Control method and apparatus for carrying device, carrying device, cleaning apparatus, and system

Abstract

A control method and apparatus for a carrying device (10), a carrying device (10), a cleaning apparatus, and a system, relating to the technical field of smart home. The control method comprises: using a height measuring assembly to measure the height of a step to obtain a first height; and if the first height is within a preset height range, controlling a carrying device (10) to move from a first surface to a second surface, wherein one of the first surface and the second surface is an upper surface of the step, and the other is a lower surface at the bottom of the step. The solution can reduce the safety risk of the device climbing the step.

Description

Control methods, devices, carrying equipment, cleaning devices and systems for carrying equipment

[0001] Cross-reference of related applications

[0002] This application is based on and claims priority to Chinese Patent Application No. 202510241752.5, filed on February 28, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of smart home technology, and more specifically, to a control method for a carrier device, a control device for a carrier device, a carrier device, a cleaning device, a cleaning system, a program product, and a storage medium. Background Technology

[0004] In non-flat environments with steps (such as stairs), electronic devices such as sweeping robots and delivery robots often face obstacles when moving.

[0005] In related technologies, due to the complex and variable environment of steps, electronic devices face safety risks when climbing steps. For example, if the steps are too high, electronic devices may tip over or fall when going up or down the steps, resulting in damage to the devices. Summary of the Invention

[0006] This disclosure provides a control method for a support device, a control device for a support device, a support device, a cleaning device, a cleaning system, a program product, and a storage medium, which can reduce the safety risks of electronic devices climbing stairs.

[0007] According to a first aspect of this disclosure, a control method for a supporting device is provided, the supporting device including a height detection component; the method includes: using the height detection component to detect the height of a step to obtain a first height; if the first height is within a preset height range, controlling the supporting device to move from a first surface to a second surface; wherein, one of the first surface and the second surface is the upper surface of the step, and the other is the lower surface located at the bottom of the step.

[0008] According to a second aspect of this disclosure, a control device for a supporting device is provided, the supporting device including a height detection component; the device includes: a height detection module configured to detect the height of a step using the height detection component to obtain a first height; and a climbing control module configured to control the supporting device to move from a first surface to a second surface if the first height is within a preset height range; wherein one of the first surface and the second surface is the upper surface of the step, and the other is the lower surface located at the bottom of the step.

[0009] According to a third aspect of this disclosure, a carrier device is provided, the carrier device including one or more processors and one or more memories, the one or more memories storing at least one piece of program code, the at least one piece of program code being loaded and executed by the one or more processors to implement the method of the first aspect described above and its possible implementations.

[0010] According to a fourth aspect of this disclosure, a cleaning apparatus is provided, comprising: a support device as described in the third aspect above, and a cleaning device; wherein the support device is provided with a support space for supporting the cleaning device.

[0011] According to a fifth aspect of this disclosure, a cleaning system is provided, comprising: a base station, and the cleaning device described in the fourth aspect above; wherein the carrying device and / or the cleaning device is capable of docking with the base station.

[0012] According to a sixth aspect of this disclosure, a computer program product is provided, characterized in that the computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a device having a processor to perform the method of the first aspect described above and its possible implementations.

[0013] According to a seventh aspect of this disclosure, a computer-readable storage medium is provided, characterized in that the computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the method of the first aspect and its possible implementations.

[0014] The present disclosure discloses a control method, control device, carrying device, cleaning device, cleaning system, program product, and storage medium for a carrying device. When the carrying device needs to climb a step, a height detection component detects the height of the step to obtain a first height. If the first height is within a preset height range, the carrying device is controlled to perform the climbing. This ensures that the carrying device climbs the step at a relatively safe height, reducing the safety risks to the carrying device or the electronic equipment it carries, and avoiding damage to the equipment due to excessively high steps or obstacles on the steps.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] Figure 1 is a schematic diagram of a carrier device provided in one embodiment of this disclosure.

[0018] Figure 2 is a schematic diagram of a cleaning device provided in one embodiment of this disclosure.

[0019] Figure 3 is a schematic diagram of the connection between a cleaning device and a base station provided in one embodiment of this disclosure.

[0020] Figures 4 to 7 are schematic diagrams illustrating the process of a carrying device driving a cleaning device to climb a step according to an embodiment of this disclosure.

[0021] Figure 8 is a schematic diagram of the carrier device with its housing opened according to an embodiment of the present disclosure.

[0022] Figure 9 is a schematic diagram of two sets of walking wheel assemblies provided in one embodiment of the present disclosure.

[0023] Figure 10 is a partial exploded view of the walking wheel assembly provided in one embodiment of the present disclosure.

[0024] Figure 11 is a flowchart of a control method for a carrier device provided in an embodiment of this disclosure.

[0025] Figure 12 is a sub-flowchart of a control method for a carrier device provided in an embodiment of this disclosure.

[0026] Figure 13 is a schematic diagram of a control device for a carrier device provided in an embodiment of the present disclosure.

[0027] Explanation of reference numerals in the attached drawings: 10, Load-bearing device; 20, Cleaning device; 30, Base station; 110, Main body; 111, Load-bearing space; 112, Opening; 113, Housing; 120, Support member; 130, Drive assembly; 131, Driver; 132, Linkage rod; 140, Wheel assembly; 141, Wheel; 142, First drive assembly; 1421, First driver; 1423, Rotating member; 143, Lifting rod; 144, Second drive assembly; 146, Mounting base. Detailed Implementation

[0028] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0029] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0030] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and that other elements / components / etc. may exist in addition to those listed. The terms “first” and “second” are used only as markers and are not a limitation on the number of objects.

[0031] For electronic devices such as robot vacuum cleaners and delivery robots, the stair environment is complex and varied. For example, the height of the steps varies in different places, or there may be debris piled on the steps, which poses a safety risk to the electronic devices when climbing the steps.

