CN113440064B - Autonomous mobile device and control method - Google Patents

Abstract

The embodiment of the application provides autonomous mobile equipment and a control method. Wherein the autonomous mobile device comprises: the equipment body has autonomous movement capability; the movable connecting mechanism is arranged on the equipment body; the mopping component is movably connected with the equipment body through the movable connecting mechanism; wherein, under the condition that the mopping component is contacted with a mopping object, the action of the movable connecting mechanism can change the pressure applied by the mopping component to the mopping object. According to the technical scheme provided by the embodiment of the application, the pressure applied to the object to be wiped by the wiping component can be changed through the action of the movable connecting mechanism, and the operation effect of the autonomous mobile equipment can be improved on the premise of saving the power consumption of the autonomous mobile equipment.

Description

Autonomous mobile device and control method

Technical Field

The present application relates to the field of robotics, and in particular to an autonomous mobile device and a control method thereof.

Background Art

At present, more and more sweeping robots on the market have begun to have mopping functions. Except for dedicated mopping robots, most sweeping and mopping robots only place a rag at the bottom of the machine for mopping. However, when mopping the floor, the rag floats on the ground by its own weight, which can only remove floating dust and wet the ground, and cannot effectively remove stubborn stains on the ground.

A dedicated mopping robot can keep the rag under greater pressure on the ground at all times, achieving a better mopping effect. However, when passing over floors that are not very dirty or have already been mopped, the robot always maintains the same working state, which is actually a waste and seriously affects the energy consumption and battery life of the machine.

Summary of the invention

In order to solve or improve the problems existing in the prior art, the present application provides an autonomous mobile device and a control method.

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

The device body has the ability to move autonomously;

A movable connection mechanism, arranged on the device body;

A mopping assembly, movably connected to the device body via the movable connection mechanism;

Wherein, when the dragging and wiping component is in contact with the dragging and wiping object, the action of the movable connection mechanism can change the pressure applied by the dragging and wiping component to the dragging and wiping object.

In another embodiment of the present application, a method for controlling an autonomous mobile device is provided. The method comprises:

Based on the acquired data information, determining whether it is necessary to change the pressure applied by the dragging component to the dragging object;

When a change is required, obtain the pressure change;

Controlling the movement of the movable connection mechanism according to the pressure change;

The autonomous mobile device comprises a device body, and the dragging and wiping assembly is movably connected to the device body via a movable connection mechanism.

In a technical solution provided in an embodiment of the present application, a dragging and wiping component is movably connected to a device body via a movable connecting mechanism. When the dragging and wiping component is in contact with a dragging object, the pressure applied by the dragging and wiping component to the dragging object can be changed by the action of the movable connecting mechanism. This can improve the dragging and wiping effect of the autonomous mobile device while saving power consumption of the autonomous mobile device.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic diagram showing the principle of the distribution of components at the bottom of an autonomous mobile device provided by an embodiment of the present application;

FIG2 is a schematic diagram of a liftable dragging and wiping assembly in an autonomous mobile device provided by an embodiment of the present application when the liftable dragging and wiping assembly is in a first position;

FIG3 is a schematic diagram of a liftable mopping assembly in an autonomous mobile device provided by an embodiment of the present application when the liftable mopping assembly is in a second position;

FIG4 is a schematic diagram of the structure of a dragging and wiping assembly and a movable connection mechanism in an autonomous mobile device provided in an embodiment of the present application;

FIG5 is a schematic diagram of a wiping assembly in an autonomous mobile device provided by an embodiment of the present application being in a second position under the action of a cam;

FIG6 is a schematic diagram of a wiping assembly in an autonomous mobile device provided by an embodiment of the present application being in a first position under the action of a cam;

FIG7 is a schematic diagram of the corresponding relationship between the cam rotation angle and the pressure in the autonomous mobile device provided in an embodiment of the present application;

FIG8 is a schematic diagram showing the principle of setting a sensor and a controller in an autonomous mobile device according to an embodiment of the present application;

FIG9 is a schematic flow chart of a control method for an autonomous mobile device provided in an embodiment of the present application;

FIG10 is a schematic diagram of the structure of an autonomous mobile device provided in yet another embodiment of the present application;

FIG11 is a schematic diagram of force analysis when two brushes are parallel to the ground in the autonomous mobile device shown in FIG10 ;

FIG12 is a schematic diagram showing the relationship between the friction force generated when the two brushes are parallel to the ground and the driving force provided by the traveling assembly in the autonomous mobile device shown in FIG10 ;

FIG13 is a schematic diagram of force analysis of two brush discs in the autonomous mobile device shown in FIG10 after tilting;

FIG14 is a schematic diagram of the driving force provided by two inclined disc brushes in the autonomous mobile device shown in FIG10 to the device body to assist in overcoming obstacles;

FIG15 is a schematic diagram showing a dragging and wiping assembly being lowered to provide a driving force for the traveling assembly when the autonomous mobile device overcomes an obstacle;

FIG16 is a flow chart of a control method of an autonomous mobile device provided in yet another embodiment of the present application;

FIG17 is a flow chart of a control method for an autonomous mobile device provided in yet another embodiment of the present application.

DETAILED DESCRIPTION

Autonomous mobile devices are devices that have autonomous power to move and can move along a set or autonomously planned path to perform corresponding tasks. Autonomous mobile devices, also known as robots, can be divided into many categories of robots according to the tasks they perform. For example: robots that perform cleaning tasks (such as sweeping robots, sweeping and mopping robots, window cleaning robots, etc.), robots that provide corresponding services (such as shopping guide robots, guide robots, etc.). For robots that perform cleaning tasks, there are generally two types of robots with mopping functions on the market. One is a sweeping and mopping robot with a floating flat cloth for mopping; the other is a dedicated mopping robot with a single mopping function.

The mopping part (i.e. the rag) of the previous sweeping and mopping robot is generally mounted on the lower surface of the robot base as a plug-in and floats on gravity. The mounting method is generally to press in and pull out the buckle, and the floor is cleaned by following the movement of the robot. However, the pressure on the ground is insufficient, and generally it can only clean the light floating dust on the ground.

The latter mopping robot can keep the rag under greater pressure on the ground, achieving a better mopping effect. However, the pressure of the rag on the ground is relatively fixed, and its applicable scenarios are relatively limited. For places with more changeable environments, the mopping robot becomes less adaptable.

To this end, the present application provides the following embodiments to provide an autonomous mobile device with strong environmental adaptability and higher intelligence. In order to enable people in the technical field to better understand the present application scheme, the technical scheme in the present application scheme will be clearly and completely described below in conjunction with the drawings in the present application scheme.

In some processes described in the specification, claims and the above-mentioned figures of the present application, multiple operations appearing in a specific order are included, and these operations may not be executed or executed in parallel in the order in which they appear in this article. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed in sequence or in parallel. It should be noted that the descriptions of "first", "second", etc. in this article are used to distinguish different messages, devices, modules, etc., do not represent the order of precedence, and do not limit "first" and "second" to different types. In addition, the embodiments described below are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of this application.

Fig. 1, Fig. 2 and Fig. 3 show the schematic diagram of the structure of the autonomous mobile device provided by one embodiment of the present application. As shown in Fig. 1, Fig. 2 and Fig. 3, the autonomous mobile device includes: a device body 1, a movable connection mechanism 6 and a dragging and rubbing component 2. The device body 1 has the ability to move autonomously; the movable connection mechanism 6 is arranged on the device body 1; the dragging and rubbing component 2 is movably connected to the device body 1 through the movable connection mechanism 6. When the dragging and rubbing component 2 is in contact with the dragging and rubbing object 4, the action of the movable connection mechanism 6 can change the pressure applied by the dragging and rubbing component 2 to the dragging and rubbing object 4.

The wiping object 4 will be different depending on the type of autonomous mobile device. If the autonomous mobile device 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 wiping object 4 is the wall or glass surface. If the working attribute of the autonomous mobile device is a housekeeping robot, the autonomous mobile device moves autonomously on the ground, and a wiping component 2 is provided on its movable arm, then the corresponding object to be tested 4 refers to a wider range, such as a desktop, a cabinet surface, a door surface, etc.

In this embodiment, in order to avoid increasing the height of the device body 1, referring to the examples shown in FIG. 2 and FIG. 3, along the travel direction of the device body 1, the movable connection mechanism 6 is located at the front side of the dragging and wiping assembly 2. Alternatively, the movable connection mechanism 6 can also be located at the rear side of the dragging and wiping assembly 2. Further, as shown in the examples shown in FIG. 2 and FIG. 3, the projections of the movable connection mechanism 6 and the dragging and wiping assembly 2 in the height direction at least partially overlap; this can reduce the height of the autonomous mobile device.

In addition, FIG. 2 shows the situation that the wiping assembly 2 is in the retracted state. FIG. 3 shows the situation that the wiping assembly 2 is in the lowered state. For the convenience of description, the position of the wiping assembly 2 in the retracted state is referred to as the first position, and the position of the wiping assembly 2 in the lowered state is referred to as the second position. That is, the action of the movable connection mechanism in this embodiment can not only change the pressure applied by the wiping assembly to the wiping object, but also drive the wiping assembly 2 to change between the first position and the second position. As shown in FIG. 2, in the first position, the wiping assembly 2 keeps a distance from the wiping object 4; in the second position, the wiping assembly 2 contacts the wiping object 4. When the wiping assembly 2 is in the first position driven by the movable connection mechanism 6, the movable connection mechanism 6 and the wiping assembly 2 are arranged along the travel direction of the device body 1.

The movable connection mechanism 6 can be implemented by a variety of implementation schemes. For example, the movable connection mechanism 6 includes a linear motor. The dragging and rubbing component 2 can be set at the linear power output end of the linear motor. When the dragging and rubbing component 2 is in contact with the dragging and rubbing object 4, the linear motor drives the dragging and rubbing component 2 to continue to move in the direction of the dragging and rubbing object 4, and the dragging and rubbing component 2 increases the pressure exerted on the dragging and rubbing object 4 due to deformation. If the dragging and rubbing component 2 is in contact with the dragging and rubbing object 4 and there is pressure, the linear motor can drive the dragging and rubbing component 2 to move in the direction away from the dragging and rubbing object, which can reduce the pressure exerted by the dragging and rubbing component 2 on the dragging and rubbing object 4.

The above linear motor is similar to the structure of motor + lead screw nut in principle. That is, the motor outputs rotational power, the lead screw is connected to the motor, the nut is threadedly connected to the lead screw, the drag and rubbing assembly 2 can be linked with the nut, the rotation of the lead screw causes the nut to move linearly, and the drag and rubbing assembly moves linearly with the nut.

Of course, the movable connection mechanism described in this embodiment can also be implemented by hydraulic or pneumatic driving power, and this embodiment does not make any specific limitation to this.

For another example, referring to FIG4 , the movable connection mechanism 6 is implemented by a cam mechanism. Specifically, the mopping assembly 2 may include: a connecting portion 63, a working portion 24 and a driven portion 23. Among them, one end of the connecting portion 63 is hinged to a position of the device body 1. For example, as shown in FIG4 , an axial hole 62 is provided at one end of the connecting portion 63, and a hinge shaft 61 adapted to the axial hole 62 is provided at a position of the device body 1. The axial hole 62 is sleeved on the hinge shaft 61, so that the working portion 24 can rotate around the axis of the hinge shaft 61. The working portion 24 is arranged at the other end of the connecting portion 63, and is used to wipe the mopping object. The driven portion 23 is linked to the movable connection mechanism 6. When the movable connection mechanism 6 is actuated, the driven part 23 follows the movement, so that one end of the connection part 63 rotates relative to the hinge shaft, causing the working part 24 to change between the first position and the second position; after the working part 24 is located at the second position, the movable connection mechanism 6 continues to act, and the driven part 64 follows the movement, so that one end of the connection part 63 rotates relative to the hinge shaft, causing the working part 24 to produce corresponding deformation, and the pressure applied by the working part 24 to the rubbing object 4 increases.

Continuing to refer to FIG. 4 , the connection portion 63 may include: a mounting bracket 231 and a support rod 631. The mounting bracket 231 is used to mount the working portion 24; the support rod 631 extends from the mounting bracket 231 in a direction away from the working portion 24, and the end of the support rod 631 is hinged to a position of the device body 1. That is, the end of the support rod 631 is provided with an axis hole 62, and the axis hole 62 is connected to a hinge axis 61 at a position of the device body 1.

In a specific implementation, the working part 24 may be a wiping roller (as shown in FIG. 4 ) or a wiping board movably connected to the mounting bracket 231. For example, the wiping roller may be one, two or more, which is not specifically limited in this embodiment. Similarly, the wiping board may be one, two or more, which is not specifically limited in this embodiment.

In a feasible technical solution, the movable connection mechanism 6 and the driven part 23 can be connected through a cam pair to achieve linkage. As shown in FIG4 , the movable connection mechanism 6 includes: a cam motor 66, a first reducer 65 (or a reduction box) and a cam 64; the rotational power output end of the cam motor 66 is connected to the high-speed end of the first reducer 65, and the low-speed end of the first reducer 65 is connected to the cam 64. The driven part 23, as shown in FIG4 , is a pressure plate in contact with the rim of the cam 64. Specifically, as shown in FIG5 , the pressure plate includes an upper pressure plate 643 and a lower pressure plate 642. When the cam 64 rotates to a specific position, such as the position shown in FIG5 , the upper pressure plate 643 and the lower pressure plate 642 are respectively located at two opposite rims of the cam 64 and contact each other.

FIG. 5 shows that the working part 24 of the wiping assembly 2 is in the second position (i.e., the working part 24 is in contact with the wiping object 4) under the drive of the cam 64, and the pressure applied to the wiping object 4 is the maximum. FIG. 6 shows that the working part 24 of the wiping assembly 2 is in the first position (i.e., the working part is kept at a certain distance from the wiping object) under the drive of the cam 64. In specific implementation, the corresponding relationship between the cam rotation angle and the pressure can be adjusted by changing the cam wheel edge curve. Specifically, the corresponding relationship between the cam rotation angle and the pressure can be characterized by the curve shown in FIG. 7. Referring to FIG. 7, the cam starts to rotate from the marked 0 degree position, and rotates between 0 and 90 degrees, and the wiping assembly gradually changes from the first position to the second position; from 90 degrees to 180 degrees, the pressure applied by the wiping assembly to the wiping object gradually increases until it reaches the maximum. From 180 to 270 degrees, the pressure applied by the wiping assembly to the wiping object gradually decreases from the maximum to the minimum. From 270 to 360 degrees, the wiping gradually changes from the second position to the first position. The steepness of the pressure curve in FIG7 can be changed by changing the cam flange curve.

Further, referring to FIG. 5 , FIG. 6 and FIG. 8 , the autonomous mobile device provided in this embodiment may further include a first sensor 7 and a controller 12. The first sensor 7 is used to sense parameters related to the action of the movable connection mechanism 6. The controller 12 is connected to the first sensor 7 in communication and is used to determine whether the dragging and rubbing component 2 is in contact with the dragging and rubbing object 4 according to the parameters; when determining that the dragging and rubbing component 2 is in contact with the dragging and rubbing object 4, the pressure applied by the dragging and rubbing component 2 to the dragging and rubbing object 4 may also be determined based on the parameters.

For example, the first sensor 7 may be an angle sensor for sensing the rotation angle of the cam 64 of the movable connection mechanism 6 (as shown in FIGS. 5 and 6 ). Alternatively, the first sensor 7 is a position sensor for sensing the height information of the driven part 23 that moves with the cam 64 of the movable connection mechanism 6. Alternatively, the first sensor 7 is a force sensor, which may be disposed on the mounting bracket 63 to sense the force information applied to the mounting bracket 63. Since the pressure applied by the working part 24 to the dragging object 4 will cause the reaction force of the pressure to act on the mounting bracket 63, the pressure applied by the working part 24 to the dragging object 4 can be known by monitoring the force applied to the mounting bracket 63.

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

Further, referring to FIG. 1 , the autonomous mobile device provided in this embodiment also includes: a second sensor 71 and a controller 12. The second sensor 71 is used to sense information related to the degree of dirtiness of the mopping object 4; the controller 12 is connected to the second sensor 71 in communication, and is used to control the movable connection mechanism 6 to perform corresponding actions according to the information sensed by the second sensor 71, so that the mopping component 2 applies a pressure adapted to the degree of dirtiness of the mopping object 4. As shown in FIG. 1 , the second sensor 12 can be arranged between the mopping component 2 and the dust suction port 13, or arranged near the dust suction port 13, and is used to identify the degree of dirtiness of the ground after the dust suction port 13 sucks in dust. The selection of the second sensor 71 is not specifically limited in this embodiment, as long as it can sense information related to the degree of dirtiness of the mopping object 4.

Further, the controller 12 is configured with a global planning module, which is used to control the movable connection mechanism 6 to move when the global planning module determines that the current position of the device body 1 is the dragged position, so that the dragging and wiping component 2 moves from the second position to the first position; wherein, when in the second position, the dragging and wiping component is in contact with the dragging and wiping object; when in the first position, the dragging and wiping component keeps a distance from the dragging and wiping object. It should be noted here that the global planning module can be simply understood as: a control program installed on the device body, which can record which parts of the device body 1 have been wiped and which parts have not been wiped in this operation. For the content of the global planning module, please refer to the relevant content in the prior art, and this article does not make specific restrictions on this. When the dragging and wiping component is in the second position, it is a kind of resistance to the device body. The device body needs to consume some energy to overcome this part of the resistance during the movement. For this reason, this embodiment is based on the global planning module. When the current position of the device body is determined to be the wiped position, the wiping component is retracted to keep a distance from the wiping object to eliminate the resistance caused by the dragging and wiping component.

Further, referring to FIG8 , the autonomous mobile device provided in this embodiment further includes a third sensor 14. The third sensor 14 is used to sense the type of medium to which the dragging and rubbing object 4 belongs. The controller 12 is connected to the third sensor 14 (can be wirelessly connected or wiredly connected), and is used to control the movable connection mechanism 6 to move when the third sensor 14 senses that the type of medium to which the dragging and rubbing object 4 belongs is a carpet, so that the dragging and rubbing component 2 moves from the second position to the first position. The third sensor 14 can be arranged at the front side of the dragging and rubbing component 2 to sense the type of medium to which the dragging and rubbing object belongs in advance before the dragging and rubbing component 2 moves to the sensing position. For example, as shown in FIG8 , the third sensor 14 can be arranged at the front of the device body of the autonomous mobile device.

When the dragging and rubbing assembly changes between the first position and the second position as shown in FIG. 2 and FIG. 3 , the angle of the device body 1 relative to the dragging and rubbing object 4 will change. In order to ensure that the traveling wheel in the traveling assembly 5 of the device body 1 can always be in contact with the dragging and rubbing object 4, as shown in FIG. 2 , the device body 1 is provided with a traveling assembly 5. The traveling assembly 5 is used to output a traveling force so that the device body 1 moves on the dragging and rubbing object 4. The traveling assembly 5 is movably connected to the device body 1 so that the relative position relationship with the device body 1 can be changed as the dragging and rubbing assembly 2 changes between the first position and the second position, so as to maintain the contact between the traveling assembly 5 and the dragging and rubbing object 4.

Specifically, as shown in FIG2 , the autonomous mobile device includes: a tension spring 51 and a traveling wheel assembly shaft 52. One end of the tension spring 51 is fixed to a position of the device body 1; the other end of the tension spring 51 is connected to the traveling assembly 5. For example, in the example shown in FIG2 , the traveling assembly 5 includes a tracked traveling wheel; wherein, the component indicated by the number 53 in FIG2 is the track. The traveling wheel assembly shaft 52 is fixed to another position of the device body 1. During the change of the dragging and rubbing assembly 2 between the first position and the second position, the relative position relationship with the device body 1 is changed; the structure shown in FIG2 can ensure that the traveling assembly 5 is in contact with the dragging and rubbing object 4 without separation.

The technical solution provided by the embodiment of the present application is described below in conjunction with a specific type of equipment, such as a cleaning robot. The cleaning robot may include: a traveling component, a dust suction port, a dust suction channel, a collecting device, a fan component, a mopping component, etc. The fan component starts working to generate negative pressure in the dust suction channel, so that the dust is sucked in by the dust suction port along with the suction airflow and enters the collecting device through the dust suction channel; the dust is retained in the collecting device, and the filtered gas is discharged into the atmosphere through the exhaust port of the cleaning robot. If the mopping component is in the lowered state (i.e., in the second position) during the cleaning robot sweeping process, i.e., in contact with the ground and having a certain pressure with the ground, the mopping roller in the mopping component can make the same rotational movement as the steering of the traveling wheel in the traveling component. In addition, the cleaning robot may also include: at least one sensor, a camera, a communication component for communicating with an external device (such as a user's mobile phone, a tablet computer or a server device), etc., which is not specifically limited in this embodiment. Based on the characteristics that the movable connection mechanism can change the position of the mopping component and the pressure applied by the mopping component on the wiping object, this embodiment can realize two working modes of the cleaning robot: mopping or not mopping. More specifically, five working modes can be set for the cleaning robot, namely:

Sweep-only mode, drag-only mode, sweep-and-drag mode, or automatic mode.

In specific implementation, the user can instruct the cleaning robot to work in the sweep-only mode, the mop-only mode, and the sweep-and-move parallel mode through the client, the control or voice control on the cleaning robot. In the sweep-only mode, the mop assembly is in the first position by controlling the movable connection mechanism, and the fan assembly of the cleaning robot works normally to suck dust through the suction port. In the mop-only mode, the mop assembly is in the second position (i.e., in contact with the ground) by controlling the movable connection mechanism, and the fan assembly of the cleaning robot stops working, and the sweeping brush on the cleaning robot can also stop rotating. In the sweep-and-move parallel mode, the fan assembly works normally to suck dust through the suction port, and the mop assembly is in the second position to mop and mop the ground. In the sweep-only mode and the sweep-and-move parallel mode, the pressure applied by the mop assembly to the ground can also be changed by controlling the movable connection mechanism. The instruction to change the pressure can also be triggered by the user, that is, the user can trigger the instruction to change the pressure through the client, the control or voice control on the sweeping robot.

The user can also instruct the cleaning robot to work in automatic mode through the client, controls on the sweeping robot, or voice control. In automatic mode, the cleaning robot starts the automatic control program. For example, when encountering carpets or other surfaces that cannot be mopped, it automatically works in the sweep-only mode. For another example, based on the global planning module of the cleaning robot, when passing a location that has been mopped, it automatically switches to the sweep-only mode or the no-sweep-no-mop mode. When it senses that the ground is dirty, it automatically switches to the sweeping and mopping parallel mode, and can automatically control the action of the movable connection mechanism to change the pressure applied to the ground by the mopping component according to the degree of dirtiness.

The mopping effect of the mopping assembly is proportional to the pressure of the mopping assembly on the ground, that is, the greater the pressure of the mopping assembly on the ground when mopping the ground, the better the mopping effect of the mopping assembly. This application is based on this principle, and uses a movable connection mechanism to adjust the lifting and lowering of the mopping assembly, thereby reducing or increasing the pressure of the mopping assembly on the ground, and obtaining a better mopping effect. In order for the cleaning robot to accurately know the current pressure of the mopping assembly on the ground, a corresponding sensor can be set on the cleaning robot. For example, an angle sensor (suitable for a cam mechanism), a pressure sensor, a displacement sensor, etc.

The cleaning robot can determine the degree of dirtiness based on the information sensed by the sensor and automatically adjust the pressure of the mopping component on the ground. Alternatively, the user instructs the cleaning robot to adjust the pressure of the mopping component on the ground through the client, the corresponding controls on the cleaning robot, or the sound hole. Taking the solution in which the movable connection mechanism is implemented using a cam mechanism as an example, when the degree of dirtiness on the ground is low, the cam only needs to rotate to a first angle (such as an angle between 90 and 180 degrees), and the mopping component mops the floor with a lower pressure. When the ground is stubbornly dirty, the cam rotates to a second angle (180 degrees), and the mopping component mops the floor with maximum pressure.

FIG9 shows a flow chart of a method for controlling an autonomous mobile device provided in an embodiment of the present application. The control method provided in this embodiment is implemented on the basis of the hardware of the above-mentioned autonomous mobile device embodiment. The contents of this method embodiment and the above-mentioned device embodiment can be cross-referenced. Specifically, the execution subject of the method provided in this embodiment can be the controller in the above-mentioned device embodiment. Referring to FIG9 , the method includes:

101. Based on the acquired data information, determine whether it is necessary to change the pressure applied by the dragging component to the dragged object;

102. When change is required, obtain the pressure change;

103. Control the action of the movable connection mechanism according to the pressure change.

The autonomous mobile device comprises a device body, and the dragging and wiping assembly is movably connected to the device body via a movable connection mechanism.

In the above 101, the data information includes at least one of the following: user setting information, information related to the dirtiness of the mopping object sensed by the second sensor on the device body. In specific implementation, the user setting information can be triggered by the user through the client, the corresponding controls on the device body, or the interactive device (such as a touch screen or a voice control unit). As shown in Figure 1, the second sensor 3 can be set between the mopping component 2 and the dust suction port 13, or near the dust suction port 13, to identify the dirtiness of the ground after the dust suction port 13 sucks in the dust.

In an achievable technical solution, the above 101 “determining whether to change the pressure applied by the dragging component to the dragged object based on the acquired data information” may include the following steps:

1011. If the data information includes user setting information, obtaining a set pressure corresponding to the user setting information; obtaining an actual pressure applied by the dragging component to the dragging object; and determining that the pressure applied by the dragging component to the dragging object needs to be changed when there is a difference between the set pressure and the actual pressure;

1012. If the data information includes the information related to the degree of dirtiness of the dragged object, determine a target pressure according to the information; obtain the actual pressure applied by the dragging component to the dragged object; and when there is a difference between the target pressure and the actual pressure, determine that the pressure applied by the dragging component to the dragged object needs to be changed;

The difference is the pressure change.

Referring to the structures shown in FIG. 4 , FIG. 5 and FIG. 6 , the movable connection mechanism 6 is connected to the wiping assembly 2 via a cam pair; the movable connection mechanism 6 includes a cam 64, and the wiping assembly 2 includes a follower 23 in contact with the cam 64. Accordingly, the above step 103 “controlling the action of the movable connection mechanism according to the pressure change to change the pressure applied by the wiping assembly to the wiping object” may include:

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

1032. Control the movable connection mechanism to move so that the cam rotates by the angle in the rotation direction to change the pressure applied by the wiping assembly to the wiping object.

Furthermore, the “obtaining the actual pressure exerted by the dragging component on the dragging object” in the above 1011 and 1012 includes any one of the following steps:

receiving parameters related to the action of the movable connection mechanism sensed by a first sensor on the device body, and determining the actual pressure according to the parameters;

A sensing signal sent by a force sensor on the device body for sensing the pressure of the wiping component on the wiping object is received, and the actual pressure is obtained according to the sensing signal.

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

Furthermore, the method provided in this embodiment may also include:

104. Control the movable connection mechanism on the device body of the autonomous mobile device to move the dragging and wiping component from the first position to the second position;

Wherein, when in the first position, the dragging and wiping component keeps a distance from the dragging and wiping object; when in the second position, the dragging and wiping component contacts the dragging and wiping object.

Furthermore, the method provided in this embodiment may also include:

105. When the configured global planning module is used to determine that the current position of the device body is a dragged position, the movable connection mechanism is controlled to move so that the dragging component moves from the second position to the first position.

Furthermore, the method provided in this embodiment may also include:

106. Obtaining a medium type of the dragged object sensed by a third sensor on the device body;

107. When the medium type of the wiping object is carpet, control the movable connection mechanism to move the wiping component from the second position to the first position.

Furthermore, the method provided in this embodiment may also include:

108. After reaching the mopped position, detect the dirtiness of the mopped position;

109. When the dirtiness level is greater than the dirtiness threshold, obtaining the first pressure applied by the wiping component to the wiping object at the last wiping position;

110. When the first pressure is not greater than a preset maximum pressure, increase the first pressure to a second pressure;

111. Control the movement of the movable connection mechanism according to the second pressure.

In the above 108, the mopped position may be the position that the autonomous mobile device has just mopped, that is, after the autonomous mobile device has just mopped a certain position, it retreats to the position to detect the degree of dirt at the position through the second sensor. If the degree of dirt is greater than the degree threshold, it indicates that the dirt block is relatively stubborn, and the effect of mopping with the previous pressure is not good, and it is necessary to continue to increase the pressure of the mopping component on the surface to be mopped. Alternatively, the mopped position may be the position reached by the autonomous mobile device when it re-walks the mopping path after performing the whole house and the whole site operation, and then the degree of dirt at the mopped position is detected.

The autonomous mobile device provided in the above embodiment is described below in conjunction with specific application scenarios.

Application Scenario 1

The autonomous mobile device is a cleaning robot in a shopping mall and is used to clean the floor of the shopping mall. The autonomous mobile device moves on the floor of the shopping mall while vacuuming. When the second sensor on the cleaning robot detects that there is a piece of dirt on the floor, the movable connection mechanism is controlled to move so as to lower the mopping assembly to contact the floor, and according to the degree of dirt on the floor, the pressure of the mopping assembly on the floor is adjusted to match the degree of dirt through the action of the movable connection mechanism. The cleaning robot moves forward, and the mopping assembly wipes the floor. After the cleaning robot moves forward to a certain position, it can also return to detect whether the dirt in the area just mopped has been cleaned. If it is detected that the dirt has been cleaned, the movable connection mechanism can be controlled to move to retract the mopping assembly, and continue to move while vacuuming. If it is detected that the dirt has not been cleaned, it means that the dirt is relatively stubborn, and it is necessary to increase the pressure applied by the mopping assembly on the floor, and continue to control the action of the movable connection mechanism to increase the pressure, and perform the mopping operation again.

Application Scenario 2

The user sets the cleaning robot to the sweeping and mopping working mode. The cleaning robot moves in the user's home while sweeping and mopping. The pressure of the mopping component on the ground is the default pressure. If the ground is detected to be dirty, the cleaning robot increases the pressure of the mopping component on the ground. After mopping is completed, the pressure of the mopping component on the ground is restored to the default pressure.

Existing robots all rely on dual-wheel drive to walk and overcome obstacles. They often cannot pass through door cards, slopes, and sliding door rails with large height differences, causing the robot to get stuck and unable to work normally. The user needs to manually help the robot out of trouble. To this end, the embodiment of the present application also provides a relatively novel solution, that is, when the autonomous mobile device has a walking mode, for example, when the autonomous mobile device climbs a slope, moves to a slide rail, door card, etc. to overcome obstacles, the walking mode is entered, and the dragging and rubbing component generates a driving force to assist the autonomous mobile device to move. Specifically, an autonomous mobile device provided in this embodiment has the same structure as the autonomous mobile devices provided in the above embodiments. Therefore, the structural diagram can be seen in Figures 1, 2, 3, 4, 5 and 6 above, and the autonomous mobile device includes a device body 1, an active connection structure 6 and a dragging and rubbing component 2. Among them, a traveling component for providing traveling power is provided on the device body 1; the active connection mechanism 6 is arranged on the device body 1; and the dragging and rubbing component 2 is movably connected to the device body 1 through the active connection mechanism 6. When the autonomous mobile device executes a walking mode, the dragging and rubbing component 2 generates a driving force to assist the autonomous mobile device to move.

In a specific implementation, the mopping assembly includes a mopping roller (such as the working part 24 in Figures 4 and 5). The device body 1 is provided with a traveling wheel to provide traveling power. The mopping roller is used to roll and clean the working surface. When the autonomous mobile device performs the obstacle-crossing walking mode, the mopping roller and the traveling wheel have the same direction of rotation. Furthermore, the linear speed of the mopping roller is not less than the linear speed of the traveling wheel, so as to generate a driving force to assist the traveling assembly in crossing obstacles.

It should be added here that: in this article, the walking modes that need to be activated for autonomous mobile equipment to climb slopes, cross obstacles, etc. are collectively referred to as obstacle-crossing walking modes.

Furthermore, in the embodiments shown in Figures 1, 2, 3, 4, 5 and 6 above, the wiping roller is movably connected to the equipment body through the movable connection mechanism; when the equipment body needs to overcome an obstacle, the pressure applied by the wiping roller to the working surface can be adjusted through the movable connection mechanism to generate a driving force to assist the traveling component in overcoming the obstacle.

In another embodiment of the present application, an autonomous mobile device is provided. The structural diagram can be seen in Figures 1, 2, 3, 4, 5 and 6 above. The autonomous mobile device includes: a device body 1, a movable connection mechanism 6 and a dragging and rubbing component 2. The device body 1 is provided with a traveling component 5 to provide traveling power. The movable connection mechanism 6 is arranged on the device body 1. The dragging and rubbing component 2 is movably connected to the device body 1 through the movable connection mechanism 6. When the device body 1 needs to overcome an obstacle, the pressure applied by the dragging and rubbing component 2 to the traveling surface can be adjusted by the movable connection mechanism 6 to generate a driving force to assist the traveling component 5 to overcome the obstacle. See Figure 15 for a schematic diagram of the state of the autonomous mobile device when overcoming an obstacle. As shown in Figure 15, when the autonomous mobile device overcomes an obstacle, the dragging and rubbing component 2 applies pressure to the traveling surface to provide the traveling component 5 with a driving force to assist it in overcoming the obstacle.

If the autonomous mobile device is a sweeping and mopping robot, the traveling surface is the mopping object 4 mentioned in the above embodiment. When at least a part of the mopping component 2 is in contact with the traveling surface, the action of the movable connection mechanism 6 can change the pressure applied by the mopping component to the traveling surface, thereby changing the magnitude of the driving force. It should be added here that when the mopping component changes between the first position and the second position as shown in Figures 2 and 3, the angle (or position) of the device body 1 relative to the mopping object 4 will change. In order to ensure that the traveling wheel in the traveling component 5 of the device body 1 can always be in contact with the mopping object 4, as shown in Figure 2, the traveling component 5 is movably connected to the device body 1 so that the relative position relationship with the device body 1 can be changed as the mopping component 2 changes between the first position and the second position, so as to maintain the contact between the traveling component 5 and the mopping object 4.

In a specific implementation, when the device body 1 crosses an obstacle, the mopping assembly 2 and the traveling assembly 5 bear the weight of the device body 1 in proportion to the movement. For example, as shown in FIG1 , the traveling assembly 5 includes traveling wheels on the left and right sides of the autonomous mobile device, the mopping assembly 2 is arranged at the rear side of the autonomous mobile device, and the suction port 13 is located at the front side of the mopping assembly 2. The mopping roller and the two traveling wheels bear the weight of the device body equally. That is, in such a structure, the mopping assembly bears 1/3 of the weight of the device body, and the two traveling wheels each bear 1/3 of the weight of the device body.

In an achievable technical solution, the wiping assembly 2 includes a wiping roller (the working part 24 shown in Figures 4 and 5). Accordingly, when the device body needs to overcome an obstacle, the wiping roller and the traveling wheel in the traveling assembly 5 have the same direction of rotation. Furthermore, while the wiping roller and the traveling wheel in the traveling assembly 5 have the same direction of rotation, the linear speed of the wiping roller is greater than or equal to the linear speed of the traveling wheel. The linear speed of the wiping roller refers to the speed at which any point on the surface of the wiping roller used to contact the wiping object 4 (i.e., the traveling surface) makes a circular motion about a fixed axis (i.e., the axis of the wiping roller). The linear speed of the traveling wheel refers to the speed at which any point on the wheel surface of the traveling wheel used to contact the traveling surface makes a circular motion about the wheel axle of the traveling wheel.

Specifically, as shown in FIG. 4 , the wiping assembly 2 includes: a connecting portion 63, a wiping roller and a driven portion 64. Among them, one end of the connecting portion 60 is hinged to a position of the device body 2; the wiping roller is arranged at the other end of the connecting portion 63; and the driven portion 23 is linked with the movable connecting mechanism 6. Among them, when the movable connecting mechanism 6 is actuated, the driven portion 23 follows, so that one end of the connecting portion 63 rotates relative to the hinge shaft so that the wiping roller changes between the first position and the second position. In the first position, the wiping roller keeps a distance from the traveling surface; in the second position, the wiping roller contacts the traveling surface. Further, as shown in FIG. 4 , the connecting portion 63 includes: a mounting bracket 231 and a support rod 631. Among them, the mounting bracket 231 is used to mount the wiping roller. The wiping roller (i.e., the working portion 24) is rotatably connected to two corresponding positions of the mounting bracket 231 at both ends along its own axis direction. The support rod 631 extends from the mounting bracket 231 in a direction away from the wiping roller, and the end of the support rod 631 is hinged to a position of the device body 1. The movable connection mechanism 6 is connected to the driven part 23 through a cam pair to achieve linkage. Specifically, the above structure can be referred to the content of the corresponding embodiment above, and will not be repeated here.

