CN213787190U

CN213787190U - Autonomous mobile device

Info

Publication number: CN213787190U
Application number: CN202020399365.7U
Authority: CN
Inventors: 郭豹; 耿鹤; 尹相超; 张为刘
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2020-03-25
Filing date: 2020-03-25
Publication date: 2021-07-27
Anticipated expiration: 2030-03-25

Abstract

An embodiment of the utility model provides an autonomic mobile device. Wherein the autonomous mobile device comprises: a device body having an autonomous movement capability; the movable connecting mechanism is arranged on the equipment body; the mopping and wiping component is movably connected with the equipment body through the movable connecting mechanism; when the mopping component is in contact with a mopping object, the action of the movable connecting mechanism can change the pressure applied to the mopping object by the mopping component. The embodiment of the utility model provides an among the technical scheme, accessible swing joint mechanism's action changes drags and wipes the subassembly to dragging the pressure that wipes the object and exert, is saving under the prerequisite of independently mobile device consumption, can improve independently mobile device's operation effect again.

Description

Autonomous mobile device

Technical Field

The utility model relates to the technical field of robot, especially, relate to an autonomic mobile device.

Background

At present, more and more sweeping robots in the market begin to be accompanied with a mopping function. Except for the special floor mopping robot, most of the floor mopping integrated robots only place a cleaning cloth at the bottom of the robot for mopping the floor. However, the cleaning cloth floats on the ground by self-weight when mopping the floor, only can play the functions of removing floating ash and wetting the floor, and cannot effectively remove stubborn stains on the floor.

The special floor mopping robot can always make the cleaning cloth have larger pressure on the ground, has better floor mopping effect, but when the cleaning cloth passes through some not very dirty grounds or the ground which is already mopped, the robot always keeps the same working state, is actually a waste, and seriously influences the energy consumption and the endurance of the machine.

SUMMERY OF THE UTILITY MODEL

For solving or improving the problem that exists among the prior art, the utility model provides an autonomic mobile device.

In one embodiment of the present invention, an autonomous mobile device is provided. The autonomous mobile device includes:

a device body having an autonomous movement capability;

the movable connecting mechanism is arranged on the equipment body;

the mopping and wiping component is movably connected with the equipment body through the movable connecting mechanism;

when the mopping component is in contact with a mopping object, the action of the movable connecting mechanism can change the pressure applied to the mopping object by the mopping component.

Optionally, along the traveling direction of the device body, the movable connecting mechanism is located at the front side or the rear side of the mopping assembly.

Optionally, the projection of the movable connecting mechanism and the projection of the mopping assembly in the height direction at least partially coincide.

Optionally, the mopping assembly is driven by the movable connecting mechanism to change between a first position and a second position; when in the first position, the mopping component keeps a distance from a mopping object; when in the second position, the mopping component is in contact with a mopping object.

Optionally, the mop assembly comprises:

a connecting part, one end of which is hinged with one position of the equipment body;

a working part arranged at the other end of the connecting part and used for wiping a mopping object;

the driven part is linked with the movable connecting mechanism;

when the movable connecting mechanism acts, the driven part follows, so that one end of the connecting part rotates relative to the hinge shaft to change the working part between the first position and the second position; after the operation part is located at the second position, the movable connecting mechanism continues to act, the driven part follows up, so that one end of the connecting part rotates relative to the hinge shaft to enable the operation part to generate corresponding deformation, and the pressure applied by the operation part to the mopping object is increased.

Optionally, the connecting portion includes:

a mounting bracket for mounting the working unit;

the supporting rod extends out of the mounting bracket along the direction deviating from the operation part, and the end part of the supporting rod is hinged with one position of the equipment body.

Optionally, the working unit includes: the mopping roller or the mopping plate is movably connected to the mounting bracket.

Optionally, the movable connecting mechanism is connected with the driven part through a cam pair to realize linkage.

Optionally, the autonomous mobile device further includes:

a first sensor for sensing a parameter related to the articulation mechanism action;

a controller, communicatively coupled to the first sensor, for determining whether the scrubbing assembly is in contact with a scrubbing object based on the parameter; when the pressure applied by the mopping component to the mopping object is determined to be in contact with the mopping object, the pressure applied by the mopping component to the mopping object can be further determined based on the parameters.

Optionally, the autonomous mobile device further includes:

a second sensor for sensing information related to a degree of soiling of the mopping object;

and the controller is in communication connection with the second sensor and is used for controlling the movable connecting mechanism to make corresponding action according to the information sensed by the second sensor so as to enable the mopping component to apply pressure adaptive to the dirt degree of the mopping object to the mopping object.

Optionally, the autonomous mobile device further includes:

the controller is provided with a global planning module and is used for controlling the movable connecting mechanism to act when the current position of the equipment body is judged to be the mopped position by utilizing the global planning module, so that the mopping component is moved from the second position to the first position;

wherein, in the second position, the mopping assembly is in contact with a mopping object; when in the first position, the mopping component keeps a distance from the mopping object.

Optionally, the autonomous mobile device further includes:

a third sensor for sensing a type of the medium to which the wiping object belongs;

the controller is connected with the third sensor and used for controlling the action of the movable connecting mechanism to enable the mopping component to move from the second position to the first position when the third sensor senses that the type of the medium to which the mopping object belongs is a carpet type.

Optionally, a traveling assembly is arranged on the device body;

the advancing assembly is used for providing advancing power for the equipment body;

the traveling assembly is movably connected with the equipment body so as to change the relative position relation with the equipment body along with the change of the dragging assembly between the first position and the second position and maintain the contact between the traveling assembly and a traveling surface.

The embodiment of the utility model provides an among the technical scheme, drag and wipe the subassembly through swing joint mechanism and equipment body swing joint drag to wipe the subassembly and drag and wipe under the condition of object contact, accessible swing joint mechanism's action changes drags to wipe the subassembly to dragging the pressure that wipes the object and apply, saves under the prerequisite of independently mobile device consumption, can improve independently mobile device again and drag the operation effect of wiping.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic diagram illustrating distribution of components at the bottom of an autonomous mobile device according to an embodiment of the present invention;

fig. 2 is a schematic view illustrating a liftable mopping assembly in an autonomous moving apparatus according to an embodiment of the present invention at a first position;

fig. 3 is a schematic view illustrating a liftable mopping assembly in an autonomous moving apparatus according to an embodiment of the present invention at a second position;

fig. 4 is a schematic structural view of a mopping assembly and a movable connection mechanism in an autonomous mobile device according to an embodiment of the present invention;

fig. 5 is a schematic view illustrating the dragging and wiping assembly in the autonomous moving apparatus according to an embodiment of the present invention being in a second position under the action of the cam;

fig. 6 is a schematic view illustrating the dragging and wiping assembly in the autonomous moving apparatus according to an embodiment of the present invention being in the first position under the action of the cam;

fig. 7 is a schematic view illustrating a correspondence relationship between a rotation angle of a cam and a pressure in an autonomous moving apparatus according to an embodiment of the present invention;

fig. 8 is a schematic diagram illustrating a sensor and a controller disposed in an autonomous mobile apparatus according to an embodiment of the present invention;

fig. 9 is a schematic flowchart of a control method for an autonomous mobile device according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of an autonomous mobile apparatus according to another embodiment of the present invention;

FIG. 11 is a schematic diagram of force analysis of the autonomous mobile apparatus of FIG. 10 with two disc brushes parallel to the ground;

FIG. 12 is a schematic diagram of the relationship between the friction generated when two disc brushes are parallel to the ground and the driving force provided by the traveling assembly in the autonomous moving apparatus shown in FIG. 10;

FIG. 13 is a schematic diagram of force analysis of the autonomous mobile apparatus of FIG. 10 after tilting of two disk brushes;

FIG. 14 is a schematic illustration of the secondary obstacle crossing propulsion provided by the two swashplate brushes to the body of the autonomous mobile machine of FIG. 10;

FIG. 15 illustrates a schematic view of the tow assembly being lowered to provide propulsion for the travel assembly when the autonomous mobile device is over an obstacle;

fig. 16 is a flowchart illustrating a control method for an autonomous moving apparatus when an auxiliary obstacle crossing requirement exists according to another embodiment of the present invention;

fig. 17 is a flowchart illustrating a control method of the autonomous moving apparatus when the obstacle crossing failure is caused by the dragging and wiping assembly being in the recovery state according to still another embodiment of the present invention.

