CN110403527B

CN110403527B - Equipment control system and method, supporting equipment and mobile robot

Info

Publication number: CN110403527B
Application number: CN201810392952.0A
Authority: CN
Inventors: 郭斌; 朱威克; 朱云飞; 孟向伟; 张乐乐; 蒋海青
Original assignee: Hangzhou Ezviz Network Co Ltd
Current assignee: Hangzhou Ezviz Network Co Ltd
Priority date: 2018-04-27
Filing date: 2018-04-27
Publication date: 2021-11-12
Anticipated expiration: 2038-04-27
Also published as: CN110403527A

Abstract

The embodiment of the application provides a device control system, a device control method, a supporting device and a mobile robot. The system includes a mobile robot and a support apparatus. The support apparatus includes: a controller, a drive member and a support member; the controller is electrically connected with the driving part; the driving part can drive the supporting part to rotate around an output shaft of the driving part; a groove is formed in the mobile robot chassis; and when the controller determines that the mobile robot moves above the supporting part, the controller controls the driving part to enable the driving part to drive the supporting part to rotate according to a preset direction, and the supporting part can enable the mobile robot to be erected through butt joint matching with the groove when rotating according to the preset direction. By applying the scheme provided by the embodiment of the application, the floor area of the mobile robot can be reduced when the mobile robot is in a static state.

Description

Equipment control system and method, supporting equipment and mobile robot

Technical Field

The application relates to the technical field of mobile robots, in particular to a device control system, a device control method, a supporting device and a mobile robot.

Background

A mobile robot is a machine device that can execute operations according to a predetermined program. The mobile robot has a moving function and can perform various types of tasks during movement. For example, a sweeping robot may clean a road surface during movement, etc. When the mobile robot is in a stationary state, for example, when a cleaning task is performed or when charging is performed, the mobile robot is usually placed on the ground in a predetermined posture, for example, laid flat on the ground. However, a part of mobile robots have a large floor area, and when the mobile robots are laid on the ground for a long time, the mobile robots occupy a large floor area, which may adversely affect the walking of users.

Disclosure of Invention

An object of the embodiment of the application is to provide an equipment control system, an equipment control method, a supporting equipment and a mobile robot, so that the floor area of the mobile robot is reduced when the mobile robot is in a static state.

In order to achieve the above object, an embodiment of the present application provides an apparatus control system, including: a mobile robot and a support apparatus;

the support apparatus includes: a controller, a drive member and a support member; the controller is electrically connected with the driving part; the driving part can drive the supporting part to rotate around an output shaft of the driving part; a groove is formed in the mobile robot chassis;

and when the controller determines that the mobile robot moves above the supporting part, the controller controls the driving part to enable the driving part to drive the supporting part to rotate according to a preset direction, and when the supporting part rotates according to the preset direction, the supporting part can enable the mobile robot to be erected through butt joint matching with the groove.

Optionally, one end of the supporting part is in a hook-shaped structure.

Optionally, the output shaft is connected to the center of the flange, one end of the support member is connected to the disk surface of the flange, the center line of the support member is not parallel to the center line of the output shaft, and the drive member drives the support member to rotate around the output shaft through the flange.

Optionally, the mobile robot further includes: an auxiliary wheel; the auxiliary wheel is positioned on one side, close to the ground, of the mobile robot in an upright state;

when the supporting component rotates according to the preset direction, the mobile robot is erected under the supporting action of the auxiliary wheels and the butt joint matching of the supporting component and the groove.

Optionally, the controller determines that the mobile robot has moved above the support component when receiving an arrival instruction sent by the mobile robot or when detecting an arrival signal triggered by the mobile robot;

the mobile robot sends the arrival instruction to the controller when determining that the mobile robot has moved above the support member.

Optionally, the controller further controls the driving component to drive the supporting component to rotate in a direction opposite to the preset direction when it is determined that the mobile robot is to leave the supporting component after the mobile robot is in the vertical state; and when the supporting component rotates in the opposite direction of the preset direction, the posture of the mobile robot can be leveled through butt joint matching with the groove.

Optionally, the controller determines that the mobile robot is to leave the support component when receiving a leaving instruction sent by the mobile robot;

and the mobile robot sends the leaving instruction to the controller when determining that the mobile robot leaves the supporting part.

Optionally, after it is determined that the mobile robot leaves above the supporting part, the controller controls the driving part to drive the supporting part to rotate according to the preset direction;

the controller is further configured to control the driving member to drive the supporting member to rotate in a direction opposite to the preset direction if a preparation instruction sent by the mobile robot is received before the mobile robot is determined to move above the supporting member;

the mobile robot also sends the preparation instruction to the controller when determining that the mobile robot is to be in an upright state and does not move above the support member.

Optionally, the support apparatus further comprises: a charging circuit and a charging electrode; when the mobile robot is in an upright state, the charging electrode of the mobile robot is connected with the charging electrode of the supporting equipment; the charging circuit charges the mobile robot through the charging electrode.

Optionally, the controller is connected to the charging circuit; when the mobile robot is in an upright state and when the controller determines that the mobile robot is to be charged, the controller controls the charging circuit to charge the mobile robot through the charging electrode.

Optionally, the controller controls the charging circuit to stop charging the mobile robot when determining that the mobile robot is charged.

The embodiment of the application provides an equipment control method, which is applied to a controller in a supporting device, wherein the supporting device further comprises a driving part and a supporting part, the controller is electrically connected with the driving part, and the driving part can drive the supporting part to rotate around an output shaft of the driving part; the method comprises the following steps:

judging whether the mobile robot moves above the supporting part or not; wherein, a slot is arranged on the mobile robot chassis;

and when the mobile robot is determined to move above the supporting part, controlling the driving part to enable the driving part to drive the supporting part to rotate according to a preset direction, wherein the supporting part can enable the mobile robot to be erected through butt joint matching with the groove when rotating according to the preset direction.

Optionally, the step of judging whether the mobile robot moves above the supporting part includes:

judging whether an arrival instruction sent by the mobile robot is received or not, and if the arrival instruction is received, determining that the mobile robot moves above the supporting part; wherein the arrival instruction is: the mobile robot transmitting upon determining that it has moved over the support member; alternatively, the first and second electrodes may be,

and judging whether an arrival signal triggered by the mobile robot is detected or not, and if so, determining that the mobile robot moves above the supporting part.

Optionally, after the mobile robot is in the upright state, the method further includes:

judging whether the mobile robot leaves the supporting part or not;

when the mobile robot is determined to leave the supporting part, controlling the driving part to enable the driving part to drive the supporting part to rotate according to the direction opposite to the preset direction; and when the supporting component rotates in the opposite direction of the preset direction, the posture of the mobile robot can be leveled through butt joint matching with the groove.

