CN113679290A

CN113679290A - Automatic cleaning equipment control method and device, medium and electronic equipment

Info

Publication number: CN113679290A
Application number: CN202110184703.4A
Authority: CN
Inventors: 王恺靖; 何扬
Original assignee: Beijing Rockrobo Technology Co Ltd
Current assignee: Beijing Stone Innovation Technology Co ltd
Priority date: 2021-02-10
Filing date: 2021-02-10
Publication date: 2021-11-23
Anticipated expiration: 2041-02-10
Also published as: CN113679290B

Abstract

The invention provides an automatic cleaning equipment control method, an automatic cleaning equipment control device, a computer readable storage medium and electronic equipment, wherein the method comprises the following steps: when an automatic cleaning device cleans, acquiring first data according to current travelling wheel state data of the automatic cleaning device, and acquiring second data according to current body state data of the automatic cleaning device; determining whether the automatic cleaning device is trapped according to the first data and the second data; and if the automatic cleaning equipment is trapped, controlling the automatic cleaning equipment to enter an accelerated trap removal mode. The method can reduce the probability of the automatic cleaning equipment being stuck.

Description

Automatic cleaning equipment control method and device, medium and electronic equipment

Technical Field

The invention relates to the field of smart home, in particular to an automatic cleaning equipment control method, an automatic cleaning equipment control device, a computer readable storage medium and electronic equipment.

Background

In recent years, with the rapid development of computer technology and artificial intelligence science, intelligent robot technology gradually becomes a hotspot in the field of modern robot research. The floor sweeping robot is the most practical intelligent robot, and can automatically finish the cleaning work of the ground by means of certain artificial intelligence.

At present, more and more families lay carpets, and the phenomenon of blocking easily appears in the process of cleaning the carpets by a sweeping robot. Especially for long pile carpets, even the long pile carpets are stuck, which causes the sweeping robot to be incapable of operating normally.

Disclosure of Invention

An object of the present invention is to provide an automatic cleaning device control method, an automatic cleaning device control apparatus, a computer-readable storage medium, and an electronic device, which can solve at least one of the above-mentioned technical problems. The specific scheme is as follows:

according to an embodiment of the present invention, in a first aspect, the present invention provides an automatic cleaning apparatus control method, including:

when an automatic cleaning device cleans, acquiring first data according to current travelling wheel state data of the automatic cleaning device, and acquiring second data according to current body state data of the automatic cleaning device;

determining whether the automatic cleaning device is trapped according to the first data and the second data;

and if the automatic cleaning equipment is trapped, controlling the automatic cleaning equipment to enter an accelerated trap removal mode.

Optionally, determining whether the automatic cleaning device is trapped according to the first data and the second data comprises:

and determining whether the automatic cleaning equipment is trapped according to the difference value of the first data and the second data.

Optionally, the method further includes:

when the automatic cleaning equipment is in a rotating state, acquiring theoretical angular speed of a traveling wheel according to current traveling wheel state data of the automatic cleaning equipment, wherein the theoretical angular speed is used as the first data;

acquiring the actual angular speed of the travelling wheel according to the current body state data of the automatic cleaning equipment as second data;

and if the difference value of the first data and the second data is greater than a first threshold value and lasts for a first preset time, determining that the automatic cleaning equipment is trapped.

Optionally, the method further includes:

when the automatic cleaning equipment is in a straight-ahead state, acquiring theoretical output power of a motor as first data according to current travelling wheel state data of the automatic cleaning equipment;

acquiring actual output power of the motor according to the current machine body state data of the automatic cleaning equipment to serve as the second data;

and if the difference value of the first data and the second data is smaller than a second threshold value and lasts for a second preset time, determining that the automatic cleaning equipment is trapped.

Optionally, obtaining the theoretical output power of the motor according to the current state data of the traveling wheels of the automatic cleaning device includes:

and determining the theoretical output power of the motor according to the current walking distance of the walking wheels of the automatic cleaning equipment.

Optionally, the method further includes:

when the automatic cleaning equipment meets an obstacle and is in a retreating state, acquiring theoretical output power of a motor as first data according to current travelling wheel state data of the automatic cleaning equipment;

and if the difference value of the first data and the second data is smaller than a third threshold value and lasts for a third preset time, and the main brush current of the automatic cleaning equipment exceeds a fourth threshold value and lasts for a fourth preset time, determining that the automatic cleaning equipment is trapped.

Optionally, the acceleration escaping mode includes controlling the automatic cleaning device to accelerate instantly after decelerating.

Optionally, the method further includes:

determining whether the automatic cleaning equipment is positioned on a medium which is easy to generate misjudgment or not according to the result of the instantaneous acceleration after the deceleration;

and if the automatic cleaning equipment is determined to be on the medium prone to error judgment, closing the accelerated escaping mode when the automatic cleaning equipment is on the medium prone to error judgment.

Optionally, determining whether the automatic cleaning device is on a medium prone to erroneous judgment according to the result of the instant acceleration after the deceleration comprises:

and after the instantaneous acceleration after the deceleration, if the change peak value of the accelerometer on the automatic cleaning equipment exceeds a threshold value, determining that the automatic cleaning equipment is positioned on a medium which is easy to generate misjudgment.

Optionally, the obtaining first data according to the current status data of the traveling wheels of the automatic cleaning device includes:

and acquiring the first data in the current travelling wheel state according to the travelling wheel sensor data of the automatic cleaning equipment.

Optionally, the obtaining second data according to the current body state data of the automatic cleaning device includes:

and acquiring current machine body state data according to a state sensor on the automatic cleaning equipment, and determining the second data according to the current machine body state data.

Optionally, the state sensor includes a gyroscope, a motor power sensor, a cliff sensor, or a touch sensor.

In a second aspect, the present invention provides an automatic cleaning device control apparatus comprising:

the data acquisition module is used for acquiring first data according to the current travelling wheel state data of the automatic cleaning equipment and acquiring second data according to the current body state data of the automatic cleaning equipment when the automatic cleaning equipment is used for cleaning;

a state determination module for determining whether the automatic cleaning device is trapped based on the first data and the second data;

and the control escaping module is used for controlling the automatic cleaning equipment to enter an accelerated escaping mode if the automatic cleaning equipment is trapped.

In a third aspect, the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described automatic cleaning apparatus control method.

In a fourth aspect, the present invention provides an electronic device comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the above-described method of controlling an automatic cleaning apparatus via execution of the executable instructions.

Compared with the prior art, according to the control method of the automatic cleaning equipment provided by the exemplary embodiment of the disclosure, in the cleaning process of the automatic cleaning equipment, if first data obtained according to current traveling wheel state data is different from second data obtained according to current machine body state data, the automatic cleaning equipment can be judged to be trapped; at this time, the automatic cleaning device can be helped to get rid of the trouble through the acceleration getting-out mode, so that the probability of the occurrence of the jamming of the automatic cleaning device is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

FIG. 1 is an oblique view of an automatic cleaning apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of the bottom structure of the automatic cleaning apparatus of one embodiment of the present invention;

FIG. 3 is an oblique view of a one side drive wheel assembly of one embodiment of the present invention;

FIG. 4 is an elevation view of a one side drive wheel assembly of one embodiment of the present invention;

FIG. 5 is an oblique view of a dirt tray of one embodiment of the present invention;

FIG. 6 is an oblique view of a fan of one embodiment of the present invention;

FIG. 7 is a schematic view of an open position of the dust box according to one embodiment of the present invention;

FIG. 8 is a schematic view of a dust box and fan combination according to an embodiment of the present invention;

FIG. 9 is an exploded view of an automatic cleaning device according to one embodiment of the present invention;

FIG. 10 is a block diagram of a robotic cleaning device support platform according to one embodiment of the present invention;

FIG. 11 is a block diagram of a vibrating member of the automatic cleaning apparatus according to one embodiment of the present invention;

FIG. 12 is a schematic view of a cleaning head drive mechanism based on a slider-crank mechanism according to another embodiment of the present invention;

FIG. 13 is a schematic view of a dual crank mechanism based cleaning head drive mechanism according to another embodiment of the present invention;

FIG. 14 is a schematic view of a cleaning head drive mechanism based on a crank mechanism according to another embodiment of the present invention;

FIG. 15 is a schematic view of a raised state of the robotic cleaning device of one embodiment of the present invention;

FIG. 16 is a schematic view of a submerged state of the automatic cleaning apparatus according to one embodiment of the present invention;

FIG. 17 is a schematic diagram of a four bar linkage lift configuration of one embodiment of the present invention in a raised position;

FIG. 18 is a schematic view of a four bar linkage lowering and raising mechanism of the present invention in a lowered position;

FIG. 19 illustrates a flow chart of a method of controlling an automated cleaning apparatus, in accordance with one embodiment of the present invention;

FIG. 20 is a flowchart illustrating the operational steps of a method for controlling an automated cleaning apparatus, in accordance with one embodiment of the present invention;

FIG. 21 shows a block diagram of an automatic cleaning device control apparatus according to an embodiment of the present invention;

FIG. 22 illustrates a block diagram of an electronic device in accordance with an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the examples of the present invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, and "a plurality" typically includes at least two.

It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used to describe … … in embodiments of the present invention, these … … should not be limited to these terms. These terms are used only to distinguish … …. For example, the first … … can also be referred to as the second … … and similarly the second … … can also be referred to as the first … … without departing from the scope of embodiments of the present invention.

The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in the article or device in which the element is included.

Fig. 1-2 are schematic structural views illustrating an automatic cleaning apparatus, which may be a vacuum robot, a mopping/brushing robot, a window climbing robot, etc., according to an exemplary embodiment, and which may include a mobile platform 100, a sensing system 120, a control system 130, a drive system 140, a cleaning module 150, an energy system 160, and a human-machine interaction system 170, as shown in fig. 1-2. Wherein:

the mobile platform 100 may be configured to automatically move along a target direction on the operation surface. The operating surface may be a surface to be cleaned by the automatic cleaning device. In some embodiments, the robotic cleaning device may be a floor-mopping robot, and the robotic cleaning device operates on a floor surface, the floor surface being the operating surface; the automatic cleaning equipment can also be a window cleaning robot, and the automatic cleaning equipment works on the outer surface of the glass of the building, wherein the glass is the operation surface; the automatic cleaning device can also be a pipeline cleaning robot, and the automatic cleaning device works on the inner surface of the pipeline, wherein the inner surface of the pipeline is the operation surface. The following description in this application is given by way of example of a floor-mopping robot, purely for illustration purposes.

In some embodiments, the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform. The autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operation decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot adaptively make operational decisions based on unexpected environmental inputs, but may execute established programs or operate according to certain logic. Accordingly, when the mobile platform 100 is an autonomous mobile platform, the target direction may be autonomously determined by the robotic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set systematically or manually. When the mobile platform 100 is an autonomous mobile platform, the mobile platform 100 includes a forward portion 111 and a rearward portion 110.

The sensing system 120 includes a position determining device 121 located above the mobile platform 100, a buffer 122 located at the forward portion 111 of the mobile platform 100, a cliff sensor 123 and an ultrasonic sensor (not shown), an infrared sensor (not shown), a magnetometer (not shown), an accelerometer (not shown), a gyroscope (not shown), an odometer (not shown), and other sensing devices located at the bottom of the mobile platform, and provides various position information and motion state information of the machine to the control system 130.

To describe the behavior of the automatic cleaning device more clearly, the following directional definitions are made: the robotic cleaning device may travel over the floor through various combinations of movement relative to the following three mutually perpendicular axes defined by the mobile platform 100: a lateral axis x, a front-to-back axis y, and a central vertical axis z. The forward driving direction along the forward-backward axis y is denoted as "forward", and the backward driving direction along the forward-backward axis y is denoted as "backward". The transverse axis x extends between the right and left wheels of the robotic cleaning device substantially along the axis defined by the center point of the drive wheel assembly 141. Wherein the robotic cleaning device is rotatable about an x-axis. The "pitch up" is when the forward portion of the automatic cleaning apparatus is tilted upward and the rearward portion is tilted downward, and the "pitch down" is when the forward portion of the automatic cleaning apparatus is tilted downward and the rearward portion is tilted upward. Additionally, the robotic cleaning device may be rotatable about the z-axis. In the forward direction of the automatic cleaning apparatus, when the automatic cleaning apparatus is tilted to the right side of the Y axis, it turns to the right, and when the automatic cleaning apparatus is tilted to the left side of the Y axis, it turns to the left.

As shown in fig. 2, cliff sensors 123 are provided on the bottom of the moving platform 100 and in front of and behind the driving wheel assemblies 141, and the cliff sensors 123 serve to prevent the automatic cleaning apparatus from falling down when the automatic cleaning apparatus is retracted, so that the automatic cleaning apparatus can be prevented from being damaged. The "front" means the same side with respect to the traveling direction of the automatic cleaning apparatus, and the "rear" means the opposite side with respect to the traveling direction of the automatic cleaning apparatus.

The position determining device 121 includes, but is not limited to, a camera, a Laser Direct Structuring (LDS Laser Direct Structuring).

The various components of the sensing system 120 may operate independently or together to achieve a more accurate function. The surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical characteristics of the surface to be cleaned, including surface media, degree of cleaning, etc., and may be more accurately determined in conjunction with a camera, laser ranging device, etc.

For example, it may be determined whether the surface to be cleaned is a carpet by the ultrasonic sensor, and if the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.

The forward portion 111 of the mobile platform 100 is provided with a bumper 122, the bumper 122 detects one or more events (or objects) in the travel path of the robotic cleaning device via a sensor system, such as an infrared sensor, as the robotic cleaning device is propelled across the floor by the drive wheel assembly 141 during cleaning, and the robotic cleaning device can respond to the events (or objects), such as an obstacle, a wall, by controlling the drive wheel assembly 141 to cause the robotic cleaning device to respond to the events (or objects), such as a distance from the obstacle, as detected by the bumper 122.

The control system 130 is disposed on a circuit board in the mobile platform 100, and includes a non-transitory memory, such as a hard disk, a flash memory, a random access memory, a communication computing processor, such as a central processing unit, and an application processor, and the application processor is configured to receive sensed environmental information of the plurality of sensors from the sensing system 120, draw an instantaneous map of the environment in which the automatic cleaning apparatus is located using a positioning algorithm, such as SLAM, based on obstacle information fed back from the laser ranging device, and the like, and autonomously determine a travel path based on the environmental information and the environmental map, and then control the driving system 140 to perform operations, such as forward, backward, and/or steering, based on the autonomously determined travel path. Further, the control system 130 can also determine whether to start the cleaning module 150 for cleaning operation according to the environmental information and the environmental map.

Specifically, the control system 130 may comprehensively determine what working state the sweeper is currently in by combining the distance information and the speed information fed back by the buffer 122, the cliff sensor 123, the ultrasonic sensor, the infrared sensor, the magnetometer, the accelerometer, the gyroscope, the odometer and other sensing devices, for example, when the distance information and the speed information are passed through a threshold, the sweeper is located at the cliff, the upper carpet or the lower carpet is stuck, the dust box is full, the sweeper is taken up and the like, and further, a specific next-step action strategy is given according to different conditions, so that the work of the automatic cleaning device better meets the requirements of an owner, and better user experience is achieved. Furthermore, the control system can plan the most efficient and reasonable cleaning path and cleaning mode based on the instant map information drawn by the SLAM, and the cleaning efficiency of the automatic cleaning equipment is greatly improved.

Drive system 140 may execute drive commands to steer the robotic cleaning device across the floor based on specific distance and angle information, such as x, y, and theta components. Fig. 3 and 4 are oblique and front views of one side driving wheel assembly 141 according to an embodiment of the present invention, and as shown, the driving system 140 includes the driving wheel assembly 141, and the driving system 140 can control the left and right wheels simultaneously, and in order to control the movement of the machine more precisely, the driving system 140 preferably includes a left driving wheel assembly and a right driving wheel assembly, respectively. The left and right drive wheel assemblies are symmetrically disposed along a lateral axis defined by the mobile platform 100. The driving wheel assembly comprises a shell and a connecting frame, driving motors 146 are respectively arranged in the driving wheel assembly, the driving motors 146 are located on the outer side of the driving wheel assembly 141, the axis of each driving motor 146 is located in the section projection of the driving wheel assembly, and the driving wheel assembly 141 can also be connected with a circuit for measuring driving current and a mileometer.

In order to provide more stable movement or greater mobility of the robotic cleaning device over the floor surface, the robotic cleaning device may include one or more steering assemblies 142, the steering assemblies 142 may be driven wheels or driving wheels, and the steering assemblies 142 may be configured to include, but are not limited to, universal wheels, and the steering assemblies 142 may be positioned in front of the driving wheel assemblies 141.

The drive motor 146 powers rotation of the drive wheel assembly 141 and/or the steering assembly 142.

The drive wheel assembly 141 may be removably attached to the mobile platform 100 to facilitate disassembly and maintenance. The drive wheel may have a biased drop-type suspension system movably secured, e.g., rotatably attached, to the robotic cleaning device moving platform 100 and maintained in contact with the floor and traction with a certain grounding force by a resilient element 143, such as a tension or compression spring, while the cleaning module 150 of the robotic cleaning device also contacts the surface to be cleaned with a certain pressure.

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

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

The cleaning module 150 may include a dry cleaning module 151 and/or a wet cleaning module 400.

As shown in fig. 5-8, the dry cleaning module 151 includes a roller brush, a dust box, a blower, and an air outlet. The rolling brush with certain interference with the ground sweeps the garbage on the ground and winds the garbage to the front of a dust suction opening between the rolling brush and the dust box, and then the garbage is sucked into the dust box by air which is generated by the fan and passes through the dust box and has suction force. The dust removal capability of the sweeper can be represented by the sweeping efficiency DPU (dust pick up efficiency), which is influenced by the structure and the material of the rolling brush, the wind power utilization rate of an air duct formed by a dust suction port, a dust box, a fan, an air outlet and connecting parts among the dust suction port, the dust box, the fan, the air outlet and the dust box, the type and the power of the fan, and the sweeper is a complicated system design problem. Compared with the common plug-in dust collector, the improvement of the dust removal capability is more significant for cleaning automatic cleaning equipment with limited energy. Because the improvement of the dust removal capability directly and effectively reduces the energy requirement, namely the machine which can clean the ground of 80 square meters by charging once can be developed into the machine which can clean 180 square meters or more by charging once. And the service life of the battery, which reduces the number of times of charging, is also greatly increased, so that the frequency of replacing the battery by the user is also increased. More intuitively and importantly, the improvement of the dust removal capability is the most obvious and important user experience, and the user can directly draw a conclusion whether the sweeping/wiping is clean. The dry cleaning module may also include an edge brush 157 having an axis of rotation that is angled relative to the floor for moving debris into the roller brush area of the cleaning module 150.

Fig. 5 is a schematic structural view of the dust box 152 in the dry cleaning module, fig. 6 is a schematic structural view of the fan 156 in the dry cleaning module, fig. 7 is a schematic structural view of the dust box 152 in an open state, and fig. 8 is a schematic structural view of the dust box and the fan in an assembled state.

The rolling brush with certain interference with the ground sweeps up the garbage on the ground and takes the garbage in front of the dust suction opening 154 between the rolling brush and the dust box 152, then the garbage is sucked into the dust box 152 by the air which is generated by the structure of the fan 156 and passes through the dust box 152 and has suction force, the garbage is isolated inside the dust box 152 by the filter screen 153 and close to one side of the dust suction opening 154, the filter screen 153 completely isolates the dust suction opening from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.

Typically, the dust collection opening 154 of the dust box 152 is located at the front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction opening of the fan 156 is connected with the air outlet of the dust box.

The front panel of the dirt tray 152 can be opened for cleaning the dirt tray 152 of the trash.

The filter screen 153 is connected for dismantling with the box body of dirt box 152, makes things convenient for the filter screen to dismantle and wash.

As shown in fig. 9-11, the wet cleaning module 400 of the present invention is configured to clean at least a portion of the operation surface by a wet cleaning method; wherein the wet cleaning module 400 comprises: a cleaning head 410 and a driving unit 420, wherein the cleaning head 410 is used for cleaning at least one part of the operation surface, and the driving unit 420 is used for driving the cleaning head 410 to reciprocate along a target surface which is one part of the operation surface. The cleaning head 410 reciprocates along the surface to be cleaned, cleaning cloth or a cleaning plate is arranged on the surface of the contact surface of the cleaning head 410 and the surface to be cleaned, and high-frequency friction is generated between the cleaning head 410 and the surface to be cleaned through reciprocating motion, so that stains on the surface to be cleaned are removed. The reciprocating motion may be a reciprocating motion in any one or more directions in the operation surface, or may be a vibration perpendicular to the operation surface, which is not strictly limited.

As shown in fig. 9, the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the moving platform 100 for providing a driving force; and a supporting platform 422 detachably connected to the driving platform 421, for supporting the cleaning head 410, and being capable of lifting under the driving of the driving platform 421.

A lifting module is disposed between the cleaning module 150 and the mobile platform 100 for making the cleaning module 150 contact with the surface to be cleaned better, or adopting different cleaning strategies for the surfaces to be cleaned made of different materials.

The dry type cleaning module 151 may be connected to the mobile platform 100 through a passive type lifting module, and when the cleaning device encounters an obstacle, the dry type cleaning module 151 may more conveniently pass over the obstacle through the lifting module.

The wet type cleaning module 400 may be connected to the moving platform 100 through an active type lifting module, and when the wet type cleaning module 400 does not work temporarily or a surface to be cleaned, which cannot be cleaned by the wet type cleaning module 400, is encountered, the wet type cleaning module 400 is lifted up by the active type lifting module and separated from the surface to be cleaned, thereby implementing a change in a cleaning means.

As shown in fig. 10 to 11, the driving stage 421 includes: a motor 4211, which is disposed on one side of the driving platform 421 close to the movable platform 100 and outputs power through a motor output shaft; the driving wheel 4212 is connected with the motor output shaft, and the driving wheel 4212 is of an asymmetric structure; and a vibration member 4213 disposed on the opposite side of the driving platform 421 to the motor 4211, connected to the driving wheel 4212, and configured to reciprocate by the asymmetric rotation of the driving wheel 4212.

The drive platform 421 may further include a drive wheel and gear mechanism. The gear mechanism 235 may connect the motor 4211 and the drive wheel 4212. The motor 4211 can directly drive the driving wheel 4212 to make a rotary motion, or indirectly drive the driving wheel 4212 to make a rotary motion through a gear mechanism. One skilled in the art will appreciate that the gear mechanism may be a single gear or a gear set comprising a plurality of gears.

The motor 4211 transmits power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water feeding mechanism, the water tank, etc. simultaneously through the power transmission device. The energy system 160 provides power and energy to the electric machine 4211 and is controlled as a whole by the control system 130. The power transmission device can be a gear transmission, a chain transmission, a belt transmission, a worm gear and the like.

The motor 4211 comprises a forward output mode and a reverse output mode, wherein in the forward output mode, the motor 4211 rotates forward, in the reverse output mode, the motor 4211 rotates reversely, and in the forward output mode of the motor 4211, the motor 4211 can simultaneously drive the cleaning head 410 and the water feeding mechanism in the wet type cleaning assembly 400 to synchronously move through a power transmission device.

Further, the driving platform 421 further includes: a connecting rod 4214 extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibrating member 4213, so that the vibrating member 4213 extends to a preset position, wherein the extending direction of the vibrating member 4213 is perpendicular to the connecting rod 4214.

The motor 4211 is connected to a drive wheel 4212, a vibration member 4213, a connecting rod 4214 and a vibration damper 4215 via a power transmission device. When the wet type cleaning assembly 400 is started, the motor 4211 starts to work and starts to rotate forward, the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the driving platform 421 through the driving wheel 4212, meanwhile, the vibration buffering device 4215 drives the vibration piece 4213 to reciprocate along the surface of the driving platform 421, the vibration piece 4213 drives the cleaning base plate 4221 to reciprocate along the surface of the supporting platform 422, and the cleaning base plate 4221 drives the movable area 412 to reciprocate along the surface to be cleaned. At this time, the clean water pump makes the clean water flow out from the clean water tank and sprinkles the clean water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 cleans the surface to be cleaned through reciprocating motion.

The cleaning intensity/efficiency of the automatic cleaning device can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning device. For example, the automatic cleaning device may be dynamically adjusted based on the sensing system 120 detecting physical information about the surface to be cleaned. For example, the sensing system 120 may detect information about the flatness of the surface to be cleaned, the material of the surface to be cleaned, the presence of dirt and dust, etc., and communicate this information to the control system 130 of the robotic cleaning device. Accordingly, the control system 130 can direct the automatic cleaning apparatus to automatically and dynamically adjust the rotation speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning apparatus, thereby adjusting the preset reciprocating period of the reciprocating motion of the cleaning head 410.

For example, when the automatic cleaning device works on a flat ground, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water quantity of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning equipment works on a not-flat ground, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water quantity of the water pump can be automatically and dynamically adjusted to be larger. This is because a flat floor is easier to clean than a less flat floor, and therefore cleaning an uneven floor requires faster reciprocation (i.e., higher frequency) and a greater volume of water by the cleaning head 410.

For another example, when the automatic cleaning device works on a table, the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water quantity of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is operated on the ground, the preset reciprocation period may be automatically and dynamically adjusted to be shorter, and the water amount of the water pump may be automatically and dynamically adjusted to be larger. This is because the table top has less dust and oil dirt relative to the floor, and the material forming the table top is easier to clean, so that the cleaning head 410 needs to perform a smaller number of reciprocating movements and the water pump provides a relatively smaller amount of water to clean the table top.

The support platform 422 includes: the cleaning base plate 4221 is freely movably arranged on the supporting platform 422, and the cleaning base plate 4221 reciprocates under the vibration of the vibration piece 4213. Optionally, the cleaning substrate 4221 includes: and an assembly notch (not shown) disposed at a position contacting with the vibration member 4213, wherein when the support platform 422 is connected to the driving platform 421, the vibration member 4213 is assembled in the assembly notch, so that the cleaning substrate 4221 can synchronously reciprocate along with the vibration member 4213.

Figure 12 illustrates another cleaning head drive mechanism 800 based on a slider-crank mechanism in accordance with various embodiments of the present application. The drive mechanism 800 may be applied to the drive platform 421. The drive mechanism 800 includes a drive wheel 4212, a vibrating member 4213, a cleaning base plate 4221, a link 4222 (first link), and a link 4223 (second link).

The sliding

grooves

4222 and 4223 are opened on the supporting platform 422. Both ends of the cleaning substrate 4221 respectively include a slider 525 (first slider) and a slider 528 (second slider). The

sliders

525 and 528 are respectively a protrusion at both ends of the cleaning substrate 4221. The slider 525 is inserted in the slide groove 4222 and can slide along the slide groove 4222; the slider 4223 is inserted into the slide groove 4223, and can slide along the slide groove 4223. In some embodiments, slot 4222 is collinear with slot 4223. In some embodiments, chute 4222 and chute 4223 are not collinear. In some embodiments, slot 4222 extends in the same direction as slot 4223. In some embodiments, the extension directions of the chute 4222 and the chute 4223 are the same as the extension direction of the cleaning substrate 4221. In some embodiments, the direction of extension of the link 4222 and link 4223 is different from the direction of extension of the cleaning base plate 4221. In some embodiments, the extension directions of chute 4222 and chute 4223 are different. For example, as shown in fig. 12, the extending direction of the link 4222 is the same as the extending direction of the cleaning base plate 4221, and the extending direction of the link 4223 is at an angle to the extending direction of the link 4222.

The vibrating member 4213 includes a swivel end 512 and a sliding end 514. The pivoting end 512 is connected to the drive wheel 4212 via a first pivot 516, and the sliding end 514 is connected to the cleaning base 4221 via a second pivot 518.

The rotation center of the drive wheel 4212 is point O, and the pivot center of the first pivot 516 is point a. The point O and the point A are not coincident, and the distance between the point O and the point A is a preset distance d.

When the driving wheel 4212 rotates, the point a makes a circular rotation movement. Accordingly, the turning end 512 makes a circular turning motion following the point a; the sliding end 514 drives the cleaning substrate 4221 to slide via the second pivot 518. Accordingly, the slider 525 of the cleaning base plate 4221 makes a reciprocating linear motion along the slide groove 4222; the slider 528 reciprocates linearly along the slide groove 4223. In fig. 4, the moving speed of the moving platform 210 is V0, and the moving direction is the target direction. According to some embodiments, when the chute 4223 and the chute 4222 are respectively approximately perpendicular to the direction of the moving speed V0 of the moving platform 210, the overall displacement of the cleaning base plate 4221 is substantially perpendicular to the target direction. According to other embodiments, when any one of the link 4223 and the link 4222 is at an angle other than 90 degrees to the target direction, the overall displacement of the cleaning base plate 4221 includes both components perpendicular to the target direction and parallel to the target direction.

Further, a vibration damping device 4215 is included, which is disposed on the connecting rod 4214, and is used for damping vibration in a specific direction, in this embodiment, in a direction of a movement component perpendicular to a target direction of the automatic cleaning apparatus.

Figure 13 illustrates another dual crank mechanism based cleaning head drive mechanism 600 according to various embodiments of the present application. The drive mechanism 600 may be applied to the drive platform 421. The drive mechanism 600 includes a drive wheel 4212 (first drive wheel), a drive wheel 4212' (second drive wheel), and a cleaning substrate 4221.

The cleaning substrate 4221 has two ends. The first end is connected with the driving wheel 4212 through a pivot 624 (first pivot); the second end is connected to the drive wheel 4212' via a pivot 626 (second pivot). The rotation center of the drive wheel 4212 is point O, and the pivot center of the pivot shaft 624 is point a. The point O and the point A are not coincident, and the distance between the point O and the point A is a preset distance d. The center of rotation of the drive wheel 236 is point O 'and the center of pivot of the pivot 626 is point a'. The point O 'and the point A' are not coincident, and the distance between the points is a preset distance d. In some embodiments, point a ', point O, and point O' lie on the same plane. Thus, drive wheel 4212 ', and cleaning base plate 4221 may form a double crankshaft mechanism (or parallelogram mechanism) in which cleaning base plate 4221 acts as a coupling rod and drive wheels 4212 and 4212' act as two cranks.

Fig. 14 illustrates a drive mechanism 700 based on a slider-crank mechanism in accordance with various embodiments of the present application. The drive mechanism 700 may be applied to the drive platform 421. The drive mechanism 700 includes a drive wheel 4212, a cleaning base plate 4221, and a chute 4222.

The slot 4222 opens on the support platform 422. The cleaning base plate 4221 includes a swivel end 4227 and a sliding end 4226. Swivel end 4227 is connected to drive wheel 4212 by pivot 4228. The rotation center of the driving wheel 4212 is point O, and the rotation center of the rotation end pivot 4228 is point a. The point O and the point A are not coincident, and the distance between the point O and the point A is a preset distance d. The slide end 4226 comprises a slider 4225. Slider 4225 is a projection on slider end 4226. The slider 4225 is inserted into the slide groove 4222 and can slide along the slide groove 4222. Therefore, the drive wheel 4221, the cleaning base plate 4221, the slider 4225 and the slide groove 4222 constitute a crank-slider mechanism.

When the driving wheel 4212 rotates, the point a makes a circular rotation motion. Accordingly, the rotation end 4227 of the cleaning substrate 4221 makes a circular rotation movement following the point a; the slider 4225 slides in the sliding slot 4222 and reciprocates linearly. As a result, the cleaning base plate 4221 starts to reciprocate. According to some embodiments, the chute 4222 is approximately perpendicular to the direction of the target direction of the speed of movement of the mobile platform, and thus, the linear movement of the sliding end 4226 comprises a component perpendicular to the target direction, and the circular swiveling motion of the swiveling end 4227 comprises both a component perpendicular to the target direction and a component parallel to the target direction.

In fig. 14, the moving speed of the moving platform is V0, and the moving direction is the target direction; and the chute 4222 is approximately perpendicular to the target direction. At this time, the cleaning substrate 4221 as a whole makes a reciprocating motion having a moving component parallel to the target direction of the automatic cleaning apparatus and a moving component perpendicular to the target direction of the automatic cleaning apparatus.

Further, the supporting platform 422 further comprises: and an elastic disassembling button 4229 arranged on at least one side of the supporting platform 422 and used for detachably connecting the supporting platform 422 to the claw 4216 of the driving platform 421. At least one mounting area 4224 provided on the support platform 422 for mounting the cleaning head 410. The mounting region 4224 may be formed of an adhesive material having an adhesive layer.

As shown in fig. 9, the cleaning head 410 includes: and the movable area 412 is connected with the cleaning base plate 4221 and reciprocates along the cleaning surface under the driving of the cleaning base plate 4221. The active region 412 is disposed at a substantially central location of the cleaning head 410. An adhesive layer is arranged on one side of the active region 412 connected with the cleaning substrate 4221, and the active region 412 is connected with the cleaning substrate 4221 through the adhesive layer.

Optionally, the cleaning head 410 further comprises: a fixed area 411 connected to the bottom of the support platform 422 through the at least one mounting area 4224, the fixed area 411 cleaning at least a portion of the worktop as the support platform 422 moves.

Further, the cleaning head 410 further includes: and a flexible connection part 413 disposed between the fixed region 411 and the movable region 412, for connecting the fixed region 411 and the movable region 412. The cleaning head 410 further comprises: a slide latch 414, extending along the edge of the cleaning head 410, is removably mounted to the support platform 422 at a latch position 4225.

As shown in fig. 9, the cleaning head 410 may be made of a material having certain elasticity, and the cleaning head 410 is fixed to the surface of the support platform 422 by an adhesive layer so as to perform a reciprocating motion. The cleaning head 410 is in contact with the surface to be cleaned at all times while the cleaning head 410 is in operation.

The water supply device comprises a water outlet 4217, and the water outlet 4217 may be directly or indirectly connected to a cleaning solution outlet of a water tank (not shown), i.e. a liquid outlet of the clean water tank, wherein the cleaning solution may flow to the water outlet 4217 through the cleaning solution outlet of the water tank, and may be uniformly coated on the surface to be cleaned through the water outlet. The water outlet device can be provided with a connecting element (not shown) by means of which the water outlet device is connected to the cleaning fluid outlet of the water tank. The water outlet device is provided with a distribution port which can be a continuous opening or a combination of a plurality of broken small openings, and the distribution port can be provided with a plurality of nozzles. The cleaning liquid flows through the cleaning liquid outlet of the water tank and the connecting piece of the water outlet device to the distribution opening, and is uniformly coated on the operation surface through the distribution opening.

The water feeding mechanism can also comprise a clean water pump 4219 and/or a clean water pump tube 4218, and the clean water pump 4219 can be directly communicated with a cleaning liquid outlet of the water tank or can be communicated with the cleaning liquid outlet of the water tank through the clean water pump tube 4218.

A clean water pump 4219 may be connected with the connection of the water outlet and may be configured to draw the cleaning liquid from the tank to the water outlet. The clean water pump may be a gear pump, a vane pump, a plunger pump, a peristaltic pump, or the like.

The water delivery mechanism pumps the cleaning solution in the clean water tank out through a clean water pump 4219 and a clean water pump tube 4218 and delivers the cleaning solution to a water outlet device, the water outlet device 4217 can be a nozzle, a water dropping hole, a soaking cloth and the like, and the water is uniformly distributed on the cleaning head, so that the cleaning head and the surface to be cleaned are wetted. The stains on the wet surface to be cleaned can be cleaned more easily. In the wet cleaning assembly 400, the power/flow of the clean water pump may be adjusted.

The cleaning head can reciprocate by increasing the driving unit and the vibration area in the wet cleaning module, so that the surface to be cleaned can be repeatedly cleaned, multiple times of cleaning can be realized by one-time passing through a certain area in the motion track of the automatic cleaning equipment, the cleaning effect is greatly enhanced, and the cleaning effect is obvious particularly for the area with more stains.

According to a specific embodiment of the present invention, the present invention provides a liftable automatic cleaning apparatus, comprising: a mobile platform 100 configured to automatically move on an operation surface; a wet cleaning module 400 movably connected to the movable platform 100 through a four-bar linkage lifting structure 500, and configured to clean at least a portion of the operation surface in a wet cleaning manner; wherein the four-bar linkage lifting structure 500 is a parallelogram structure, and is used for switching the wet cleaning module 400 between a lifting state and a sinking state, and the lifting state is that the wet cleaning module 400 leaves the operation surface, as shown in fig. 15; the sinking state is that the wet cleaning module 400 is attached to the operation surface, as shown in fig. 16.

As shown in fig. 17 to 18, the four-bar linkage lifting structure 500 includes: a first connection end 501 for providing a main power to switch the wet cleaning module 400 between a rising state and a sinking state; and a second connection end 502, which is arranged opposite to the first connection end 501 and rotates under the action of the main force. The first connection end 501 and the second connection end 502 are respectively located at both sides of the wet cleaning module 400, and the wet cleaning module 400 is lifted up or lowered down by stably providing a lifting force.

Specifically, the first connection end 501 includes a first bracket 5011 fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 has a substantially zigzag structure, and the first bracket 5011 includes: the cross beam 50111, the first longitudinal beam 50114 and the second longitudinal beam 50115 are fixedly connected to the moving platform 100 at the tail ends of the first longitudinal beam 50114 and the second longitudinal beam 50115 through bolts, respectively, so as to provide a supporting force when the wet cleaning module 400 is lifted.

The first connection end 501 further includes a first link pair 5012, one end of the first link pair 5012 is rotatably connected to the first bracket 5011, and the other end is rotatably connected to the wet cleaning module 400. The first connecting rod pair 5012 can be of a hollow structure, and the whole weight of the lifting end can be reduced.

Alternatively, the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 which are disposed in parallel, first ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the first longitudinal beam 50114 by movable studs, and second ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the wet cleaning module 400 by movable studs. For example, through holes with a diameter larger than that of the movable stud are respectively formed at two ends of the first connecting rod 50121 and the second connecting rod 50122, so that the movable stud can freely rotate in the through holes, and the movable stud passes through the through holes and then is fixedly connected to the first longitudinal beam 50114. When the motor 4211 provides a pulling force to the first end through the cable, the first ends of the first and

second connection rods

50121 and 50122 simultaneously rotate around the movable stud of the first end, and the second end rises under the pulling force of the cable, so that the wet cleaning module 400 is lifted. When the motor 4211 releases a pulling force to the first end through the pulling cable, the first ends of the first and

second connection rods

50121 and 50122 rotate reversely around the movable stud of the first end at the same time, and the second end descends under the action of gravity, so that the wet cleaning module 400 sinks.

The lifting structure 500 further includes a cable 42194 for providing a pulling force to rotate the first pair of connecting rods 5012 within a predetermined angle. The stay cable 42194 includes: the cable motor terminal 50131 is connected to the driving unit 420, for example, is connected to a gear connected to the output shaft of the motor in a winding manner, and performs a telescopic motion by the rotation of the motor. The cable bracket terminal 50132 is connected to the first bracket 5011, and the motor raises or lowers the second ends of the first and

second connection rods

50121 and 50122 through the cable 42194.

Optionally, the first bracket 5011 further includes: the cable support structure comprises a sliding groove 50112 extending along the surface of the beam 50111, and a clamping hole 50113 penetrating through the beam 50111 and arranged at the extending tail end of the sliding groove 50112 and used for containing and clamping the cable support terminal 50132, wherein the cable 42194 is connected with the first ends of the first connecting rod 50121 and the second connecting rod 50122 through the sliding groove 50112 and the clamping hole 50113, the sliding groove 50112 can limit the moving direction of the cable, the lifting stability of a module is guaranteed, and the width of the sliding groove is matched with the thickness of the cable.

As shown in fig. 17, the second connection end 502 includes: a second bracket 5021 fixedly connected to the bottom of the mobile platform 100; a second link pair 5022 having one end rotatably connected to the second bracket 5021 and the other end rotatably connected to the wet type cleaning module 400; the second coupling lever pair 5022 rotates with the rotation of the first coupling lever pair 5012. The second connecting rod pair 5022 can be of a hollow structure, and the overall weight of the lifting end can be reduced.

Specifically, the second link pair 5022 includes a third link 50221 and a fourth link 50222 which are arranged in parallel, first ends of the third link 50221 and the fourth link 50222 are rotatably connected to the second bracket 5021 through a movable stud, and second ends of the third link 50221 and the fourth link 50222 are rotatably connected to the wet type cleaning module 400 through a movable stud. For example, through holes having a diameter larger than that of the movable studs are respectively formed at both ends of the third connecting rod 50221 and the fourth connecting rod 50222, so that the movable studs can freely rotate in the through holes, and the movable studs pass through the through holes and then are fixedly connected to the second bracket 5021 and the wet cleaning module 400. When the first connection end 501 is driven by the motor 4211 to rotate, the first ends of the third connection rod 50221 and the fourth connection rod 50222 simultaneously rotate around the movable stud of the first end, and the second ends of the third connection rod 50221 and the fourth connection rod 50222 simultaneously rotate around the movable stud of the second end, so that the wet cleaning module 400 is lifted. When the first connection end 501 releases the pulling force, the third connection rod 50221 and the fourth connection rod 50222 rotate around the movable stud in opposite directions, and descend under the action of gravity, so that the wet cleaning module 400 sinks.

Through the four-bar lifting structure arranged between the wet type cleaning module and the moving platform, the wet type cleaning module can be lifted relative to the moving platform, when the floor mopping task is executed, the wet type cleaning module is lowered to enable the wet type cleaning module to be in contact with the ground, when the floor mopping task is completed, the wet type cleaning module is lifted to enable the wet type cleaning module to be separated from the ground, and the resistance increase caused by the existence of the cleaning module when the cleaning equipment freely moves on a cleaned surface is avoided.

The sensor that can detect the surface type of treating clean surface such as cooperation surface medium sensor, the lift module can clean the operation with wet-type cleaning module according to the clean surface of waiting of difference, if at the clean module lifting of wet-type cleaning on the carpet surface to put down the clean module of wet-type on surfaces such as floor/ceramic tile and clean, thereby realize more comprehensive clean effect.

In general, the automatic cleaning apparatus generally has a small resistance when cleaning a smooth floor, but when cleaning a carpet, particularly a long-pile carpet, or a mat, clothes, etc., the chassis of the automatic cleaning apparatus is very likely to contact with the long hairs on the carpet, thereby increasing the resistance to the travel of the automatic cleaning apparatus. In addition, the automatic cleaning equipment comprising the wet type cleaning module is also provided with a water tank, and the water tank can certainly increase the traveling resistance of the automatic cleaning equipment under the condition that the water tank is filled with water. Under the action of these resistances, the automatic cleaning device is very easy to be stuck and cannot move.

Based on the above situation, referring to fig. 19, a flowchart of a control method of an automatic cleaning device according to an exemplary embodiment of the present disclosure is shown, which may specifically include the following steps:

step S2010, when the automatic cleaning equipment is used for cleaning, acquiring first data according to the current travelling wheel state data of the automatic cleaning equipment, and acquiring second data according to the current body state data of the automatic cleaning equipment;

step 2020, determining whether the automatic cleaning device is trapped according to the first data and the second data;

and step S2030, if the automatic cleaning equipment is trapped, controlling the automatic cleaning equipment to enter an acceleration trap-free mode.

According to the control method of the automatic cleaning equipment provided by the exemplary embodiment of the disclosure, in the cleaning process of the automatic cleaning equipment, if first data obtained according to current traveling wheel state data is different from second data obtained according to current machine body state data, the automatic cleaning equipment can be judged to be trapped; at this time, the automatic cleaning device can be helped to get rid of the trouble through the acceleration getting-out mode, so that the probability of the occurrence of the jamming of the automatic cleaning device is reduced.

The control method of the automatic cleaning equipment is not only used for the scene that the automatic cleaning equipment cleans the surface medium areas such as the long-pile carpet, but also used for the scene that the automatic cleaning equipment crosses a threshold, a small step or is blocked by an obstacle. Any scene that can be overcome by the automatic cleaning device control method provided by the exemplary embodiment of the present disclosure falls within the scope of the exemplary embodiment of the present disclosure.

In the exemplary embodiment of the present disclosure, when the automatic cleaning device is trapped in the cleaning process and a slip state occurs, the traveling wheels of the general automatic cleaning device may idle, and at this time, the first data obtained according to the current traveling wheel state data is generally different from the second data obtained according to the current body state data, so that it may be determined whether the automatic cleaning device is trapped according to a difference between the first data and the second data.