Detailed Description

The autonomous mobile equipment is equipment with autonomous traveling power and can travel according to a set planned path or an autonomous planned path to execute corresponding tasks. Autonomous mobile devices, which may also be referred to as robots, can be classified into various types of robots according to the task to be performed. Such as: robots (e.g., sweeping robots, sweeping-and-sweeping robots, window-cleaning robots, etc.) performing cleaning tasks, robots (e.g., shopping guide robots, guiding robots, etc.) providing corresponding services, and the like. For robots performing cleaning tasks, there are two types of robots with floor mopping functions currently on the market, one is a sweeping and mopping integrated robot with a floating flat rag for mopping the floor; the other is a special robot for mopping floor, which has a single mopping function.

The former sweeping and mopping integrated robot, its mopping portion (being the rag) generally as plug-in components form carry at robot base lower surface to rely on gravity to float, the mode of carrying generally is that the buckle is impressed and is extracted, follows the mode that the robot removed and cleans ground, but its pressure to ground is not enough, can only clean the slight ash floating on ground generally.

The latter special robot for mopping floor can enable the cleaning cloth to have larger pressure on the ground all the time, has better mopping effect, but the pressure on the ground of the cleaning cloth is fixed, the applicable scene is limited, and the special robot for mopping floor becomes poorer in adaptability to places with more changeable environments.

Therefore, the utility model provides a following each embodiment to provide a strong, the intelligent higher autonomic mobile device of environmental suitability. In order to make the technical field person understand the scheme of the present invention better, the following will combine the drawings in the embodiments of the present invention to clearly and completely describe the technical scheme in the embodiments of the present invention.

In some of the flows described in the specification, claims, and above-described figures of the present invention, a number of operations are included that occur in a particular order, and may be performed out of order or in parallel as they occur herein. The sequence numbers of the operations, e.g., 101, 102, etc., are used merely to distinguish between the various operations, and do not represent any order of execution per se. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different. Furthermore, the embodiments described below are only some embodiments of the present invention, and not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

Fig. 1, fig. 2 and fig. 3 are schematic structural diagrams illustrating an autonomous mobile device according to an embodiment of the present invention. As shown in fig. 1, 2 and 3, the autonomous mobile apparatus includes: the equipment comprises an equipment body 1, a movable connecting mechanism 6 and a mopping component 2. Wherein, the device body 1 has an autonomous moving capability; the movable connecting mechanism 6 is arranged on the equipment body 1; the mopping component 2 is movably connected with the equipment body 1 through the movable connecting mechanism 6. When the mopping component 2 is in contact with the mopping object 4, the pressure applied to the mopping object 4 by the mopping component 2 can be changed by the action of the movable connecting mechanism 6.

The autonomous mobile device type differs, as does the wiping object 4. If the autonomous moving apparatus is a sweeping robot, the wiping object 4 is the ground. If the autonomous mobile device is a wall wiping robot or a glass wiping robot, the object 4 to be wiped is a wall surface or a glass surface. If the working attribute of the autonomous mobile device is a housekeeping robot, the autonomous mobile device autonomously moves on the ground, and the movable arm of the autonomous mobile device is provided with the wiping component 2, the range of the corresponding object to be tested 4 is wider, such as a table top, a cabinet body surface, a door surface and the like.

In this embodiment, in order to avoid increasing the size of the apparatus body 1 in height, referring to the example shown in fig. 2 and 3, the movable connecting mechanism 6 is located on the front side of the mop assembly 2 in the traveling direction of the apparatus body 1. Alternatively, the articulating mechanism 6 may also be located on the rear side of the mop assembly 2. Further, as shown in fig. 2 and 3, the movable connecting mechanism 6 and the projection of the mop assembly 2 in the height direction at least partially coincide; this may reduce the size of the autonomous mobile device in the height direction.

Additionally, FIG. 2 illustrates the mop assembly 2 in a stowed position. Figure 3 shows the mop assembly 2 in a lowered position. For convenience of description, the position of the mop assembly 2 in the retracted state is referred to as a first position, and the position of the mop assembly 2 in the lowered state is referred to as a second position. That is, in this embodiment, the action of the movable connection mechanism can change the pressure applied to the object to be mopped by the mopping assembly, and can also drive the mopping assembly 2 to change between the first position and the second position. Referring to fig. 2, in the first position, the mopping assembly 2 is kept at a distance from the mopping object 4; in the second position, the mop assembly 2 is in contact with the mop object 4. When the mopping component 2 is driven by the movable connecting mechanism 6 to be at the first position, the movable connecting mechanism 6 and the mopping component 2 are arranged along the advancing direction of the equipment body 1.

Wherein, the movable connecting mechanism 6 can be realized by adopting various implementation schemes. For example, the articulation mechanism 6 comprises a linear motor. The mopping component 2 can be arranged at the linear power output end of the linear motor. Under the condition that the mopping component 2 is in contact with the mopping object 4, the linear motor drives the mopping component 2 to continue to move towards the direction of the mopping object 4, and the pressure applied to the mopping object 4 by the mopping component 2 is increased due to deformation. If the mopping component 2 is in contact with the mopping object 4 and pressure exists, the linear motor can drive the mopping component 2 to move towards the direction far away from the mopping object, so that the pressure applied by the mopping component 2 to the mopping object 4 can be reduced.

The linear motor is similar to the following in principle: the structure of motor + screw-nut. Namely, the motor outputs rotary power, the screw rod is connected with the motor, the nut is in threaded connection with the screw rod, the mopping component 2 can be linked with the nut, the nut is made to do linear motion by the rotation of the screw rod, and the mopping component does linear motion along with the nut.

Of course, the movable connection mechanism described in this embodiment may also be implemented by using hydraulic or pneumatic driving power, and this embodiment is not limited in this respect.

For another example, referring to fig. 4, the movable connection mechanism 6 is implemented by a cam mechanism. In particular, the mop assembly 2 may comprise: connecting portion 63, working portion 24, and driven portion 23. Wherein one end of the connecting part 63 is hinged with a position of the apparatus body 1. For example, as shown in fig. 4, one end of the connecting portion 63 is provided with a shaft hole 62, and a hinge shaft 61 adapted to the shaft hole 62 is provided at a position of the device body 1. The shaft hole 62 is sleeved on the hinge shaft 61, so that the working part 24 can rotate around the axis of the hinge shaft 61. The working unit 24 is provided at the other end of the connecting unit 63 and wipes a wiping object. The driven part 23 is linked with the movable connecting mechanism 6. When the movable connecting mechanism 6 is operated, the driven part 23 follows, so that one end of the connecting part 63 rotates relative to the hinge shaft to change the working part 24 between a first position and a second position; after the working part 24 is located at the second position, the movable connecting mechanism 6 continues to operate, and the driven part 64 follows up, so that one end of the connecting part 63 rotates relative to the hinge shaft to cause the working part 24 to generate corresponding deformation, and the pressure applied by the working part 24 to the mopping object 4 is increased.

