one implementation, the object parameter can be obtained in the following way:

[0065] The processor 105 acquires user-defined object parameters of the cleaning robot auxiliary device via an input component or a communication component. The processor 105 can also acquire object parameters from the memory of the cleaning robot auxiliary device, such as a stair-climbing device. In some embodiments, the user can input object parameters by selecting from a parameter list that includes multiple object types.

[0066] In one implementation, the search strategy may include at least one of the following: a method for a cleaning robot assistive device, such as a stair-climbing device, to search for a target object; a duration; and a termination condition. In some embodiments, the termination condition may include the remaining battery power of the stair-climbing device being less than or equal to a battery threshold.

[0067] In one implementation, the search strategy can be determined in the following way:

[0068] The processor 105 determines a search strategy based on the remaining battery power of the cleaning robot's auxiliary equipment. In some embodiments, if the remaining battery power is greater than or equal to a first threshold, the search strategy can be determined to be a fine search; if the remaining battery power is less than or equal to a second threshold, the search strategy can be determined to be a fast search. The first threshold may be greater than the second threshold, and the power consumption of a fine search may be greater than the power consumption of a fast search.

[0069] The processor 105 obtains the first association relationship between the parameters in the parameter list and the set in the strategy set, and then determines the strategy corresponding to the parameter in the first association relationship that matches the object parameter as the search strategy based on the degree of matching between the object parameter and the parameter in the first association relationship; wherein, the first association relationship can be preset and stored in the cleaning robot auxiliary device.

[0070] In one implementation, the current position can be used as the starting point, and the search accuracy or search speed characterized by the control strategy can be combined with the first data collected in real time by the sensor component 103 to control the movement trajectory or movement speed of the displacement component, so as to move the search target object at least in the current floor.

[0071] As can be seen from the above, the cleaning robot auxiliary device provided in this embodiment of the present disclosure acquires and determines a search strategy based on the object parameters of the target object, realizing the interrelation between the object parameters and the search strategy, thereby improving the targeting and accuracy of the search strategy; furthermore, starting from the current position, based on the search strategy and the first data, the displacement component is controlled to move at least within the current floor to search for the target object, which can improve the accuracy of the search; at the same time, when the object parameters of the target object change, the above operations can flexibly and diversely determine the search strategy, thereby improving the flexibility of the cleaning robot auxiliary device, such as a stair-climbing device, in searching for target objects.

[0072] Based on the foregoing embodiments, the cleaning robot auxiliary device 1 provided in this disclosure may further include a communication component connected to a processor; if the object parameter indicates that the target object includes a first object, the processor 105 determines the search strategy by: acquiring the wireless signal detected by the communication component, and controlling the displacement component to move the main body of the device to search for the first object based on the wireless signal.

[0073] The first object includes electronic devices that transmit wireless signals.

[0074] In some embodiments, if the object parameter indicates that the target object does not include the first object, the processor may not perform operations that determine the search strategy, including controlling the sensor components to detect wireless signals.

[0075] In one embodiment, the wireless signal may include a wireless communication signal capable of enabling short-range wireless communication. In some embodiments, the wireless signal may include at least one of Wi-Fi signal, Bluetooth (BT) signal, Near Field Communication (NFC) signal, Near Link signal, and IR signal.

[0076] Accordingly, the cleaning robot auxiliary equipment and the first object may be respectively provided with at least one of the following: a WIFI component capable of transmitting and receiving WIFI signals, a BT component capable of transmitting and receiving BT signals, an NFC component capable of transmitting and receiving NFC signals, and a star flash communication component capable of transmitting and receiving star flash signals; accordingly, the communication component may include at least one of the following: a WIFI module, a BT component, an NFC component, and a star flash communication component.

[0077] In one implementation, the electronic device may include a cleaning robot.

[0078] In one embodiment, the electronic device may include a first piling device for cleaning robot auxiliary equipment, such as a stair-climbing device; wherein, if the first piling device is electrically connected to the stair-climbing device, the first piling device is at least able to output electrical energy to the stair-climbing device.

[0079] In one embodiment, the electronic device may further include a second docking station for the cleaning robot; wherein, when the second docking station is electrically connected to the cleaning robot, the second docking station can output electrical energy to the cleaning robot, and may also have functions such as garbage collection, mop washing, and drying for the cleaning robot. In some embodiments, the cleaning robot may include an intelligent device with cleaning functions.

[0080] In one embodiment, the first pile device, the second pile device, and the cleaning robot can each transmit wireless signals according to a preset standard, so that the cleaning robot's auxiliary equipment can detect and receive the wireless signals.

[0081] In one implementation, the movement of the displacement component to search for the first object based on wireless signals can be achieved in the following way:

[0082] The processor controls the movement direction of the displacement component based on the strength of the wireless signal, determines the movement trajectory based on the first data updated in real time, and controls the movement of the displacement component based on the movement direction and movement trajectory, thereby enabling the cleaning robot auxiliary device to approach the first object.

[0083] In some embodiments, if the wireless signal contains the location of an object, the processor can parse the wireless signal to obtain the location of the first object, and then control the displacement component to move closer to the first object based on the real-time updated first data, starting from the current location and ending at the object location.