[0032] In view of the above problems, an exemplary embodiment of this disclosure provides a control method for a carrying device, which can control the carrying device to safely climb stairs. The carrying device can be a standalone electronic device, such as a delivery robot, or it can be used to carry other electronic devices, such as cleaning equipment like a sweeper, and climb stairs, enabling the cleaning equipment to work in non-flat environments with stairs.

[0033] In one embodiment, the aforementioned carrier device can be a carrier device in a cleaning system for carrying cleaning equipment. The cleaning system, as well as the cleaning equipment and carrier device within the cleaning system, will be described below.

[0034] An exemplary embodiment of this disclosure provides a cleaning system, as shown in Figures 1 to 3. The cleaning system includes a cleaning device and a base station 30. The cleaning device includes a carrier device 10 and a cleaning device 20. The cleaning device 20 may be, for example, a robotic vacuum cleaner, a robotic mop, or a robotic vacuum and mop combo. The cleaning device 20 may include a device body, a drive module, a sensing module, a control module, a cleaning module, an energy module, and a human-machine interaction module. The base station 30 is used to dock with the cleaning device 20, i.e., to park the cleaning device 20. The cleaning device 20 can perform functions such as charging, self-cleaning, docking, sewage discharge, water replenishment, and dust collection on the base station 30.

[0035] In one embodiment, the device body is configured to automatically move along a target direction on a travel surface, which can be the surface to be cleaned by the cleaning device 20. If the cleaning device 20 is a sweeping and mopping robot, then the cleaning device 20 operates on the ground.

[0036] In one embodiment, the drive module includes drive wheel assemblies. The drive module can control both the left and right wheels simultaneously. To more precisely control the movement of the machine, the drive module includes a left drive wheel assembly and a right drive wheel assembly. The left and right drive wheel assemblies are symmetrically arranged along a transverse axis defined by the device body.

[0037] In one embodiment, to enable the automatic cleaning device 20 to move more stably or with greater mobility on the ground, the automatic cleaning device 20 may include one or more steering wheels; wherein, the steering wheels may be driven wheels or driving wheels, and their structural forms include, but are not limited to, casters, and the steering wheels may be located in front of the driving wheel assembly. A drive motor provides power to the driving wheel assembly and / or the steering wheels.

[0038] In one embodiment, the sensing module includes a position determination device located above the device body, a buffer located in the forward portion of the device body, and a cliff sensor and various sensing devices such as an ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, and odometer located at the bottom of the device body, providing the control module with various position and motion state information of the device body. For example, the forward portion of the device body is provided with a buffer. During the cleaning process, when the drive wheel assembly propels the cleaning device 20 to walk on the ground, the buffer detects one or more objects in the travel path of the cleaning device 20 via a sensor module, such as a collision sensor. The cleaning device 20 can pass through the objects detected by the collision sensor, such as steps, obstacles, or walls, and the control drive structure causes the cleaning device 20 to respond to the objects, such as climbing steps. Climbing includes moving from a lower surface to a higher surface and / or from a higher surface to a lower surface.

[0039] In one implementation, the control module can combine distance and speed information fed back from sensors such as buffers, cliff sensors, ultrasonic sensors, infrared sensors, magnetometers, accelerometers, gyroscopes, and odometers to comprehensively determine the current working state of the robot vacuum cleaner, such as climbing stairs, crossing thresholds, walking on carpets, being on a cliff, stuck above or below, having a full dustbin, or being picked up. It will also provide specific next action strategies for different situations, making the cleaning device 20 work more in line with user requirements and providing a better user experience. Furthermore, the control module can plan the most efficient and reasonable cleaning path and cleaning method based on real-time map information drawn using SLAM (Simultaneous Localization and Mapping), which can improve the cleaning efficiency of the cleaning device 20.

[0040] In one embodiment, the energy module includes a rechargeable battery, such as a nickel-metal hydride battery or a lithium battery. The rechargeable battery may be connected to a charging control circuit, a battery pack charging temperature detection circuit, and a battery undervoltage monitoring circuit. These circuits are then connected to a microcontroller control circuit. The main unit is charged by connecting to a charging station via charging electrodes located on the side or bottom of the unit.

[0041] In one implementation, the human-machine interface module includes buttons on the main control panel for users to select functions; it may also include a display screen and / or indicator lights and / or a speaker, which display the current status of the machine or the available function options to the user; and it may also include a mobile client application. For path navigation type cleaning equipment 20, the mobile client can display a map of the environment where the equipment is located, as well as the machine's position, providing users with richer and more user-friendly functions.

[0042] In one embodiment, the cleaning module may include a dry cleaning module, or a dry and wet cleaning module. The dry cleaning module may include a roller brush assembly, side brushes, etc., while the wet cleaning module may include a cleaning head, a water tank, etc.

[0043] In one embodiment, referring to FIG1, the supporting device 10 is provided with a supporting space 111 for accommodating the cleaning device 20 or other electronic equipment. The supporting device 10 can drive the cleaning device 20 to climb the steps via the supporting space 111. Hereinafter, with reference to FIGS. 4 to 8, an example will be given of the supporting device 10 driving the cleaning device 20 to climb the steps via the supporting space 111, using the example of the supporting device 10 driving the cleaning device 20 from a first surface a to a second surface b.

[0044] As shown in Figure 4, when the cleaning device 20 enters the carrying space 111 of the carrying device 10, after the carrying device 10 receives the climbing command, the walking wheel assembly 140 guides the carrying device 10 to move towards the stairs. When the collision component set in front of the main body 110 contacts the side of the step and begins to climb the stairs, the driver 131 of the drive assembly 130 rotates forward to drive the transmission component to move. The transmission component drives the connecting rod 132 to move. The connecting rod 132 rotates with the connection point with the main body 110 as the rotation point, driving the support member 120 to move forward and downward, so that the support member 120 contacts the first surface a. The driver 131 continues to rotate forward. Since the support member 120 has already contacted the first surface a, the support member 120 cannot continue to move. Under the reaction force of the first surface a, the connecting rod 132 rotates with the connection point with the support member 120 as the rotation point. The main body 110 is lifted by the connecting rod 132, so that the main body 110 moves forward and upward, moving to the second surface b.