With continued reference to fig. 4, the connecting portion 63 may include: mounting bracket 231 and support post 631. Wherein, the mounting bracket 231 is used for mounting the working part 24; a rod 631 projects from the mounting bracket 231 in a direction away from the working section 24, and the end of the rod 631 is hinged to a position of the apparatus body 1. That is, the end of the pole 631 is provided with a shaft hole 62, and the shaft hole 62 is connected to a hinge shaft 61 at a position of the apparatus body 1.

In a specific implementation, the working unit 24 may be: a wiping roller (as shown in fig. 4) or a wiping plate movably connected to the mounting bracket 231. For example, the number of the wiping rollers may be one, two or more, and this embodiment is not particularly limited thereto. Also, the number of the mop plates may be one, two or more, and this embodiment is not particularly limited thereto.

In an achievable solution, the movable connecting mechanism 6 and the driven part 23 can be connected by a cam pair to realize linkage. Referring to fig. 4, the movable connection mechanism 6 includes: a cam motor 66, a first speed reducer 65 (or a reduction gearbox) and a cam 64; the rotary power output end of the cam motor 66 is connected with the high-speed end of the first speed reducer 65, and the low-speed end of the first speed reducer 65 is connected with the cam 64. The follower portion 23 is, as shown in fig. 4, a pressure plate that contacts the rim of the cam 64. Specifically, as shown in fig. 5, the pressing plate includes an upper pressing plate 643 and a lower pressing plate 642, and when the cam 64 rotates to a specific position, as shown in fig. 5, the upper pressing plate 643 and the lower pressing plate 642 are respectively located at two opposite edges of the cam 64 and are in contact with each other.

Fig. 5 shows the working unit 24 of the lower wiping unit 2 driven by the cam 64 in the second position (i.e., the working unit 24 is in contact with the wiping object 4) and the pressure applied to the wiping object 4 is at its maximum. Of these, the cam 64 in fig. 5 has a cam shaft 641. Fig. 6 shows the working part 24 of the lower mop assembly 2 in a first position (i.e. the working part is kept at a distance from the mopping object) driven by the cam 64. In specific implementation, the corresponding relation between the cam rotation angle and the pressure can be adjusted by changing the curve of the cam rim. Specifically, the correspondence of the cam rotation angle to the pressure may be characterized as a curve shown in fig. 7. Referring to fig. 7, the cam rotates from the position marked with 0 degree, and the dragging and wiping component gradually changes from the first position to the second position after rotating between 0 and 90 degrees; starting from 90 degrees to 180 degrees, the pressure applied by the scrubbing assembly to the scrubbing object increases gradually to a maximum. From 180 to 270 degrees, the pressure applied to the mopping object by the mopping component is gradually reduced from maximum to minimum. From 270-360, the mopping gradually changes from the second position to the first position. The steepness of the pressure curve in figure 7 can be varied by varying the cam rim curve.

Further, referring to fig. 5, 6 and 8, the autonomous moving apparatus provided in this embodiment may further include a first sensor 7 and a controller 12. Wherein the first sensor 7 is used for sensing a parameter related to the action of the movable connecting mechanism 6. A controller 12, communicatively connected to the first sensor 7, for determining whether the wiping component 2 is in contact with the wiping object 4 according to the parameter; when the contact between the mopping assembly 2 and the mopping object 4 is determined, the pressure applied to the mopping object 4 by the mopping assembly 2 can be further determined based on the parameters.

For example, the first sensor 7 may be an angle sensor for sensing a rotational angle of the cam 64 of the movable connecting mechanism 6 (as shown in fig. 5 and 6). Alternatively, the first sensor 7 is a position sensor for sensing the high/low position information of the driven part 23 that operates with the cam 64 of the movable connecting mechanism 6. Still alternatively, the first sensor 7 is a force sensor, which may be disposed on the mounting bracket 63 and is used for sensing information of the acting force applied to the mounting bracket 63. Since the reaction force of the pressure applied to the mopping object 4 by the working unit 24 acts on the mounting bracket 63, the pressure applied to the mopping object 4 by the working unit 24 can be known by monitoring the force applied to the mounting bracket 63.

In addition, the controller may be a main controller of the autonomous mobile device, or may be a single chip microcomputer connected to the main controller, which is not specifically limited in this embodiment.

Further, referring to fig. 8, the autonomous mobile apparatus provided in this embodiment further includes: a second sensor (not shown) and a controller 12. Wherein, a second sensor (not shown in the figure) is used for sensing the information related to the dirt degree of the mopping object 4; and the controller 12 is in communication connection with the second sensor (not shown in the figures) and is used for controlling the movable connecting mechanism 6 to perform corresponding actions according to information sensed by the second sensor (not shown in the figures), so that the mopping assembly 2 applies pressure to the mopping object 4, wherein the pressure is adaptive to the degree of dirt of the mopping object. As shown in FIG. 1, the second sensor (not shown) can be disposed between the mop assembly 2 and the dust suction opening 13, or disposed near the dust suction opening 13, for identifying the degree of dirt on the floor after the dust suction opening 13 sucks in the dust. The second sensor (not shown) is not particularly limited in this embodiment, as long as it can sense the information related to the degree of contamination of the mopping object 4.

Further, the controller 12 is configured with a global planning module, and is configured to control the movable connecting mechanism 6 to operate when the current position of the apparatus body 1 is judged to be the dragged and wiped position by using the global planning module, so that the dragging and wiping assembly 2 moves from the second position to the first position; wherein, in the second position, the mopping assembly is in contact with a mopping object; when in the first position, the mopping component keeps a distance from the mopping object. Here, it should be noted that: the global planning module can be simply understood as: a control program installed on the apparatus body, which can record which parts have been wiped and which parts have not been wiped in this operation of the apparatus body 1. For the content of the global planning module, reference may be made to the related content in the prior art, which is not specifically limited herein. When the mopping component is in the second position, the resistance is a resistance to the equipment body, and the equipment body needs to consume some energy in the process of traveling to overcome the resistance.

Further, referring to fig. 8, the autonomous moving apparatus provided in the present embodiment further includes a third sensor 14. Wherein the third sensor 14 is used for sensing the type of the medium to which the wiping object 4 belongs. The controller 12 is connected (wirelessly or by wire) with the third sensor 14, and is configured to control the movable connection mechanism 6 to operate to move the mopping assembly 2 from the second position to the first position when the third sensor 14 senses that the type of the medium to which the mopping object 4 belongs is a carpet type. The third sensor 14 may be disposed at a front side of the wiping assembly 2 to sense a type of the medium to which the wiping object belongs in advance before the wiping assembly 2 moves to the sensing position. For example, as shown in fig. 8, the third sensor 14 may be provided at the front of the apparatus body of the autonomous moving apparatus.

Since the change of the angle of the device body 1 relative to the mopping object 4 is caused when the mopping assembly is changed between the first position and the second position as shown in fig. 2 and 3, in order to ensure that the traveling wheel in the traveling assembly 5 of the device body 1 can be always in contact with the mopping object 4, as shown in fig. 2, the device body 1 is provided with the traveling assembly 5. The traveling assembly 5 is used for outputting traveling power to enable the equipment body 1 to move on the mopping object 4. The traveling component 5 is movably connected with the equipment body 1, so that the relative position relation between the traveling component 5 and the equipment body 1 can be changed along with the change of the mopping component 2 between the first position and the second position, and the contact between the traveling component 5 and the mopping object 4 is maintained.

