Robot control method and device based on escalator detection

The invention discloses a robot control method and device based on escalator detection, and the method comprises the steps: collecting a to-be-detected image in real time according to a camera end configured by a robot, processing the to-be-detected image through a Sobel operator, a preset binarization algorithm and image morphological operation, and obtaining the to-be-detected image. Determining a plurality of gradient connected regions in the to-be-detected image, calculating whether the region area of each gradient connected region is greater than a set threshold value or not to generate a minimum bounding rectangular frame, obtaining the position information of the minimum bounding rectangular frame, and determining the position of the to-be-detected image according to the position information of the minimum bounding rectangular frame. And controlling the robot to execute corresponding operation. By adopting the embodiment of the invention, the position of the escalator can be directly positioned, the da