Optionally, the step of determining whether the mobile robot leaves the support component includes:

judging whether a leaving instruction sent by the mobile robot is received or not, and if the leaving instruction is received, determining that the mobile robot leaves the supporting component; wherein the leaving instruction is: the mobile robot sends to the controller when determining that it is to leave the support member.

Optionally, after determining that the mobile robot leaves above the supporting part, the method further includes:

controlling the driving part to enable the driving part to drive the supporting part to rotate according to the preset direction;

before determining that the mobile robot has moved above the support member, further comprising:

if a preparation instruction sent by the mobile robot is received, controlling the driving part to enable the driving part to drive the supporting part to rotate according to the direction opposite to the preset direction; wherein the preparation instruction is: the mobile robot sends to the controller when determining that it is to be in an upright state and not moving above the support member.

Optionally, the support apparatus further comprises: a charging circuit and a charging electrode; the controller is connected with the charging circuit; when the mobile robot is in an upright state, the charging electrode of the mobile robot is connected with the charging electrode of the supporting equipment; the method further comprises the following steps:

and when the mobile robot is determined to be in the vertical state and is determined to be charged, controlling the charging circuit to charge the mobile robot through the charging electrode.

Optionally, the method further includes: and when the mobile robot is determined to be charged completely, controlling the charging circuit to stop charging the mobile robot.

The embodiment of the application also provides an equipment control method, which is applied to a mobile robot, wherein the mobile robot is in communication connection with a controller of a support device, the support device further comprises a driving part and a support part, the controller is electrically connected with the driving part, and the driving part can drive the support part to rotate around an output shaft of the driving part; the method comprises the following steps:

judging whether the mobile phone moves above the supporting component or not;

when the mobile robot is determined to move above the supporting part, an arrival instruction is sent to the controller, so that when the controller receives the arrival instruction, the driving part is controlled to drive the supporting part to rotate according to a preset direction, and when the supporting part rotates according to the preset direction, the mobile robot can be erected through butt joint matching with the groove.

judging whether the mobile phone is to leave the supporting part;

and sending a leaving instruction to the controller when determining that the controller is to leave the supporting part.

Optionally, before sending the arrival instruction to the controller, the method further includes:

sending a preparation instruction to the controller when determining that the self is to be in an upright state and is not moved above the supporting part.

An embodiment of the present application further provides a supporting apparatus, which includes: a controller, a drive member and a support member;

the controller is electrically connected with the driving part, and the driving part can drive the supporting part to rotate around an output shaft of the driving part;

the controller is used for controlling the driving part when the mobile robot is determined to move above the supporting part, so that the driving part drives the supporting part to rotate according to a preset direction, and the supporting part can enable the mobile robot to be erected through butt joint and matching with the groove when rotating according to the preset direction; the groove is formed in the mobile robot chassis.

Optionally, the support apparatus further comprises: a charging circuit and a charging electrode; when the mobile robot is in an upright state, the charging electrode of the mobile robot is connected with the charging electrode of the supporting equipment; the charging circuit charges the mobile robot through the charging electrode when being turned on.

Optionally, the controller is specifically configured to:

determining that the mobile robot has moved above the supporting part when an arrival instruction sent by the mobile robot is received or an arrival signal triggered by the mobile robot is detected; the arrival instruction is as follows: the mobile robot transmits upon determining that it has moved over the support member.

An embodiment of the present application further provides a mobile robot, including: a processor and a memory;

the processor is in communication connection with a controller of the supporting device, the supporting device further comprises a driving part and a supporting part, the controller is electrically connected with the driving part, and the driving part can drive the supporting part to rotate around an output shaft of the driving part;

the processor is used for sending an arrival instruction to the controller when the mobile robot is determined to move above the supporting part, so that the controller controls the driving part when receiving the arrival instruction, the driving part drives the supporting part to rotate according to a preset direction, and the supporting part can enable the mobile robot to be erected through butt joint matching with the groove when rotating according to the preset direction.

An embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and when executed by a processor, the computer program implements: the device control method provided by the embodiment of the application. The method comprises the following steps:

and when the mobile robot is determined to move above the supporting part, controlling the driving part so that the driving part drives the supporting part to rotate according to the preset direction, wherein the supporting part can enable the mobile robot to be erected through butt joint matching with the groove when rotating according to the preset direction.

judging whether the mobile robot moves above the supporting part or not;

when the mobile robot is determined to move above the supporting part, an arrival instruction is sent to the controller, so that when the controller receives the arrival instruction, the driving part is controlled, the driving part drives the supporting part to rotate according to the preset direction, and when the supporting part rotates according to the preset direction, the mobile robot can be erected through butt joint matching with the groove.

The device control method and system provided by the embodiment of the application comprise a supporting device, wherein the supporting device comprises a controller, a driving part and a supporting part. The controller may control the driving part to drive the supporting part to rotate in a predetermined direction when it is determined that the mobile robot has moved above the supporting part, and the supporting part may erect the mobile robot by abutting engagement with the groove on the chassis of the mobile robot when rotating. When the mobile robot determines that the mobile robot needs to be in a static state, the mobile robot can move to the position above the supporting part and be erected through the supporting effect of the supporting part, and for the mobile robot with a large floor area, the floor area of the mobile robot can be reduced when the mobile robot is in an erected state. Of course, not all advantages described above need to be achieved at the same time in the practice of any one product or method of the present application.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

Fig. 1a is a schematic structural diagram of an apparatus control system according to an embodiment of the present application;

fig. 1b is a top structural view of a supporting apparatus provided in the embodiment of the present application;

fig. 1c is a schematic diagram of several slot positions of a mobile robot according to an embodiment of the present disclosure;

FIG. 1d is a schematic diagram of a mobile robot being erected by a support member according to an embodiment of the present disclosure;

FIGS. 2a and 2b are schematic views of the driving member, the flange and the supporting member at two angles according to the embodiment of the present application;

fig. 3a is a schematic diagram of a position of an auxiliary wheel in a mobile robot according to an embodiment of the present application;

FIGS. 3b and 3c are schematic views of positions of an auxiliary wheel provided in an embodiment of the present application in two cases;

fig. 4a and 4b are schematic structural diagrams of two angles of a connection relationship between a charging circuit and a charging electrode according to an embodiment of the present application;

fig. 4c is a schematic diagram of a mobile robot provided in the embodiment of the present application charging through a support device;

fig. 5a is a schematic moving direction diagram of a mobile robot according to an embodiment of the present disclosure;

fig. 5b is a schematic view illustrating another moving direction of the mobile robot according to the embodiment of the present application;

fig. 6 is a schematic flowchart of an apparatus control method according to an embodiment of the present application;

fig. 7 is a schematic flowchart of another apparatus control method according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a support apparatus provided in an embodiment of the present application;

fig. 9 is a schematic structural diagram of a mobile robot according to an embodiment of the present application.