[0045] Next, as shown in Figure 5, after the main body 110 moves to the second surface b, the walking wheel assembly 140 moves down to support itself on the first surface a. Next, as shown in Figure 6, the driver 131 rotates forward, and the connecting rod 132 drives the support member 120 to move upward and forward, causing the support member 120 to move to the second surface b. Next, as shown in Figure 7, the walking wheel assembly 140 retracts to the main body 110, completing the climbing action from the first surface a to the second surface b.

[0046] It is understandable that the specific process of moving from the second surface b to the third surface c is the same as the principle of moving from the first surface a to the second surface b; the specific process of moving from the second surface b to the first surface a is the same as the principle of moving from the first surface a to the second surface b, which can be essentially the opposite of the action process.

[0047] As shown in Figure 6, after the main body 110 moves to the second surface b, the traveling wheel assembly 140 moves downward and supports itself on the third surface c. The driver 131 rotates forward, and the connecting rod 132 drives the support member 120 to move upward and forward, causing the support member 120 to move to the second surface b. The traveling wheel assembly 140 rotates, causing the main body 110 to move laterally on the second surface b, which in turn drives the support member 120 to move laterally on the second surface b. Therefore, the support member 120 can be used to scrape dust from the second surface b. After the dust scraping is completed, the traveling wheel assembly 140 returns to its original position. To achieve better results in moving the main body of the equipment using the traveling wheel assembly 140, embodiments of this disclosure provide a traveling wheel assembly 140 for supporting the equipment 10.

[0048] As shown in Figures 8 and 9, the walking wheel assembly 140 includes a walking wheel 141, a lifting rod 143, a first drive assembly 142, and a second drive assembly 144. The walking wheel 141 is connected to the lifting rod 143, and the first drive assembly 142 is disposed on the main body 110. The first drive assembly 142 is connected to the lifting rod 143 for driving the lifting rod 143 to move the walking wheel 141 up and down in a first direction. The second drive assembly 144 is connected to the lifting rod 143 for driving the walking wheel 141 to rotate circumferentially along the axis extending in the first direction.

[0049] The first drive assembly 142 enables the lifting mechanism to move the traveling wheel 141 up and down along a first direction, thereby adjusting the height of the traveling wheel 141. The second drive assembly 144 enables the traveling wheel 141 to rotate circumferentially along the axis extending in the first direction, thus adjusting the direction of travel of the drive wheel and better driving the main body 110 to move.

[0050] In one embodiment, after the climbing of the stairs begins, the lifting rod 143 can move upwards, lifting the main body 110, or lifting the main body 110 and the support member 120 together. After the main body 110 is lifted to the step height, it can be placed on the step, or the support member 120 can be placed on the step. Then, the lifting rod 143 can be retracted. In this way, the supporting device 10 completes the climbing and can further adjust its position or posture on the steps, such as moving forward to move the lifting rod 143 and the traveling wheels 141 below it into the step area.

[0051] In one embodiment, the second drive assembly 144 drives the traveling wheel 141 to rotate at a preset angle, which is greater than or equal to 90°. When the main body 110 needs to move laterally left or right on the step surface, the traveling direction of the traveling wheel 141 can be changed from the direction perpendicular to the step surface to the traveling direction parallel to the left and right direction of the step surface under the drive of the second drive assembly 144, thereby enabling the main body 110 to move laterally left or right on the step surface.

[0052] In one embodiment, the housing 113 of the main body 110 is provided with a support space 111, which has an opening 112 for the target device to enter and exit. The wheel assembly 140 is disposed on the side of the main body 110 away from the opening 112. By displacing the wheel assembly 140 on the side of the main body 110 away from the opening 112, when the side of the main body 110 closest to the opening 112 is on a step surface, the wheel assembly 140 on the other side provides more stable support, thereby improving the stability and reliability of the main body 110 when it moves on the step surface via the wheel assembly 140.

[0053] In one embodiment, the supporting device 10 includes multiple wheel assemblies 140, which are capable of synchronous or asynchronous movement. By using the multiple wheel assemblies 140 to support the main body 110, the stability and reliability of the main body 110 when moving on a step surface via the wheel assemblies 140 can be improved. As shown in Figures 8 and 9, the supporting device 10 may have two sets of wheel assemblies 140, distributed on opposite sides of the main body 110.

[0054] In one embodiment, the wheels 141 of at least two wheel assemblies 140 are able to move synchronously in a first direction under the drive of a first drive assembly 142, and the distance between the wheels and the main body 110 in the first direction is the same during the synchronous movement. By making the distance between the two wheel assemblies 140 and the main body 110 in the first direction the same during the synchronous movement, that is, the two wheel assemblies 140 can descend synchronously and simultaneously support the main body 110, thereby improving the stability of the support for the main body 110. Of course, the distance between the two wheel assemblies 140 and the main body 110 in the first direction during the synchronous movement can also be set differently as needed, and this disclosure does not limit this.

[0055] In one embodiment, the wheels 141 of at least two wheel assemblies 140 are able to rotate synchronously in the circumferential direction under the drive of the connected second drive assembly 144, and their circumferential angles relative to the main body 110 are the same during synchronous rotation. By making the circumferential angles of the two wheel assemblies 140 relative to the main body 110 the same during synchronous rotation, that is, the two wheels 141 can turn synchronously, thereby preventing the position of the main body 110 from shifting during rotation. Of course, the circumferential angles of the two wheel assemblies 140 relative to the main body 110 during synchronous rotation can also be set to be different as needed, and this disclosure does not limit this.

[0056] In one embodiment, a first drive assembly 142 is connected to a lifting rod 143, and the first drive assembly 142 drives the lifting rod 143 to move the traveling wheel 141 up and down along the axial direction of the lifting rod 143. A second drive assembly 144 is connected to the lifting rod 143, and the second drive assembly 144 drives the lifting rod 143 to rotate the traveling wheel 141 around the lifting rod. By using the linear motion of the lifting rod 143 to move the traveling wheel 141 up and down, the height control of the traveling wheel 141 can be more precise.

