CN106388700B

CN106388700B - Active noise reduction device for automatic cleaning equipment and automatic cleaning equipment

Info

Publication number: CN106388700B
Application number: CN201610394851.8A
Authority: CN
Inventors: 于光; 夏勇峰
Original assignee: Beijing Xiaomi Mobile Software Co Ltd; Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Xiaomi Mobile Software Co Ltd; Beijing Rockrobo Technology Co Ltd
Priority date: 2016-06-06
Filing date: 2016-06-06
Publication date: 2020-07-28
Anticipated expiration: 2036-06-06
Also published as: CN106388700A

Abstract

The present disclosure relates to an active noise reduction device for an automatic cleaning apparatus and an automatic cleaning apparatus, the device may include: the signal acquisition module is used for acquiring an inverse sound wave signal corresponding to noise generated by the automatic cleaning equipment in a working state; and the noise reduction module is connected to the signal acquisition module and is used for playing the reversed-phase sound wave signal obtained from the signal acquisition module so as to at least partially offset the noise generated by the automatic cleaning equipment. Through the technical scheme of this disclosure, can realize falling the initiative of cleaning device by oneself and make an uproar to reduce the influence that cleaning operation caused the user.

Description

Active noise reduction device for automatic cleaning equipment and automatic cleaning equipment

Technical Field

The utility model relates to an intelligence house technical field especially relates to a device and self-cleaning equipment of making an uproar falls in initiative for self-cleaning equipment.

Background

With the development of technology, a variety of automatic cleaning devices, such as automatic floor sweeping robots, automatic floor mopping robots, etc., have appeared. The automatic cleaning device can automatically perform cleaning operation, and is convenient for users. Taking an automatic sweeping robot as an example, the automatic sweeping robot can automatically clean a place by direct brushing, vacuum dust collection and other technologies.

Disclosure of Invention

The present disclosure provides an active noise reduction device for an automatic cleaning apparatus and an automatic cleaning apparatus to solve the disadvantages of the related art.

According to a first aspect of embodiments of the present disclosure, there is provided an active noise reduction device for an automatic cleaning apparatus, comprising:

the signal acquisition module is used for acquiring an inverse sound wave signal corresponding to noise generated by the automatic cleaning equipment in a working state;

and the noise reduction module is connected to the signal acquisition module and is used for playing the reversed-phase sound wave signal obtained from the signal acquisition module so as to at least partially offset the noise generated by the automatic cleaning equipment.

Optionally, the signal obtaining module includes:

the sound storage submodule is used for prestoring a preset sound wave signal obtained by carrying out phase inversion processing on the pre-sampling noise generated by the automatic cleaning equipment in a working state;

the noise reduction module is connected to the sound storage submodule to play the preset sound wave signal as the reversed-phase sound wave signal.

Optionally, the signal obtaining module includes:

the noise acquisition submodule is used for acquiring real-time noise generated by the automatic cleaning equipment in a working state;

the noise processing submodule is connected to the noise acquisition submodule and used for acquiring the real-time noise output by the noise acquisition submodule and carrying out phase reversal processing on the real-time noise to obtain a corresponding real-time phase reversal sound wave signal;

the noise reduction module is connected to the noise processing submodule to play the real-time reversed-phase sound wave signal as the reversed-phase sound wave signal.

Optionally, the signal obtaining module includes:

the noise reduction module is respectively connected to the sound storage submodule and the noise processing submodule so as to enable the preset sound wave signal and the real-time reversed-phase sound wave signal to be used as the reversed-phase sound wave signal to be played in a superposition mode.

Optionally, the method further includes:

and the first sound wave adjusting module is connected to the signal acquiring module and is used for reducing at least one of the preset sound wave signal and the real-time reversed sound wave signal according to the preset amplitude adjustment.

Optionally, the method further includes:

the effect acquisition module is used for acquiring the effect sound wave signal after the noise reduction module plays the preset sound wave signal and/or the real-time reversed-phase sound wave signal;

and the second sound wave adjusting module is connected to the effect collecting module and is used for adjusting the real-time reversed-phase sound wave signal according to at least one of the real-time noise, the real-time reversed-phase sound wave signal and the effect sound wave signal so as to reduce or eliminate the effect sound wave signal.