[0084] As can be seen from the above, in the cleaning robot auxiliary device provided in this embodiment, if the object parameter indicates that the target object includes a first object, the processor determines the search strategy by: acquiring the wireless signal detected by the communication component, and controlling the movement of the displacement component carrying the main body of the device to search for the first object based on the wireless signal, wherein the first object includes an electronic device capable of emitting wireless signals. Thus, through the above operations, the search strategy can be associated with whether the first object emits wireless signals; and by detecting and searching for the first object based on the wireless signal, the functional characteristics of the first object's wireless signal emission can be fully utilized, improving the flexibility of the first object search.

[0085] Based on the foregoing embodiments, in the cleaning robot auxiliary device provided in this disclosure, if the object parameter characterizes the target object as including a second object, the processor 105 determines the search strategy as follows: controlling the displacement component to move based on the main body of the first data carrying device to search for the second object.

[0086] In one embodiment, the second object may include an object that does not have wireless signal transmission capabilities. In some embodiments, the second object may not possess vital characteristics; for example, the second object may include electronic devices, furniture, and home textiles. In some embodiments, the second object may possess vital characteristics; for example, the second object may include a person or a pet.

[0087] In one implementation, the second object may have wireless signal transmission and reception capabilities, but may not be in a wireless signal transmission and reception state.

[0088] In one implementation, the processor can control the displacement component to move and search for a second object based on first data and image and / or audio data acquired by the audio / video acquisition component of a cleaning robot auxiliary device, such as a stair-climbing device. The image data may include at least two frames of images and may also include video data. In some embodiments, the image or video data may or may not include pixel features of the target object. The audio data may include audio associated with the second object. In some embodiments, the audio data may include sounds emitted by the second object, such as human speech or pet barking. In some embodiments, the audio data may also include sounds associated with the movement of the second object, such as footsteps associated with human walking or footsteps associated with pet running.

[0089] In one implementation, the control displacement component searches for a second object based on first data, which can be achieved in the following way:

[0090] If the image data acquired by the audio and video acquisition component contains at least some pixel features of the second object, the processor adjusts the moving direction and / or moving trajectory of the displacement component based on the aforementioned at least some pixel features and the real-time updated first data, and simultaneously controls the audio and video acquisition component to continuously acquire image data to increase the proportion of at least some pixel features in the image data until the proportion of pixel features of the second object in the image data is greater than or equal to the pixel number threshold. At this point, it is determined that the cleaning robot auxiliary device, such as the stair-climbing device, has locked onto the second object.

[0091] If the audio data meets specified conditions, the processor can determine the transmission direction of the audio data and control the displacement component to move in the opposite direction to the transmission direction. During the movement, the processor continuously detects the intensity of the audio data. If the intensity of the audio data continuously increases as the displacement component moves, it can be determined that the cleaning robot's auxiliary equipment, such as a stair-climbing device, has approached the second object. The specified conditions include at least one of the following: the audio data includes audio components of the second object; the timbre of the audio data matches the timbre of the second object; and the volume of the audio data matches the volume of the second object.

[0092] As can be seen from the above, in the cleaning robot auxiliary device provided in this embodiment, if the object parameters include the object location and the floor level of the target object, the processor determines the search strategy by controlling the displacement component to move based on the main body of the first data carrying device to search for the second object. Thus, through the above operation, the correlation between the search strategy and the second object is improved, thereby enhancing the targeting and accuracy of the search strategy.

[0093] Based on the foregoing embodiments, in the cleaning robot auxiliary device provided in this disclosure, when the object parameters include the object location and the object floor, the processor 105 determines the search strategy by: controlling the displacement component to move the main body of the device to the object location on the object floor based on the first data.

[0094] Accordingly, if the object parameters do not include the object location and the object floor where the target object is located, the processor may not perform the following operations: determining the search strategy includes controlling the displacement component to move to the object location on the object floor.

[0095] In one implementation, the target floor may include the floor where the target object is actually located.

[0096] In one implementation, the object location may include the relative distance or relative orientation of the target object relative to a reference point within the object floor.

[0097] In one implementation, controlling the movement of the displacement component carrying the main body of the device to the target location on the target floor can be achieved in the following way:

[0098] The processor determines the target staircase based on the relationship between the target floor and the current floor. Based on the relative position of the target staircase on the target floor, it determines the search trajectory of the associated device on the target floor. Then, it controls the displacement component to reach the target floor via the target staircase. Finally, based on the search trajectory, it controls the displacement component to move on the target floor to search for the target object.

[0099] As can be seen from the above, in the cleaning robot auxiliary device provided in this embodiment, when the object parameters include the object position and the floor level of the target object, the processor determines the search strategy by: controlling the displacement component to move the main body of the device to the object position on the target floor based on the first data. Thus, by using the object floor and object position, pre-locking of the target object is achieved; and by determining the control strategy including controlling the displacement component to move to the object position on the target floor, fine-grained control of the cleaning robot auxiliary device, such as a stair-climbing device, in searching for the target object is achieved, thereby improving the efficiency and accuracy of the stair-climbing device in searching for the target object.

[0100] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure also includes a communication component. The processor 105 sends a search command to the cleaning robot through the communication component to trigger the cleaning robot to move and search for the target object; and receives the search results for the target object sent by the cleaning robot through the communication component.

[0101] The search command must include at least the object parameters of the target object.

[0102] In one implementation, the communication component can send a search command to the cleaning robot in response to the control of the processor 105, provided that it detects a wireless signal sent by the cleaning robot and establishes a communication connection with the cleaning robot based on the wireless signal.