[0057] As shown in Figures 9 and 10, the lifting rod 143 is a lifting rod 143, and the second drive assembly 144 includes a mounting base 146. The lifting rod 143 is movably connected to the mounting base 146 in a first direction and is upper-limited in the circumferential direction. When the lifting rod 143 is driven, the lifting rod 143 is stationary relative to the mounting base 146 in the rotational direction and moves in the height direction, thereby driving the traveling wheel 141 to rise and fall.

[0058] As shown in Figure 10, the first drive assembly 142 includes a rotating member 1423 and a first driver 1421. The rotating member 1423 is rotatably mounted on the main body 110 and is positioned at the upper limit of the lifting rod 143 relative to the main body 110 in the axial direction. The rotating member 1423 is sleeved on the lifting rod 143 and threadedly connected to it. The first driver 1421 is mounted on the main body 110 and is used to rotate the rotating member 1423 to drive the lifting rod 143 to rise or fall axially relative to the rotating member 1423. Because the rotating member 1423 is positioned at the upper limit of the rotational axis, for example, by clamping and limiting it with a mounting housing, when the rotating member 1423 is rotated by the first driver 1421, the lifting rod 143 can rise and fall axially, thereby driving the traveling wheel 141 to rise and fall. Furthermore, by using the cooperation between the lifting rod 143 and the rotating member 1423, the lifting height of the lifting rod 143 can be precisely controlled by controlling the rotation stroke of the rotating member 1423.

[0059] The first drive assembly 142 further includes a first transmission gear set, which drives the first driver 1421 and the rotating member 1423. Connecting the first driver 1421 and the rotating member 1423 via the first transmission gear set achieves a speed reduction effect, lowering the output power requirement of the first driver 1421; simultaneously, it facilitates the placement of the first driver 1421 on the main body 110. The first transmission gear set may include one or more transmission gears.

[0060] The control method for the carrier equipment is explained below.

[0061] In one embodiment, the carrying device includes a height detection component. Referring to FIG11, the control method of the carrying device may include the following steps S410 and S420:

[0062] Step S410: Detect the height of the step using a height detection component to obtain the first height.

[0063] The height of a step can refer to the height difference between the upper surface of the step and the lower surface located at the bottom of the step. Taking the step between the first surface a and the second surface b shown in Figure 4 as an example, the lower surface is the first surface a, and the upper surface is the second surface b. The height of this step is the height difference between the first surface a and the second surface b. The first height is the step height detected by the supporting device. Due to possible measurement errors or environmental factors, the first height may not be the actual step height. For example, in the scenario shown in Figure 4, if an obstacle is placed on the second surface c directly opposite the supporting device 10, the first height detected by the supporting device 10 may be the sum of the actual step height and the height of the obstacle.

[0064] This disclosure does not limit the specific form or detection principle of the height detection component. In one embodiment, the height detection component can be a TOF (Time of Flight) sensor, which calculates the distance based on the time difference (i.e., flight time) between the transmitted signal and the received reflected signal. For example, the TOF sensor can be disposed on the bottom surface of the main body 110 of the supporting device 10. Before the supporting device 10 climbs the step, the main body 110 is raised by the lifting rod 143 to the height of the climbable step. If it is detected that the bottom of the main body 110 is higher than the second surface b, the raising stops. At this time, the TOF sensor transmits a signal to the first surface a, and the distance between the bottom of the main body 110 and the first surface a is calculated based on the flight time of the signal, thereby realizing the detection of the step height and obtaining the first height.

[0065] In one embodiment, the height detection component may include a lifting rod 143. The above-described method of using the height detection component to detect the height of the step and obtain a first height may include the following steps:

[0066] Control the lifting rod to move along the height direction perpendicular to the upper or lower surface, and obtain the movement distance of the lifting rod when the preset conditions are met;

[0067] The first height is determined based on the distance traveled.

[0068] Generally, when climbing stairs is not required, the lifting rod 143 can be in a fully retracted state. If it is necessary to detect the height of the stairs using the lifting rod 143, the lifting rod 143 is controlled to move in the vertical direction. For example, when it is necessary to climb stairs, the lifting rod 143 is controlled to move upwards; when it is necessary to descend stairs, the lifting rod 143 is controlled to move downwards. When preset conditions are met, it is determined that the lifting rod 143 has moved to an appropriate degree. At this point, the movement distance of the lifting rod 143, i.e., the stroke of the lifting rod 143, is obtained, and a first height is determined based on the movement distance.

[0069] As can be seen from the above, the lifting rod 143 itself can be used for support and height adjustment during the climbing process of the carrying device 10. This embodiment also uses it for detecting the step height, thus realizing multiple uses for the lifting rod 143. No additional sensors are required; the detection and control process can be completed using existing components in the carrying device 10. This further reduces the implementation cost of the solution.

[0070] In one embodiment, the outer periphery of the lifting rod 143 is provided with an external thread, and the rotation of the external thread drives the lifting rod 143 to move. Obtaining the movement distance of the lifting rod may include the following steps:

[0071] Get the first number of rotations of the lifting boom;

[0072] The movement distance of the lifting rod is obtained based on the first number of rotations and the pitch of the external thread.

[0073] The first number of rotations refers to the number of rotations of the lifting rod 143 during its movement. For example, if the lifting rod 143 rotates a total of C1 times during its movement, and the pitch of its external thread is d, then the movement distance of the lifting rod 143 is C1 × d. Determining the movement distance based on the first number of rotations and the thread pitch is beneficial for obtaining an accurate movement distance.

[0074] In one embodiment, the height detection component may further include a first drive component 142. The acquisition of the first number of rotations of the lifting boom may include the following steps:

[0075] Obtain the second number of rotations of the first drive component;

[0076] The first number of rotations is determined based on the second number of rotations and the transmission ratio between the first drive assembly and the lifting rod.