Detailed Description

The technical solution in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the described embodiments are merely a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to reduce the floor area of a mobile robot when the mobile robot is in a static state, the embodiment of the application provides an equipment control system, an equipment control method, a supporting equipment and the mobile robot. The present application will be described in detail below with reference to specific examples.

Fig. 1a is a schematic structural diagram of an apparatus control system according to an embodiment of the present disclosure. The system comprises: a mobile robot 11 and a support apparatus 12.

The support device 12 includes: a controller 121, a driving part 122, and a supporting part 123. The controller 121 is electrically connected to the driving part 122. The driving member 122 can drive the supporting member 123 to rotate around the output shaft of the driving member 122.

The controller may be a chip with a control function. The drive member may be a member having a driving function, for example, the drive member may be an electric motor or an internal combustion engine. As a specific embodiment, the driving component may be a steering engine or other dc motor. The steering engine is a servo motor controlled by position (or angle), and is suitable for scenes which need to change angles continuously and can keep a certain position.

The support member may be a rigid rod-like member, such as a straight rod, which may be a steel material, or a substantially straight rod having other shapes, and the specific material and shape of the support member are not limited in this application. The support member may be directly fixed to the output shaft of the drive member, or may be fixed to the output shaft by another member.

The support device may have a housing which is fixed to the wall and the drive members may each be fixed within the housing. The support member is rotatable about the output shaft of the drive member. In this embodiment, the housing of the support device is not an essential component, and the drive component may be fixed directly to the ground. The support device may have one or more support members. In order to make the support member more stable when lifting the mobile robot, the support apparatus may have two or more support members. The supporting parts can be driven by the same driving part or different driving parts respectively.

Fig. 1b is a top structural view of the supporting apparatus provided in the embodiment of the present application. Wherein the support device comprises two support members driven by different drive members. The controller is electrically connected with the two driving components.

The chassis of the mobile robot 11 is provided with a groove 111. The mobile robot may be a sweeping robot having a floor sweeping function. The groove on the mobile robot chassis can be a square groove, and also can be a triangular groove or other irregular grooves. The number of slots on the mobile robot chassis may be determined based on the number of support members. For example, when the support member is one, the number of the grooves may be one; when the support member is two, the groove may be two. To facilitate the coupling of the support members to the slots, the slots in the chassis of the mobile robot may also be transversely elongated slots. The position of the slot on the chassis of the mobile robot can be determined empirically and based on the position of the center of gravity of the mobile robot. Referring to the bottom view of the mobile robot shown in fig. 1c, which shows the position of the centre of gravity of the mobile robot, the positions of the driven wheels and the driving wheels, the slot may be located between the edge of the end of the mobile robot facing the support device and the centre of gravity of the mobile robot, two positions of the slot being listed in fig. 1 c. When the supporting part is lifted, the gravity moment of the mobile robot enables one end, far away from the supporting device, of the mobile robot to be still in contact with the ground by taking the action point of the supporting part as a fulcrum. The present application does not specifically limit the position or shape of the grooves.

The controller 121, upon determining that the mobile robot 11 has moved above the support member 123, controls the driving member 122 such that the driving member 122 drives the support member 123 to rotate in a preset direction, and the support member 123, when rotating in the preset direction, enables the mobile robot to stand by abutting engagement with the slot 111.

In fig. 1a, the preset direction may be a counterclockwise direction, that is, the supporting member rotates counterclockwise from the position shown in fig. 1a, and during the rotation, one end of the supporting member may be caught in the groove of the mobile robot, so as to gradually lift the mobile robot, and finally, the mobile robot is erected. When the mobile robot is erected, the transverse axis of the mobile robot may form an angle with the ground, for example, the angle may be between 80 degrees and 100 degrees.

The controller controls the driving part so that when the driving part drives the supporting part to rotate according to the preset direction, the driving part can be specifically controlled so that the driving part drives the supporting part to rotate according to the preset direction by a specified angle. The controller stops driving the driving member when detecting that the supporting member is rotated by a designated angle. The specified angle may be determined empirically, and may be, for example, a value between 70 degrees and 90 degrees.

When determining the rotation angle of the support member, the controller may specifically determine the rotation angle of the output shaft according to an output signal of a code wheel connected to the output shaft of the drive member, and determine the rotation angle of the support member corresponding to the rotation angle of the output shaft according to a preset corresponding relationship between the rotation angle of the output shaft and the rotation angle of the support member.

Fig. 1d is a schematic diagram of a mobile robot being erected by a support component according to an embodiment of the present disclosure. Comparing fig. 1d with fig. 1a, it can be found that the floor area can be reduced when the mobile robot is in the vertical state compared with the case that the mobile robot is horizontally placed, and the interference to the walking of the user can be avoided as much as possible.

When the driving part is a motor, the supporting apparatus may include a driving circuit, and the controller, the driving circuit, and the driving part may be sequentially connected. When the controller controls the driving part, the current transmitted to the driving part by the driving circuit can be controlled, so that the driving part rotates according to the preset direction.

When the driving member is an internal combustion engine, the controller may control fuel delivery to the internal combustion engine to cause the internal combustion engine to rotate. Since the motor is easier to control as a driving member, the motor will be described as an example in the following description of the present application.

As can be seen from the above, in the present embodiment, the supporting apparatus includes a controller, a driving member, and a supporting member. The controller may control the driving part to drive the supporting part to rotate in a predetermined direction when it is determined that the mobile robot has moved above the supporting part, and the supporting part may erect the mobile robot by abutting engagement with the groove on the chassis of the mobile robot when rotating. When the mobile robot determines that the mobile robot needs to be in a static state, the mobile robot can move to the position above the supporting part and be erected through the supporting effect of the supporting part, and for the mobile robot with a large floor area, the floor area of the mobile robot can be reduced when the mobile robot is in an erected state.

Simultaneously, when this embodiment changes mobile robot from the state of keeping flat into the state of erectting, need not artifical manual operation, degree of automation when consequently this embodiment can improve the posture to equipment is controlled to can bring the facility for the consumer, provide better user experience.

In another embodiment of the present application, one end of the support member may be provided as a hook structure. In this embodiment, the hook-like formation may be located at an end of the support member remote from the point of rotation, i.e. the free end of the support member. The hook-shaped structure can be in snap-fit coupling linkage with a groove on a chassis of the mobile robot. See the hook-like structure at the right end of the support member in fig. 1 a. The hook-shaped structure on the supporting part can enable the supporting part to lift the mobile robot more stably.

