CN114569028A

CN114569028A - Control method, device and equipment for robot climbing stairs and storage medium

Info

Publication number: CN114569028A
Application number: CN202210462604.2A
Authority: CN
Inventors: 车大辂; 李鹏
Original assignee: Nanjing Fuyi Intelligent Robot Technology Co ltd
Current assignee: Nanjing Fuyi Intelligent Robot Technology Co ltd
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2022-06-03

Abstract

The application relates to a control method, a control device, control equipment and a storage medium for climbing stairs by a robot, wherein the method comprises the following steps: continuously detecting the remaining distance between the equipment and the staircase to be climbed when the equipment moves in the non-step area; if the remaining distance is within the preset distance range, detecting the distance relationship between a first distance corresponding to the left base point and a second distance corresponding to the right base point in real time, wherein the first distance and the second distance are respectively the distance from the left base point and the right base point to the edge face of the first step of the stair to be climbed; respectively adjusting the traveling speeds of the driving wheels at the left side and the right side according to the distance relation; and when the distance relation between the first distance and the second distance is equal, driving the driving wheels on the left side and the right side of the equipment to move forwards at the same speed, and climbing stairs. The application has the technical effects that: the robot can be automatically adjusted to be vertical to the vertical surface of the step before climbing stairs, and the possibility that the robot topples due to the fact that the robot is integrally unbalanced after climbing stairs is reduced.

Description

Control method, device and equipment for robot climbing stairs and storage medium

Technical Field

The present application relates to the field of robots, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a robot to climb a building.

Background

At present, with the development of electronic science and technology, robots applied to different fields appear correspondingly. Common cleaning robots in life comprise a sweeping robot and a mopping robot, and the working principle of the cleaning robots is that the cleaning robots automatically walk on the ground and clean the ground at the same time.

Along with the expansion of the application scene of the cleaning robot, the cleaning robot is not only used on flat ground, but also has the stair climbing function so as to meet the use requirement. The robot with the stair climbing function can sweep stairs while going upstairs and downstairs

In view of the above-mentioned related art, the inventors found that at least the following problems exist in the art: when the robot starts to climb a building, if the vertical plane of the robot and the first-stage stair is not vertical, namely the two ends of the robot are arranged in front of each other, the whole robot is unbalanced after the robot starts to climb the building, so that the robot is toppled over, and the robot is damaged.

Disclosure of Invention

In order to solve the problem that when the robot starts to climb a building, the robot is unbalanced as a whole and topples over, the application provides a control method, a control device, control equipment and a storage medium for the robot to climb the building.

In a first aspect, the present application provides a control method for a robot to climb a building, which adopts the following technical scheme:

the method is applied to equipment with a stair climbing function, the equipment comprises driving wheels which are respectively arranged at the left side and the right side of the equipment and can be driven independently, and a left base point and a right base point which are respectively arranged at the left side and the right side of the equipment symmetrically, and the method comprises the following steps:

continuously detecting the remaining distance between the equipment and the staircase to be climbed when the equipment moves in the non-step area;

if the remaining distance is within a preset distance range, detecting a distance relationship between a first distance corresponding to the left base point and a second distance corresponding to the right base point in real time, wherein the first distance and the second distance are respectively the distance from the left base point and the right base point to the edge face of the first step of the stair to be climbed;

respectively adjusting the traveling speeds of the driving wheels at the left side and the right side according to the distance relation;

and when the distance relation between the first distance and the second distance is equal, driving the driving wheels at the left side and the right side of the equipment forward at the same speed, and climbing stairs.

Through adopting above-mentioned technical scheme, the treater is when detecting to begin to climb the building, according to the relation of first distance and second distance, through the mode of the rotational speed of adjustment left and right sides drive wheel, adjusts equipment to perpendicular with the step facade automatically, and the front end of equipment is on a parallel with the step edge face promptly, then drive arrangement climbs the building to reduce when beginning to climb the building equipment whole unbalance and lead to the possibility that equipment emptys.

Optionally, the apparatus further includes two distance sensors symmetrically disposed on two sides of the apparatus, and the detecting a distance relationship between a first distance corresponding to the left base point and a second distance corresponding to the right base point in real time includes:

acquiring the distance between the two distance sensing devices and the vertical face of the stair in real time;

and determining the distance relation between the first distance and the second distance based on the distance from the distance sensor to the step edge surface.

By adopting the technical scheme, the distance relation between the first distance and the second distance can be accurately determined by the distance between the two distance sensors and the vertical face of the stair, and the driving wheels on the left side and the right side are adjusted according to the distance relation so as to correct the deviation of the equipment.