[0077] The first drive assembly 142 can drive the lifting rod 143 to rotate by its own rotation. The second number of rotations refers to the number of rotations of the first drive assembly 142 during the movement of the lifting rod 143. Based on the transmission ratio between the first drive assembly 142 and the lifting rod 143, the second number of rotations is converted into the corresponding first number of rotations. For example, if the transmission ratio is k, it means that for every one rotation of the first drive assembly 142, the lifting rod 143 rotates k times. If the second number of rotations of the first drive assembly 142 during the movement of the lifting rod 143 is C2, then the first number of rotations C1 = C2 × k can be calculated.

[0078] In one embodiment, the first drive assembly 142 may include a motor. An encoder on the motor can record the number of rotations of the motor to obtain a second number of rotations. A gear set (such as a first transmission gear set) may be provided between the motor and the lifting rod 143. The gear set is used for transmission between the motor and the lifting rod 143. When the motor rotates, the gear set drives the lifting rod 143 to rotate, thereby realizing the lifting motion of the lifting rod 143. Based on the transmission ratio of the gear set and the second number of rotations, the first number of rotations can be calculated, and then multiplied by the pitch of the external thread of the lifting rod 143 to obtain the movement distance of the lifting rod 143.

[0079] In one embodiment, the height detection assembly may further include a rotating member 1423 with an internal thread. The lifting rod 143 is located inside the rotating member 1423, with its external thread matching the internal thread, allowing them to mesh. When the rotating member 1423 moves along the height direction, the internal thread drives the external thread to rotate, thereby moving the lifting rod 143. The threaded connection design makes the lifting rod 143 easy to disassemble and replace, facilitating the maintenance and upkeep of the supporting device 10.

[0080] For example, during the forward rotation of the motor, the rotating part 1423 can be driven to rotate. Through the threaded action between the rotating part 1423 and the lifting rod 143, the lifting rod 143 is driven to move towards the side closer to the ground along the height direction, thereby driving the traveling wheel 141 to move towards the side closer to the ground.

[0081] In one embodiment, please continue to refer to Figure 1, the lifting rod 143 may be a hollow structure, and some of the wiring of the supporting device 10 (such as the motor connection wire) may be located inside the lifting rod 143 to prevent the wires from being exposed, which helps to improve the safety of the wiring and improve the aesthetics of the structure.

[0082] The preset conditions are used to determine whether the movement distance of the lifting rod 143 matches the height of the step. In one embodiment, the preset conditions include at least one of the following conditions:

[0083] Condition 1: The bottom of the main body of the supporting device is detected to be higher than its upper surface. For example, when the supporting device 10 needs to move up a step, in order to detect the height of the step, the lifting rod 143 is controlled to move upward, causing the main body 110 of the supporting device 10 to rise. When the bottom of the main body 110 is detected to be just higher than the upper surface of the step, the movement of the lifting rod 143 is stopped. At this time, the distance between the bottom of the main body 110 and the lower surface of the step is the height of the step. By obtaining the movement distance of the lifting rod 143 and determining the first height based on the movement distance, the actual height of the step can be estimated more accurately.

[0084] Condition 2: The movement of the lifting rod encounters resistance. For example, when the supporting equipment 10 needs to descend a step, in order to detect the height of the step, the lifting rod 143 can be controlled to move downwards while it or its lower structure (such as the traveling wheel 141) is suspended in the air. This allows the lifting rod 143 to gradually approach the lower surface of the step. When the lifting rod 143 contacts the lower surface, or when the structure below it contacts the lower surface, the movement of the lifting rod 143 encounters resistance, and its movement can be stopped. At this point, the distance traveled by the lifting rod 143 is obtained, and the first height is determined based on this distance, which can also provide a relatively accurate estimate of the actual height of the step.

[0085] In one embodiment, the supporting device further includes wheels 141 for supporting the main body 110 of the supporting device 10. A lifting rod 143 is located on the side of the wheels 141 away from the ground. Determining the first height based on the travel distance may include the following steps:

[0086] The first height is determined based on the movement distance and the base height of the main body; the base height is the height difference between the bottom of the main body and the bottom of the traveling wheels when the lifting rod is fully retracted.

[0087] For example, when the supporting device 10 needs to move up a step, in order to detect the height of the step, the lifting rod 143 is controlled to move upward, causing the main body 110 to rise until its bottom is just above the upper surface of the step. The movement distance of the lifting rod 143 is approximately equal to the height difference between the base height of the main body 110 and its upper surface. By adding the movement distance to the base height, the height difference between the upper and lower surfaces of the step can be roughly calculated. Therefore, the sum of the movement distance and the base height can be used as the first height.

[0088] In one embodiment, the movement distance can also be used as the first height. For example, when the supporting device 10 needs to descend a step, in order to detect the height of the step, a portion of the lifting rod 143 connected to the main body 110 can extend beyond the step, so that the lifting rod 143 and the traveling wheel 141 are outside the step, with their bottoms suspended in the air. At this time, the bottom of the traveling wheel 141 is basically flush with the upper surface of the step. Then, the lifting rod 143 is controlled to move, and the lifting rod 143 and the traveling wheel 141 move downward together until the bottom of the traveling wheel 141 contacts the lower surface of the step. In this way, the movement distance of the lifting rod 143 is approximately equal to the height difference between the upper and lower surfaces. Therefore, the movement distance can be used as the first height.

[0089] In step S420, if the first height is within the preset height range, the supporting device is controlled to move from the first surface to the second surface.

[0090] The preset height range can be the applicable climbing height range of the support device 10, reflecting the climbing performance of the support device 10. It can be determined based on the maximum movement distance of the lifting rod 143 and the length of the connecting rod 132 in the support device 10. If the first height is within the preset height range, it means that the climbing performance of the support device 10 is sufficient for this climb, and the climbing process can be executed.