[0103] In one implementation, the processor 105 can send a search command to the cleaning robot when the remaining battery power of the cleaning robot's auxiliary device, such as a stair-climbing device, is less than or equal to a battery threshold, and / or the cleaning robot's auxiliary device fails to search for the target object.

[0104] In one implementation, the search instruction may also include data such as the expected time for the cleaning robot to start searching for the target object, the duration for which the cleaning robot continuously searches for the target object, and the search rate of the cleaning robot.

[0105] In one implementation, after receiving a search command, the cleaning robot can parse the search command, obtain data such as object parameters, and search for the target object on the floor where the cleaning robot is located based on the object parameters and other data.

[0106] In one implementation, after the cleaning robot finishes its search, it can send the search results to the cleaning robot's auxiliary device via a communication connection.

[0107] In one implementation, if the search result indicates that the cleaning robot has found the target object, the search result may include the target object's floor and location; if the search result indicates that the cleaning robot has not found the target object, the search result may include the cleaning robot's search area or area.

[0108] As can be seen from the above, in the cleaning robot auxiliary device provided in this embodiment, the processor sends a search command to the cleaning robot through the communication component of the cleaning robot auxiliary device to trigger the cleaning robot to move and search for the target object. In this way, the cleaning robot auxiliary device and the cleaning robot can search for the target object in a coordinated manner, which improves the flexibility of the target object search. Moreover, the search command includes at least the object parameters of the target object, which can improve the accuracy of the cleaning robot in searching for the target object. At the same time, the processor receives the search results for the target object sent by the cleaning robot through the communication component, which can realize the synchronization of the search results between the cleaning robot auxiliary device and the cleaning robot.

[0109] Based on the foregoing embodiments, if the cleaning robot auxiliary device provided in this disclosure does not find a target object on the current floor, the processor controls the main body of the displacement component carrier device to move to the target floor, and based on the location of the cleaning robot auxiliary device on the target floor, controls the main body of the displacement component carrier device to continue moving on the target floor to search for the target object.

[0110] The target floors include those not searched by the cleaning robot assistance equipment.

[0111] Correspondingly, if the target object is found on the current floor, the displacement component can be moved to the target floor without control.

[0112] In one implementation, while the cleaning robot assist device is searching for a target object on any floor, the processor can mark the searched area. Accordingly, after the cleaning robot assist device finishes searching the current floor, the processor can mark the current floor as a searched floor.

[0113] In one implementation, the processor can determine the target floor based on the floors in the building where the current floor is located and the floors already searched. It can also determine the entrance position of the staircase associated with the target floor and the current floor, then control the displacement component to move to the entrance position, and move to the target floor via the staircase associated with the target floor and the current floor. Then, it performs a search process similar to that of the current floor on the target floor.

[0114] In one implementation, multiple target objects can be set on each floor of the building. In this case, after the cleaning robot assists the device to find some target objects on the current floor, it can move to other floors to search for other target objects set on other floors.

[0115] As can be seen from the above, if the cleaning robot auxiliary device provided in this embodiment does not find a target object on the current floor, the processor controls the displacement component to move the main body of the device to the target floor. Based on the position of the cleaning robot auxiliary device on the target floor, the processor controls the displacement component to move on the target floor to continue searching for the target object. In this way, through the above operation, when the cleaning robot auxiliary device cannot find a target object on the current floor, it can make full use of the climbing function of the cleaning robot auxiliary device to move to the target floor and continue searching for the target object, thereby expanding the range of the cleaning robot auxiliary device's search for target objects and meeting the needs of searching for target objects in cross-floor scenarios. Furthermore, through the above operation, the robustness and flexibility of the cleaning robot auxiliary device, such as the climbing device, in searching for target objects are improved. At the same time, since the target floor includes the floors where the cleaning robot auxiliary device has not searched for the target object, the probability of the cleaning robot auxiliary device repeatedly searching for the target object on the already searched floors can be reduced, thereby improving the efficiency of the cleaning robot auxiliary device in searching for target objects.

[0116] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure, if a target object is found, the processor controls at least one component of the cleaning robot auxiliary device to perform a target operation corresponding to the target object.

[0117] The target operation includes at least indicating the location of the target object.

[0118] In one implementation, the object set and the operation set may have a second association relationship. For example, the kth object in the object set and the kth operation in the operation set may be associated with each other. In this case, the processor can determine the operation associated with the object that matches the target object in the second association relationship as the target operation; where k is an integer greater than or equal to 1.

[0119] In one implementation, there may be a third association between the set of object types and the set of operations. For example, the kth object type in the set of object types may be associated with the kth operation in the set of operations. In this case, the processor may determine the operation corresponding to the object type that matches the object type of the target object in the third association as the target operation.

[0120] In one implementation, the second and third association relationships can be predetermined or flexibly adjusted.

[0121] In one embodiment, the operations in the operation set may include at least one of controlling the cleaning robot auxiliary device to switch to a standby state, controlling the displacement component to move to an initial position, outputting search results through the data output component of the cleaning robot auxiliary device, and sending search results to the control device through the communication component; wherein, the initial position may include the position of the first pile device, and may also include the position of the cleaning robot auxiliary device when it starts moving to search for the target object.

[0122] In one implementation, indicating the location of the target object can be achieved in any of the following ways:

[0123] The processor 105 controls the data output component to output the object position; wherein, the data output component may include an audio output component and / or a video output component provided in the cleaning robot auxiliary device, and may also include an indicator light array provided in the cleaning robot auxiliary device. In some embodiments, the indicator light array may include more than a number of light-emitting diodes (LEDs); accordingly, the data output component may output the object position in the form of outputting audio, images, and LED illumination.