Optionally, the adjusting the traveling speeds of the driving wheels on the left and right sides according to the distance relationship includes:

if a difference exists between the distances corresponding to the two distance sensors, determining a left base point as a front base point and a right base point as a rear base point according to the first distance and the second distance;

the speed of the driving wheel which is adjusted to be at the same side of the front base point is smaller than that of the driving wheel which is adjusted to be at the same side of the rear base point.

By adopting the technical scheme, when the equipment deviates, the speed of the driving wheels at two sides of the equipment is adjusted, so that the equipment rotates towards the side where the front base point is located, the posture of the equipment is adjusted, and the equipment is perpendicular to the vertical surface of the stair.

measuring two perpendicular distances to the step plane by two of the distance sensors;

when the two vertical distances are not equal, judging that the distance relation between the first distance and the second distance is not equal;

the adjusting the traveling speeds of the driving wheels on the left and right sides respectively according to the distance relationship includes:

and when the distance relation is detected to be unequal, the travelling speeds of the driving wheels at the left side and the right side are respectively adjusted.

By adopting the technical scheme, the distance relation between the first distance and the second distance can be judged through the vertical distance between the two distance sensors and the step plane, and the travelling speed of the driving wheels at the left side and the right side can be adjusted according to the distance relation, so that the posture of the equipment is adjusted, and the equipment is corrected.

Optionally, when the distance relationship is detected to be unequal, the traveling speeds of the driving wheels on the left and right sides are respectively adjusted;

when the distance relation is detected to be unequal, respectively positioning a front base point and a rear base point on the left base point and the right base point according to the first distance and the second distance;

controlling the driving wheels on the same side of the rear base point to be static, and enabling the driving wheels on the same side of the front base point to roll backwards by a preset length;

the driving wheels on the left and right sides of the apparatus are driven forward at the same speed again.

By adopting the technical scheme, when the processor detects that the distance relation is unequal, the processor controls the driving wheels to rotate the front base point backwards and then drive the equipment to move forwards, and when the distance relation is detected to be unequal, the front base point is rotated backwards again and the equipment is driven to move forwards, so that the front base point and the rear base point are accurately adjusted, the distance relation between the front base point and the rear base point and the distance between the front base point and the edge surface are equal, and the equipment is perpendicular to the vertical surface of the stair.

Optionally, the equipment further comprises a front box body, a middle box body and a rear box body, wherein front wheels are arranged below the rear box body, rear wheels are arranged below the rear box body, the driving wheels which are arranged on the left side and the right side of the equipment and can be driven independently are positioned on two sides of the middle box body, and two distance sensors are symmetrically arranged below the middle box body along one side of the middle box body close to the front box body;

the method further comprises the following steps:

when the distance relation is detected to be unequal, setting the left base point and the right base point as a front base point and a rear base point respectively according to the first distance and the second distance;

the front wheel and the rear wheel control equipment rotate by a preset angle towards the side face where the front base point is located by taking the center of the equipment as a circle center;

the front and rear wheels control the equipment to advance or retreat so as to enable the front base point to coincide with the edge surface of the stair;

rotating the equipment by a preset angle towards the side surface where the front base point is located by taking the center of the equipment as a circle center, and continuously controlling the equipment to advance or retreat so as to enable the front base point to be superposed with the edge surface of the stair;

and when the left base point and the right base point are detected to be simultaneously overlapped with the edge face of the stair, judging that the distance relation between the first distance and the second distance is equal, and continuing climbing the stair.

Through adopting above-mentioned technical scheme, when middle box was unsettled and equipment takes place the skew, the treater can be through controlling the front and back wheel and rotate equipment many times, until equipment perpendicular to step facade to the realization is in the in-process of downstairs, and the drive wheel of the equipment left and right sides is empty, can rectify a deviation to equipment.

Optionally, the method further includes:

when the change of the front base point is detected, reducing the preset angle according to a preset proportion;

rotating the reduced preset angle towards the side where the front base point is located by using the center of the equipment as a circle center through front and rear wheel control equipment;

continuing to control the equipment to advance and retreat so that the front base point is superposed with the edge face of the stair;

By adopting the technical scheme, if the processor rotates the equipment, the equipment is rotated to pass through the head so that the front base point is changed, the processor can adjust the posture of the equipment passing through the head more finely by reducing the rotating angle, and the accuracy in balancing the posture of the equipment is improved.

Optionally, the equipment further comprises a front box body, a middle box body and a rear box body, the driving wheels are arranged on two sides of the middle box body, and obstacle detection devices are arranged on the sides of the front box body and the rear box body, which are far away from the middle box body;

when the equipment goes upstairs, obstacle information sent by the ultrasonic sensor on the front box body is continuously received;

when the equipment goes downstairs, obstacle information sent by an ultrasonic sensor on the rear box body is continuously received;

when the received obstacle information is obstacle, stopping the equipment from moving and starting timing until the received obstacle information is obstacle-free;

and when the timed duration reaches a preset duration threshold, controlling the equipment to horizontally move until the received obstacle information is obstacle-free.