[0091] The preset height range can also be a reasonable height range estimated for the steps. For example, in a stairwell environment, the preset height range can be determined based on the climbing height of one or more steps in the same staircase previously climbed by the supporting device 10. For instance, the movement distance of the lifting rod 143 during the most recent climbing of one or more steps can be obtained, and the actual height of the step can be estimated based on this movement distance, thereby determining the preset height range. For example, the supporting device 10 can calculate the actual height of the step based on the movement distance of the lifting rod 143 during previous climbing, and record it as the third height. Using the third height as a reference, a certain margin is added to obtain the preset height range. The supporting device 10 can record the third height and / or the preset height range, and can update the third height and / or the preset height range during climbing. If the first height is within the preset height range, it indicates that the stairwell environment has not changed significantly, and the supporting device 10 can safely perform this climbing.

[0092] When it is determined that the climb will be performed, the carrier device 10 is controlled to move from the first surface to the second surface. The first surface is the surface where the carrier device 10 is currently located, and the second surface is the target surface for this climb. One of the first and second surfaces is the upper surface of the step, and the other is the lower surface located at the bottom of the step. That is, the carrier device 10 can be controlled to climb the step upwards or downwards. In addition, the carrier device 10 can be controlled to perform up and down climbing repeatedly, such as first climbing from the lower surface to the upper surface, performing cleaning work on the upper surface, and then climbing from the upper surface to the lower surface.

[0093] If the initial height is outside the preset range, it indicates that the climbing performance of the supporting equipment 10 may be insufficient for this climb, or that the step environment has changed significantly, such as obstacles on the steps or a large change in step height. Therefore, performing this climb poses a high safety risk for the supporting equipment 10. The climb may not be performed.

[0094] In one implementation, if the first height is outside a preset height range, an alarm message can be issued. The alarm message is used to alert the user that the current step environment poses a safety risk that may damage the supporting equipment 10. The supporting equipment 10 can issue the alarm message directly, such as through voice or alarm sounds, or the supporting equipment 10 can display the alarm message in text or code form on a display interface. Alternatively, the supporting equipment 10 can send the alarm message to the user's mobile phone or other terminal device.

[0095] In one embodiment, referring to FIG12, the control method for the carrying device may further include the following steps S510 to S530:

[0096] In step S510, if the first height is outside the preset height range, the supporting device is controlled to move along the extension direction of the step; the extension direction is parallel to the side surface and the top surface of the step.

[0097] The side surface of the step is located between the upper and lower surfaces and is perpendicular to both. Its extension direction is parallel to the side and upper surfaces of the step; for example, from the perspective of the supporting device 10 facing the step, the extension direction is the direction in which the step extends laterally.

[0098] If the first height is outside the preset height range, it indicates that there may be an obstacle on the step. In this case, controlling the supporting device 10 to move along the extension direction may avoid the obstacle. For example, the supporting device 10 can be controlled to move a preset length in the extension direction. The preset length can be determined based on the size of a typical obstacle, the size of the step, etc. For example, if the preset length is greater than the size of a typical obstacle, then after the supporting device 10 moves the preset length, there is a higher probability that it will avoid the obstacle. The preset length can be stored in the control program of the supporting device 10.

[0099] In step S520, after moving, the height of the step is detected again using the height detection component to obtain the second height.

[0100] The second height can be the height of the second detection step of the supporting device 10. Correspondingly, the first height can be the height of the first detection step of the supporting device 10.

[0101] If there is an obstacle on the step, and the supporting device 10 moves to avoid the obstacle, then the detected second height will be significantly different from the first height.

[0102] In step S530, if the second height is within the preset height range, the load-bearing device is controlled to move from the first surface to the second surface.

[0103] If the second height is within the preset height range, it means that by controlling the movement of the carrier device 10, the original safety hazards such as obstacles have been eliminated. At this time, the carrier device 10 can be controlled to climb to move from the first surface to the second surface.

[0104] Based on the method in Figure 12, a safe climbing strategy for supporting equipment is provided. In the event of obstacles on the steps, the system can automatically avoid obstacles and perform climbing under safe conditions, thereby improving the working efficiency and safety of the supporting equipment.

[0105] In one embodiment, the control method for the carrying device may further include the following steps:

[0106] If the second altitude is outside the preset altitude range, an alarm message will be issued.

[0107] If the second height is outside the preset height range, it indicates that even after the supporting device 10 moves, there are still safety hazards such as obstacles. These obstacles may be large enough for the supporting device 10 to avoid, or the steps themselves may be too high. In this case, the supporting device 10 cannot continue climbing and issues an alarm. This allows for user intervention. The supporting device 10 can issue an alarm directly or send it to the user's mobile phone or other terminal devices.

[0108] Exemplary embodiments of this disclosure also provide a control device for a carrying device. The carrying device includes a height detection component. Referring to FIG13, the control device 600 for the carrying device includes the following modules:

[0109] The height detection module 610 is configured to detect the height of the step using the height detection component to obtain a first height;

[0110] The climbing control module 620 is configured to control the supporting device to move from the first surface to the second surface if the first height is within a preset height range; wherein, one of the first surface and the second surface is the upper surface of the step, and the other is the lower surface located at the bottom of the step.

[0111] In one embodiment, the height detection component includes a lifting rod; the height detection module 610 includes: a movement distance acquisition module configured to control the lifting rod to move along a height direction perpendicular to the upper surface or the lower surface, and to acquire the movement distance of the lifting rod when a preset condition is met; and a first height determination module configured to determine the first height based on the movement distance.

[0112] In one embodiment, the outer periphery of the lifting rod is provided with an external thread, and the external thread drives the lifting rod to move when it rotates; the movement distance acquisition module includes: a first rotation number acquisition module, configured to acquire a first rotation number of the lifting rod; and a movement distance determination module, configured to obtain the movement distance of the lifting rod based on the first rotation number and the pitch of the external thread.

[0113] In one embodiment, the height detection component further includes a first drive component; the first rotation count acquisition module includes: a second rotation count acquisition module configured to acquire a second rotation count of the first drive component; and a first rotation count determination module configured to determine the first rotation count based on the second rotation count and the transmission ratio between the first drive component and the lifting rod.

[0114] In one embodiment, the height detection component further includes a rotating member with an internal thread; the lifting rod is located inside the rotating member, and the external thread matches the internal thread; when the rotating member moves along the height direction, the internal thread drives the external thread to rotate, thereby driving the lifting rod to move.