In another embodiment of the present application, fig. 2a and 2b are schematic views of two angles of the driving member, the flange plate and the supporting member connected in sequence according to the embodiment of the present application. Fig. 2a is a top view. The output shaft may be connected to the center of the flange 13, one end of the supporting member 123 may be connected to the disk surface of the flange 13, the center line of the supporting member 123 may not be parallel to the center line of the output shaft, and the driving member 122 may drive the supporting member 123 to rotate around the output shaft via the flange 13. The centerline of the support member 123 and the centerline of the output shaft may be perpendicular or nearly perpendicular to each other. As an alternative embodiment, the mounting position of the supporting component on the flange plate can be any position on the surface of the flange plate. For example, referring to fig. 2b, the support member may be mounted on the flange at a position such as a left side of the flange or a right side of the flange. In this embodiment, the driving part drives the supporting part to rotate through the flange plate, so that the rotating process of the supporting part is more stable.

In another embodiment of the present application, in order to make the process of lifting the mobile robot by the supporting device easier to perform and reduce the friction between the mobile robot and the ground, the mobile robot 11 in this embodiment may further include auxiliary wheels 112 as shown in fig. 3 a. The auxiliary wheel 112 is located on a side close to the ground when the mobile robot is in an upright state. In fig. 3a, the wheels in the middle of the mobile robot are driving wheels 113, and the wheels on the right side are auxiliary wheels 112.

When the support member 123 is rotated in a predetermined direction, the mobile robot 11 stands up by the supporting action of the auxiliary wheels 112 and the abutting engagement of the support member 123 with the groove 111.

Referring to fig. 3a, during the process of lifting the mobile robot, the support member applies a lifting force obliquely upward to the mobile robot, and the auxiliary wheels receive a rolling friction force applied from the ground and an upward supporting force. The vertical upward component of the lifting force and the supporting force borne by the auxiliary wheel are used for overcoming the gravity of the mobile robot, the lifting force also provides the upward moving force of the mobile robot, and the horizontal leftward component of the lifting force promotes the mobile robot to move leftward. The auxiliary wheels can reduce the frictional resistance of the ground, so that the support component can lift the mobile robot more easily.

In this embodiment, the auxiliary wheel 112 may be a driven wheel of the mobile robot, or may be a wheel of the mobile robot other than the driven wheel (or called a follow-up wheel). Referring to fig. 3b and 3c, the mobile robot in fig. 3b includes a driving wheel and a driven wheel, and the driven wheel functions as an auxiliary wheel in the present embodiment. The mobile robot in fig. 3c comprises driving wheels, driven wheels and auxiliary wheels. The driven wheel plays a role in assisting in driving when the mobile robot works normally, and the auxiliary wheel plays a role in assisting in moving when the mobile robot is lifted by the supporting part.

Since the rolling friction is smaller than the sliding friction under the same condition, the embodiment can reduce the friction between the mobile robot and the ground, so that the support device can lift the mobile robot more easily, and the requirement on the power of the driving part can be reduced.

In another embodiment, the auxiliary wheels may or may not contact the ground when the mobile robot is on a level ground. When the contact surface contacts the ground, the contact surface can have an acting force with the ground or not.

The mobile robot may further include a driving motor that drives the auxiliary wheel. When the mobile robot is lifted by the supporting part, the mobile robot can also control the driving motor to drive the auxiliary wheel to rotate, so that the auxiliary wheel provides certain driving force in the process of lifting the mobile robot, and the mobile robot is easier to lift.

In another embodiment of the present application, the controller 121 determines that the mobile robot 11 has moved above the support member when receiving an arrival instruction transmitted from the mobile robot 11 or when detecting an arrival signal triggered by the mobile robot 11.

The mobile robot 11, when determining that it has moved above the support member 123, sends the arrival instruction to the controller 121.

In this embodiment, the controller may determine in real time whether an arrival instruction sent by the mobile robot is received, and when the arrival instruction is received, determine that the mobile robot has moved above the support member. The controller may determine whether an arrival signal triggered by the mobile robot is detected in real time, and when the arrival signal is detected, it is determined that the mobile robot has moved above the support member.

The mobile robot can be driven to the support device when the work task of the mobile robot is completed. The support device can be provided with a marker, the mobile robot can detect the distance and the direction from the marker, and the mobile robot drives to the support device according to the distance and the direction. When the distance and the orientation reach the preset distance and the preset orientation, respectively, the mobile robot determines that the mobile robot has moved above the support member.

This embodiment can be implemented in various specific embodiments.

In the first mode, corresponding wireless modules can be arranged in the mobile robot and the supporting equipment so as to send the arrival instruction in the wireless mode. The wireless module may be a wireless fidelity (wifi) module, a bluetooth module, or a zigbee module, etc. When the mobile robot sends the arrival instruction to the controller, the arrival instruction can be sent in a wireless signal mode through the wireless module.

In the second mode, the mobile robot may also have a light emitting module, and the support device may have a light receiving module. The mobile robot sends an optical signal to the support device through the optical transmission module upon determining that it has moved over the support member. When the optical receiving module of the supporting device receives the optical signal, it is determined that the arrival instruction is received.

In a third way, the mobile robot may also have a speaker and the support device may have a microphone. The mobile robot plays a voice signal for indicating an arrival instruction through the speaker when determining that itself has moved above the support member. When the microphone of the supporting apparatus receives the voice signal, it is determined that an arrival instruction is received.

The support device can also be provided with a trigger component, when the mobile robot moves above the support component, the trigger component can be triggered, and the trigger component sends an arrival signal to the controller. For example, the triggering element may comprise a touch sensor or a hall sensor, which generates a trigger signal when triggered and sends the trigger signal as an arrival signal to the controller.

In addition, the controller may determine that the mobile robot has moved above the support member when a preset first time arrives. The mobile robot may move over the support member before the preset first moment arrives. The first time may be a mutual agreement between the controller and the mobile robot, or may be manually set.

In summary, the present embodiment provides various embodiments to determine that the mobile robot has moved above the supporting member.

In another embodiment of the present application, the controller 121 may further control the driving part 122 such that the driving part 122 drives the supporting part 123 to rotate in a direction opposite to the preset direction when it is determined that the mobile robot 11 is to leave the supporting part 123 after the mobile robot 11 is in the standing state.

Wherein the support member can level the posture of the mobile robot 11 by the butt-joint engagement with the groove 111 when rotating in the opposite direction of the preset direction. When the mobile robot is horizontally arranged, the supporting component can be separated from the groove.

When the preset direction is the counterclockwise direction, the opposite direction of the preset direction is the clockwise direction.

The controller controls the driving part such that the driving part drives the supporting part to rotate in a direction opposite to the preset direction, and the rotation direction of the driving part can be changed by changing the phase sequence of the current input to the driving part.

The controller can specifically control the driving component to drive the supporting component to rotate for a preset angle according to the opposite direction of the preset direction when controlling the driving component to drive the supporting component to rotate according to the opposite direction of the preset direction. The preset angle may be equal to the specified angle or smaller than the specified angle.

When the preset angle is smaller than the designated angle, when the support component rotates by the preset angle, the driving component is stopped to drive the support component to continue to move downwards under the action of the gravity of the mobile robot until the support component moves to the attitude horizontal state, namely moves to the ground.