Specifically, as shown in fig. 2, the autonomous mobile device includes: a tension spring 51 and a running wheel assembly rotating shaft 52. One end of the tension spring 51 is fixed with one position of the equipment body 1; the other end of the tension spring 51 is connected to the traveling assembly 5. Such as the example shown in fig. 2, the travelling assembly 5 comprises crawler-type travelling wheels; the track is the component designated by reference numeral 53 in fig. 2. The traveling wheel assembly rotating shaft 52 is fixed at another position of the apparatus body 1. The relative position relation between the mopping component 2 and the equipment body 1 is changed in the process of changing between the first position and the second position; with the above-described configuration shown in fig. 2, it is ensured that the traveling assembly 5 is in contact with the wiping object 4 without being detached.

The technical solution provided by the embodiment of the present invention is described below with reference to a specific type of device, such as a cleaning robot. The cleaning robot may include: the device comprises a traveling assembly, a dust suction port, a dust suction channel, a collecting device, a fan assembly, a mopping assembly and the like. The fan assembly is started to work to generate negative pressure in the dust absorption channel, so that dust is absorbed by the dust absorption port along with the absorbed air flow and enters the collecting device through the dust absorption channel; the dust is retained in the collecting device, and the filtered gas is discharged into the atmosphere through an exhaust port of the cleaning robot. If the mopping component is in a laying-down state (namely in the second position) in the sweeping process of the cleaning robot, namely the mopping component is in contact with the ground and has certain pressure with the ground, the mopping roller in the mopping component can rotate in the same direction as the steering of the traveling wheel in the traveling component. For example, as shown in fig. 4, the working portion 24 (i.e., the scrub roller) of the scrub assembly can be driven in a rotational motion by the scrub roller drive motor 22 and the scrub roller drive reduction gearbox 21. In addition, the cleaning robot may further include: the at least one sensor, the camera, the communication component for communicating with an external device (such as a user mobile phone, a tablet computer, or a server device), and the like, which are not particularly limited in this embodiment. The embodiment can realize two working modes of mopping or not mopping the floor by the cleaning robot based on the characteristic that the movable connecting mechanism can change the position of the mopping component and the pressure applied by the mopping component on the mopping object. More specifically, five operation modes can be set for the cleaning robot, which are respectively:

a sweep-only no-sweep mode, a sweep-parallel mode, or an automatic mode.

In specific implementation, a user can instruct the cleaning robot to work in a sweeping-only and non-sweeping mode, a sweeping-only and non-sweeping mode and a sweeping and parallel mode through a client, a control on the cleaning robot or a voice control mode and the like. When the cleaning robot is in the mode of only sweeping and not mopping, the movable connecting mechanism is controlled to act so that the mopping assembly is located at the first position, and the fan assembly of the cleaning robot works normally to suck dust through the dust suction port. When the cleaning robot is in the mode of only cleaning and not cleaning, the movable connecting mechanism is controlled to act so that the cleaning assembly is located at the second position (namely, the cleaning assembly is in contact with the ground), the fan assembly of the cleaning robot stops working, and at the moment, the sweeping brush on the cleaning robot can also stop rotating. When in the parallel mopping and sweeping mode, the fan assembly works normally to suck dust through the dust suction port, and meanwhile, the mopping assembly is positioned at the second position to mop the ground. When the mopping and sweeping parallel mode is adopted, the pressure applied to the ground by the mopping component can be changed by controlling the action of the movable connecting mechanism. The pressure changing instruction can also be triggered by a user, that is, the user can trigger the pressure changing instruction through a client, a control on the sweeping robot, or a voice control.

The user can also indicate the cleaning robot to work in an automatic mode through a client, a control on the sweeping robot or a voice control mode and the like. In the automatic mode, the cleaning robot starts an automatic control program. For example, when a carpet or other floor surface that cannot be mopped is encountered, the automatic operation is in the sweep-only, no-mopping mode. As another example, a cleaning robot based global planning module automatically switches to either a sweep-only no-sweep mode or a sweep-no-sweep mode when passing a location that has been swept. When the soil is sensed to be dirty, the floor is automatically switched to a parallel mopping mode, and the pressure applied to the soil by the mopping assembly can be changed by automatically controlling the action of the movable connecting mechanism according to the dirty degree.

The mopping effect of the mopping assembly is in direct proportion to the pressure of the mopping assembly to the ground, namely the larger the pressure of the mopping assembly to the ground when mopping the ground, the better the mopping effect of the mopping assembly is. The utility model discloses just based on this principle, utilize swing joint mechanism to adjust and drag the lift of wiping the subassembly, and then can reduce or increase and drag the pressure to the ground of wiping the subassembly, obtain better ground effect of dragging. In order to enable the cleaning robot to accurately know the pressure of the current mopping assembly on the ground, a corresponding sensor can be arranged on the cleaning robot. Such as angle sensors (suitable for cam mechanisms), pressure sensors, displacement sensors, etc.

The cleaning robot can judge the dirty degree based on the information sensed by the sensor, and automatically adjust the pressure of the mopping assembly to the ground. Or the user instructs the cleaning robot to adjust the pressure of the mopping assembly on the ground through the client, corresponding controls or sound holes on the cleaning robot and the like. Taking the scheme that the movable connecting mechanism is realized by adopting the cam mechanism as an example, when the floor pollution degree is low, the cam only needs to rotate to a first angle (for example, an angle between 90 and 180 degrees), and the mopping component mops the floor at a low pressure. When the floor is dirty and hard, the cam rotates to a second angle (180 degrees), and the mopping assembly mops the floor with maximum pressure.

Fig. 9 is a schematic flow chart illustrating an autonomous mobile device control method according to an embodiment of the present invention. The control method provided by this embodiment is implemented on the basis of the hardware of the above embodiment of the autonomous mobile device. The contents of the embodiment of the method and the embodiment of the device can be referred to each other. Specifically, the execution subject of the method provided by this embodiment may be the controller in the above device embodiment. Referring to fig. 9, the method includes:

101. determining whether the pressure applied to the mopping object by the mopping component needs to be changed or not based on the acquired data information;

102. when the pressure needs to be changed, acquiring the pressure change quantity;

103. and controlling the action of the movable connecting mechanism according to the pressure change amount.

The autonomous mobile equipment comprises an equipment body, and the mopping component is movably connected with the equipment body through a movable connecting mechanism.

In the foregoing 101, the data information includes at least one of the following: the user sets information and information related to the dirt degree of the mopping object sensed by a second sensor on the equipment body. In specific implementation, the user setting information may be triggered by a user through a client, a corresponding control on the device body, or an interaction device (such as a touch screen or a voice control unit). As shown in fig. 1, the second sensor 3 may be disposed between the mop assembly 2 and the dust suction opening 13, or disposed near the dust suction opening 13, for identifying the degree of dirt on the floor after the dust suction opening 13 sucks in the dust.

In an implementation manner, the aforementioned 101 "determining whether to change the pressure applied by the scrubbing assembly to the scrubbing object based on the acquired data information" may include the following steps:

1011. if the data information contains user setting information, acquiring setting pressure corresponding to the user setting information; acquiring actual pressure applied to a mopping object by a mopping component; when the difference exists between the set pressure and the actual pressure, determining that the pressure applied to the mopping object by the mopping assembly needs to be changed;

1012. if the data information contains the information related to the dirt degree of the mopping object, determining a target pressure according to the information; acquiring actual pressure applied to a mopping object by a mopping component; when the target pressure and the actual pressure are different, determining that the pressure applied to the mopping object by the mopping assembly needs to be changed;

wherein the difference is the amount of change in pressure. Further, the above steps 1011 and 1012 are not illustrated in the drawings in the specification.