[0115] In one embodiment, the supporting device further includes a traveling wheel for supporting the main body of the supporting device; the lifting rod is located on the side of the traveling wheel away from the ground; the first height determination module is configured to determine the first height based on the movement distance and the base height of the main body; the base height is the height difference between the bottom of the main body and the bottom of the traveling wheel when the lifting rod is fully retracted.

[0116] In one embodiment, the preset conditions include at least one of the following conditions: the bottom of the main body of the supporting device is detected to be higher than the upper surface; the movement of the lifting rod is obstructed.

[0117] In one embodiment, the control device 600 of the supporting device further includes: a movement control module configured to control the supporting device to move along the extension direction of the step if the first height is outside the preset height range; the extension direction is parallel to the side surface and the top surface of the step; the height detection module 610 is further configured to: detect the height of the step again using the height detection component after movement to obtain a second height; the climbing control module 620 is further configured to: control the supporting device to move from the first surface to the second surface if the second height is within the preset height range.

[0118] In one embodiment, the control device 600 of the carrying equipment further includes an alarm module configured to issue an alarm message if the second height is outside the preset height range.

[0119] Exemplary embodiments of this disclosure also provide a carrier device. The carrier device includes one or more processors and one or more memories, wherein at least one piece of program code is stored in the one or more memories, the at least one piece of program code being loaded and executed by the one or more processors to implement the method in any of the above embodiments.

[0120] An exemplary embodiment of this disclosure also provides a cleaning apparatus, which includes a support device and a cleaning device. The support device may be the support device described in any of the above embodiments, and the cleaning device may be the cleaning device described in any of the above embodiments. The support device is provided with a support space for supporting the cleaning device.

[0121] Exemplary embodiments of this disclosure also provide a cleaning system, which may include a base station and a cleaning device, which may be the cleaning device described in any of the above embodiments. The carrier device and / or the cleaning device itself can interface with the base station. The base station can charge the cleaning device and the carrier device, and can also replenish water and clean the cleaning device, or suck up dirt stored in the cleaning device.

[0122] Exemplary embodiments of this disclosure also provide a computer program product. The computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a device having a processor to perform the methods of any of the above embodiments.

[0123] In one embodiment, the computer program product can be a tangible product containing a computer program, such as a computer-readable storage medium storing the computer program. The readable storage medium can be a storage medium based on electrical, magnetic, optical, electromagnetic, infrared, or other signals, including but not limited to: random access memory (RAM), read-only memory (ROM), magnetic tape, floppy disk, flash memory, hard disk drive (HDD), solid-state drive (SSD), etc. For example, the computer program product can be implemented as a non-volatile storage medium storing the computer program, such as read-only memory, NAND flash memory, etc.

[0124] In one implementation, the computer program product can be an intangible product containing a computer program. For example, the computer program product can be implemented as a virtual digital product, such as an executable file, installation package, or other digital file storing the computer program.

[0125] Computer program code can be written in one or more programming languages. Examples of programming languages ​​include C, Java, and C++. Program code can execute entirely on the user's computing device, partially on the user's computing device, or as a standalone software package. It can also execute partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, such as a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via an internet connection provided by a mobile network operator).

[0126] Computer programs can be carried or transmitted via signals such as electrical, magnetic, optical, electromagnetic, and infrared rays. Electronic devices can convert signals carrying computer programs into digital signals, thereby running the computer programs. When a computer program runs on an electronic device, its code is used to cause the electronic device to execute (more specifically, to be executed by the processor of the electronic device) the method steps of various exemplary embodiments of this disclosure.

[0127] Exemplary embodiments of this disclosure also provide a computer-readable storage medium. The computer-readable storage medium stores at least one line of program code, which is loaded and executed by a processor to implement the methods in any of the above embodiments.

[0128] Exemplary embodiments of this disclosure also provide a bearer device. The bearer device may include, but is not limited to, one or more processors and one or more memories. The one or more memories store at least one line of program code, which can be loaded and executed by the one or more processors to implement the various steps of the control method for the bearer device described in the above embodiments.

[0129] The aforementioned processors may include one or more of the following: AP (Application Processor), modem processor, GPU (Graphics Processing Unit), ISP (Image Signal Processor), controller, encoder, decoder, DSP (Digital Signal Processor), baseband processor, and / or NPU (Neural-Network Processing Unit).

[0130] The aforementioned one or more memories may include volatile memories, such as RAM and cache units, and may also include non-volatile memories, such as ROM. The memories may also include one or more program modules, including but not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. For example, program modules may include the modules in the aforementioned apparatus.

[0131] The processor can be used to execute executable instructions stored in memory to perform the methods described above in this disclosure.

[0132] In one embodiment, the carrier device may further include a bus for enabling connections between different components of the carrier device, which may include a data bus, an address bus, and a control bus.

[0133] In addition, other hardware and / or software modules can be installed in the host device, including but not limited to: I / O (input / output) interfaces, network adapters, displays, microcode, device drivers, redundant processors, external disk drive arrays, RAID (Redundant Arrays of Independent Disks) systems, tape drives, and data backup storage systems.

[0134] As can be seen from the above, the technical solutions disclosed herein can be implemented as methods, apparatus, systems, computer program products, storage media, electronic devices, etc. Those skilled in the art will understand that various aspects of this disclosure can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be referred to as "circuit," "module," or "system," respectively.

[0135] It should be understood that this disclosure is not limited to the specific methods, steps, or structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. Those skilled in the art will readily conceive of other embodiments based on the specific implementations provided in this disclosure. Therefore, the specific implementations provided in this disclosure are merely exemplary, and the scope and spirit of this disclosure are indicated by the claims, and should cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary technical means in the art not disclosed in this disclosure.

Claims

1. A control method for a load-bearing device, the load-bearing device comprising a height detection component; the method comprising: The height of the step is detected using the height detection component to obtain a first height; If the first height is within a preset height range, the supporting device is controlled to move from the first surface to the second surface; wherein, one of the first surface and the second surface is the upper surface of the step, and the other is the lower surface located at the bottom of the step.