The preset angle may be predetermined based on an empirical value and a specified angle. For example, when the specified angle is 85 degrees, the preset angle may take 40 degrees. That is, when the driving part drives the support part to rotate 40 degrees in the opposite direction of the preset direction, the driving of the support part is stopped, and the support part can continue to move downward by the gravity of the mobile robot. The downward movement by the gravity of the mobile robot in the present embodiment can reduce the consumption of energy.

In summary, in the embodiment, the controller may control the driving unit to level the posture of the mobile robot when determining that the mobile robot is to leave the supporting unit. Attitude horizontal may be understood as horizontal placement. After the mobile robot posture is horizontal, the mobile robot can execute a work task and release the static state.

In another embodiment of the present application, the controller 121, upon receiving a leaving instruction sent by the mobile robot 11, determines that the mobile robot 11 is to leave the support member 123;

the mobile robot 11, upon determining that it is to leave the support member 123, sends a leaving instruction to the controller 11.

The mobile robot can determine that the mobile robot leaves the supporting part when the preset working time is up or a working instruction is received.

In this embodiment, the mobile robot may send the leaving instruction to the controller in the manner of the first to third embodiments, which is specifically described in the foregoing description and will not be described herein again.

In addition, the controller may determine that the mobile robot is to leave the support member when a preset second time arrives. The second time may be mutually agreed by the controller and the mobile robot, or may be manually set.

In another embodiment of the present application, the controller 121, after determining that the mobile robot 11 leaves above the supporting part 123, controls the driving part 122 so that the driving part 122 drives the supporting part 123 to rotate in a preset direction so that the supporting part is in an upright state. Specifically, the controller may control the driving member to drive the supporting member to rotate by a predetermined angle according to a preset direction.

In this embodiment, after the mobile robot leaves the support member, the support member is also rotated to the upright state, so that the floor area of the support member can be reduced, thereby reducing adverse effects on the walking of the user.

In this embodiment, the controller 121 further controls the driving part 122 to make the driving part drive the supporting part 123 to rotate in the direction opposite to the preset direction if receiving the preparation instruction sent by the mobile robot 11 before determining that the mobile robot 11 has moved above the supporting part 123, so that the supporting part can be in the attitude horizontal state to move above the supporting part.

The mobile robot 11 also sends a preparation instruction to the controller 121 when determining that it is to be in an upright state and has not moved above the support member 123.

Specifically, the controller controls the driving member so that when the driving member drives the supporting member to rotate in the direction opposite to the preset direction, the driving member may be controlled so that the driving member drives the supporting member to rotate in the direction opposite to the preset direction by a specified angle.

In another embodiment of the present application, the support apparatus 12 may further comprise a charging circuit 124 and a charging electrode 125 as shown in fig. 4a and 4 b. The charging electrode may particularly be in the form of a charging pad. Fig. 4a is a schematic structural diagram of a supporting apparatus provided in an embodiment of the present application, and fig. 4b is a top view of fig. 4 a.

When the mobile robot 11 is in the upright state, the charging electrode 114 of the mobile robot 11 is connected to the charging electrode 125 of the supporting apparatus. The charging circuit 124 charges the mobile robot 11 through the charging electrode.

When the mobile robot can also charge on the supporting equipment, the groove formed in the mobile robot is located between the other end of the position where the charging electrode of the mobile robot is located and the gravity center of the mobile robot.

When the mobile robot is charged by the charging electrode, it can be understood that the mobile robot is charged by the charging electrode of the support device and the charging electrode of the mobile robot.

Referring to fig. 4c, fig. 4c is a schematic diagram of the mobile robot charging through the support device. When the mobile robot is in the upright state, the charging electrode 114 is in contact with the charging electrode 125, and the charging circuit 124 can charge the mobile robot.

In this embodiment, when the charging electrode 114 contacts the charging electrode 125, the charging circuit 124 is in the on state.

In this embodiment, the support device has a charging circuit and a charging electrode, and the mobile robot can be charged by the charging circuit, that is, the support device has a charging dock function. When the mobile robot is standing on the support member, charging can be performed on the support device. That is to say, the mobile robot can be charged in a vertical state during charging, so that the floor area of the mobile robot during charging can be reduced, and the adverse effect on the walking of a user is further reduced.

In another embodiment of the present application, in the embodiment shown in fig. 4a, the controller 121 may be connected to the charging circuit 124, and may control the charging circuit 124 to charge the mobile robot through the charging

electrodes

114 and 125 when the charging electrode 114 is in contact with the charging electrode 125. When the charging electrode 114 is not in contact with the charging electrode 125, the charging circuit 124 is kept in an off state, and the controller 121 cannot control the charging circuit 124 to charge the mobile robot. When the mobile robot is in the upright state, and when the controller 121 is determining that the mobile robot is to be charged, the controller 121 controls the charging circuit 124 to charge the mobile robot through the charging electrode.

The controller may determine that the mobile robot is to be charged when receiving a charging instruction sent by the mobile robot. The mobile robot can detect the residual capacity of the mobile robot, and when the residual capacity is smaller than a preset capacity threshold value, a charging instruction is sent to the controller.

In the process of charging the mobile robot by the charging circuit, the controller 121 controls the charging circuit 124 to stop charging the mobile robot when determining that the charging of the mobile robot 11 is completed. Specifically, the controller may detect whether a voltage across two ends of the mobile robot in the charging circuit is greater than a preset voltage threshold, and if so, the mobile robot is considered to be charged, and at this time, the charging circuit may be controlled not to charge the mobile robot.

The present application will be described in detail with reference to specific examples.

The mobile robot comprises a driven wheel, wherein one side of the position of the driven wheel is used as the head of the mobile robot, and the other side of the position of the driven wheel is used as the tail of the mobile robot.

When the charging electrode is located at the head of the mobile robot, the slot may be provided in the chassis at the rear side of the mobile robot. The mobile robot moves the tail towards the support device in the direction shown in figure 5a until it moves above the support member.

When the charging electrode is positioned at the tail part of the mobile robot, the groove is arranged on the chassis at one side of the head part of the mobile robot, and an auxiliary wheel is added at the tail part of the mobile robot, and the auxiliary wheel can not contact the ground when the mobile robot works normally and can contact the ground when the head part of the mobile robot is lifted. The mobile robot moves the head towards the support device in the direction shown in fig. 5b until it moves over the support member.

Fig. 6 is a flowchart illustrating an apparatus control method according to an embodiment of the present application. The method is applied to a controller in the supporting equipment, and the controller can be a control chip and the like. The supporting device further comprises a driving part and a supporting part, the controller is electrically connected with the driving part, and the driving part can drive the supporting part to rotate around an output shaft of the driving part. The method of the present embodiment includes steps S601 and S602.