[0124] The processor controls the communication component to send the object location of the target object to the control device, so that the control device can output the object location of the target object.

[0125] In one implementation, at least one component may include a data output component and / or a communication component.

[0126] As can be seen from the above, the cleaning robot auxiliary device provided in this embodiment, when a target object is found, controls at least one component of the cleaning robot auxiliary device to perform a target operation corresponding to the target object, and the target operation includes at least indicating the object location of the target object. Thus, through the above operation, when a target object is found, the object location of the target object is indicated; and because the target operation corresponds to the target object, the correlation between the target operation and the target object is improved, thereby enhancing the targeting and personalization of the target operation.

[0127] Based on the foregoing embodiments, in the cleaning robot auxiliary device provided in this disclosure, the processor 105 obtains the floor map associated with the current floor, determines the search trajectory based on the first data, the second data and the current position, and controls the displacement component to move the main body of the device in the current floor based on the search trajectory.

[0128] The second data includes the setting status of items and / or walls on the current floor in the floor map.

[0129] In one embodiment, a floor map may be pre-configured in the storage component associated with the cleaning robot auxiliary device. In some embodiments, the storage component may be located within the cleaning robot auxiliary device, or it may be located in a network device or control device associated with the cleaning robot auxiliary device; this disclosure does not limit the specific embodiment.

[0130] In one implementation, the floor map may include the location, size, and area of ​​items and / or walls on the current floor.

[0131] In one implementation, the search trajectory may include a set of path segments in which the displacement component moves the search target object over at least one time period.

[0132] In one implementation, the search trajectory can be determined in the following way:

[0133] The processor 105 determines search parameters based on the second data and the current position, and determines a search trajectory based on the search parameters and the first data. In some embodiments, the search parameters may include the distance between the cleaning robot auxiliary device and items and / or walls on the current floor, and may also include the size of the vacant area on the current floor where no walls and / or items are installed; the installation status may include the installation position of the walls and / or items on the current floor, and the floor area occupied by the walls and / or items.

[0134] As can be seen from the above, the cleaning robot auxiliary device provided in this embodiment, after the processor obtains the floor map associated with the current floor, determines the search trajectory based on the setting status of items and / or walls in the current floor represented by the second data, the first data, and the current position. In this way, the efficiency of determining the search trajectory can be improved, as well as the accuracy of the search trajectory can be improved. Furthermore, the displacement component carrying the main body of the device moves in the current floor based on the search trajectory, thereby improving the efficiency and accuracy of the cleaning robot auxiliary device in moving and searching for target objects in the current floor.

[0135] Based on the foregoing embodiments, in the cleaning robot auxiliary device provided in this disclosure, the processor obtains the floor map of the current floor from the storage space associated with the cleaning robot auxiliary device, and determines the relative position between the cleaning robot auxiliary device and surrounding objects and / or walls based on the first data; the positioning component determines the current position based on the relative position and the floor map.

[0136] Among them, surrounding objects and / or walls include objects and / or walls on the current floor whose distance from the cleaning robot's auxiliary equipment is less than or equal to a preset distance at the current moment.

[0137] In one embodiment, the preset distance can be associated with the data acquisition range of the cleaning robot auxiliary device; wherein the data acquisition range may include the distance detection range of the cleaning robot auxiliary device. In some embodiments, the preset distance may increase as the data acquisition range increases.

[0138] In one embodiment, the processor 105 can determine the relative position by at least one of the IR signal strength detected by the IR component, the transmit beam and receive beam of the radar component, and the distance data detected by the distance sensor.

[0139] In one implementation, the relative position may include the distance and orientation between the cleaning robot auxiliary device and surrounding objects and / or walls.

[0140] In one implementation, since the dimensions of the walls and / or objects on the current floor and their placement status on the current floor have been determined, the processor 105 can determine the current position based on the relative position and the placement status of surrounding objects and / or walls in the floor map after determining the relative position.

[0141] In one implementation, the processor can determine its current location using a Simultaneous Localization and Mapping (SLAM) component located in the cleaning robot's auxiliary equipment.

[0142] As can be seen from the above, in the cleaning robot auxiliary device provided in this embodiment, if the processor obtains the floor map of the current floor from the storage space associated with the cleaning robot auxiliary device and determines the relative position between the cleaning robot auxiliary device and surrounding objects and / or walls based on the first data, the positioning component determines the current position based on the relative position and the floor map. Thus, through the above process, the accuracy of the current position can be improved; furthermore, the execution efficiency of determining the current position can be improved by using the floor map; simultaneously, by obtaining the floor map from the storage space, the efficiency of obtaining the floor map can be improved.

[0143] Based on the foregoing embodiments, the cleaning robot auxiliary device provided in this disclosure, if the storage space does not store a floor map, the processor 105 controls the sensor components in the cleaning robot auxiliary device to collect first data; controls the displacement components to move and search for target objects on the current floor based on the first data; creates a floor map based on the first data; and stores the floor map.

[0144] Accordingly, if a floor map is stored in the storage space, the target object can be moved and searched using the method provided in the aforementioned embodiments.

[0145] In one implementation, when the processor activates the image acquisition component, the first data may include image data.