2. The method according to claim 1, wherein, The height detection component includes a lifting rod; the step of detecting the height of the step using the height detection component to obtain a first height includes: The lifting rod is controlled to move along a height direction perpendicular to the upper or lower surface, and the movement distance of the lifting rod is obtained when a preset condition is met. The first height is determined based on the distance traveled.

3. The method according to claim 2, wherein, The lifting rod has an external thread on its outer circumference, and the rotation of the external thread drives the lifting rod to move; obtaining the movement distance of the lifting rod includes: Obtain the first number of rotations of the lifting rod; The movement distance of the lifting rod is obtained based on the first number of rotations and the pitch of the external thread.

4. The method according to claim 3, wherein, The height detection component further includes a first drive component; obtaining the first number of rotations of the lifting rod includes: Obtain the second number of rotations of the first drive component; The first number of rotations is determined based on the second number of rotations and the transmission ratio between the first drive assembly and the lifting rod.

5. The method according to claim 3, wherein, The height detection component also includes a rotating part with an internal thread; the lifting rod is located inside the rotating part, and the external thread matches the internal thread. When the rotating component moves along the height direction, the internal thread drives the external thread to rotate, which in turn drives the lifting rod to move.

6. The method according to claim 2, wherein, The supporting device also includes wheels for supporting the main body of the supporting device; The lifting rod is located on the side of the traveling wheel away from the ground; determining the first height based on the travel distance includes: The first height is determined based on the movement distance and the base height of the main body. The base height is the height difference between the bottom of the main body and the bottom of the traveling wheel when the lifting rod is fully retracted.

7. The method according to claim 2, wherein, The preset conditions include at least one of the following conditions: It was detected that the bottom of the main body of the supporting device was higher than the upper surface; The movement of the lifting rod encountered resistance.

8. The method according to claim 1, wherein, The method further includes: If the first height is outside the preset height range, the supporting device is controlled to move along the extension direction of the step; the extension direction is parallel to the side surface and the top surface of the step; After moving, the height of the step is detected again using the height detection component to obtain a second height; If the second height is within the preset height range, then control the carrying device to move from the first surface to the second surface.

9. The method according to claim 8, wherein, The method further includes: If the second height is outside the preset height range, an alarm message will be issued.

10. A control device for a carrying device, wherein, The supporting device includes a height detection component; the apparatus includes: The height detection module is configured to detect the height of the step using the height detection component to obtain a first height; The climbing control module is configured to control the supporting device to move from the first surface to the second surface if the first height is within a preset height range; wherein, one of the first surface and the second surface is the upper surface of the step, and the other is the lower surface located at the bottom of the step.

11. The apparatus according to claim 10, wherein, The height detection component includes a lifting rod; the height detection module includes: The motion distance acquisition module is configured to control the lifting rod to move along a height direction perpendicular to the upper surface or the lower surface, and acquire the motion distance of the lifting rod when a preset condition is met; The first height determination module is configured to determine the first height based on the movement distance.

12. The apparatus according to claim 11, wherein, The lifting rod has an external thread on its outer circumference, and the rotation of the external thread drives the lifting rod to move; the movement distance acquisition module includes: The first rotation count acquisition module is configured to acquire the first rotation count of the lifting rod; The motion distance determination module is configured to obtain the motion distance of the lifting rod based on the first number of rotations and the pitch of the external thread.

13. The apparatus according to claim 12, wherein, The height detection component further includes a first driving component; the first rotation count acquisition module includes: The second rotation count acquisition module is configured to acquire the second rotation count of the first drive component; The first rotation count determination module is configured to determine the first rotation count based on the second rotation count and the transmission ratio between the first drive component and the lifting rod.

14. The apparatus according to claim 12, wherein, The height detection component also includes a rotating part with an internal thread; the lifting rod is located inside the rotating part, and the external thread matches the internal thread. When the rotating component moves along the height direction, the internal thread drives the external thread to rotate, which in turn drives the lifting rod to move.

15. The apparatus according to claim 11, wherein, The supporting device also includes wheels for supporting the main body of the supporting device; the lifting rod is located on the side of the wheels away from the ground. The first height determination module is configured to determine the first height based on the movement distance and the base height of the main body; the base height is the height difference between the bottom of the main body and the bottom of the walking wheel when the lifting rod is fully retracted.

16. The apparatus according to claim 11, wherein, The preset conditions include at least one of the following conditions: It was detected that the bottom of the main body of the supporting device was higher than the upper surface; The movement of the lifting rod encountered resistance.

17. The apparatus according to claim 10, wherein, The device further includes: The movement control module is configured to control the supporting device to move along the extension direction of the step if the first height is outside the preset height range; the extension direction is parallel to the side surface and the top surface of the step. The height detection module is further configured to: detect the height of the step again using the height detection component after movement to obtain a second height; The climbing control module is further configured to: if the second height is within the preset height range, control the supporting device to move from the first surface to the second surface.

18. The apparatus according to claim 17, wherein, The device also includes an alarm module configured to issue an alarm message if the second height is outside the preset height range.

19. A carrying device, wherein, The carrier device includes one or more processors and one or more memories, wherein the one or more memories store at least one piece of program code, which is loaded and executed by the one or more processors to implement the method as described in any one of claims 1-9.

20. A cleaning device, comprising: The carrying device as described in claim 19, and the cleaning device; The supporting device is provided with a supporting space, which is used to support the cleaning equipment.

21. A cleaning system, comprising: The base station, and the cleaning device as described in claim 20; The carrier device and / or the cleaning device are capable of docking with the base station.

22. A computer program product, wherein, The computer program product includes computer instructions stored in a computer-readable storage medium and adapted to be read and executed by a processor to cause a device having a processor to perform the method as described in any one of claims 1-9.

23. A computer-readable storage medium, wherein, The computer-readable storage medium stores at least one piece of program code, which is loaded and executed by a processor to implement the method as described in any one of claims 1-9.

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