Step S601: it is determined whether the mobile robot has moved above the support member, and if so, step S601 is executed, and if not, no processing may be performed. Wherein, the mobile robot chassis is provided with a groove.

Step S602: and when the mobile robot is determined to move above the supporting part, controlling the driving part so that the driving part drives the supporting part to rotate according to the preset direction, wherein the supporting part can enable the mobile robot to be erected through butt joint matching with the groove when rotating according to the preset direction.

The preset direction can be a counterclockwise direction or a clockwise direction, and the preset direction can be set according to an actual application scene.

In this step, the driving part is controlled so that when the driving part drives the supporting part to rotate according to the preset direction, the driving part may be specifically controlled so that the driving part drives the supporting part to rotate by a specified angle according to the preset direction. The controller stops driving the driving member when detecting that the supporting member is rotated by a designated angle. The specified angle may be determined based on empirical values.

When the rotation angle of the support member is determined, specifically, the rotation angle of the output shaft is determined according to an output signal of a code disc connected to the output shaft of the drive member, and the rotation angle of the support member corresponding to the rotation angle of the output shaft is determined according to a preset corresponding relationship between the rotation angle of the output shaft and the rotation angle of the support member.

In summary, in this embodiment, the controller may control the driving component to drive the supporting component to rotate according to the predetermined direction when determining that the mobile robot has moved above the supporting component, and the supporting component can make the mobile robot stand by the butt-joint fit with the slot on the chassis of the mobile robot when rotating. When the mobile robot determines that the mobile robot needs to be in a static state, the mobile robot can move to the position above the supporting part and be erected through the supporting effect of the supporting part, and for the mobile robot with a large floor area, the floor area of the mobile robot can be reduced when the mobile robot is in an erected state.

In another embodiment of the present application, based on the embodiment shown in fig. 6, the step of determining whether the mobile robot moves above the supporting member in step S601 may specifically include the following embodiments:

one embodiment is that whether an arrival instruction sent by the mobile robot is received is judged, and if the arrival instruction is received, the mobile robot is determined to move above the supporting part. Wherein, the arrival instruction is: the mobile robot transmits upon determining that it has moved over the support member.

This embodiment can be implemented in various specific embodiments.

In another embodiment, it is determined whether an arrival signal triggered by the mobile robot is detected, and if so, it is determined that the mobile robot has moved above the support member. This embodiment can be specifically realized in the following manner.

In another embodiment of the present application, based on the embodiment shown in fig. 6, after the mobile robot is in the upright state, the following steps 1a and 2a may be further included.

Step 1 a: and judging whether the mobile robot leaves the supporting part or not.

Step 2 a: and when the mobile robot is determined to leave the supporting part, controlling the driving part so that the driving part drives the supporting part to rotate in the direction opposite to the preset direction.

Wherein, the support component can make the mobile robot gesture level through the butt joint cooperation with the groove when rotating according to the opposite direction of preset direction. When the mobile robot is horizontally arranged, the supporting component can be separated from the groove.

In this step, the driving member is controlled so that when the driving member drives the supporting member to rotate in a direction opposite to the preset direction, the rotation direction of the driving member can be specifically changed by changing the phase sequence of the current input to the driving member.

When the driving part is controlled to drive the supporting part to rotate in the direction opposite to the preset direction, the driving part can be specifically controlled to drive the supporting part to rotate in the direction opposite to the preset direction by a preset angle. The preset angle may be equal to the specified angle or smaller than the specified angle.

In summary, in the embodiment, the controller may control the driving unit to level the posture of the mobile robot when determining that the mobile robot is to leave the supporting unit. After the mobile robot posture is horizontal, the mobile robot can execute a work task and release the static state.

In another embodiment of the present application, the step 1a of determining whether the mobile robot leaves the support member may specifically include:

and judging whether a leaving instruction sent by the mobile robot is received or not, and if so, determining that the mobile robot leaves the supporting component. Wherein, the leaving instruction is: the mobile robot sends to the controller when determining that it is to leave the support member.

After determining that the mobile robot leaves above the supporting part, the controller may further control the driving part such that the driving part drives the supporting part to rotate in a preset direction to bring the supporting part into an upright state. Specifically, the controller may control the driving member to drive the supporting member to rotate by a predetermined angle according to a preset direction.

Before determining that the mobile robot has moved above the support member, the controller may further perform the steps of:

and if a preparation instruction sent by the mobile robot is received, controlling the driving part so that the driving part drives the supporting part to rotate in the direction opposite to the preset direction. This makes it possible to bring the support member into a posture horizontal state so that the mobile robot moves above the support member.

Wherein, the preparation instruction is as follows: the mobile robot sends a signal to the controller when it is determined that it is to be in an upright state and not moving above the support member.

Specifically, when the driving member is controlled so that the driving member drives the supporting member to rotate in the direction opposite to the preset direction, the driving member may be controlled so that the driving member drives the supporting member to rotate in the direction opposite to the preset direction by a predetermined angle.

In another embodiment of the present application, the supporting apparatus may further include: a charging circuit and a charging electrode; the controller is connected with the charging circuit. When the mobile robot is in the upright state, the charging electrode of the mobile robot is connected with the charging electrode of the supporting equipment.

In this embodiment, the controller controls the charging circuit to charge the mobile robot through the charging electrode when determining that the mobile robot is in the upright state and determining that the mobile robot is to be charged.

Upon determining that the charging of the mobile robot is completed, the controller may control the charging circuit to stop charging the mobile robot.

Fig. 7 is a flowchart illustrating another apparatus control method according to an embodiment of the present application. The method is applied to a mobile robot, which may be a sweeping robot or other robot that can perform a predetermined task. The mobile robot is in communication connection with a controller of the supporting device, the supporting device further comprises a driving part and a supporting part, the controller is electrically connected with the driving part, and the driving part can drive the supporting part to rotate around an output shaft of the driving part. The method of the present embodiment includes the following steps S701 and S702.

Step S701: judging whether the mobile phone moves above the supporting part, if so, executing the following step S702; if not, then processing may not be performed.

In this embodiment, the mobile robot can move above the support member when determining that it is necessary to be in a stationary state. The self-standing state can comprise the non-working state of the self-standing state.

In addition, the mobile robot may move above the support member before the preset first moment arrives. The first time may be a mutual agreement between the controller and the mobile robot, or may be manually set.

Step S702: and when the mobile robot is determined to move above the supporting part, sending an arrival instruction to the controller, so that when the controller receives the arrival instruction, the controller controls the driving part, so that the driving part drives the supporting part to rotate according to the preset direction, and when the supporting part rotates according to the preset direction, the supporting part can enable the mobile robot to be erected through butt joint matching with the groove.