Optionally, the noise collection submodule includes a microphone installed on the automatic cleaning device, and a noise collection direction of the microphone faces a preset noise source of the automatic cleaning device.

Optionally, the method further includes:

and the noise preprocessing module is used for acquiring the real-time noise output by the noise acquisition submodule, preprocessing the real-time noise, and outputting the preprocessed real-time noise to the noise processing submodule for reverse processing to obtain the real-time reversed-phase sound wave signal.

Optionally, the noise preprocessing module includes:

and the filter element is used for filtering preset high-frequency noise in the real-time noise.

According to a second aspect of embodiments of the present disclosure, there is provided an automatic cleaning apparatus including: an active noise reduction device for an automatic cleaning apparatus as described in any of the above embodiments.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

according to the embodiment, the reversed-phase sound wave signal of the noise generated by the automatic cleaning equipment is acquired and played, so that the reversed-phase sound wave signal and the noise signal can be neutralized and offset with each other, and therefore at least part of the noise signal can be eliminated, the noise generated by the automatic cleaning equipment in the cleaning process can be reduced, and the influence on a user can be reduced.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1-4 are schematic diagrams of a robot shown in accordance with an exemplary embodiment.

FIG. 5 is a schematic diagram illustrating a configuration of an active noise reducer for an automatic cleaning apparatus according to an exemplary embodiment.

FIG. 6 is a schematic diagram illustrating an active noise reduction according to an exemplary embodiment.

FIG. 7 is a schematic diagram illustrating another active noise reducer for an automated cleaning apparatus according to an exemplary embodiment.

FIG. 8 is a schematic diagram illustrating another active noise reducer for an automated cleaning apparatus according to an exemplary embodiment.

FIG. 9 is a schematic diagram illustrating another active noise reducer for an automated cleaning apparatus according to an exemplary embodiment.

FIG. 10 is a schematic diagram illustrating another active noise reducer for an automated cleaning apparatus according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Fig. 1 to 4 are schematic structural diagrams illustrating a robot according to an exemplary embodiment, as shown in fig. 1 to 4, the robot 100 may be an automatic cleaning device such as a floor sweeping robot, a floor mopping robot, and the robot 100 may include a robot main body 110, a sensing system 120, a control system 130, a driving system 140, a cleaning system 150, an energy system 160, and a human-computer interaction system 170. Wherein:

the machine body 110 includes a forward portion 111 and a rearward portion 112 having an approximately circular shape (circular front to rear), and may have other shapes including, but not limited to, an approximately D-shape with a front to rear circle.

The sensing system 120 includes a position determining device 121 located above the machine body 110, a bumper 122 located at the forward portion 111 of the machine body 110, a cliff sensor 123 and sensing devices such as ultrasonic sensors (not shown), infrared sensors (not shown), magnetometers (not shown), accelerometers (not shown), gyroscopes (not shown), odometers (not shown), etc. to provide various positional and motion status information of the machine to the control system 130. the position determining device 121 includes, but is not limited to, a camera, a laser ranging device (L DS).

The forward portion 111 of the machine body 110 may carry a bumper 122, the bumper 122 detecting one or more events (or objects) in the travel path of the robot 100 via a sensor system, such as an infrared sensor, as the drive wheel module 141 propels the robot over the ground during cleaning, the robot may control the drive wheel module 141 to cause the robot to respond to the event (or object) detected by the bumper 122, such as an obstacle, a wall, for example, by moving away from the obstacle.

The control system 130 is disposed on a circuit board in the machine body 110, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, and an application processor, wherein the application processor draws an instant map of the environment where the robot is located by using a positioning algorithm, such as S L AM, according to the obstacle information fed back by the laser distance measuring device, and comprehensively determines the current working state of the sweeper, such as passing a threshold, putting a carpet, being located at the cliff, being stuck above or below, being full of a dust box, being taken up, and the like, based on the distance information and the speed information fed back by the sensing devices, such as the buffer 122, the cliff sensor 123, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer, and the like, and further provides a specific next action strategy for different situations, so that the work of the robot is more in line with the requirements of the owner, and has a better user experience.