With reference to the structure shown in fig. 4, 5 and 6, the movable connecting mechanism 6 is connected with the mopping assembly 2 through a cam pair; the movable connecting mechanism 6 comprises a cam 64, and the mopping component 2 comprises a driven part 23 contacted with the cam 64. Correspondingly, the step 103 "controlling the movable connection mechanism to act according to the pressure change amount so as to change the pressure applied by the mopping assembly on the mopping object" may include:

1031. determining the rotation direction and angle of the cam according to the pressure change amount;

1032. and controlling the movable connecting mechanism to act so that the cam rotates by the angle in the rotating direction to change the pressure applied by the mopping component on the mopping object.

Here, the steps 1031 and 1032 are not illustrated in the drawings in the specification.

Further, the above 1011 and 1012 "acquiring the actual pressure applied by the mopping assembly to the mopping object" includes any one of the following steps:

receiving a parameter related to the action of the movable connecting mechanism, which is sensed by a first sensor on the equipment body, and determining the actual pressure according to the parameter;

and receiving a sensing signal sent by a force sensor on the equipment body, wherein the force sensor is used for sensing the pressure of the mopping assembly on the mopping object, and obtaining the actual pressure according to the sensing signal.

In a specific implementation scheme, when the movable connection mechanism is a linear motor, the first sensor may be a sensor for detecting a parameter of power output by the linear motor, and the actual pressure is determined based on the parameter of power output by the linear motor. For another example, when the movable connection mechanism is a cam mechanism, the first sensor may be an angle sensor for detecting a rotation angle of the cam; the actual pressure is determined according to the rotation angle of the cam.

Still further, the method provided by this embodiment may further include:

104. controlling the action of a movable connecting mechanism on the equipment body of the autonomous mobile equipment to enable the mopping component to move from the first position to the second position;

wherein, in the first position, the mopping assembly maintains a distance from a mopping object; when in the second position, the mopping component is in contact with a mopping object.

Further, the method provided by this embodiment may further include:

105. and when the current position of the equipment body is judged to be the mopped position by utilizing the configured global planning module, controlling the movable connecting mechanism to act so that the mopping component is moved from the second position to the first position.

Further, the method provided by this embodiment may further include:

106. acquiring the type of a medium to which a mopping object sensed by a third sensor on the equipment body belongs;

107. and controlling the action of the movable connecting mechanism to enable the mopping assembly to move from the second position to the first position when the type of the medium to which the mopping object belongs is a carpet type.

Further, the method provided by this embodiment may further include:

108. after the mop is moved to the mopped position, detecting the dirt degree at the mopped position;

109. under the condition that the dirt degree is larger than a degree threshold value, acquiring first pressure applied to a mopping object by the mopping component at the mopped position last time;

110. increasing the first pressure to a second pressure when the first pressure is not greater than a preset maximum pressure;

111. and controlling the movable connecting mechanism to act according to the second pressure.

Here, it should be noted that: the steps 104, 105 to 107 and 108 to 111 are not shown in the drawings in the specification.

In the above 108, the dragged position may be a position just dragged by the autonomous mobile apparatus, that is, after the autonomous mobile apparatus just dragged by a certain position, the autonomous mobile apparatus backs up to the position to detect the degree of contamination at the position by the second sensor. The dirty degree is greater than the degree threshold value, indicates that dirty piece is comparatively stubborn, and it is not good to adopt just pressure to drag the effect, needs to continue to increase and drags the subassembly and treat the pressure of mopping the surface. Or, the dragged and wiped position may be a position reached when the autonomous mobile apparatus re-walks the dragging path after performing the whole-house and whole-field work, and then performs the dirt degree detection on the dragged and wiped position.

The autonomous mobile device provided in the foregoing embodiment is described below with reference to a specific application scenario.

Application scenario 1

The autonomous mobile device is used for cleaning the floor of a shopping mall by a cleaning robot of the shopping mall. The autonomous mobile device travels on the ground of a shopping mall and sucks dust. When a second sensor on the cleaning robot detects that the ground is provided with a dirty block, the movable connecting mechanism is controlled to act so as to enable the mopping assembly to be lowered to be in contact with the ground, and the pressure of the mopping assembly on the ground is adjusted to be matched with the dirty degree through the action of the movable connecting mechanism according to the dirty degree of the ground. The cleaning robot moves forwards, and the mopping component performs a wiping action on the ground. After the cleaning robot moves forward to a certain position, the cleaning robot can return to detect whether the dirt in the just-mopped area is cleaned or not. If the detected dirt is clean, the movable connecting mechanism can be controlled to act to withdraw the mopping assembly and continue to move while collecting dust. If the detected dirt is not clean, the dirt block is relatively stubborn, the pressure applied to the ground by the mopping component needs to be increased, the movable connecting mechanism is continuously controlled to act to increase the pressure, and the mopping operation is carried out again.

Application scenario 2

The user sets the cleaning robot to a cleaning-while-dragging mode. The cleaning robot travels in the user's home while sweeping and dragging. The pressure of the mopping assembly on the ground is the default pressure. And when the soil on the ground is detected, the cleaning robot increases the pressure of the mopping assembly on the ground. After the mopping is finished, the pressure of the mopping component on the ground is returned to the default pressure.

The existing robot is driven by double wheels to walk and cross obstacles, and door clamps, slopes, sliding door sliding rails and the like with large height difference can not pass through the robot, so that the robot is blocked and cannot work normally, and a user needs to manually get rid of difficulties for the robot. Therefore, the embodiment of the utility model provides a still provide a comparatively novel scheme, have a walking mode promptly at autonomic mobile device, for example, when autonomic mobile device climbing, march to slide rail, door card etc. get into this walking mode when hindering more, drag the subassembly of wiping and produce the driving force of supplementary autonomic mobile device marcing. Specifically, the structure of the autonomous moving apparatus provided in this embodiment is the same as that of the autonomous moving apparatus provided in each of the above embodiments. Therefore, the structure diagram can be seen in fig. 1, 2, 3, 4, 5 and 6, and the autonomous mobile apparatus includes an apparatus body 1, an articulated structure 6 and a mop assembly 2. Wherein, the equipment body 1 is provided with a traveling component for providing traveling power; the movable connecting mechanism 6 is arranged on the equipment body 1; the mopping component 2 is movably connected with the equipment body 1 through a movable connecting mechanism 6. When the autonomous mobile device executes a walking mode, the mopping assembly 2 generates an impulse that assists the autonomous mobile device in walking.

In one particular implementation, the scrubbing assembly includes a scrubbing roller (e.g., working portion 24 of fig. 4 and 5). Wherein, the equipment body 1 is provided with a traveling wheel to provide traveling power. The scrubbing roller is used for rolling cleaning of a work surface. And under the condition that the autonomous mobile equipment executes an obstacle crossing walking mode, the steering of the dragging roller and the steering of the traveling wheel are the same. Further, the linear speed of the dragging roller is not less than that of the advancing wheel so as to generate a pushing force for assisting the advancing assembly in obstacle crossing.

What needs to be added here is: herein, the walking modes that need to be started, such as climbing a slope and crossing an obstacle, of the autonomous mobile device are collectively referred to as obstacle crossing walking modes.