In summary, in this embodiment, the mobile robot may move to above the supporting member when the mobile robot needs to be in a stationary state, and send an arrival instruction to the controller, so that the controller controls the driving member to drive the supporting member to rotate according to a preset direction, and the supporting member can be in butt joint with the groove on the chassis of the mobile robot to erect the mobile robot when rotating, and for a mobile robot with a large floor area, the floor area of the mobile robot can be reduced when the mobile robot is in an erected state.

In another embodiment of the present application, in the embodiment shown in fig. 7, step S702, the step of sending the arrival instruction to the controller may specifically include the following manners:

In summary, the present embodiment provides various embodiments to send an arrival instruction to a controller.

In another embodiment of the present application, in the embodiment shown in fig. 7, after the mobile robot is in the upright state, the method further comprises the following steps 1b and 2 b:

step 1 b: it is determined whether or not to leave the support member.

Specifically, the mobile robot may determine that the mobile robot is to leave the support member when a preset working time is reached or a working instruction is received.

And step 2 b: and sending a leaving instruction to the controller when determining that the user wants to leave the support part.

In another embodiment of the present application, before the step S702, before sending the arrival instruction to the controller, the method may further include:

when determining that the self is to be in the standing state and is not moved above the supporting part, sending a preparation instruction to the controller.

In this embodiment, the mobile robot may determine that it is to be in an upright state when it is in a non-operating state.

In another embodiment of the present application, when the support apparatus further includes a charging circuit and a charging electrode, the mobile robot may move above the support member in a preset posture when determining that it needs to be charged. The preset gestures include: when the charging pole piece of the mobile robot is positioned at the head, the tail part faces the supporting part; when the charging pole piece of the mobile robot is positioned at the tail part, the head part is moved towards the supporting part.

Fig. 8 is a schematic structural diagram of a supporting apparatus according to an embodiment of the present disclosure. The apparatus comprises: a controller 801, a drive component 802, and a support component 803. The controller is electrically connected with the driving part, and the driving part can drive the supporting part to rotate around an output shaft of the driving part.

And the controller is used for controlling the driving part when the mobile robot is determined to move above the supporting part, so that the driving part drives the supporting part to rotate according to the preset direction, and the supporting part can enable the mobile robot to be erected through butt joint matching with the groove when rotating according to the preset direction. The groove is formed in the mobile robot chassis.

Wherein, the controller can be an x86 chip, an ARM chip or a single chip microcomputer.

In another embodiment of the present application, one end of the support member is a hook-shaped structure.

In another embodiment of the present application, the output shaft is connected to the center of the flange, one end of the support member is connected to the disk surface of the flange, the center line of the support member is not parallel to the center line of the output shaft, and the drive member drives the support member to rotate around the output shaft via the flange.

In another embodiment of the application, the controller is specifically configured to determine that the mobile robot has moved above the support member upon receiving an arrival instruction sent by the mobile robot or upon detecting an arrival signal triggered by the mobile robot. Wherein, the arrival instruction is: the mobile robot transmits upon determining that it has moved over the support member.

In another embodiment of the present application, the controller is further configured to control the driving part to drive the supporting part to rotate in a direction opposite to the preset direction when it is determined that the mobile robot is to leave the supporting part after the mobile robot is in the upright state. And when the supporting component rotates in the opposite direction of the preset direction, the posture of the mobile robot can be leveled through butt joint matching with the groove.

In another embodiment of the application, the controller is specifically configured to determine that the mobile robot is to leave the support member upon receiving a leaving instruction sent by the mobile robot. Wherein the leaving instruction is: the mobile robot sends to the controller when determining that it is to leave the support member.

In another embodiment of the present application, the controller is further configured to control the driving part to drive the supporting part to rotate according to the preset direction after determining that the mobile robot leaves above the supporting part;

the controller is further configured to control the driving member to drive the supporting member to rotate in a direction opposite to the preset direction if a preparation instruction sent by the mobile robot is received before it is determined that the mobile robot has moved above the supporting member. Wherein the preparation instruction is: the mobile robot sends to the controller when determining that it is to be in an upright state and not moving above the support member.

In another embodiment of the present application, the support apparatus further comprises: a charging circuit and a charging electrode; when the mobile robot is in an upright state, the charging electrode of the mobile robot is connected with the charging electrode of the supporting equipment; the charging circuit charges the mobile robot through the charging electrode.

In another embodiment of the present application, the controller is connected to the charging circuit; when the mobile robot is in an upright state and when the controller determines that the mobile robot is to be charged, the controller controls the charging circuit to charge the mobile robot through the charging electrode.

In another embodiment of the present application, the controller controls the charging circuit to stop charging the mobile robot when it is determined that the charging of the mobile robot is completed.

Since the device embodiment is obtained based on the system embodiment and has the same technical effect as the system, the technical effect of the device embodiment is not described herein again. For the device embodiment, since it is basically similar to the system embodiment, it is described simply, and the relevant points can be referred to the partial description of the system embodiment.

Fig. 9 is a schematic structural diagram of a mobile robot according to an embodiment of the present application. The mobile robot includes: a processor 901 and a memory 902.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the controller.

The Processor may be a general-purpose controller including a Central Processing Unit (CPU), a Network controller (NP), and the like.

In another embodiment of the present application, the mobile robot further comprises: an auxiliary wheel; the auxiliary wheel is positioned on one side, close to the ground, of the mobile robot in an upright state;

In another embodiment of the present application, after the mobile robot is in the upright state, the processor is further configured to:

judging whether the mobile robot leaves the supporting part or not;

sending a leaving instruction to the controller upon determining that the mobile robot is to leave the support member.

In another embodiment of the present application, before sending the arrival instruction to the controller, the processor is further configured to:

sending a preparation instruction to the controller when it is determined that the mobile robot is to be in an upright state and is not moved above the support member.

Since the robot embodiment is obtained based on the system embodiment and has the same technical effect as the system, the technical effect of the robot embodiment is not described herein again. For the robot embodiment, since it is basically similar to the system embodiment, it is described simply, and the relevant points can be referred to the partial description of the system embodiment.

The embodiment of the application also provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the device control method provided by the embodiment of the application is realized. The method comprises the following steps:

judging whether the mobile robot moves above the supporting part or not;

In summary, in this embodiment, when it is determined that the mobile robot has moved above the supporting member, an arrival instruction is sent to the controller, so that the controller controls the driving member to drive the supporting member to rotate according to the preset direction, and when the supporting member rotates, the supporting member can be in butt joint with the groove on the chassis of the mobile robot to erect the mobile robot, and for a mobile robot with a large floor area, the floor area of the mobile robot can be reduced when the mobile robot is in an erected state.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the method embodiments and apparatus embodiments are substantially similar to the system embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the system embodiments for related points.