The drive system 140 may steer the robot 100 across the ground based on drive commands having distance and angle information, such as x, y, and theta components. The drive system 140 includes a drive wheel module 141, and the drive wheel module 141 can control both the left and right wheels, and in order to more precisely control the motion of the machine, it is preferable that the drive wheel module 141 includes a left drive wheel module and a right drive wheel module, respectively. The left and right drive wheel modules are opposed along a transverse axis defined by the body 110. In order for the robot to be able to move more stably or with greater mobility over the ground, the robot may include one or more driven wheels 142, including but not limited to universal wheels. The driving wheel module comprises a traveling wheel, a driving motor and a control circuit for controlling the driving motor, and can also be connected with a circuit for measuring driving current and a milemeter. The driving wheel module 141 may be detachably coupled to the main body 110 to facilitate disassembly and maintenance. The drive wheel may have a biased drop-type suspension system movably secured, e.g., rotatably attached, to the robot body 110 and receiving a spring bias biased downward and away from the robot body 110. The spring bias allows the drive wheels to maintain contact and traction with the floor with a certain landing force while the cleaning elements of the robot 100 also contact the floor 10 with a certain pressure.

The cleaning system 150 can be a dry cleaning system and/or a wet cleaning system. As a dry cleaning system, the main cleaning function is derived from the sweeping system 151 constituted by the rolling brush structure, the dust box structure, the fan structure, the air outlet, and the connecting members therebetween. The rolling brush structure with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush structure and the dust box structure, and then the garbage is sucked into the dust box structure by the air with suction generated by the fan structure and passing through the dust box structure. The dust removal capability of the sweeper can be represented by the sweeping efficiency DPU (dust pick up efficiency), which is influenced by the structure and the material of the rolling brush, the wind power utilization rate of an air duct formed by a dust suction port, a dust box structure, a fan structure, an air outlet and connecting parts among the dust suction port, the dust box structure, the fan structure, the air outlet and the four, the type and the power of the fan, and the sweeping efficiency DPU is a responsible system design problem. Compared with the common plug-in dust collector, the improvement of the dust removal capability is more significant for the cleaning robot with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once can be developed into the machine which can clean 100 square meters or more by charging once. And the service life of the battery, which reduces the number of times of charging, is also greatly increased, so that the frequency of replacing the battery by the user is also increased. More intuitively and importantly, the improvement of the dust removal capability is the most obvious and important user experience, and the user can directly draw a conclusion whether the sweeping/wiping is clean. The dry cleaning system may also include an edge brush 152 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning system 150.

Energy source system 160 includes rechargeable batteries such as nickel metal hydride batteries and lithium batteries. The charging battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery under-voltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit and the battery under-voltage monitoring circuit are connected with the single chip microcomputer control circuit. The host computer is connected with the charging pile through the charging electrode arranged on the side or the lower part of the machine body for charging. If dust is attached to the exposed charging electrode, the plastic body around the electrode is melted and deformed due to the accumulation effect of electric charge in the charging process, even the electrode itself is deformed, and normal charging cannot be continued.

The human-computer interaction system 170 comprises keys on a panel of the host computer, and the keys are used for a user to select functions; the machine control system can further comprise a display screen and/or an indicator light and/or a loudspeaker, wherein the display screen, the indicator light and the loudspeaker show the current state or function selection item of the machine to a user; and a mobile phone client program can be further included. For the path navigation type cleaning equipment, a map of the environment where the equipment is located and the position of a machine can be displayed for a user at a mobile phone client, and richer and more humanized function items can be provided for the user.