[0146] In one implementation, when the processor activates the distance sensor or radar component, the first data may further include distance data between the cleaning robot assistance device and surrounding walls and / or objects.

[0147] In one implementation, the target object can be searched in the following way:

[0148] The processor identifies the image data contained in the first data to obtain the identification result, and determines whether the target object has been found based on the degree of matching between the identification result and the target object.

[0149] In one implementation, the floor plan can be created in the following way:

[0150] The processor integrates image data and distance data through SLAM components to construct a floor map.

[0151] Figure 2 is a structural schematic diagram of the stair-climbing device for searching target objects across floors provided in this embodiment of the present disclosure. As shown in Figure 2, the building where the stair-climbing device 2 is located may include the first floor 201 to the third floor 203, and a first staircase 204 is provided between the first floor 201 and the second floor 202, and a second staircase 205 is provided between the second floor 202 and the third floor 203. Meanwhile, the target object in the first floor 201 may be a charging dock 206 with wireless signal transceiver function, the target object in the second floor 202 may be a first object 207, and the target object in the third floor 203 may be a second object 208. Among them, the charging dock 206 may be the first pile device in the aforementioned embodiment.

[0152] In some embodiments, if the stair-climbing device 2 receives a search instruction when it is on the first floor 201, the search instruction can be parsed to obtain the object parameters of the charging dock, the object parameters of the first object, and the object parameters of the second object.

[0153] In some embodiments, the stair-climbing device may determine the following search strategies based on the three object parameters mentioned above:

[0154] The wireless signal emitted by the charging dock 206 is detected and moved within the first floor 201 to search for the charging dock 206.

[0155] The movement of the first object 207 is detected and based on the wireless signal emitted by the first object in the second floor 202.

[0156] The stair-climbing device 2 collects and moves to search for the second object 208 based on the first data.

[0157] In some embodiments, after the search strategy is determined, the processor of the stair-climbing device can control the displacement component to move and search for the charging base 206 on the first floor 201 based on the wireless signal emitted by the charging base 206 and the floor map of the first floor 201.

[0158] In some embodiments, after the search for the charging dock 206 is completed, the processor can control the displacement component to climb the first staircase 204 to move to the second floor 202, and based on the wireless signal emitted by the first object and the floor map of the second floor 202, control the displacement component to move in the second floor 202 to search for the first object 207.

[0159] In some embodiments, after the search for the first object 207 is completed, the displacement component can be controlled to climb the second staircase 205 to move to the third floor 203, and the search trajectory can be determined based on the floor map of the third floor and the current position of the climbing device on the third floor 203. Then, based on the search trajectory and image data, the displacement component can be controlled to move on the third floor 203 to search for the second object 208.

[0160] Through the above process, the stair-climbing device can search for multiple objects on different floors.

[0161] As can be seen from the above, in the cleaning robot auxiliary device provided in this embodiment, if the storage space does not store a floor map, the processor controls the sensor components in the cleaning robot auxiliary device to collect first data, and controls the displacement components to move and search for target objects on the current floor based on the first data. This improves the flexibility of the cleaning robot auxiliary device in searching for target objects and reduces the dependence of the search for target objects on the floor map of the current floor. Furthermore, by reusing the first data, the floor map is created during the process of moving and searching for target objects, thereby improving the efficiency of floor map creation. At the same time, by storing the floor map, the cleaning robot auxiliary device also has the function of map creation, thereby further expanding the functional scope of the cleaning robot auxiliary device.

[0162] Based on the foregoing embodiments, in the cleaning robot auxiliary device provided in this disclosure, the operating surface includes a step surface with at least one step, and / or at least one surface associated with the step surface.

[0163] In one embodiment, the surface of at least one step may include the horizontal or vertical surface of the step.

[0164] In one embodiment, at least one surface associated with the step surface may include a plane or non-plane that contacts or is adjacent to a staircase consisting of at least one step.

[0165] As can be seen from the above, the operating surface of the cleaning robot auxiliary device provided in this embodiment includes a step surface of at least one level, and / or at least one surface associated with the step surface. This expands the movement range and scenarios of the cleaning robot auxiliary device, thereby increasing the range of target objects that the cleaning robot auxiliary device can search for.

[0166] Figure 3 is a schematic diagram of the process of searching for target objects provided in an embodiment of this disclosure. As shown in Figure 3, the process of searching for global objects can be implemented through a search module, an object parameter determination module, and an action confirmation module.

[0167] In some embodiments, the action confirmation module is used to allow the user to determine the target action corresponding to the target object to be performed by the stair-climbing device after the target object search is completed; wherein, the user-selectable actions may include: turning in place and receiving the stake signal, turning in place and checking the identification result, and outputting the object position.

[0168] In some embodiments, the pile signal may include a wireless signal output by the first pile device, and the inspection and identification results may include identifying the object type of the target object obtained through the search.

[0169] In some embodiments, the action confirmation module may output a set of optional actions for the user to choose from, or allow the stair-climbing device to automatically associate and select actions based on the target object or the object type of the target object, thereby determining the target action.

[0170] In some embodiments, the object parameter determination module is used to receive a user's setting operation or selection operation on a parameter list, and determine the object parameters of the target object. In some embodiments, the parameter list may include a pet, an object, a stake device, and a target location; wherein, the target location may include the object floor and object location where the target object is located, the stake device may include the first stake device and / or the second stake device in the foregoing embodiments, and the object may be the second object in the foregoing embodiments.

