Let $N$ be an integer. There are $\lfloor N/(r + 1)\rfloor$ terms of the first sequence less than $N$. There are $\lfloor N/(s + 1)\rfloor$ such terms from the second sequence. Since none of $a_n$ or $b_n$ is integer,
\begin{equation}
\begin{aligned}&N/(r + 1) - 1 \lt \lfloor N/(r + 1)\rfloor \lt N/(r + 1)\\ &N/(s + 1) - 1 \lt \lfloor N/(s + 1)\rfloor \lt N/(s + 1). \end{aligned}
\label1\end{equation}
Note that\begin{equation}
\frac{1}{r+1}+\frac{1}{s+1}=\frac{1}{r+1}+\frac{1}{\displaystyle\frac{1}{r}+1}=\frac{1}{r+1}+\frac{r}{r+1}=1.
\label2\end{equation}
Adding up \eqref{1} we thus get$$N - 2 \lt \lfloor N/(r + 1)\rfloor + \lfloor N/(s + 1)\rfloor \lt N,$$which implies $\lfloor N/(r + 1)\rfloor + \lfloor N/(s + 1)\rfloor = N - 1.$ Replacing $N$ with $N + 1$, we see that exactly one term from the union $\{a_{n}\}\cup\{b_{n}\}$ is added. This naturally belongs to the interval $(N, N + 1)$.
Note:
elsewhere, there's another proof of Beatty's theorem.