However, a certain degree of noise may be generated during the process of the driving system 140 driving the robot 100 to walk, or the process of the cleaning system 150 controlling the robot 100 to perform the cleaning operation, or the like; especially, when the user is in a scene with sensitive noise, such as rest and learning, noise interference to the user is easily formed.

Accordingly, the present application can solve the noise problem existing in the related art by improving the automatic cleaning apparatus such as the robot 100 described above.

FIG. 5 is a schematic diagram illustrating an active noise reducer for an automatic cleaning device according to an exemplary embodiment, which may include, as shown in FIG. 5:

a signal obtaining module 51, configured to obtain an inverse sound wave signal corresponding to noise generated by the automatic cleaning device in an operating state;

and a noise reduction module 52 connected to the signal acquisition module 51 for playing the inverted acoustic wave signal obtained from the signal acquisition module 51 to at least partially cancel the noise generated by the automatic cleaning device.

In this embodiment, by acquiring and playing the phase-reversed sound wave signal corresponding to the noise, as shown in fig. 6, the phase-reversed sound wave signal may be superimposed on the noise signal, so that the phase-reversed sound wave signal and the noise signal are mutually offset, thereby at least partially offsetting the noise generated by the automatic cleaning device, so that especially when the user is in a scene with sensitive noise, such as rest and study, adverse effects on the user may be avoided, and the application experience of the user may be improved.

In the present embodiment, the signal obtaining module 51, the noise reduction module 52, and the following functional modules may be selected to be turned on or off according to actual situations; for example, a "silent mode" may be added to the automatic cleaning device, so that only after the silent mode is activated, the active noise reduction function of the automatic cleaning device is realized by turning on the signal obtaining module 51, the noise reduction module 52, and other relevant functional modules.

In the technical solution of the present disclosure, the signal obtaining module 51 may obtain the opposite-phase sound wave signal in various ways, which is exemplified below.

1) Pre-storage of

As an exemplary embodiment, as shown in fig. 7, the signal acquisition module 51 may include: the sound storage submodule 511 is used for prestoring a preset sound wave signal obtained by carrying out phase inversion processing on the pre-sampling noise generated by the automatic cleaning equipment in a working state; wherein the noise reduction module 52 is connected to the sound storage sub-module 511 to play the preset sound wave signal as an inverted sound wave signal.

In this embodiment, the noise of the automatic cleaning device in the working state may be collected in advance, and a corresponding inverse sound wave signal may be determined and generated through experiments, tests, and the like, and then the inverse sound wave signal may be pre-stored in the sound storage sub-module 511, for example, the sound storage sub-module 511 may be any storage device in the automatic cleaning device. For example, according to applicants' repeated experimental analysis, it has been found that the major sources of noise for an automatic cleaning apparatus may include:

A. the main brush gear box. When the automatic cleaning equipment needs to drive the gear to rotate through the motor and further drive the main brush to rotate, the motor can rotate at a high speed, and then the motor can generate great noise due to the fact that the rotor of the motor is large; at the same time, the friction of the gears in the gearbox also causes a lot of noise.

B. A fan. The fan in the automatic cleaning equipment can generate air circulation, and the air shakes to generate great noise when circulating along an air path in the automatic cleaning equipment; meanwhile, when the motor of the fan rotates at a high speed, a large noise is generated.

C. And (4) a main brush. The main brush of the automatic cleaning equipment has dynamic balance problem when rotating, and can cause larger noise when the dynamic balance condition is not good; meanwhile, the main brush may generate a large noise when striking the ground.

Then, by reading and playing the pre-stored reversed-phase sound wave signal (i.e. the preset sound wave signal) from the sound storage sub-module 511 by the noise reduction module 52, the neutralization and cancellation effect on the noise signal can be achieved, and especially, the noise signal has a better cancellation effect on the low and medium frequency band noise generated by the automatic cleaning device.