The above description is only for the preferred embodiment of the present application, and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. An appliance control system, comprising: a mobile robot and a support apparatus;

the controller controls the driving part when determining that the mobile robot moves above the supporting part, so that the driving part drives the supporting part to rotate according to a preset direction, and the supporting part can enable the mobile robot to be erected through butt joint and matching with the groove when rotating according to the preset direction;

the mobile robot further includes: an auxiliary wheel; the auxiliary wheel is positioned on one side, close to the ground, of the mobile robot in an upright state;

2. The system of claim 1, wherein one end of the support member is a hook-like structure.

3. The system of claim 1, wherein the output shaft is connected to a center of a flange, one end of the support member is connected to a face of the flange, a center line of the support member is not parallel to a center line of the output shaft, and the drive member drives the support member to rotate about the output shaft via the flange.

4. The system of claim 1,

the controller determines that the mobile robot moves above the supporting component when receiving an arrival instruction sent by the mobile robot or detecting an arrival signal triggered by the mobile robot;

5. The system of claim 1, wherein the controller further controls the driving part to rotate the supporting part in a direction opposite to the preset direction when it is determined that the mobile robot is to be separated from the supporting part after the mobile robot is in the upright state; and when the supporting component rotates in the opposite direction of the preset direction, the posture of the mobile robot can be leveled through butt joint matching with the groove.

6. The system of claim 5, wherein the controller, upon receiving a leave command sent by the mobile robot, determines that the mobile robot is to leave the support member;

7. The system of claim 5, wherein the controller further controls the driving part to rotate the supporting part in the preset direction by the driving part after determining that the mobile robot leaves above the supporting part;

8. The system of claim 1, wherein the support apparatus further comprises: a charging circuit and a charging electrode; when the mobile robot is in an upright state, the charging electrode of the mobile robot is connected with the charging electrode of the supporting equipment; the charging circuit charges the mobile robot through the charging electrode.

9. The system of claim 8, wherein the controller is connected to the charging circuit; when the mobile robot is in an upright state and when the controller determines that the mobile robot is to be charged, the controller controls the charging circuit to charge the mobile robot through the charging electrode.

10. The system of claim 9, wherein the controller controls the charging circuit to stop charging the mobile robot upon determining that the mobile robot charging is complete.

11. The equipment control method is characterized by being applied to a controller in a supporting equipment, wherein the supporting equipment further comprises a driving part and a supporting part, the controller is electrically connected with the driving part, and the driving part can drive the supporting part to rotate around an output shaft of the driving part; the method comprises the following steps:

when it is determined that the mobile robot has moved above the support member, controlling the driving member so that the driving member drives the support member to rotate in a preset direction, the support member being capable of erecting the mobile robot by butting engagement with the groove when rotating in the preset direction, wherein the mobile robot further comprises: an auxiliary wheel; the auxiliary wheel is positioned on one side, close to the ground, of the mobile robot in an upright state; when the supporting component rotates according to the preset direction, the mobile robot is erected under the supporting action of the auxiliary wheels and the butt joint matching of the supporting component and the groove.

12. The method of claim 11, wherein the step of determining whether the mobile robot has moved above the support member comprises:

13. The method of claim 11, further comprising, after the mobile robot is in an upright state:

judging whether the mobile robot leaves the supporting part or not;

14. The method of claim 13, wherein the step of determining whether the mobile robot is to exit the support member comprises:

15. The method of claim 13, after determining that the mobile robot is off the support member, further comprising:

16. The method of claim 11, wherein the support apparatus further comprises: a charging circuit and a charging electrode; the controller is connected with the charging circuit; when the mobile robot is in an upright state, the charging electrode of the mobile robot is connected with the charging electrode of the supporting equipment; the method further comprises the following steps:

17. The method of claim 16, further comprising:

and when the mobile robot is determined to be charged completely, controlling the charging circuit to stop charging the mobile robot.

18. The equipment control method is characterized by being applied to a mobile robot, wherein the mobile robot is in communication connection with a controller of a support device, the support device further comprises a driving part and a support part, the controller is electrically connected with the driving part, the driving part can drive the support part to rotate around an output shaft of the driving part, and a chassis of the mobile robot is provided with a groove; the method comprises the following steps:

judging whether the mobile phone moves above the supporting component or not;

when the mobile robot is determined to move above the supporting part, sending an arrival instruction to the controller, so that when the controller receives the arrival instruction, the controller controls the driving part to enable the driving part to drive the supporting part to rotate according to a preset direction, and when the supporting part rotates according to the preset direction, the supporting part can enable the mobile robot to be erected through butt joint matching with the groove, wherein the mobile robot further comprises: an auxiliary wheel; the auxiliary wheel is positioned on one side, close to the ground, of the mobile robot in an upright state; when the supporting component rotates according to the preset direction, the mobile robot is erected under the supporting action of the auxiliary wheels and the butt joint matching of the supporting component and the groove.

19. The method of claim 18, further comprising, after the mobile robot is in an upright state:

judging whether the mobile phone is to leave the supporting part;

20. The method of claim 18, further comprising, prior to sending the arrival instruction to the controller:

21. A support apparatus, comprising: a controller, a drive member and a support member;

the controller is used for controlling the driving part when the mobile robot is determined to move above the supporting part, so that the driving part drives the supporting part to rotate according to a preset direction, and the supporting part can enable the mobile robot to be erected through butt joint and matching with the groove when rotating according to the preset direction; the groove the mobile robot chassis is seted up, wherein, mobile robot still includes: an auxiliary wheel; the auxiliary wheel is positioned on one side, close to the ground, of the mobile robot in an upright state; when the supporting component rotates according to the preset direction, the mobile robot is erected under the supporting action of the auxiliary wheels and the butt joint matching of the supporting component and the groove.

22. The apparatus of claim 21, wherein the support apparatus further comprises: a charging circuit and a charging electrode; when the mobile robot is in an upright state, the charging electrode of the mobile robot is connected with the charging electrode of the supporting equipment; the charging circuit charges the mobile robot through the charging electrode when being turned on.

23. The apparatus of claim 21, wherein the controller is specifically configured to:

24. A mobile robot, comprising: a processor and a memory;

the processor is configured to send an arrival instruction to the controller when it is determined that the mobile robot has moved above the support member, so that the controller controls the driving member when receiving the arrival instruction, so that the driving member drives the support member to rotate in a preset direction, and the support member can erect the mobile robot through butt-joint cooperation with a groove when rotating in the preset direction, where the mobile robot further includes: an auxiliary wheel; the auxiliary wheel is positioned on one side, close to the ground, of the mobile robot in an upright state; when the supporting part rotates according to the preset direction, the mobile robot is erected under the supporting action of the auxiliary wheels and the butt joint matching of the supporting part and the groove, and the groove is formed in the chassis of the mobile robot.

25. A computer-readable storage medium, having a computer program stored therein, which when executed by a processor, implements: the method steps of any one of claims 11-17.

26. A computer-readable storage medium, having a computer program stored therein, which when executed by a processor, implements: the method steps of any one of claims 18-20.