Further, in the embodiments shown in fig. 1, 2, 3, 4, 5 and 6, the mopping roller is movably connected with the device body through the movable connecting mechanism; under the condition that the equipment body needs to cross the obstacle, the pressure applied to the working surface by the dragging roller can be adjusted through the movable connecting mechanism so as to generate a pushing force for assisting the advancing assembly in crossing the obstacle.

In another embodiment of the present invention, a structure diagram of an autonomous moving apparatus is shown in fig. 1, 2, 3, 4, 5 and 6, where the autonomous moving apparatus includes: the equipment comprises an equipment body 1, a movable connecting mechanism 6 and a mopping component 2. Wherein, the equipment body 1 is provided with a traveling component 5 thereon to provide traveling power. And the movable connecting mechanism 6 is arranged on the equipment body 1. The mopping component 2 is movably connected with the equipment body 1 through a movable connecting mechanism 6. Under the condition that the equipment body 1 needs to cross the obstacle, the pressure applied to a travelling surface by the dragging and wiping component 2 can be adjusted through the movable connecting mechanism 6 so as to generate a pushing force for assisting the travelling component 5 to cross the obstacle. See fig. 15 for a schematic diagram of the state of the autonomous moving apparatus when an obstacle is crossed. As shown in fig. 15, when the autonomous moving apparatus gets over the obstacle, the trailing and wiping unit 2 applies pressure to the traveling surface to provide the traveling unit 5 with an urging force to assist the obstacle-crossing.

If the autonomous moving apparatus is a sweeping and mopping integrated robot, the traveling surface is the mopping object 4 mentioned in the above embodiments. When at least partial area of the mopping component 2 is in contact with the traveling surface, the action of the movable connecting mechanism 6 can change the pressure applied by the mopping component to the traveling surface, so that the pushing force is changed. What needs to be added here is: in order to ensure that the travelling wheel in the travelling assembly 5 of the device body 1 can always contact with the mopping object 4, as shown in fig. 2, the travelling assembly 5 is movably connected with the device body 1 so as to change the relative position relation with the device body 1 along with the change of the mopping assembly 2 between the first position and the second position, so as to maintain the contact between the travelling assembly 5 and the mopping object 4, because the angle (or position) of the device body 1 relative to the mopping object 4 is changed when the mopping assembly is changed between the first position and the second position as shown in fig. 2 and 3.

In a specific implementation scheme, when the equipment body 1 gets over an obstacle, the dragging component 2 and the traveling component 5 bear the self weight of the equipment body 1 according to the moving proportion. For example, as shown in fig. 1, the traveling assembly 5 includes traveling wheels on the left and right sides of the autonomous moving apparatus, the mopping assembly 2 is disposed on the rear side of the autonomous moving apparatus, and the dust suction port 13 is located on the front side of the mopping assembly 2. The self-weight of the equipment body is averagely borne by the dragging roller and the two travelling wheels. That is, in this configuration, the mop assembly bears the weight of the body 1/3 and the two travel wheels each bear the weight of the body 1/3.

In one implementation, the mop assembly 2 includes a mop roller (e.g., a work section 24 as shown in fig. 4 and 5). Correspondingly, in the case of an obstacle crossing of the apparatus body, the direction of the mopping roller is the same as the direction of the running wheel in the running assembly 5. Further, the linear speed of the dragging roller is greater than or equal to the linear speed of the travelling wheel while the dragging roller and the travelling wheel in the travelling assembly 5 are steered the same. The linear speed of the mopping roller is as follows: the scrub roller is used to contact the speed of the stationary shaft (i.e., the axis of the scrub roller) at any point on the surface of the scrub object 4 (i.e., the running surface) during circular motion. The linear speed of the travelling wheel is as follows: the running wheel is used for contacting the speed of any point on the wheel surface of the running surface when the wheel shaft of the running wheel circularly moves.

Specifically, as shown in fig. 4, the mop assembly 2 includes: a connecting part 63, a wiping roller and a driven part 64. Wherein, one end of the connecting part 60 is hinged with one position of the device body 2; the mopping roller is arranged at the other end of the connecting part 63; the driven part 23 is linked with the movable connecting mechanism 6. When the movable connecting mechanism 6 acts, the driven part 23 follows up, so that one end of the connecting part 63 rotates relative to the hinge shaft to change the mopping roller between the first position and the second position. When in the first position, the mopping roller keeps a distance from a traveling surface; in the second position, the scrub roller is in contact with a running surface. Further, as shown in fig. 4, the connection part 63 includes: mounting bracket 231 and support post 631. Wherein the mounting bracket 231 is used for mounting the wiping roller. The two ends of the wiping roller (i.e., the working portion 24) along the axial direction thereof are respectively and rotatably connected with two corresponding positions of the mounting bracket 231. A strut 631 extends from the mounting bracket 231 in a direction away from the wiping roller, the end of the strut 631 being hinged to a position of the device body 1. The movable connecting mechanism 6 is connected with the driven part 23 through a cam pair to realize linkage. Specifically, the above structure can be referred to the content in the corresponding embodiments above, and is not described herein again.

Normally, when the mopping roller is used for rolling and cleaning the working surface, the pressure applied to the working surface is a first pressure; when the autonomous mobile device executes a walking mode, such as an obstacle crossing walking mode of climbing a slope, crossing an obstacle and the like, the mopping roller applies a second pressure which is not less than the first pressure to the working surface, and the steering of the walking wheel is the same; the linear speed of the dragging roller is not less than that of the travelling wheel so as to generate a pushing force for assisting the travelling assembly in obstacle crossing. In specific implementation, the pressure applied to the working surface by the mopping roller can be adjusted to be the second pressure through the movable connecting mechanism so as to generate a pushing force for assisting the traveling assembly in obstacle crossing.

Still alternatively, an autonomous moving apparatus constructed as shown in fig. 10. Fig. 10 is a schematic structural diagram of an autonomous mobile device according to another embodiment of the present invention. Wherein, the dragging and wiping component 2 can also provide pushing force for the autonomous mobile equipment when the obstacle is crossed. As shown in fig. 10, the scrubbing assembly 2 includes a disc brush 200. The corresponding reference numeral 200 of the disc brush in fig. 10 is shown in parentheses following the corresponding reference numeral 2 of the scrubbing assembly, i.e. 2(200) in the figure. Similarly, the same reference numerals are used in fig. 11 and 13 below. In the case that the apparatus body 1 needs to get over the obstacle, the inclination angle of the disc brush 200 (see fig. 13) relative to the traveling surface is adjusted by the movable connection mechanism 6, and the edge portion of the disc brush 200 is in contact with the traveling surface to generate an urging force to assist the traveling assembly in getting over the obstacle.

Referring to fig. 13, the movable connection mechanism 6 includes:

the connecting shaft 91 is arranged on the equipment body 1 and is provided with an axis parallel to the advancing direction of the advancing assembly; and

a driving assembly (not shown) for providing the disc brush 200 with a power to rotate around the axis of the connecting shaft 91 to change the angle of the disc brush 200 with the traveling surface;

wherein the autonomous moving apparatus has a dragging walking mode and an obstacle crossing walking mode, and in the dragging walking mode, the disc brush 200 is parallel to the traveling surface, as shown in fig. 11; in the obstacle crossing walking mode, the disc brush 200 forms an angle with the traveling surface, as shown in fig. 13.