2) Real-time generation

As another exemplary embodiment, as shown in fig. 8, the signal acquisition module 51 may include: the noise acquisition submodule 512 is used for acquiring real-time noise generated by the automatic cleaning equipment in a working state; the noise processing submodule 513 is connected to the noise acquisition submodule 512 and is used for acquiring the real-time noise output by the noise acquisition submodule 512 and performing phase inversion processing on the real-time noise to obtain a corresponding real-time phase-inverted sound wave signal; wherein the noise reduction module 52 is connected to the noise processing sub-module 513 to play the real-time inverse sound wave signal as an inverse sound wave signal.

In this embodiment, since the automatic cleaning device may travel to different cleaning environments in an operating state, such as the size of a room, the number of obstacles, the type of a cleaning object (e.g., a light object such as a paper sheet, or a hard particle), and the like, the noise generated by the automatic cleaning device may be different, and thus, by acquiring the real-time noise, the inverse sound wave signal finally played by the noise reduction module 52 also has real-time performance, so that not only the real-time noise can be better cancelled, but also the sound wave which cannot be cancelled by the real-time noise in the inverse sound wave signal can be reduced, and the noise influence which may be caused by the inverse sound wave signal can be reduced.

3) Pre-storage combined with real-time generation

As another exemplary embodiment, as shown in fig. 9, by combining the embodiments shown in fig. 7 and fig. 8 described above, the signal acquisition module 51 may include:

the sound storage submodule 511 is used for prestoring a preset sound wave signal obtained by carrying out phase inversion processing on the pre-sampling noise generated by the automatic cleaning equipment in a working state;

the noise acquisition submodule 512 is used for acquiring real-time noise generated by the automatic cleaning equipment in a working state;

the noise processing submodule 513 is connected to the noise acquisition submodule 512 and is used for acquiring the real-time noise output by the noise acquisition submodule 512 and performing phase inversion processing on the real-time noise to obtain a corresponding real-time phase-inverted sound wave signal;

the noise reduction module 52 is connected to the sound storage sub-module 511 and the noise processing sub-module 513, respectively, to superimpose and play the preset sound wave signal and the real-time inverse sound wave signal as inverse sound wave signals.

In this embodiment, by combining the sound storage sub-module 511, the noise collection sub-module 512, and the noise processing sub-module 513, advantages of the preset sound wave signal and the real-time inverse sound wave signal can be combined to respectively neutralize and offset high-frequency band noise caused by low-frequency band noise and scene difference generated by the automatic cleaning device, so that noise generated by the automatic cleaning device in a working state can be more effectively reduced, and influences on rest, learning, and the like of a user can be avoided.

In the second and third embodiments, the noise collecting sub-module 512 may be a microphone installed on the automatic cleaning device, and the noise collecting direction of the microphone faces a preset noise source of the automatic cleaning device, so that the noise of the automatic cleaning device can be collected in real time; of course, those skilled in the art may select other forms of the noise collection sub-module 512 according to actual requirements, and the microphone may take other forms, which is not limited by the disclosure.

Further, the present disclosure may also realize optimization of processing steps based on the above embodiments, and the following takes the embodiment shown in fig. 9 as an example, and is explained with reference to fig. 10:

1) acoustic pretreatment

In an embodiment, in an aspect of the present disclosure, as shown in fig. 10, the active noise reduction device for an automatic cleaning apparatus may further include: the noise preprocessing module 53 is configured to obtain real-time noise output by the noise acquisition submodule 512, preprocess the real-time noise, and output the real-time noise to the noise processing submodule 513 for reverse processing to obtain a real-time inverse sound wave signal. By way of example, the noise preprocessing module 53 may include: and the filter element is used for filtering preset high-frequency noise in the real-time noise, namely a low-pass filter element.

In this embodiment, the high-frequency noise filtered by the noise preprocessing module 53 is different from the noise generated by the automatic cleaning device and included in the real-time noise, and belongs to "noise" that may interfere with the real-time noise, and by filtering the high-frequency noise, the inverted acoustic wave signal generated by the noise processing sub-module 513 can be prevented from being affected and interfered, and thus the inverted acoustic wave signal is prevented from causing additional noise influence.