[0171] In some embodiments, the search module is configured to move the search target object using the method provided in the foregoing embodiments.

[0172] In some embodiments, if the storage space contains a floor map of the current floor, a branch with the floor map can be executed, and the floor can be reached and located after performing the up and down operation; wherein, the floor can be the current floor in the aforementioned embodiments, and the location can be used to determine the current position of the stair climbing device.

[0173] In some embodiments, if the positioning is successful, the search is based on the map. After the search is completed, the operation of standby or returning to the starting position is performed. If the positioning fails, a new map is created for searching. After the search is completed, the map is saved, and the operation of standby or returning to the starting position is performed. The starting position can be the initial position in the previous embodiments, the new map can correspond to the building floor map in the previous embodiments, and the positioning can be used to determine the current position of the climbing device on the current floor.

[0174] In some embodiments, if there is no floor map in the storage space, the no floor map branch is executed, and a new floor map operation is performed on the current floor. If the target object is found, the map is saved, and the search ends, and the standby or return to the starting position operation is performed. If the target object is not found, the map is saved, the search ends, and the standby or return to the starting position operation is performed.

[0175] In some embodiments, the standby or return to the starting position and / or save map operations performed after the search is completed can be the target operations in the foregoing embodiments.

[0176] Through the above process, not only are the object parameters of the target object to be searched by the stair-climbing device and the target action after the search are set and confirmed, but a complete and stable search process is also provided, thereby enabling stable and flexible searching of the target object.

[0177] Based on the foregoing embodiments, this disclosure also provides a search method, which is applied to the cleaning robot auxiliary device provided in any of the preceding embodiments; Figure 4 is a flowchart illustrating the search method provided in this disclosure. As shown in Figure 4, the search method may include the following steps:

[0178] Step 401: Obtain the target object to be searched.

[0179] Step 402: Determine the current location of the cleaning robot auxiliary equipment on the current floor.

[0180] Among them, the cleaning robot auxiliary equipment is at least capable of moving the main body of the cleaning robot auxiliary equipment and / or the object being carried along the extension direction of at least one operating surface.

[0181] Step 403: Collect the first data of the environment in which the cleaning robot auxiliary equipment is located.

[0182] In some embodiments, the execution order of steps 402 and 403 can be adjusted sequentially or executed in parallel, and this disclosure does not limit this.

[0183] Step 404: Based on the current location and the first data, control the cleaning robot's auxiliary equipment to move and search for the target object at least on the current floor.

[0184] In some embodiments, based on the current location and the first data, controlling the cleaning robot's auxiliary device to move at least on the current floor to search for the target object can be achieved in the following ways:

[0185] Obtain the object parameters of the target object; determine the search strategy based on the object parameters;

[0186] Starting from the current location, based on the search strategy and initial data, control the cleaning robot's auxiliary equipment to move and search for the target object at least on the current floor.

[0187] In some embodiments, determining the search strategy based on object parameters can be achieved in the following ways:

[0188] If the object parameters indicate that the target object includes a first object, the search strategy includes: controlling the cleaning robot's auxiliary equipment to detect and search for the first object based on wireless signals; wherein, the first object includes an electronic device that transmits wireless signals.

[0189] In some embodiments, determining the search strategy based on object parameters can also be achieved in the following ways:

[0190] If the object parameters indicate that the target object includes a second object, the search strategy is determined as follows: control the cleaning robot's auxiliary equipment to move and search for the second object based on the first data.

[0191] In some embodiments, determining the search strategy based on object parameters can also be achieved in the following ways:

[0192] If the object parameters include the object location and the object floor, the search strategy includes: controlling the cleaning robot's auxiliary equipment to move to the object location on the object floor based on the first data.

[0193] In some embodiments, the above method further includes:

[0194] A search command is sent to the cleaning robot to trigger the cleaning robot to move and search for the target object; wherein the search command includes at least the object parameters of the target object;

[0195] Receive search results from the cleaning robot for the target object.

[0196] In some embodiments, the above method further includes:

[0197] If the target object is not found on the current floor, the cleaning robot auxiliary device is controlled to move to the target floor, and based on its position on the target floor, it is controlled to move on the target floor to continue searching for the target object; the target floor includes floors that the cleaning robot auxiliary device has not searched.

[0198] In some embodiments, the method further includes: if a target object is found, performing a target operation corresponding to the target object; wherein the target operation includes at least indicating the object location of the target object.

[0199] In some embodiments, controlling the cleaning robot's auxiliary device to move at least within the current floor to search for a target object based on the current location and the first data can be achieved in the following ways:

[0200] Obtain the floor map associated with the current floor; determine the search trajectory based on the first data, the second data, and the current location; wherein, the second data includes the setting status of items and / or walls in the current floor as represented by the floor map;

[0201] The cleaning robot's auxiliary equipment moves within the current floor to search for target objects based on the search trajectory control.

[0202] In some embodiments, determining the current location of the cleaning robot assistance device on the current floor can be achieved in the following ways:

[0203] If the storage space associated with the cleaning robot auxiliary device contains a floor map of the current floor, retrieve the floor map from the storage space; determine the relative position between the cleaning robot auxiliary device and surrounding objects and / or walls; determine the current position based on the relative position and the floor map; wherein, surrounding objects and / or walls include objects and / or walls on the current floor whose distance from the cleaning robot auxiliary device is less than or equal to a preset distance at the current moment.

[0204] In some embodiments, the above method may further include:

[0205] If the floor map is not stored in the storage space, the first data is collected by the sensor components of the cleaning robot's auxiliary equipment; the target object is searched for by moving in the current floor based on the first data; a floor map is created based on the first data; and the floor map is stored in the storage space.

[0206] In some embodiments, the operating surface includes a step surface of at least one step, and / or at least one surface associated with the step surface.

[0207] Based on the foregoing embodiments, this disclosure also provides a computer-readable storage medium storing a computer program; when the computer program is executed by the processor of a cleaning robot auxiliary device, it can implement the search method as described above.

[0208] Figure 5 is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of this disclosure. As shown in Figure 5, the computer-readable storage medium 5 may be, for example, a memory 501 for storing a computer program 502. The memory 501 may be volatile memory or non-volatile memory, or the memory 501 may include both volatile memory and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), SynchLink DRAM (SLDRAM), and Direct Rambus RAM (DRRAM).

[0209] Based on the foregoing embodiments, this disclosure also provides a computer program product, which includes a computer program; when the computer program is executed by the processor of a cleaning robot auxiliary device, it can implement the search method as described above.

[0210] In some embodiments, the computer program may be a high-level language program or an executable object program.

[0211] Figure 6 is a schematic diagram of the storage structure of a computer program product provided in an embodiment of this disclosure. As shown in Figure 6, the computer program product 601 can be stored in the memory 501; the computer program product 601 may include a program 602; and the program 602 is finally converted into an executable object file that can be executed by a processor after processing such as preprocessing, compilation, assembly and linking.

[0212] The description of the various embodiments above tends to emphasize the differences between the various embodiments. The similarities or similarities between them can be referred to, and for the sake of brevity, they will not be repeated here.

[0213] The methods disclosed in the various method embodiments provided in this disclosure can be arbitrarily combined to obtain new method embodiments without conflict.

[0214] The features disclosed in the various product embodiments provided in this disclosure can be combined arbitrarily without conflict to obtain new product embodiments.

[0215] The features disclosed in the various method or device embodiments provided in this disclosure can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0216] 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.

[0217] The sequence numbers of the embodiments disclosed above are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0218] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware nodes. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this disclosure.

[0219] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0220] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0221] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0222] The above are merely embodiments of this disclosure and do not limit the patent scope of this disclosure. Any equivalent structural or procedural transformations made using the content of this disclosure and its drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this disclosure.

Claims

1. A cleaning robot auxiliary device, characterized in that, include: Equipment body; A displacement assembly connected to the device body, the displacement assembly at least supporting the movement of the device body and / or the supported object along the extension direction of at least one operating surface; A sensor assembly connected to the main body of the device; as well as A positioning component, connected to the main body of the device, determines the current position of the cleaning robot auxiliary device on the current floor; The processor, which is disposed inside the main body of the device, comprises: Retrieve the target object to be searched; The sensor assembly is controlled to collect first data about the environment in which the cleaning robot auxiliary equipment is located. The current position is obtained from the positioning component; The first data is obtained from the sensor component; as well as Based on the current location and the first data, the displacement component is controlled to move the main body of the device at least on the current floor to search for the target object.

2. The cleaning robot auxiliary equipment according to claim 1, characterized in that, The processor acquires the object parameters of the target object, determines a search strategy based on the object parameters, and, starting from the current position, controls the displacement component to move the main body of the device at least within the current floor to search for the target object, based on the search strategy and the first data.

3. The cleaning robot auxiliary equipment according to claim 2, characterized in that, The cleaning robot auxiliary device also includes a communication component, which is connected to the processor; If the object parameters indicate that the target object includes a first object, the processor determines the search strategy by: acquiring the wireless signal detected by the communication component, and controlling the displacement component to move the device body to search for the first object based on the wireless signal; wherein the first object includes an electronic device that transmits the wireless signal.

4. The cleaning robot auxiliary equipment according to claim 2, characterized in that, If the object parameters indicate that the target object includes a second object, the processor determines the search strategy by controlling the displacement component to move the device body based on the first data to search for the second object.

5. The cleaning robot auxiliary equipment according to claim 2, characterized in that, If the object parameters include the object location and the object floor where the target object is located, the processor determines the search strategy as follows: based on the first data, the displacement component carries the main body of the device and moves it to the object location on the object floor.

6. The cleaning robot auxiliary device according to claim 1, characterized in that, The cleaning robot auxiliary device further includes a communication component, which is connected to the processor; wherein: The processor sends a search command to the cleaning robot via the communication component to trigger the cleaning robot to move and search for the target object; and receives the search results for the target object sent by the cleaning robot via the communication component; wherein the search command includes at least the object parameters of the target object.

7. The cleaning robot auxiliary device according to claim 1, characterized in that, If the target object is not found on the current floor, the processor controls the displacement component to move the main body of the device to the target floor, and based on the position of the cleaning robot auxiliary device on the target floor, controls the displacement component to continue moving the main body of the device to search for the target object on the target floor; wherein, the target floor includes the floors that the cleaning robot auxiliary device has not searched.

8. The cleaning robot auxiliary device according to claim 1, characterized in that, If the target object is found, the processor controls at least one component of the cleaning robot auxiliary device to perform a target operation corresponding to the target object; wherein, the target operation includes at least indicating the object location of the target object.