The following describes a specific process for determining whether the automatic cleaning device is trapped in conjunction with different states:

in the first state: under the condition that the automatic cleaning equipment is in a rotating state, acquiring theoretical angular speed of a walking wheel as first data according to current walking wheel state data of the automatic cleaning equipment; generally, when the automatic cleaning device is in a state of being trapped but not stopped, the road wheels are in an idle state, and at this time, according to the state data of the road wheels, that is, the road wheel sensor obtains the data of the road wheel sensor such as the rotating speed of the road wheels, and the angular velocity of the road wheels can be determined according to the rotating speed of the road wheels, for example, in the case of the rotating speed of n revolutions per minute, the angular velocity ω is n 2 pi/60 radians per second. The angular velocity is not an actual angular velocity because it is obtained in a state where the road wheels are idling, and is therefore referred to as a theoretical angular velocity.

Meanwhile, the actual angular velocity of the traveling wheels can be acquired according to the current machine body state data of the automatic cleaning equipment to serve as second data, and the machine body state data is generally acquired by a state sensor on the machine body, so that the second data in the current machine body state can be acquired according to the state sensor data of the automatic cleaning equipment; for example, the actual generated angular velocity of the road wheels can be calculated from the current body state data measured by a gyroscope on the automatic cleaning device. The state sensor includes a plurality of sensors for measuring state data, such as a gyroscope, a motor power sensor, a cliff sensor or a touch sensor.

In general, in the non-slip case such as a hard floor, the first data and the second data obtained as described above are the same, but in the case of a medium such as a long pile carpet which is liable to slip, the first data is generally larger than the second data due to the resistance of the medium.

In an exemplary embodiment of the present disclosure, if a difference between the first data and the second data is greater than a first threshold for a first preset time, it is determined that the automatic cleaning apparatus is trapped. At this time, it is necessary to control the automatic cleaning apparatus to enter the accelerated escaping mode. Wherein, the accelerating escaping mode can comprise controlling the automatic cleaning equipment to accelerate instantly after decelerating. Under the condition of instantaneous acceleration after deceleration, the static friction force of the automatic cleaning equipment on a medium can be converted into sliding friction force, and because the sliding friction force is smaller than the maximum static friction force, under the condition that the automatic cleaning equipment is under the sliding friction force, the automatic cleaning equipment is easy to get out of the state of idling even if the same acceleration as that under the static friction force is adopted, so that the probability of getting out of the automatic cleaning equipment can be increased, and the occurrence of the situation that the automatic cleaning equipment is trapped can be reduced.

In the exemplary embodiment of the disclosure, the processes of the detection, the data calculation and the instantaneous acceleration after the deceleration are all automatically completed by the automatic cleaning equipment, so that the probability of the automatic cleaning equipment breaking down can be reduced, the automation degree of the automatic cleaning equipment is improved, and the user experience can be improved.

In practical applications, the first threshold and the first preset time may be set according to practical situations, for example, the first threshold may be 2-10 radians/second, the first preset time may be 3-6 seconds, and the like, and this is not particularly limited in the exemplary embodiment of the present disclosure.

In addition, through the setting of the first preset time, the situation that the automatic cleaning equipment crosses some small obstacles to cause misjudgment and the like can be eliminated.

In the second state: acquiring theoretical output power of a motor as first data according to current traveling wheel state data of the automatic cleaning equipment under the condition that the automatic cleaning equipment slips and is trapped when the automatic cleaning equipment is in a straight advancing state; generally, in a carpet with a large resistance, such as a long pile carpet, the output power required by the automatic cleaning device for traveling a certain distance is generally less than the power actually output by the motor of the automatic cleaning device. That is, the output power of the motor calculated according to the current travel distance of the travel wheels acquired by the travel wheel sensors belongs to the theoretical output power of the motor, and is smaller than the actual output power of the motor acquired according to the current body state data of the automatic cleaning device, that is, the first data is smaller than the second data.

In an exemplary embodiment of the present disclosure, if the difference between the first data and the second data is less than the second threshold for a second preset time, it is determined that the automatic cleaning apparatus is trapped. At this time, it is necessary to control the automatic cleaning apparatus to enter an accelerated escaping mode to help the automatic cleaning apparatus escape from the current trapped state. The specific situation of the accelerated escaping mode has been described in detail in the above embodiments, and is not described herein again.

In practical applications, the second threshold is a power value, and the second threshold and the second preset time may be set according to practical situations, for example, the second threshold may be 5-10W, the first preset time may be 3-6 seconds, and the like, which is not particularly limited in this exemplary embodiment of the disclosure.

The third state: when the automatic cleaning apparatus is in a retreated state while encountering an obstacle, in a case where the automatic cleaning apparatus is trapped while retreating, for example, in a case where a slip occurs while being trapped by the long hairs of a long-pile carpet; similarly, as in the case of slipping when advancing in the second state, the theoretical output power of the motor can be acquired according to the current traveling wheel state data of the automatic cleaning equipment and taken as first data; and acquiring the actual output power of the motor as second data according to the current machine body state data of the automatic cleaning equipment. And the first data may be smaller than the second data.

In the process of backing the automatic cleaning device when encountering an obstacle, the automatic cleaning device usually needs to continuously perform an accelerating backing motion to avoid being stuck, that is, whether the automatic cleaning device is stuck or not is determined simply according to the size of the first data and the second data, and a misjudgment condition may exist.

Therefore, in the exemplary embodiment of the present disclosure, on the basis of determining the magnitude of the first data and the second data, the determination of the main brush current of the automatic cleaning device is further included, and on a medium such as a long-pile carpet, the main brush of the automatic cleaning device may also be subjected to a great resistance to rotation, which results in an increase in current, so that by adding the determination of the main brush current, the accuracy of determining whether the automatic cleaning device is trapped in the backward state process can be increased, and the probability of erroneous determination can be reduced.

In an exemplary embodiment of the present disclosure, if a difference between the first data and the second data is less than a third threshold for a third preset time, and a main brush current of the automatic cleaning apparatus exceeds a fourth threshold for a fourth preset time, it is determined that the automatic cleaning apparatus is trapped.

In practical applications, the third threshold is a power value, and the third threshold and the third preset time may be set according to practical situations, for example, the third threshold may be 7-15W, and the first preset time may be 3-6 seconds, etc. The fourth threshold is a current value, the magnitude of the fourth threshold and the fourth preset time may be set according to an actual situation, and the fourth preset time may be equal to the third preset time or greater than the third preset time, which is not particularly limited in the exemplary embodiment of the present disclosure.

In practical applications, when a main brush of an automatic cleaning device is clamped into a foreign object, the current of the main brush is also increased, and the output power of a motor of the automatic cleaning device is also increased in an over-threshold or other scenes, so that the misjudgment of whether the automatic cleaning device is trapped by a medium is reduced, and the probability that the automatic cleaning device enters an accelerated escaping mode is reduced. The exemplary embodiment of the present disclosure further adds a step of eliminating the erroneous determination condition to reduce the probability of occurrence of a dangerous condition caused by the fact that the automatic cleaning apparatus is merely caught by a foreign object on the short pile carpet or the automatic cleaning apparatus rushes out a long distance when accelerating instantaneously after decelerating, in other cases. The medium is trapped, which means that the automatic cleaning device is trapped by a medium such as a long pile carpet and slips.