Normally, when the mopping roller rolls to clean the working surface, the pressure applied to the working surface is the first pressure; when the autonomous mobile device performs a walking mode, such as an obstacle-crossing walking mode such as climbing a slope or crossing an obstacle, the mopping roller applies a second pressure to the working surface that is not less than the first pressure and is the same as the direction of the travel wheel; the linear speed of the mopping roller is not less than the linear speed of the travel wheel, so as to generate a driving force to assist the travel component in crossing obstacles. In specific implementation, the pressure applied by the mopping roller to the working surface can be adjusted to the second pressure through the movable connection mechanism, so as to generate a driving force to assist the travel component in crossing obstacles.

Alternatively, an autonomous mobile device with a structure as shown in FIG10. FIG10 shows a schematic diagram of the structure of an autonomous mobile device provided by another embodiment of the present application. Among them, the dragging and wiping component 2 can also provide a driving force for the autonomous mobile device when overcoming obstacles. That is, as shown in FIG10, the dragging and wiping component 2 includes a disc brush 200; when the device body 1 needs to overcome obstacles, the inclination angle of the disc brush 200 relative to the traveling surface is adjusted by the movable connection mechanism 6 (see FIG13), and the edge portion of the disc brush 200 contacts the traveling surface to generate a driving force to assist the traveling component in overcoming obstacles.

As shown in FIG. 13 , the movable connection mechanism 6 includes:

A connecting shaft 91, which is disposed on the device body 1 and has an axis parallel to the traveling direction of the traveling component; and

A driving assembly (not shown in the figure) provides power for the disc brush 200 to rotate around the axis of the connecting shaft 91 so as to change the angle between the disc brush 200 and the traveling surface;

Among them, the autonomous mobile device has a dragging and rubbing walking mode and an obstacle-crossing walking mode. In the dragging and rubbing 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 is at an angle to the traveling surface, as shown in FIG. 13 .

It should be added that: in addition to providing power for the disc brush to tilt, the movable connection mechanism 6 can also provide power for the disc brush to move up and down relative to the device body. That is, the movable connection mechanism 6 can also include: a power source that outputs linear power (such as a linear motor). The connecting shaft is linked with the power source that outputs linear power to move up and down linearly to achieve the change between the first position and the second position of Figures 2 and 3 above. In this way, the autonomous mobile device can put down the disc brush to contact the ground when mopping is required; and retract the disc brush to keep a distance from the ground when mopping is not required.

As shown in the example of FIG. 10 , the device body 1 has a symmetry axis 101 parallel to the traveling direction; and there are two disc brushes 200, which are symmetrically arranged relative to the symmetry axis 101. Correspondingly, as shown in FIG. 13 , the deformation amount of the side of the two disc brushes 200 close to the symmetry axis due to inclination is smaller than the deformation amount of the side away from the symmetry axis; or, the deformation amount of the side of the two disc brushes away from the symmetry axis due to inclination is smaller than the deformation amount of the side close to the symmetry axis.

FIG11 shows that in the normal working mode, the pressure generated by each disc brush is uniform on the entire disc brush, and the friction forces cancel each other out. That is, in FIG11, force _N1 = _N1 '; _N2 = _N2 '. However, for the movement of the whole machine, as shown in FIG12, the friction force f1 and f2 of the disc brush 200 are directed backwards, which is the movement resistance.

FIG13 shows that when the equipment body passes over an obstacle, the disc brush is lifted inwardly (or outwardly) at the same time under the action of the movable connection structure, and the inner force _N1 '< _N1 , _N2 '< _N2 . As shown in FIG14, forward friction driving forces f1' and f2' are obtained. The friction driving forces f1' and f2' can assist the traveling component in passing over obstacles.

Furthermore, the autonomous mobile device may also include a detection component and a controller.

A detection component, used to be arranged on the device body 1;

The controller is communicatively connected with the detection component and is used to start the obstacle-overcoming walking mode when the detection component detects that the device body needs to overcome an obstacle; in the obstacle-overcoming walking mode, the dragging and wiping component arranged on the device body is controlled to work in an auxiliary obstacle-overcoming state, so as to apply pressure to the traveling surface and then generate a driving force to assist the traveling component of the device body to overcome the obstacle.

Furthermore, the controller is also used to control the movable connection mechanism to move the dragging and wiping assembly to a retracted state to keep a distance from the traveling surface when it is detected that the traveling assembly has successfully overcome an obstacle.

In the technical solution provided by this embodiment, the dragging and wiping component can not only move up and down relative to the device body, but also provide a driving force for the traveling component to assist it in overcoming obstacles when obstacles need to be overcome, thereby improving its obstacle overcoming ability. The solution provided by this embodiment is to use the advantages of controllable pressure between the dragging and wiping component of the autonomous mobile device and the ground, as well as high-frequency friction between the dragging and wiping component and the ground, to achieve obstacle overcoming operations of the autonomous mobile device.

The technical solution provided by this embodiment is described below by taking the autonomous mobile device as a cleaning robot as an example. As shown in FIG1 , the traveling wheels included in the traveling assembly 5 are located on the left and right sides of the cleaning robot, the mopping assembly 2 is arranged at the rear side of the cleaning robot, and the suction port 13 is located at the front side of the mopping assembly 2. As shown in FIG13 , when the cleaning robot encounters obstacles such as door jams, slopes, and sliding door rails and cannot pass through, the two disc brushes are tilted through the movable connection structure to provide the traveling assembly with a driving force to assist it in crossing the obstacle.

Here is a supplement to the technical solutions provided in each embodiment of the present application:

For the instance in which the mopping component of the autonomous mobile device includes a mopping roller, under normal circumstances, the direction of the mopping roller may be the same as that of the traveling wheels, and the rotation speed of the mopping roller is not greater than the rotation speed of the traveling wheels; in the first special case (such as when the ground is dirty), the direction of the mopping roller may be the same as that of the traveling wheels, and the rotation speed of the mopping roller may be greater than the rotation speed of the traveling wheels; in the second special case (such as when the ground is highly dirty, such as sticky dirt), the direction of the mopping roller may be opposite to that of the traveling wheels, and the rotation speed of the mopping roller may be equal to the rotation speed of the traveling wheels, so that the speed of the mopping roller relative to the ground is relatively high, and a better mopping effect can be achieved.

FIG16 is a flow chart of a control method of an autonomous mobile device provided by another embodiment of the present application. Similarly, the control method provided by this embodiment is implemented on the basis of the hardware of the above-mentioned autonomous mobile device embodiment. The contents of this method embodiment and the above-mentioned device embodiment can be cross-referenced. Specifically, the execution subject of the method provided by this embodiment can be the controller in the above-mentioned device embodiment. Referring to FIG16, the control method of the autonomous mobile device includes:

301. When the device needs to assist in overcoming obstacles, the obstacle-overcoming walking mode is started;

302. In the obstacle-overcoming walking mode, control the dragging and wiping assembly disposed on the device body to operate in an obstacle-overcoming assisting state, so as to apply pressure to the traveling surface and thereby generate a driving force to assist the traveling assembly of the device body to overcome obstacles.

In the above 301, the device body may have the following two situations in which it needs to assist in overcoming obstacles:

One situation is: if the device needs to cross obstacles, it can be considered that the device needs to cross obstacles.

Another situation is: when the traveling component of the equipment body fails to successfully overcome the obstacle, the auxiliary obstacle crossing is started again; that is, when the equipment body fails to overcome the obstacle, it is determined that the equipment body has an auxiliary obstacle crossing requirement.

That is, the method provided in this embodiment also includes any of the following:

When it is detected that the device body fails to successfully overcome the obstacle, determining that the device body needs to assist in overcoming the obstacle;

When an obstacle that needs to be crossed by the device body is detected, it is determined that the device body has a need for obstacle crossing assistance.

When the wiping assembly includes a wiping roller (such as the working part 24 shown in FIG. 4 and FIG. 5 ); in the above step 302, “controlling the wiping assembly provided on the device body to operate in the obstacle-crossing assistance state” may specifically include at least one of the following:

Control the wiping roller to have the same direction of rotation as the traveling wheel in the traveling assembly;

Controlling the first driving device to output corresponding power so that the linear velocity of the wiping roller is greater than or equal to the linear velocity of the traveling wheel, wherein the linear velocity directions of the wiping roller and the traveling wheel are the same;

The action of the movable connection mechanism is controlled to adjust the pressure applied by the wiping roller to the traveling surface, wherein the wiping roller is movably connected to the equipment body through the movable connection mechanism.

Furthermore, the method provided in the embodiment of the present application may also include at least one of the following:

When the obstacle cannot be overcome by the auxiliary driving force provided by the wiping roller, controlling the first driving device to increase the output power so as to increase the linear speed of the wiping roller;

When the auxiliary driving force provided by the wiping roller fails to successfully overcome the obstacle, the movable connection mechanism is controlled to increase the pressure applied by the wiping roller to the traveling surface, so that the driving force assisting the traveling component in overcoming the obstacle is increased.

When the mopping and wiping assembly includes a disc brush, the corresponding step 302 of "controlling the mopping and wiping assembly provided on the device body to operate in an auxiliary obstacle crossing state" may specifically include:

Controlling the movable connection mechanism to adjust the inclination angle of the disc brush relative to the running surface so that the edge of the disc brush contacts the running surface;

Wherein, the disc brush is movably connected to the equipment body through the movable connection mechanism.

Furthermore, the method provided in this embodiment may also include the following steps:

When the obstacle cannot be overcome by the tilted disc brush, the movable connection mechanism is controlled to increase the tilt angle, thereby increasing the driving force that assists the traveling assembly in overcoming the obstacle.

Referring to FIG. 17 , another embodiment of the present application provides a control method for the autonomous mobile device. Similarly, the control method provided in this embodiment is implemented on the basis of the hardware of the above-mentioned autonomous mobile device embodiment. The contents of this method embodiment and the above-mentioned device embodiment can be cross-referenced. Specifically, the execution subject of the method provided in this embodiment can be the controller in the above-mentioned device embodiment. As shown in FIG. 17 , the method provided in this embodiment includes:

401. When receiving an obstacle crossing instruction, controlling the movable connection mechanism to move so that the dragging and wiping assembly is in a retracted state to keep a distance from the traveling surface;

402. When it is detected that the traveling component fails to overcome the obstacle, the movable connection mechanism is controlled to move so that at least a part of the dragging and wiping component contacts the traveling surface, so as to generate a driving force to assist the traveling component in overcoming the obstacle;

Wherein, the autonomous mobile device comprises a device body, on which the traveling component is arranged; the dragging and wiping component is movably connected to the device body via the movable connection mechanism.

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

The above step 402 “controlling the movable connection mechanism to move so that at least a part of the wiping component contacts the traveling surface when it is detected that the traveling component fails to overcome the obstacle, so as to generate a driving force to assist the traveling component in overcoming the obstacle” may include:

4021. When it is detected that the traveling assembly fails to overcome the obstacle, the movable connection mechanism is controlled to move so that a part of the wiping roller contacts the traveling surface;

4022. Control the first driving device to output corresponding power so that the direction of rotation of the wiping roller is the same as the direction of rotation of the traveling wheel in the traveling assembly, and the rotation speed of the wiping roller is less than or equal to the rotation speed of the traveling wheel.

Furthermore, the method provided in this embodiment may also include the following steps:

403. When the wiping roller fails to successfully overcome an obstacle, obtaining a pressure of the wiping roller on the traveling surface;

404. Control the movement of the movable connection mechanism to increase the pressure, thereby increasing the driving force that assists the traveling component in overcoming obstacles.

In another feasible technical solution, the wiping 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 above step 402 "when it is detected that the traveling assembly fails to overcome an obstacle, controlling the movable connection mechanism to move so that at least a part of the wiping assembly contacts the traveling surface to generate a driving force to assist the traveling assembly in overcoming the obstacle" may include:

4021', when it is detected that the traveling assembly fails to overcome the obstacle, controlling the movable connection mechanism to tilt the disc brush so that the disc brush forms an angle with the traveling surface;

4022' controls the second driving device to output corresponding power to generate a driving force to assist the traveling component in overcoming obstacles.

Furthermore, the method provided in this embodiment may also include:

405. When the obstacle cannot be successfully overcome by using the tilted disc brush, obtaining the tilt angle of the disc brush;

406. Control the movement of the movable connection mechanism to increase the tilt angle, thereby increasing the driving force that assists the traveling component in overcoming obstacles.

In the case where the traveling wheel successfully passes over the obstacle, in order to prevent the dragging and wiping assembly in contact with the traveling surface from affecting the travel of the autonomous mobile device, the dragging and wiping assembly needs to be retracted after the traveling wheel successfully passes over the obstacle. That is, the method provided in this embodiment may also include the following steps:

407. When it is detected that the traveling component has passed the obstacle, the movable connection mechanism is controlled to move so that the wiping component is in a retracted state to keep a distance from the traveling surface.

The autonomous mobile device provided in the above embodiment is described below in conjunction with specific application scenarios.

Application Scenario 3

The autonomous mobile device is a household cleaning robot, which moves in the living room while vacuuming. The mopping component of the household cleaning robot is in a retracted state. When the robot moves to the junction of the living room and the kitchen, it needs to cross the track of the sliding door because the kitchen door is a sliding door. At this time, the household cleaning robot puts down the mopping component to contact the ground, and there is a certain pressure to provide auxiliary driving force for the traveling wheel to cross the obstacle. After the household cleaning robot successfully crosses the obstacle, the mopping component is retracted to avoid the sliding door track and the mopping component from scratching. After the whole machine crosses the sliding door track, the household cleaning robot knows that it is in the kitchen and switches the sweeping-only mode to the sweeping-and-mopping parallel mode. The household cleaning robot puts down the mopping component and sweeps and mops at the same time. During the cleaning process, the household cleaning robot detects a piece of dirt and controls the action of the movable connection mechanism to increase the pressure of the mopping component on the ground to improve the mopping effect.

Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims (23)

1. An autonomous mobile device, comprising:

the equipment body is provided with a traveling assembly which is used for driving the equipment body to have autonomous movement capability;

the movable connecting mechanism is arranged on the equipment body;

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

The autonomous mobile equipment is provided with a mopping walking mode and an obstacle surmounting walking mode; when the mop is in the mop walking mode, under the condition that the mop component is contacted with a mop object, the pressure applied to the mop object by the mop component is changed through the action of the movable connecting mechanism;

The dragging and wiping assembly comprises a dragging and wiping roller, the rotation direction of the dragging and wiping roller is the same as the steering direction of a travelling wheel in the travelling assembly, and in the obstacle surmounting travelling mode, the pressure applied by the dragging and wiping roller to a dragging and wiping object is increased through the action of the movable connecting mechanism so as to generate an impetus for assisting the travelling assembly to surmount an obstacle.

2. The autonomous mobile device of claim 1, wherein the articulating mechanism is located on a front side or a rear side of the mop assembly along a direction of travel of the device body.

3. The autonomous mobile device of claim 2, wherein the projection of the articulating mechanism and the mop assembly in a height direction at least partially coincides.

4. The autonomous mobile apparatus of claim 1, wherein the autonomous mobile apparatus comprises,

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

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

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

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

the operation part is arranged at the other end of the connecting part and is used for wiping the object to be wiped;

a driven part which 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 positioned at the second position, the movable connecting mechanism continues to act, and the driven part follows, so that one end of the connecting part rotates relative to the hinge shaft to cause the operation part to generate corresponding deformation, and the pressure applied by the operation part to the mopping object is increased.

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

A mounting bracket for mounting the working part;

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

7. The autonomous mobile apparatus of claim 6, wherein the working portion comprises the scrub roller that is movably coupled to the mounting bracket.

8. The autonomous mobile apparatus of claim 5, wherein the articulating mechanism is coupled to the follower by a cam pair to effect a linkage.

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

the first sensor is used for sensing parameters related to the action of the movable connecting mechanism;

A controller in communication with the first sensor for determining whether the mopping assembly is in contact with a mopping object based on the parameter; the magnitude of the pressure applied by the wiping component to the wiping object may also be determined based on the parameter when the wiping component is determined to be in contact with the wiping object.

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

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 perform corresponding actions according to the information sensed by the second sensor so that the mopping component applies pressure which is adaptive to the dirt degree of the mopping object to the mopping object.

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

the controller is configured with a global planning module and is used for controlling the movable connecting mechanism to act when the global planning module is used for judging that the current position of the equipment body is a mopped position, so that the mopped assembly is from a second position to a first position;

Wherein, in the second position, the mopping assembly is in contact with a mopping object; in the first position, the wiping component is maintained at a distance from the wiping object.

12. The autonomous mobile device of claim 11, further comprising:

the third sensor is used for sensing the type of the medium to which the mopping object belongs;

The controller is connected with the third sensor and used for controlling the movable connecting mechanism to act when the third sensor senses that the medium type of the mopping object is carpet, so that the mopping assembly moves from the second position to the first position.

13. The autonomous mobile apparatus of claim 11, wherein the autonomous mobile apparatus comprises,

The traveling assembly is used for providing traveling power for the equipment body;

The advancing component 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 mopping component between the first position and the second position, and maintain the contact between the advancing component and the advancing surface.

14. The control method of the autonomous mobile equipment is characterized in that the autonomous mobile equipment comprises an equipment body, wherein a traveling assembly and a dragging assembly are arranged on the equipment body, and the traveling assembly is used for driving the equipment body to have autonomous movement capability;

The mopping component is movably connected with the equipment body through a movable connecting mechanism;

The dragging and wiping assembly comprises a dragging and wiping roller, and the rotating direction of the dragging and wiping roller is the same as the steering direction of a travelling wheel in the travelling assembly;

The method comprises the following steps:

In the mopping walking mode, determining whether the pressure applied to a mopping object by the mopping component needs to be changed or not based on the acquired data information; when the pressure needs to be changed, acquiring a pressure change amount; controlling the movable connecting mechanism to act according to the pressure change;

and under the obstacle crossing walking mode, controlling the action change of the movable connecting mechanism to increase the pressure applied by the mopping component to the mopping object so as to generate an impetus for assisting the equipment body to surmount an obstacle.

15. The method of claim 14, wherein the data information comprises at least one of: user setting information, and information related to the dirt degree of the mopping object sensed by a second sensor on the equipment body.

16. The method of claim 15, wherein determining whether the pressure applied by the mopping assembly to the mopping object needs to be changed based on the acquired data information comprises:

If the data information contains user setting information, acquiring setting pressure corresponding to the user setting information; acquiring the actual pressure applied by the mopping component to a mopping object; when the set pressure is different from the actual pressure, determining that the pressure applied to the object to be wiped by the wiping component needs to be changed;

If the data information contains the information related to the dirt degree of the mopping object, determining target pressure according to the information; acquiring the actual pressure applied by the mopping component to a mopping object; when the target pressure is different from the actual pressure, determining that the pressure applied to the object to be wiped by the wiping component needs to be changed;

Wherein the difference is the amount of pressure change.

17. The method of claim 16, wherein the articulating mechanism is coupled to the mop assembly by a cam pair; the movable connecting mechanism comprises a cam, and the mopping component comprises a driven part contacted with the cam; and

According to the pressure change amount, controlling the action of the movable connecting mechanism, comprising:

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

And controlling the movable connecting mechanism to act, so that the cam rotates by the angle in the rotating direction, and the pressure applied to the object to be wiped by the wiping component is changed.

18. The method of claim 16, wherein obtaining the actual pressure applied by the mopping assembly to the mopping object comprises:

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

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

19. The method according to any one of claims 14 to 18, further comprising:

controlling the action of a movable connecting mechanism on the equipment body of the autonomous mobile equipment so that the mopping component is changed from a first position to a second position;

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

20. The method as recited in claim 19, further comprising:

And when the configured global planning module is used for judging that the current position of the equipment body is the mopped position, controlling the movable connecting mechanism to act, so that the mopped assembly is changed from the second position to the first position.

21. The method as recited in claim 19, further comprising:

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

And controlling the movable connecting mechanism to act under the condition that the medium type of the mopping object is carpet, so that the mopping component is changed from the second position to the first position.

22. An autonomous mobile device, comprising:

the equipment body is provided with a traveling assembly which is used for driving the prepared body to have autonomous movement capability;

the movable connecting mechanism is arranged on the equipment body;

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

The autonomous mobile equipment is provided with a mopping walking mode and an obstacle surmounting walking mode; when the mop is in the mop walking mode, under the condition that the mop component is contacted with a mop object, the pressure applied to the mop object by the mop component is changed through the action of the movable connecting mechanism;

the dragging and wiping assembly comprises a disc brush, and in the obstacle surmounting walking mode, the inclination angle of the disc brush relative to the travelling surface is changed through the action of the movable connecting mechanism, and the edge part of the disc brush is contacted with the travelling surface so as to generate an pushing force for assisting the travelling assembly to surmount an obstacle.

23. The control method of the autonomous mobile equipment is characterized in that the autonomous mobile equipment comprises an equipment body and a mopping component, wherein the equipment body is provided with a traveling component, and the traveling component is used for driving the equipment provided with the equipment body to have autonomous movement capability;

The mopping component is movably connected with the equipment body through a movable connecting mechanism;

the mopping component comprises a disc brush;

The method comprises the following steps:

In the mopping walking mode, determining whether the pressure applied to a mopping object by the mopping component needs to be changed or not based on the acquired data information; when the pressure needs to be changed, acquiring a pressure change amount; controlling the movable connecting mechanism to act according to the pressure change;

under the obstacle crossing walking mode, the action of the movable connecting mechanism is controlled to change the inclination angle of the disc brush relative to the travelling surface, and the edge part of the disc brush is contacted with the travelling surface so as to generate an pushing force for assisting the travelling assembly to surmount an obstacle.