By adopting the technical scheme, when the processor detects that the obstacle exists in front of or behind the equipment, the processor stops moving for a period of time to wait for the obstacle to leave, and if the obstacle does not move, the processor controls the equipment to move so as to automatically avoid the obstacle.

In a second aspect, the present application provides a control device for a robot to climb a building, which adopts the following technical solution: the device comprises:

the distance detection module is used for continuously detecting the remaining distance between the equipment and the stairway to be climbed when the equipment moves in the non-step area;

the distance detection module is used for detecting the distance relationship between a first distance corresponding to the left base point and a second distance corresponding to the right base point in real time if the remaining distance is within a preset distance range, wherein the first distance and the second distance are respectively the distance from the left base point and the right base point to the edge face of the first step of the stair to be climbed;

the speed adjusting module is used for respectively adjusting the travelling speeds of the driving wheels at the left side and the right side according to the distance relation;

and the stair climbing driving module is used for driving the driving wheels on the left side and the right side of the equipment to move forwards at the same speed and climbing stairs when the distance relation between the first distance and the second distance is detected to be equal.

In a third aspect, the present application provides a computer device, which adopts the following technical solution: comprising a memory and a processor, said memory having stored thereon a computer program that can be loaded by the processor and that executes any of the above-mentioned control methods for robot stair climbing.

In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions: a computer program is stored which can be loaded by a processor and which implements any of the above-described control methods for robot stair climbing.

In summary, the present application includes at least one of the following beneficial technical effects:

1. when the processor detects that climbing is to be started, the processor automatically adjusts the equipment to be vertical to the vertical surface of the step in a mode of adjusting the rotating speed of the driving wheels at the left side and the right side according to the relation between the first distance and the second distance, namely the front end of the equipment is parallel to the edge surface of the step, and then the equipment is driven to climb the building, so that the possibility that the equipment is toppled due to integral unbalance of the equipment when climbing is started is reduced;

2. when the middle box body is suspended and the equipment deviates, the processor can rotate the equipment for many times by controlling the front wheels and the rear wheels until the equipment is perpendicular to the step vertical face, so that the equipment can be corrected when the driving wheels on the left side and the right side of the equipment are suspended in the process of going downstairs.

Drawings

Fig. 1 is a flowchart of a control method for stair climbing of a robot according to an embodiment of the present application.

Fig. 2 is a schematic diagram for showing the positional relationship between the left base point and the right base point and the edge surface in one embodiment of the present application.

FIG. 3 is a flowchart illustrating deviation rectification of a robot by controlling a driving wheel in an embodiment of the present application.

Fig. 4 is a schematic view of a robot ascending according to an embodiment of the present application.

Fig. 5 is a schematic view of a robot descending a floor according to an embodiment of the present application.

FIG. 6 is a schematic view of the position relationship of the case and the edge face in one embodiment of the present application.

Fig. 7 is a block diagram of a balancing device for climbing stairs by a robot according to an embodiment of the present application.

Fig. 8 is a block diagram of a balancing apparatus for a robot to climb a building according to another embodiment of the present application.

Fig. 9 is a block diagram of a balancing device for a robot to climb a building according to another embodiment of the present application.

Description of reference numerals: 70. a path detection module; 71. a distance detection module; 72. a speed adjustment module; 73. a stair climbing driving module; 80. a distance measuring module; 81. a relationship determination module; 82. a base point setting module; 83. a rotation control module; 84. a front and rear control module; 90. an information receiving module; 91. starting a timing module; 92. and a horizontal moving module.

Detailed Description

The application discloses a control method for climbing stairs by a robot. The method is based on equipment, namely a robot with a stair climbing function, processors are arranged on the robot, the front, the back, the left and the right of the robot are respectively provided with a wheel, and the processors respectively control the whole robot and the four wheels of the robot, so that the robot can walk and go upstairs and downstairs. A dust suction device and a floor mopping device can be arranged below the robot, and the processor controls the robot to move horizontally on stairs, so that a building body can be cleaned.

In one embodiment, as shown in fig. 1, there is provided a control method for a robot to climb a building, the method comprising the steps of:

and S10, continuously detecting the remaining distance to the staircase to be climbed when the non-step area moves.