In the exemplary embodiment of the disclosure, a result after instantaneous acceleration after deceleration may be calculated according to an accelerometer on the automatic cleaning device, for example, a change peak value of the accelerometer on the automatic cleaning device is calculated, and if the change peak value of the accelerometer on the automatic cleaning device exceeds a threshold value, it indicates that the acceleration of the automatic cleaning device is large and the fluctuation is large, the side surface reflects that the resistance of a medium where the automatic cleaning device is located is small, and the medium is not necessarily a medium such as a long pile carpet, and at this time, it may be determined that the automatic cleaning device is located on a medium that is prone to erroneous determination; if the automatic cleaning equipment is determined to be on the medium which is easy to generate misjudgment, the accelerated escaping mode is closed when the automatic cleaning equipment is on the medium which is easy to generate misjudgment, the danger caused by misjudgment generated when the accelerated escaping mode is opened is avoided, and the service life of the automatic cleaning equipment can be prolonged.

In practical applications, the threshold value may be specifically set according to the performance of the automatic cleaning device, and the exemplary embodiment of the present disclosure is not particularly limited in this regard.

Referring to fig. 20, the operation steps of the control method of the automatic cleaning device provided by the exemplary embodiment of the present disclosure are shown, which may specifically include the following steps: step S2101, the automatic cleaning equipment enters a cleaning state; entering step S2102, acquiring first data according to current traveling wheel state data of the automatic cleaning apparatus, and simultaneously entering step S2103, acquiring second data according to current body state data of the automatic cleaning apparatus; next, the process proceeds to step S2104, where condition 1 is determined, and it is determined whether the automatic cleaning apparatus is trapped according to the first data and the second data; if yes, i.e. the robot is trapped, the process goes to step S2105, and the robot enters an accelerated trap-freeing mode to free the robot. After step S2105, the process may further proceed to step S2106, that is, determining condition 2, to determine whether the determination is a misdetermination due to non-medium trapping, and if so, the process proceeds to step S2107 to turn off the acceleration escape mode.

According to the automatic cleaning equipment control method provided by the exemplary embodiment of the disclosure, in the cleaning process of the automatic cleaning equipment, not only is the condition that whether the automatic cleaning equipment is trapped by the medium where the automatic cleaning equipment is located judged, but also the condition of misjudgment caused by non-medium is eliminated, so that the judgment accuracy is improved; and different judgment standards are set in different states, so that the accuracy of whether the cleaning equipment is trapped can be further increased, the efficiency of removing the trapping of the automatic cleaning equipment is improved, the danger caused by misjudgment due to non-media is avoided, and the service life of the automatic cleaning equipment is prolonged.

In practical applications, the automatic cleaning device further includes other functions that help to realize the overall operation, which is not described in detail in this exemplary embodiment.

It should be noted that although the various steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that these steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.

In an exemplary embodiment of the present disclosure, there is also provided an automatic cleaning device control apparatus, as shown in fig. 21, the automatic cleaning device control apparatus 2200 may include: a data acquisition module 2201, a state determination module 2202, and a control escaping module 2203, wherein:

a data obtaining module 2201, configured to, when an automatic cleaning device performs cleaning, obtain first data according to current status data of a traveling wheel of the automatic cleaning device, and obtain second data according to current status data of a body of the automatic cleaning device;

a status determination module 2202 for determining whether the automatic cleaning apparatus is stuck based on the first data and the second data;

a control escaping module 2203, configured to control the automatic cleaning device to enter an accelerated escaping mode if the automatic cleaning device is trapped.

The specific details of each of the above-mentioned automatic cleaning device control means modules have been described in detail in the corresponding automatic cleaning device control method, and therefore are not described herein again.

It should be noted that although in the above detailed description several modules or units of the apparatus for performing are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.

In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.

An electronic device 2300 according to this embodiment of the invention is described below with reference to fig. 22. The electronic device 2300 shown in fig. 22 is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present invention.

As shown in fig. 22, electronic device 2300 is embodied in the form of a general purpose computing device. Components of electronic device 2300 may include, but are not limited to: the at least one processing unit 2310, the at least one memory unit 2320, a bus 2330 connecting the various system components (including the memory unit 2320 and the processing unit 2310), and a display unit 2340.

The storage unit 2320 stores program codes, which can be executed by the processing unit 2310 to cause the processing unit 2310 to perform the steps according to various exemplary embodiments of the present invention described in the above section "exemplary method" of the present specification. For example, the processing unit 2310 may execute the step S2010 shown in fig. 19 of acquiring first data according to current traveling wheel state data of the automatic cleaning apparatus and second data according to current body state data of the automatic cleaning apparatus when the automatic cleaning apparatus performs cleaning; step 2020, determining whether the automatic cleaning device is trapped according to the first data and the second data; and step S2030, if the automatic cleaning equipment is trapped, controlling the automatic cleaning equipment to enter an acceleration trap-free mode.

The storage unit 2320 may include readable media in the form of volatile storage units, such as a random access storage unit (RAM)23201 and/or a cache storage unit 23202, and may further include a read-only storage unit (ROM) 23203.

Storage unit 2320 may also include a program/utility 23204 having a set (at least one) of program modules 23205, such program modules 23205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 2330 can be any one or more of several types of bus structures including a memory cell bus or memory cell controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

The electronic device 2300 can also communicate with one or more external devices 2370 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a user to interact with the electronic device 2300, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 2300 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interface 2350. Also, the electronic device 2300 can communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the internet) via the network adapter 2360. As shown, network adapter 2360 communicates with the other modules of electronic device 2300 over bus 2330. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with electronic device 2300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of the present specification. In some possible embodiments, aspects of the invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the invention described in the above section "exemplary methods" of the present description, when said program product is run on the terminal device.

According to the program product for realizing the method, the portable compact disc read only memory (CD-ROM) can be adopted, the program code is included, and the program product can be operated on terminal equipment, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A computer readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).

Furthermore, the above-described figures are merely schematic illustrations of processes involved in methods according to exemplary embodiments of the invention, and are not intended to be limiting. It will be readily understood that the processes shown in the above figures are not intended to indicate or limit the chronological order of the processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, e.g., in multiple modules.

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

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

Claims

1. An automatic cleaning device control method, comprising:

2. The automatic cleaning device control method according to claim 1, wherein determining whether the automatic cleaning device is trapped according to the first data and the second data comprises:

3. The automatic cleaning apparatus control method according to claim 1 or 2, characterized in that the method further comprises:

4. The automatic cleaning apparatus control method according to claim 1 or 2, characterized in that the method further comprises:

5. The automatic cleaning apparatus control method according to claim 4, wherein obtaining a theoretical output power of a motor based on current traveling wheel state data of the automatic cleaning apparatus comprises:

6. The automatic cleaning apparatus control method according to claim 1 or 2, characterized in that the method further comprises:

7. The automatic cleaning device control method according to claim 1 or 2, wherein the acceleration escape mode includes controlling the automatic cleaning device to accelerate instantaneously after decelerating.

8. The automatic cleaning apparatus control method according to claim 7, characterized in that the method further comprises:

9. The automatic cleaning apparatus control method according to claim 8, wherein determining whether the automatic cleaning apparatus is on a medium prone to false positives based on a result of the instantaneous acceleration after deceleration comprises:

10. The automatic cleaning apparatus control method according to claim 1 or 2, wherein acquiring first data according to current traveling wheel state data of the automatic cleaning apparatus includes:

11. The automatic cleaning apparatus control method according to claim 1 or 2, wherein acquiring second data based on current body state data of the automatic cleaning apparatus includes:

12. The automatic cleaning apparatus control method of claim 11, wherein the status sensor comprises a gyroscope, a motor power sensor, a cliff sensor, or a touch sensor.

13. An automatic cleaning device control apparatus, comprising:

14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the automatic cleaning device control method according to any one of claims 1 to 12.

15. An electronic device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to perform the automatic cleaning apparatus control method of any one of claims 1-12 via execution of the executable instructions.