What needs to be added here is: the movable connecting mechanism 6 can provide power for the disc brush to move up and down relative to the equipment body besides providing power for inclining the disc brush. That is, the movable connecting mechanism 6 may further include: a power source (such as a linear motor) for outputting linear power. The connecting shaft is linked with the power source outputting the linear power to move up and down linearly, so that the change between the first position and the second position is realized as shown in the figures 2 and 3. Therefore, the autonomous mobile equipment can put down the disc brush to be in contact with the ground when the mopping operation is needed; when the mopping operation is not required, the disc brush is retracted to maintain a distance from the ground.

As an example shown in fig. 10, the apparatus body 1 has a symmetry axis 101' parallel to the direction of travel; and two disc brushes 200 are provided, and the two disc brushes 200 are symmetrically arranged relative to the symmetry axis 101'. Accordingly, as shown in fig. 13, the deformation amount of the two disc brushes 200 on the side close to the symmetry axis due to the inclination is smaller than that on the side far from the symmetry axis; or the deformation quantity of one side of the two disc brushes, which is far away from the symmetry axis, due to inclination is smaller than that of one side of the two disc brushes, which is near to the symmetry axis.

Fig. 11 shows that in the normal operation mode, the pressure generated by the disc brushes is uniform on the whole disc brush, and the friction forces are mutually counteracted. That is, in FIG. 11, force N₁＝N₁’；N₂＝N₂'. However, for the movement of the whole machine, as shown in fig. 12, the resultant frictional forces f1 and f2 of the disk brush 200 are directed backwards, which is the movement resistance.

FIG. 13 shows that when the apparatus body gets over the obstacle, the disk brush is simultaneously lifted to the inside (or simultaneously lifted to the outside) by the movable connection structure, and the force N is applied to the inside₁’<N₁,N₂’<N₂. As shown in fig. 14, forward frictional driving forces f1 'and f 2' are thereby obtained. The frictional driving forces f1 'and f 2' may assist the travel assembly in crossing obstacles.

Further, the autonomous mobile device may also include a detection component and a controller. Wherein the content of the first and second substances,

a detection component arranged on the equipment body 1;

the controller is in communication connection with the detection assembly and is used for starting an obstacle crossing walking mode under the condition that the detection assembly detects that the equipment body needs to cross the obstacle; and under the obstacle crossing walking mode, controlling a dragging and wiping assembly arranged on the equipment body to work in an auxiliary obstacle crossing state so as to apply pressure to a running surface and further generate a driving force for assisting the running assembly of the equipment body in obstacle crossing.

Further, the controller is also used for controlling the movable connecting mechanism to act to enable the mopping assembly to be in a recovery state so as to keep a distance from the traveling surface when the traveling assembly is monitored to successfully cross the obstacle.

In the technical scheme that this embodiment provided, drag and wipe the subassembly and remove for the equipment body reciprocates, can also provide the driving force that assists its obstacle crossing for advancing the subassembly when the condition that needs obstacle crossing appears, improve its obstacle crossing ability. The scheme provided by the embodiment utilizes the advantages that the pressure between the dragging and wiping component of the autonomous mobile equipment and the ground is controllable, the dragging and wiping component and the ground can rub at high frequency and the like, and the obstacle crossing operation of the autonomous mobile equipment is realized.

The following describes the technical solution provided by this embodiment by taking an autonomous moving apparatus as an example of a cleaning robot. As shown in fig. 1, the traveling wheel included in the traveling assembly 5 is located at the left and right sides of the cleaning robot, the mop assembly 2 is disposed at the rear side of the cleaning robot, and the dust suction port 13 is located at the front side of the mop assembly 2. As shown in fig. 13, when the cleaning robot encounters obstacles such as a door clip, a slope, a sliding door sliding rail and the like and cannot pass through the obstacles, the two disc brushes are inclined through the movable connecting structure so as to provide a pushing force for assisting the traveling assembly in crossing the obstacles.

Here, the technical solution provided by each embodiment of the present invention is supplemented by:

for the case that the mopping assembly of the autonomous mobile device comprises a mopping roller, the steering of the mopping roller can be the same as the steering of the traveling wheel, and the rotating speed of the mopping roller is not more than the rotating speed of the traveling wheel; in a first special case (for example, when the ground is dirty), the direction of rotation of the mopping roller can be the same as that of the travelling wheel, and the rotating speed of the mopping roller can be greater than that of the travelling wheel; in a second special case (e.g. a high degree of soiling of the floor, such as sticky soiling), the direction of rotation of the scrubbing roller may be opposite to the direction of rotation of the travelling wheel, and the speed of rotation of the scrubbing roller may be equal to the speed of rotation of the travelling wheel, so that the speed of the scrubbing roller relative to the floor is relatively high and a better scrubbing effect is achieved.

Fig. 16 is a flowchart illustrating a control method for an autonomous mobile apparatus according to another embodiment of the present invention. Also, the control method provided by this embodiment is implemented on the basis of hardware of the above-mentioned embodiment of the autonomous mobile device. The contents of the embodiment of the method and the embodiment of the device can be referred to each other. Specifically, the execution subject of the method provided by this embodiment may be the controller in the above device embodiment. Referring to fig. 16, the control method of the autonomous mobile apparatus includes:

301. starting an obstacle crossing walking mode under the condition that an auxiliary obstacle crossing requirement exists in the equipment body;

302. and under the obstacle crossing walking mode, controlling a dragging and wiping assembly arranged on the equipment body to work in an auxiliary obstacle crossing state so as to apply pressure to a running surface and further generate a driving force for assisting the running assembly of the equipment body in obstacle crossing.

In 301, the auxiliary obstacle crossing requirement of the device body may exist in the following two situations:

one situation is: the equipment body needs to cross the obstacle, and the auxiliary obstacle crossing requirement can be considered to exist in the equipment body;

the other situation is that: under the condition that the advancing assembly of the equipment body fails to cross the obstacle, starting the auxiliary obstacle crossing; namely, when the obstacle crossing of the equipment body fails, the auxiliary obstacle crossing requirement of the equipment body is determined.

That is, the method provided by this embodiment further includes any one of:

under the condition that the equipment body is detected to be unsuccessful in obstacle crossing, determining that an auxiliary obstacle crossing requirement exists in the equipment body;

and when the obstacle needing to be crossed by the equipment body is detected, determining that the auxiliary obstacle crossing requirement exists in the equipment body.

When the scrubbing assembly includes a scrubbing roller (e.g., the work section 24 shown in fig. 4 and 5); in the step 302, "controlling the mopping assembly disposed on the apparatus body to operate in the auxiliary obstacle crossing state" may specifically include at least one of the following:

controlling the direction of the dragging roller to be the same as that of the travelling wheel in the travelling assembly;

controlling a first driving device to output corresponding power so that the linear speed of the dragging roller is greater than or equal to the linear speed of the traveling wheel, wherein the directions of the linear speeds of the dragging roller and the traveling wheel are the same;

and controlling the movable connecting mechanism to act so as to adjust the pressure applied by the mopping roller to the advancing surface, wherein the mopping roller is movably connected with the equipment body through the movable connecting mechanism.

Further, the method provided by the embodiment of the present invention may further include at least one of the following:

under the condition that the auxiliary driving force provided by the mopping roller is utilized to overcome the obstacle unsuccessfully, the first driving device is controlled to improve the output power so as to increase the linear speed of the mopping roller;

and under the condition that the auxiliary driving force provided by the dragging roller is not used for successfully crossing the obstacle, the movable connecting mechanism is controlled to act to increase the pressure applied by the dragging roller to the traveling surface, so that the driving force for assisting the traveling assembly to cross the obstacle is increased.