Specifically, the worker models a stair to be climbed in advance, and the built stair model is imported into the robot. In implementation, when the robot performs a floor cleaning task, the front image of the robot can be acquired in real time by a front step detection unit (such as a camera unit + an image analysis unit) to determine whether there is an ascending step or a descending step in front. When the ascending step or the descending step is found and the horizontal distance between the processor and the edge of the step is smaller than a preset threshold value, the processor detects the remaining distance of the stair to be climbed so as to prepare for climbing stairs, wherein the climbing stairs can be upstairs or downstairs.

And S12, detecting the distance relation between the first distance corresponding to the left base point and the second distance corresponding to the right base point in real time.

Specifically, as shown in fig. 2, the left base point corresponds to an end point of the left side of the robot close to the stairway, the right base point corresponds to an end point of the right side of the robot close to the stairway, the first distance and the second distance are distances from the left base point and the right base point to an edge surface of a first step of the stairway to be climbed, the edge surface is an elevation surface of the stairway, and the top view is a line. When the robot starts to go downstairs or upstairs, the robot is inclined to cause the left base point to be suspended, and the left base point and the right base point are positioned on two sides of the edge face of the first step; when going upstairs, the robot is skewed, resulting in the left and right base points being on the same side of the edge face of the first step, but the first and second distances are not equal in value. The first distance and the second distance have directions, a positive direction being a direction in which the edge faces forward, and a negative direction otherwise. In fig. 2, when going downstairs, the left base point is located in front of the edge surface, and the right base point is located behind the edge surface, then the first distance is a positive number, and the second distance is a negative number; when going upstairs, the left base point and the right base point are both behind the edge face, and the first distance and the second distance are both negative numbers.

And S13, respectively adjusting the traveling speeds of the driving wheels at the left side and the right side according to the distance relation.

Specifically, when the first distance is greater than the second distance, the traveling speeds of the left and right driving wheels are adjusted to the condition that the speed of the right driving wheel is greater than that of the left driving wheel, and the robot turns left to correct the deviation of the robot; when the first distance is smaller than the second distance, the travelling speed of the driving wheels at the left side and the right side is adjusted to be higher than that of the driving wheels at the right side, so that the robot turns to the right side to correct the deviation of the robot.

And S14, driving the driving wheels at the left side and the right side of the equipment to move forwards at the same speed and climbing stairs.

Specifically, after the robot is corrected, the robot is driven to move forwards and go upstairs or downstairs. Therefore, the posture of the robot is adjusted before going upstairs and downstairs, so that the robot is perpendicular to the vertical surface of the stairs, and the robot can start going upstairs and downstairs smoothly. After the first-stage steps are finished and the robot goes upstairs or downstairs, the robot can still be corrected through the embodiment in the subsequent processes of going upstairs and downstairs.

In one embodiment, in consideration of the problem that the distance relationship between the first distance and the second distance is sometimes difficult to be automatically determined, the robot further comprises two distance sensors symmetrically arranged on both sides of the robot, the two distance sensors detect the distance forward, and the distance sensor detects the distance of the stair facade forward when the upstairs is started. The distance relationship between the first distance and the second distance can be determined based on the distances of the two distance sensors to the step edge surface. If the distance measured by the distance sensor on the same side of the left base point is smaller than that measured by the distance sensor on the same side of the right base point, the corresponding first distance is larger than the second distance because the first distance and the second distance are negative numbers at the moment, and the left end point tilts forwards at the moment; if the distance measured by the distance sensor on the same side of the right base point is smaller than that of the distance sensor on the same side of the left base point, the corresponding second distance is larger than the first distance, and the right end point tilts forward; if the distances measured by the two distance sensors are equal, the first distance is equal to the second distance, and the robot does not deviate. It should be noted that the technical solution in this embodiment is still applicable to the process of starting going downstairs.

In one embodiment, consideration is given to the need to adjust the robot to correct the pose of the robot according to the distance relationship of the first distance and the second distance. If a difference exists between the two distances, determining a front base point and a rear base point according to the magnitude relation of the first distance and the second distance, and if the first distance is greater than the second distance, the front base point is a left base point and the rear base point is a right base point; if the first distance is smaller than the second distance, the front base point is the right base point, and the rear base point is the right base point. The processor adjusts the speed of the driving wheels at the left side and the right side, so that the speed of the driving wheel at the same side of the front base point is lower than that of the driving wheel at the same side of the rear base point, and the backward rear base point is enabled to move forward to gradually correct the deviation of the robot. It should be noted that the technical solution in this embodiment is also applicable to the process of starting going downstairs.

In one embodiment, taking the case of going downstairs, considering that when the robot is ready to go downstairs, the stairs in front of the robot on the plane are all located below the robot, and it is difficult to determine whether the robot is shifted by measuring the distances from the two sides of the robot to the vertical surfaces of the stairs, therefore, two distance sensors are symmetrically arranged on the two sides of the robot, and the positions of the two distance sensors can be respectively overlapped with the positions of the left base point and the right base point. The two distance sensors detect the distance downwards, the positions of the left and right base points can coincide with the positions of the two distance sensors, when the two distance sensors go downstairs, the two distance sensors detect the vertical distance of the step plane, when the two vertical distances are unequal, the distances between the two left and right base points and the step plane are unequal, and therefore the distance relation between the first distance and the second distance is unequal. When the processor detects that the distance relation is unequal, the speed of the driving wheels on the left side and the speed of the driving wheels on the right side are respectively adjusted so as to realize deviation rectification of the equipment before going downstairs. It should be noted that the solution in this embodiment is also applicable to the preparation for going upstairs.

In one embodiment, taking the step down as an example, considering the situation that when the robot is corrected before the step down, it is difficult to accurately adjust the robot to be perpendicular to the vertical surface of the step by adjusting the speed of the driving wheels on the left and right sides only once, when the distance relationship is detected to be unequal, as shown in fig. 3, the method includes the following steps:

at S30, the left base point is defined as the front base point and the right base point is defined as the rear base point according to the magnitude of the first distance and the second distance.

Specifically, the processor sets one of the first distance and the second distance larger as a front base point, and sets the other as a rear base point, wherein the front base point is suspended above the next step, the rear base point and the left and right driving wheels are on the current step, and the robot is deviated.

And S31, controlling the driving wheel on the same side as the rear base point to be stationary, and controlling the driving wheel on the same side as the front base point to roll backwards for a preset length.

Specifically, the processor controls the driving wheels on the same side as the rear base point to stop, and the driving wheels on the same side as the front base point roll backwards by a preset length, so that the front base point moves backwards to adjust the posture of the robot.

And S32, driving the driving wheels at the left and right sides of the equipment at the same speed and simultaneously forwards.

Specifically, after the front base point moves backward, the processor drives the robot to move forward again.

And S33, judging whether the distance relation is unequal or not.

Specifically, in the process that the robot moves forward, the processor judges whether the distance relation is unequal, if the first distance is unequal to the second distance, the front base point is suspended again, the robot still deviates, and the processor executes steps S30 to S32 again; otherwise, the device continues to be driven forward. Therefore, the posture of the equipment can be finely adjusted for many times when the robot goes downstairs, the control on the posture of the robot is more accurate, the processor is favorable for accurately controlling the robot to be perpendicular to the step vertical surface, and the robot falls due to unbalance in the downstairs process.

In one embodiment, as shown in fig. 4 and 5, the robot includes three boxes, a front box, a middle box and a rear box, wherein a front wheel and a rear wheel are respectively arranged below the front box and the rear box, driving wheels are respectively and symmetrically arranged at two sides of the middle box, the processor can independently control each box to ascend or descend, and can independently control each driving wheel. The bottom surfaces of the front box body, the middle box body and the rear box body are respectively provided with a distance measuring sensor for detecting the distance between the bottom surfaces of the front box body, the middle box body and the rear box body and the ground, so that the robot climbs the building.

The process of climbing the building can be, the box lifting before the treater drive can be lifted to the highest height to advance so that the box fell on the step before, the in-process that reduces can be through the range finding sensor of box below before, the vertical distance of bottom of the case and step before the measurement, when the vertical distance reached appointed threshold, can presume before the box fell on the step. The height of one-level step can be obtained through the raised height of the front box body and the descending distance of the front box body.

After the front box body of the robot falls on the step, the bottom surface of the middle box body can be continuously driven to lift until the bottom surface of the middle box body and the bottom surface of the front box body are located on the same horizontal plane. Next, the robot may advance a preset distance again so that the middle box falls on the step. When the middle box body is driven to lift, the middle box body can be lifted by taking the height of the first-stage step as a reference, and the middle box body can be lifted according to the lifting mode of the front box body. Meanwhile, a distance measuring sensor can be arranged on one side edge of the lower portion of the middle box body, which is close to the rear box body, and whether the robot moves forward to the middle box body and is completely suspended on the next step or not can be judged through the distance measuring sensor, and then the middle box body falls on the step.

After the well box of robot fell on the step, can be according to the mode of box in the lifting, continue the lifting back box to the bottom surface that makes the bottom surface of back box and well box is located same horizontal plane, then, the robot can advance once more and predetermine the distance, makes the back box fall on the step. Meanwhile, a distance measuring sensor can be arranged on one side edge, close to the middle box body, below the rear box body, a robot can be judged whether to advance to the rear box body and be completely suspended on the next step through the distance measuring sensor, then the rear box body falls on the step, and therefore the robot finishes stair climbing treatment on the one-layer ascending step.

When the robot goes downstairs, the robot does not turn around, and the rear box body is used as the box body which is the foremost in the advancing direction. In the process of going downstairs, one side of the lower part of the rear box body, which is close to the middle box body, can be provided with a distance measuring sensor, when the distance measured by the distance measuring sensor is greater than a preset distance threshold value, the rear box body can be judged to completely extend to the upper part of the next step to be suspended, and the front box body is descended to be fallen on the step. The robot can continue to move forward to completely suspend the middle box. Here, the method for completely suspending the box during the determination may be the same as the method for completely suspending the box before the determination, and thus, the detailed description thereof is omitted. Next, the robot may drive the middle part down so that the middle part falls on the step. It will be understood that the lowering of the central portion may be carried out with reference to the lowered height of the rear cabinet when the central portion is driven to descend, or may be carried out in accordance with the manner in which the rear cabinet is lowered.

After the middle part of the robot falls on the step, the robot can continue to move forward to enable the front box body to enter a completely suspended state, and then the front box body can be further driven to be lowered so that the front box body falls on the step. The process of lowering the front case may refer to the process of lowering the middle portion, and will not be described in detail herein. So far, the robot has accomplished the stair climbing processing to the one deck down step.

Therefore, in the process of going upstairs or downstairs of the robot, the middle box body is suspended, and considering the situation that the driving wheels on the left side and the right side are suspended and cannot be used, but the posture of the robot still needs to be adjusted, two distance sensors are symmetrically arranged on one side, close to the front box body, of the middle box body below the middle box body, the positions of the left base point and the right base point can coincide with the positions of the two sensors, and the positions of the left base point and the right base point on the middle box body can coincide with the positions of the two distance sensors. In the process that the robot goes upstairs and downstairs, the posture of the robot can be adjusted only through the front wheels and the rear wheels when the middle box body is suspended.

Two distance sensors below the middle box body measure two vertical distances to the step plane, when the two vertical distances are different, it is indicated that a left base point and a right base point are suspended, the left base point and the right base point are arranged on two sides of the edge surface, and the positive and negative properties of the first distance and the second distance are different, so that the distance relation between the first distance and the second distance is judged to be unequal. When detecting that the distance relationships are unequal, the processor sets the left and right base points as front and rear base points, respectively, according to the magnitudes of the first distance and the second distance. The processor controls the robot to rotate by a preset angle towards the side surface where the front base point is located by taking the center of the robot as a circle center through the front wheel and the rear wheel, so that the front base point is rotated backwards, the rear base point is rotated forwards, and the posture of the robot is adjusted.

As shown in fig. 6, when the left and right base points are rotated to be suspended, that is, the left and right base points are both towards the step plane towards which the front wheel faces, the processor controls the robot to move backwards through the front and rear wheels, so that the front base point is overlapped with the edge surface of the stair; when the left base point and the right base point are rotated to be not suspended, namely the left base point and the right base point face the step plane faced by the rear wheel, the processor controls the robot to move forwards through the front wheel and the rear wheel, so that the front base point is overlapped with the edge surface of the stair. And the processor controls the robot to move forwards or backwards to enable the front base point to coincide with the edge surface of the stair, then rotates towards the side surface where the front base point is located by a preset angle by taking the center of the robot as a circle center, wherein the preset angle is preset by a worker, and continuously controls the robot to move forwards or backwards to enable the front base point to coincide with the edge surface of the stair.

Repeating the steps in the two sections, when detecting that the left base point and the right base point are overlapped with the edge surface of the stair at the same time instead of only one base point is overlapped with the edge surface in the process of controlling the robot to move forwards or backwards, judging that the distance relation between the first distance and the second distance is equal, finishing the posture adjustment of the robot by the processor, and driving the robot to climb the stairs continuously. Therefore, the robot can be corrected through the front wheel and the rear wheel under the condition that the driving wheels on the left side and the right side are suspended.

In one embodiment, considering that the robot is rotated over the head during the rotation of the robot so that the front base point is changed, when the processor detects that the front base point is changed, the processor reduces the preset angle by a preset ratio, for example, by a half of the original angle, then controls the robot to rotate the reduced preset angle around the center of the robot toward the side where the front base point is located by the front and rear wheels to slightly move the front base point backward, slightly moves the rear base point forward, continues to control the apparatus to advance and retreat so that the front base point coincides with the stair edge surface, and repeats the step of rotating the robot, and when it detects that the left base point and the right base point coincide with the stair edge surface simultaneously during a certain advance or retreat, it is determined that the distance relationship between the first distance and the second distance is equal, that the posture adjustment of the robot is completed, the drive continues to go upstairs or downstairs. Therefore, when the robot selects to rotate over the head, the robot can be adjusted back more accurately by rotating a smaller angle, and the accuracy of the robot posture control is improved.

In one embodiment, considering the situation that the robot encounters an obstacle on the stairs and is prone to toppling, obstacle detection devices are arranged on the sides, away from the middle box, of the front box and the rear box of the robot, and the obstacle detection devices can be ultrasonic sensors. When the robot goes upstairs, obstacle information sent by the ultrasonic sensor on the front box body is continuously received; when the robot goes downstairs, obstacle information sent by the ultrasonic sensor on the rear box body is continuously received, and the obstacle information comprises obstacles and no obstacles. When the obstacle information indicates that there is an obstacle, it indicates that there is a large object in front of or behind the robot, and the robot is blocked from traveling. The processor controls the robot to stop moving and start timing until barrier information sent by the ultrasonic sensor is received, when the timing duration reaches a preset duration threshold value, the fact that the barrier does not move indicates that the barrier still causes a barrier to the traveling of the robot, and at the moment, the processor controls the robot to horizontally move until the received barrier information is barrier-free. Meanwhile, ultrasonic sensors can be arranged on the left side and the right side of the robot, and when the fact that the top of one end of the robot close to the step, namely the side of the stair, is detected, the processor automatically controls the robot to move horizontally in the opposite direction.

According to the control method for the robot to climb the stairs, the processor can automatically adjust the posture of the robot to be vertical to the vertical surface of the stairs before the robot goes downstairs or upstairs, so that the condition that the robot is unbalanced and falls off from the stairs due to the inclination of the robot when the robot goes upstairs or downstairs is reduced; during the process of going upstairs or downstairs, the processor continuously monitors the posture of the robot, and if the robot is found to deviate, the robot is automatically corrected, so that the robot is favorably kept vertical to the vertical surface of a stair in the process of going upstairs or downstairs, and the robot is kept balanced and stable in the process of going upstairs or downstairs; meanwhile, whether obstacles exist around the robot or not can be monitored, and if the obstacles exist, automatic obstacle avoidance can be realized.

Based on the method, the embodiment of the application also discloses a control device for the robot to climb the stairs. The device is applied to equipment with a stair climbing function, and the equipment comprises driving wheels which are respectively arranged at the left side and the right side of the equipment and can be driven independently, and a left base point and a right base point which are respectively symmetrically arranged at the left side and the right side of the equipment.

As shown in fig. 7, the apparatus includes the following modules:

the distance detection module 70 is used for continuously detecting the remaining distance between the equipment and the stairway to be climbed when the equipment moves in the non-step area;

the distance detection module 71 is configured to detect a distance relationship between a first distance corresponding to the left base point and a second distance corresponding to the right base point in real time if the remaining distance is within a preset distance range, where the first distance and the second distance are distances from the left base point and the right base point to an edge surface of a first step of the stair to be climbed respectively;

a speed adjusting module 72 for adjusting the traveling speeds of the driving wheels on the left and right sides, respectively, according to the distance relationship;

and the stair climbing driving module 73 is used for driving the driving wheels on the left side and the right side of the equipment to move forwards at the same speed and climbing stairs when the distance relation between the first distance and the second distance is detected to be equal.

In one embodiment, the distance detection module 71 is specifically configured to:

a distance relationship between the first distance and the second distance is determined based on a distance from the distance sensor to the step edge face.

In one embodiment, the speed adjustment module 72 is specifically configured to:

if a difference exists between the distances corresponding to the two distance sensors, the left base point is determined as a front base point and the right base point is determined as a rear base point according to the first distance and the second distance;

In an embodiment, the distance detection module 71 is specifically configured to:

measuring two vertical distances to the step plane by two distance sensors;

the adjusting the traveling speeds of the driving wheels on the left and right sides according to the distance relationship includes:

when the distance relation is detected to be unequal, the travelling speeds of the driving wheels on the left side and the right side are respectively adjusted.

In one embodiment, the distance detection module 71 is specifically configured to;

when the distance relation is detected to be unequal, respectively positioning the left base point and the right base point as a front base point and a rear base point according to the first distance and the second distance;

controlling the driving wheels on the same side of the rear base point to be static, and controlling the driving wheels on the same side of the front base point to roll backwards by a preset length;

In one embodiment, as shown in fig. 8, the control device for the robot to climb the stairs further comprises the following modules:

a distance measuring module 80 for measuring two perpendicular distances to the step plane by two distance sensors;

a relation determination module 81, configured to determine that the distance relation between the first distance and the second distance is not equal when the two vertical distances are not equal;

a base point setting module 82, configured to set the left and right base points as front and rear base points according to the magnitudes of the first distance and the second distance, respectively, when it is detected that the distance relationships are not equal;

the rotation control module 83 is used for rotating a preset angle towards the side where the front base point is located by using the center of the equipment as a circle center through the front and rear wheel control equipment;

a front and rear control module 84 for controlling the apparatus to advance or retreat by the front and rear wheels so that the front base point coincides with the stair edge face;

the front and rear control module 84 is further configured to rotate by a preset angle toward the side where the front base point is located again with the center of the equipment as a circle center, and continue to control the equipment to advance or retreat, so that the front base point coincides with the edge surface of the stair;

and the stair climbing driving module 73 is further configured to determine that the distance relationship between the first distance and the second distance is equal to each other when it is detected that the left base point and the right base point are simultaneously overlapped with the stair edge surface, and continue climbing stairs.

In one embodiment, the rotation control module 83 is further configured to reduce the preset angle according to a preset scale when the change of the front base point is detected;

the rotation control module 83 is further configured to rotate the reduced preset angle towards the side where the front base point is located by using the center of the device as a center of a circle through the front and rear wheel control devices;

a front and rear control module 84 for further controlling the apparatus to advance and retreat so that the front base point coincides with the stair edge face;

In one embodiment, as shown in fig. 9, the control device for robot stair climbing further includes the following modules:

an information receiving module 90, configured to continuously receive obstacle information sent by an obstacle detecting device;

a start timing module 91 for:

and the horizontal movement module 92 is configured to control the device to horizontally move when the timed duration reaches a preset duration threshold until the received obstacle information is obstacle-free.

In one embodiment, a computer device is provided.

Specifically, the computer device comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute the control method for the robot to climb the stairs.

In one embodiment, a computer-readable storage medium is provided.

Specifically, the computer-readable storage medium stores a computer program that can be loaded by a processor and executes the control method for robot stair climbing as described above, and includes, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.

Claims

1. A control method for robot stair climbing, characterized in that the method is applied to an apparatus having a stair climbing function, the apparatus including driving wheels individually drivable at left and right sides of the apparatus, respectively, and a left base point and a right base point symmetrically provided at left and right sides of the apparatus, respectively, the method comprising:

2. The method according to claim 1, wherein the apparatus further comprises two distance sensors symmetrically disposed at two sides of the apparatus, and the detecting a distance relationship between a first distance corresponding to the left base point and a second distance corresponding to the right base point in real time comprises:

acquiring the distance between two distance sensing devices and the vertical surface of the stair in real time;

3. The method of claim 2, wherein said adjusting the travel speeds of the left and right drive wheels, respectively, according to the distance relationship comprises:

4. The method according to claim 1, wherein the apparatus further comprises two distance sensors symmetrically disposed at two sides of the apparatus, and the detecting a distance relationship between a first distance corresponding to the left base point and a second distance corresponding to the right base point in real time comprises:

5. The method of claim 4, wherein when it is detected that the distance relationship is not equal, adjusting the traveling speeds of the driving wheels on the left and right sides, respectively, comprises;

6. The method according to claim 1, wherein the equipment further comprises a front box body, a middle box body and a rear box body, wherein front wheels are arranged below the rear box body, rear wheels are arranged below the rear box body, the driving wheels which are arranged on the left side and the right side of the equipment and can be driven independently are arranged on two sides of the middle box body, and two distance sensors are symmetrically arranged below the middle box body along one side of the middle box body close to the front box body;

the method further comprises the following steps:

7. The method of claim 6, further comprising:

8. The method of claim 1, wherein the apparatus further comprises a front box, a middle box and a rear box, the driving wheels are disposed at both sides of the middle box, and obstacle detecting devices are disposed at both sides of the front box and the rear box facing away from the middle box, the method further comprising;

9. A control apparatus for robot climbing a building, the apparatus being applied to a device having a function of climbing a building, the device including driving wheels which are individually drivable provided at left and right sides of the device, respectively, and a left base point and a right base point which are symmetrically provided at left and right sides of the device, respectively, the apparatus comprising:

the distance detection module (70) is used for continuously detecting the remaining distance between the equipment and the stairway to be climbed when the equipment moves in the non-step area;

a distance detection module (71) for detecting a distance relationship between a first distance corresponding to the left base point and a second distance corresponding to the right base point in real time if the remaining distance is within a preset distance range, wherein the first distance and the second distance are respectively the distance from the left base point and the right base point to the edge surface of the first step of the stair to be climbed;

the speed adjusting module (72) is used for respectively adjusting the travelling speeds of the driving wheels at the left side and the right side according to the distance relation;

and the stair climbing driving module (73) is used for driving the driving wheels on the left side and the right side of the equipment to move forwards at the same speed and climbing stairs when the distance relation between the first distance and the second distance is detected to be equal.

10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 8.