9. The cleaning robot auxiliary device according to claim 1, characterized in that, The processor obtains the floor map associated with the current floor; Based on the first data, the second data, and the current location, a search trajectory is determined; based on the search trajectory, the displacement component carrying the main body of the device is controlled to move within the current floor; wherein, the second data includes the setting status of items and / or walls on the current floor in the floor map.

10. The cleaning robot auxiliary device according to claim 1, characterized in that, The processor retrieves a floor map of the current floor from the storage space associated with the cleaning robot auxiliary device, and determines the relative position of the cleaning robot auxiliary device with respect to surrounding objects and / or walls based on the first data; wherein, the surrounding objects and / or walls include objects and / or walls on the current floor whose distance from the cleaning robot auxiliary device is less than or equal to a preset distance at the current moment; The positioning component determines the current location based on the relative position and the floor map.

11. The cleaning robot auxiliary device according to claim 10, characterized in that, If the floor map is not stored in the storage space, the processor controls the sensor components to collect the first data; The processor controls the displacement component to move and search for the target object in the current floor based on the first data; The floor map is created based on the first data; Store the floor map.

12. The cleaning robot auxiliary device according to any one of claims 1 to 11, characterized in that, The operating surface includes a step surface with at least one step, and / or at least one surface associated with the step surface.

13. A search method, characterized in that, The method includes: Retrieve the target object to be searched; Determine the current position of the cleaning robot auxiliary equipment on the current floor; wherein the cleaning robot auxiliary equipment is at least capable of moving the main body of the cleaning robot auxiliary equipment and / or the object it carries along the extension direction of at least one operating surface; Collect first data about the environment in which the cleaning robot's auxiliary equipment is located; Based on the current location and the first data, the cleaning robot auxiliary device is controlled to move at least on the current floor to search for the target object.

14. The method according to claim 13, characterized in that, The step of controlling the cleaning robot auxiliary device to move at least on the current floor to search for the target object based on the current location and the first data includes: Obtain the object parameters of the target object; The search strategy is determined based on the object parameters; Starting from the current position, and based on the search strategy and the first data, the cleaning robot auxiliary device is controlled to move at least on the current floor to search for the target object.

15. The method according to claim 14, characterized in that, The step of determining the search strategy based on the object parameters includes: If the object parameters indicate that the target object includes a first object, determining the search strategy includes: controlling the cleaning robot auxiliary device to detect and search for the first object based on wireless signals; wherein, the first object includes an electronic device that transmits the wireless signals.

16. The method according to claim 14, characterized in that, The step of determining the search strategy based on the object parameters includes: If the object parameters indicate that the target object includes a second object, determining the search strategy includes: controlling the cleaning robot auxiliary device to move and search for the second object based on the first data.

17. The method according to claim 14, characterized in that, The step of determining the search strategy based on the object parameters includes: If the object parameters include the object location and the object floor where the target object is located, determining the search strategy includes: controlling the cleaning robot auxiliary device to move to the object location on the object floor based on the first data.

18. The method according to claim 13, characterized in that, The method further includes: A search command is sent to the cleaning robot to trigger the cleaning robot to move and search for the target object; wherein the search command includes at least the object parameters of the target object; Receive search results for the target object sent by the cleaning robot.

19. The method according to claim 13, characterized in that, The method further includes: If the target object is not found on the current floor, the cleaning robot auxiliary device is controlled to move to the target floor, and based on its position on the target floor, it is controlled to continue moving and searching for the target object on the target floor; wherein, the target floor includes floors that the cleaning robot auxiliary device has not searched.

20. The method according to claim 13, characterized in that, The method further includes: If the target object is found, the target operation corresponding to the target object is executed; wherein, the target operation includes at least indicating the object location of the target object.

21. The method according to claim 13, characterized in that, The step of controlling the cleaning robot auxiliary device to move at least on the current floor to search for the target object based on the current location and the first data includes: Obtain the floor map associated with the current floor; Based on the first data, the second data, and the current location, a search trajectory is determined; wherein, the second data includes the setting status of items and / or walls in the current floor as represented by the floor map; Based on the search trajectory, the cleaning robot auxiliary equipment is controlled to move within the current floor to search for the target object.

22. The method according to claim 13, characterized in that, Determining the current position of the cleaning robot auxiliary equipment on the current floor includes: If the storage space associated with the cleaning robot auxiliary device contains a floor map of the current floor, retrieve the floor map from the storage space; Determine the relative position between the cleaning robot auxiliary device and surrounding objects and / or walls; wherein, the surrounding objects and / or walls include objects and / or walls on the current floor whose distance from the cleaning robot auxiliary device is less than or equal to a preset distance at the current moment; The current location is determined based on the relative position and the floor map.

23. The method according to claim 22, characterized in that, The method further includes: If the floor map is not stored in the storage space, the first data is collected by the sensor components of the cleaning robot auxiliary device; Based on the first data, the search for the target object is performed by moving within the current floor. The floor map is created based on the first data; Store the floor map.

24. The method according to any one of claims 13 to 23, characterized in that, The operating surface includes a step surface associated with at least one step, and / or at least one surface associated with a step surface.

25. A computer-readable storage medium, characterized in that, The storage medium stores a computer program; when the computer program is executed by the processor of the cleaning robot auxiliary device, it can implement the search method as described in any one of claims 13 to 24.

26. A computer program product, characterized in that, The program product includes a computer program; when executed by the processor of the cleaning robot auxiliary device, the computer program is capable of implementing the search method as described in any one of claims 13 to 24.

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