2) Acoustic playback adjustment

In an embodiment, in an aspect of the present disclosure, as shown in fig. 10, the active noise reduction device for an automatic cleaning apparatus may further include: and the first sound wave adjusting module 54 is connected to the signal acquiring module 51 and is used for reducing at least one of the preset sound wave signal and the real-time reversed sound wave signal according to the preset amplitude adjustment.

In this embodiment, since the reverse-phase sound wave signal played by the noise reduction module 52 may not be completely in reverse phase relation with the noise actually generated by the automatic cleaning device, although the cancellation effect on the noise is reduced to a certain extent by properly reducing the amplitude of the reverse-phase sound wave signal (for example, reducing at least one of the preset sound wave signal and the real-time reverse-phase sound wave signal), new noise interference caused by the part of the reverse-phase sound wave signal that is not accurately cancelled by the noise can be effectively avoided, which is helpful for obtaining a better comprehensive noise reduction effect.

3) Real-time regulation of sound waves

In an embodiment, in an aspect of the present disclosure, as shown in fig. 10, the active noise reduction device for an automatic cleaning apparatus may further include: the effect acquisition module 55 is configured to acquire an effect sound wave signal after the noise reduction module 52 plays the preset sound wave signal and/or the real-time inverse sound wave signal; and a second sound wave adjusting module 56, connected to the effect collecting module 55, for adjusting the real-time inverse sound wave signal according to at least one of the real-time noise, the real-time inverse sound wave signal and the effect sound wave signal, so as to reduce or eliminate the effect sound wave signal.

In this embodiment, the effect collecting module 55 may be a microphone installed on the automatic cleaning device, and the noise collecting direction of the microphone faces to the outside of the automatic cleaning device, so as to collect the active noise reduction effect (i.e. collect the effect sound wave signal); then, by adjusting the real-time inverse sound wave signal in real time, when the adjusted real-time inverse sound wave signal and the preset sound wave signal are played by the noise reduction module 52, the part which is not offset previously can be neutralized and offset, which is equivalent to real-time feedback and iterative processing of the real-time inverse sound wave signal; in particular, when the automatic cleaning device is in different scenes, such as entering from one room to another room, the automatic cleaning device can achieve better noise reduction effect in each scene through the acquisition of the effective sound wave signal and the adjustment of the real-time opposite-phase sound wave signal.

Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. An active noise reduction device for an automatic cleaning apparatus, comprising:

the noise reduction module is connected to the signal acquisition module and used for playing the reversed-phase sound wave signal obtained from the signal acquisition module so as to at least partially offset noise generated by the automatic cleaning equipment;

the effect acquisition module is used for acquiring an effect sound wave signal after the noise reduction module plays a real-time reversed-phase sound wave signal, and comprises a microphone;

and the second sound wave adjusting module is connected to the effect acquisition module and is used for adjusting the real-time reversed-phase sound wave signals according to the effect sound wave signals so as to reduce or eliminate the effect sound wave signals.

2. The apparatus of claim 1, wherein the signal acquisition module comprises:

3. The apparatus of claim 1, wherein the signal acquisition module comprises:

4. The apparatus of claim 1, wherein the signal acquisition module comprises:

5. The apparatus of claim 4, further comprising:

the effect acquisition module is used for acquiring the effect sound wave signal after the real-time reversed-phase sound wave signal and the preset sound wave signal are played by the noise reduction module;

and the second sound wave adjusting module is connected to the effect collecting module and is used for adjusting the real-time reversed-phase sound wave signal according to the effect sound wave signal and the real-time noise, or the effect sound wave signal and the real-time reversed-phase sound wave signal, so as to reduce or eliminate the effect sound wave signal.

6. The apparatus of claim 3 or 4, wherein the noise collection submodule comprises a microphone mounted on the automatic cleaning device with a noise collection direction towards a predetermined noise source of the automatic cleaning device.

7. The apparatus of claim 3 or 4, further comprising:

8. The apparatus of claim 7, wherein the noise pre-processing module comprises:

9. An automatic cleaning apparatus, comprising: active noise reduction means for an automatic cleaning device according to any of claims 1-8.