When the dragging component comprises a disc brush, the step 302 of controlling the dragging component arranged on the equipment body to work in the auxiliary obstacle crossing state may specifically include:

controlling the movable connecting mechanism to act so as to adjust the inclination angle of the disc brush relative to the travelling surface, so that the edge part of the disc brush is in contact with the travelling surface;

wherein, the disc brush is movably connected with the equipment body through the movable connecting mechanism.

Further, the method provided by this embodiment may further include the following steps:

and under the condition that the inclined disc brush is not used for successfully crossing the obstacle, the movable connecting mechanism is controlled to act so as to increase the inclination angle, so that the pushing force for assisting the advancing assembly to cross the obstacle is increased.

Referring to fig. 17, a control method of the autonomous moving apparatus according to another embodiment of the present invention is provided. Also, the control method provided by this embodiment is implemented on the basis of hardware of the above-mentioned embodiment of the autonomous mobile device. The contents of the embodiment of the method and the embodiment of the device can be referred to each other. Specifically, the execution subject of the method provided by this embodiment may be the controller in the above device embodiment. As shown in fig. 17, the method provided in this embodiment includes:

401. under the condition of receiving an obstacle crossing indication, controlling the movable connecting mechanism to act so as to enable the mopping assembly to be in a recovery state and keep a distance from a traveling surface;

402. under the condition that the traveling assembly is monitored to be unsuccessful in obstacle crossing, controlling the movable connecting mechanism to act so that at least partial area of the dragging and wiping assembly is in contact with a traveling surface to generate a pushing force for assisting the traveling assembly in obstacle crossing;

the autonomous mobile equipment comprises an equipment body, wherein the equipment body is provided with the travelling assembly; the mopping component is movably connected with the equipment body through the movable connecting mechanism.

In an achievable technical solution, the mop assembly includes a mop roller and a first driving device, and the first driving device drives the mop roller to rotate; and

the step 402 of controlling the movable connection mechanism to move so that at least a partial area of the dragging assembly contacts with the traveling surface to generate a pushing force for assisting the traveling assembly in obstacle crossing under the condition that the traveling assembly is monitored to be unsuccessful in obstacle crossing may include:

4021. under the condition that the traveling assembly is monitored to be unsuccessful in obstacle crossing, controlling the movable connecting mechanism to act so that a partial area of the mopping roller is in contact with a traveling surface;

4022. and controlling the first driving device to output corresponding power so that the steering direction of the mopping roller is the same as the steering direction of a traveling wheel in the traveling assembly, and the rotating speed of the mopping roller is less than or equal to that of the traveling wheel.

The steps 4021 and 4022 are not shown in the drawings.

403. acquiring the pressure of the mopping roller on the advancing surface under the condition that the mopping roller does not successfully cross the obstacle;

404. and controlling the movable connecting mechanism to act so as to increase the pressure, so that the pushing force for assisting the advancing assembly to cross the obstacle is increased.

In another implementation, the mop assembly includes a disc brush and a second driving device, and the second driving device drives the disc brush to rotate around an axis perpendicular to the traveling surface. Accordingly, the step 402 of controlling the movable connection mechanism to move so that at least a partial area of the dragging assembly contacts with the traveling surface to generate an urging force for assisting the traveling assembly in obstacle crossing in case that the traveling assembly is monitored to be in obstacle crossing failure may include:

4021' controlling the movable connecting mechanism to move to incline the disc brush under the condition that the traveling assembly is monitored to be unsuccessful in obstacle crossing, so that the disc brush forms an angle with the traveling surface;

4022' controls the second driving device to output corresponding power to generate an impulse force to assist the traveling assembly in obstacle crossing.

The steps 4021 'and 4022' are not shown in the drawings.

Still further, the method provided by this embodiment may further include:

405. acquiring the inclination angle of the disc brush under the condition that the inclined disc brush is not used for successfully crossing the obstacle;

406. and controlling the movable connecting mechanism to act so as to increase the inclination angle, so that the pushing force for assisting the advancing assembly to cross the obstacle is increased.

In order to avoid the trailing assembly in contact with the running surface from affecting the travel of the autonomous mobile device in the event that the travel wheel successfully clears an obstacle, the trailing assembly must be retracted after the travel wheel successfully clears the obstacle. That is, the method provided by this embodiment may further include the following steps:

407. when the traveling assembly is monitored to cross the obstacle, the movable connecting mechanism is controlled to act to enable the mopping assembly to be in a recovery state so as to keep a distance from a traveling surface.

Likewise, what is to be added here is: the steps 403 to 404, 405 to 406 and 407 are not shown in the drawings.

Application scenario 3

The autonomous mobile equipment is a household cleaning robot which can move in the living room and can suck dust. The mop assembly of the household cleaning robot is in a retracted state. When the kitchen door is a sliding door, the rail of the sliding door needs to cross the sliding door. At this point, the domestic cleaning robot lowers the mopping assembly into contact with the ground and there is some pressure to provide supplemental propulsion for the road wheel to clear the obstacle. After the household cleaning robot successfully surmounts the obstacle, the dragging and wiping component is retracted to avoid scraping and rubbing between the sliding door rail and the dragging and wiping component. After the complete machine all crosses the push-and-pull door track, domestic cleaning robot knows that self is in the kitchen, will only sweep not drag the mode and switch into and sweep and drag the parallel mode. The household cleaning robot puts down the mop component and cleans the mop while dragging. In the cleaning process, the household cleaning robot detects that one piece of dirt is dirty, and the movable connecting mechanism is controlled to act so as to increase the pressure of the mopping assembly on the ground, so that the mopping effect is improved.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. An autonomous mobile device, comprising:

a device body having an autonomous movement capability;

the movable connecting mechanism is arranged on the equipment body;

2. The autonomous mobile apparatus of claim 1 wherein the articulating mechanism is located on a front side or a rear side of the scrubbing assembly in a direction of travel of the apparatus body.

3. The autonomous mobile apparatus of claim 2 wherein the articulation mechanism and the projection of the scrubbing assembly in the elevation direction at least partially coincide.

4. The autonomous mobile device of claim 1,

the mopping component is driven by the movable connecting mechanism to change between a first position and a second position;

when in the first position, the mopping component keeps a distance from a mopping object; when in the second position, the mopping component is in contact with a mopping object.

5. The autonomous mobile device of claim 4, wherein the mopping assembly comprises:

the driven part is linked with the movable connecting mechanism;

6. The autonomous mobile apparatus of claim 5, wherein the connection portion comprises:

a mounting bracket for mounting the working unit;

the supporting rod extends out of the mounting bracket along the direction departing from the operation part, and the end part of the supporting rod is hinged with one position of the equipment body;

the working unit includes: the mopping roller or the mopping plate is movably connected to the mounting bracket.

7. The autonomous moving apparatus of claim 5, wherein the movable connection mechanism is connected to the driven portion through a cam pair to achieve linkage.

8. The autonomous mobile device of any of claims 1 to 7, further comprising:

9. The autonomous mobile device of any of claims 4 to 7, further comprising:

the controller is in communication connection with the second sensor and is used for controlling the movable connecting mechanism to make corresponding action according to information sensed by the second sensor so as to enable the mopping component to apply pressure which is adaptive to the dirt degree of the mopping object to the mopping object;

the controller is connected with the third sensor and is used for controlling the action of the movable connecting mechanism to enable the mopping component to move from the second position to the first position when the third sensor senses that the type of the medium to which the mopping object belongs is a carpet type;

the equipment body is provided with a traveling assembly;

10. The autonomous mobile device of any of claims 4 to 7, further comprising: