CN114305192A

CN114305192A - Self-moving robot and operation method thereof

Info

Publication number: CN114305192A
Application number: CN202011052545.9A
Authority: CN
Inventors: 黄华; 苗青; 吴洲; 徐凯
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2022-04-12
Anticipated expiration: 2040-09-29
Also published as: CN114305192B

Abstract

The embodiment of the application provides a self-moving robot and an operation method thereof. The self-moving robot comprises a host and a power supply system, wherein the power supply system comprises a first power supply module and a second power supply module, the first power supply module or the second power supply module can be detachably arranged on the host selectively, and the host operates in a corresponding first working mode and a corresponding second working mode according to the first power supply module and the second power supply module respectively. In the embodiment of the application, the host of the self-moving robot can correspondingly switch different operation modes according to the power type provided by the power supply system, so that the self-moving robot is simultaneously suitable for a horizontal operation mode on the ground and an upright operation mode on a window, a wall surface and the like, and the operation on different working interfaces can be met.

Description

Self-moving robot and operation method thereof

Technical Field

The application relates to the technical field of intelligence, in particular to a self-moving robot and an operation method thereof.

Background

With the increasing living standard, the self-moving robot is more and more popular. The traditional self-moving robot has single function, for example, the sweeping robot can only sweep the ground; the window cleaning robot can only be used for cleaning family windows or some glass wall surfaces, the actual use frequency is low, and the window cleaning robot is also an important factor for limiting the further development of the market of the self-moving robot.

Disclosure of Invention

The self-moving robot and the operation method thereof can better adapt to different working condition requirements and meet the requirements of working on different interfaces.

The embodiment of the application provides a self-moving robot, which comprises a host and a power supply system, wherein the host comprises a control system, a power supply slot and an adsorption module, and the power supply slot and the adsorption module are electrically connected with the control system; the power supply system comprises a first battery module and a safety sucker module, and the power supply system can be selectively electrically connected with the first battery module or the safety sucker module to be used as a power supply; when the first battery module is electrically connected to the power socket, the control system identifies the first battery module as an internal power supply and sets a corresponding horizontal working mode; and when the safety sucker module is electrically connected to the power supply slot, the control system identifies the safety sucker module as an external power supply and sets a corresponding vertical working mode so as to drive the adsorption module to form a negative pressure chamber on the bottom surface of the host.

Optionally, the safety chuck module includes power connection, conductor wire and safety chuck, the conductor wire connect respectively in power connection with the safety chuck, the safety chuck module passes through the power connection electricity is connected to power slot, and pass through the safety chuck provides the power.

Optionally, the safety chuck includes a body and a second battery module, the body has a receiving groove, and the second battery module is detachably disposed in the receiving groove.

Alternatively, the second battery module may be replaced with the first battery module.

Optionally, a buckling part is arranged on one side of the body adjacent to the accommodating groove, the second battery module comprises an elastic piece and a buckling piece, and when the second battery module is arranged in the accommodating groove, the buckling piece is connected to the buckling part or separated from the buckling piece through the compression or release of the elastic piece and the resetting movement along a first direction.

Optionally, the body further has a push button, which abuts against the buckle along the first direction and can reciprocate along a second direction to move closer to or away from the buckle.

Optionally, the inner wall surface of the power slot is provided with a concave fastening portion, the first battery module has a fastening portion corresponding to the fastening portion, the fastening portion includes an elastic member and a fastening member, when the first battery module is disposed in the power slot, the fastening member is pushed by the elastic member and is combined with the fastening portion along a first direction, so as to block the first battery module from being separated from the power slot along a second direction, wherein the fastening member can compress the elastic member along the first direction under the action of external force to separate from the fastening portion, so that the first battery module can be separated from the power slot along the second direction.

Optionally, the buckle piece includes pressing the portion, extraction portion and tenon, press the portion to set up on the elastic component, and connect in extraction portion with between the tenon, the buckle piece passes through the tenon stretches into the buckling parts with the buckling parts combines, wherein works as press the portion in external force is followed the effect of first direction is compressed the elastic component, the tenon certainly take out in the buckling parts, and work as external force is followed the second direction acts on extraction portion, first battery module certainly power slot breaks away from.

Optionally, when the trip is greater than or equal to a distance between the bottom surface of the host and a working surface when the host is placed on the working surface, the trip is pulled out from the buckling part.

Optionally, the first battery module includes a pressing portion and a handle portion, and when the first battery module is inserted into the power slot, a bottom surface of the handle portion is flush with a bottom surface of the host.

Optionally, the host further includes an environment detection module electrically connected to the control system for detecting whether the working environment of the host is the working environment corresponding to the horizontal working mode or the working environment corresponding to the vertical working mode.

Optionally, the environment detecting module includes an acceleration sensor for detecting whether the working environment of the host machine is a horizontal working surface corresponding to the horizontal working mode or an upright working surface corresponding to the upright working mode.

The embodiment of the application further provides a self-moving robot, which comprises a host and a power supply system, wherein the host comprises a control system; the power supply system comprises a first power supply module and a second power supply module, and can be selectively and electrically connected to the host machine through the first power supply module or the second power supply module; when the first power supply module is electrically connected to the host, the control system identifies the first power supply module as an internal power supply and sets a corresponding first working mode; and when the second power supply module is electrically connected to the host, the control system identifies the second power supply module as an external power supply and sets a second working mode different from the first working mode.

Optionally, the first operating mode is a horizontal operating mode, and the second operating mode is an upright operating mode.

The embodiment of the present application further provides an operation method of a self-moving robot, including: identifying a power source in a power slot of a host through a control system; setting the working mode of the host according to the power source; if the power source is a battery module, the control system sets a corresponding horizontal working mode; if the power source is the safety sucker module, the control system sets a corresponding vertical working mode to drive the adsorption module to form a negative pressure chamber on the bottom surface of the host.

Optionally, the operating method further includes: detecting that the working environment of the host is the working environment corresponding to the horizontal working mode or the working environment corresponding to the vertical working mode through an environment detection module; the control system rechecks whether the working environment is matched with the working mode or not according to the detection result; if not, the control system resets the working mode or stops the operation of the host.

Optionally, the operating method further includes: and in the horizontal working mode, the host drives the adsorption module to form the negative pressure chamber on the bottom surface of the host according to the current state of the working environment.

Optionally, the operating method further includes: when the detection result of the environment detection module is the third working environment of the vertical working mode, the host drives the adsorption module to form the negative pressure chamber according to the current state of the third working environment, and correspondingly adjusts the negative pressure value.

In the embodiment of the application, the self-moving robot and the operation method thereof actively switch to the corresponding working scene through the judgment of the power source, can better adapt to different working condition requirements, simultaneously meet the requirement of executing cleaning programs on different working interfaces such as a horizontal surface (such as the ground) or a vertical surface (such as window glass) and the like, and can be closer to the requirements of a user body and provide better user experience.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a perspective view of a self-moving robot according to an embodiment of the present application.

Fig. 2 is a block diagram of a self-moving robot according to an embodiment of the present disclosure.

Fig. 3 is a partially exploded view of a safety chuck module according to an embodiment of the present disclosure.

Fig. 4 is a schematic partial cross-sectional view of a safety chuck module according to an embodiment of the present application.

Fig. 5 is a partial cross-sectional view of another embodiment of a safety chuck module according to the present application.

Fig. 6 is a flowchart illustrating operations according to an embodiment of the present application.

Fig. 7 is a block diagram of a self-moving robot according to another embodiment of the present application.

Fig. 8 is a flowchart illustrating operations according to another embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and 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 application.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, 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 process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Referring to fig. 1 and 2, an embodiment of the present disclosure provides a self-moving robot 1, which includes a host 10 and a power supply system 20. The host 10 includes, but is not limited to, components such as a control system 110, a cleaning module 120, a walking module 130, and an adsorption module 140. The control system 110 is disposed in the host housing 150, and includes a circuit board, and electronic components such as a memory and a processor disposed on the circuit board, for example, a hard disk, a flash memory, a random access memory, and a processor for storing control programs, and a central processing unit, an application processor, and the like for communicating with other systems or modules, and the processor can drive the mobile robot 1 to execute corresponding working modes and operating programs according to the control programs stored in the memory, where the working modes at least include a first working mode and a second working mode, and the first working mode can be a horizontal working mode, for example, a working mode suitable for the host 10 to work on a horizontal plane such as a floor, a desktop, or a table top, or a slightly inclined plane with an angle smaller than 15 degrees; the second operation mode may be an upright operation mode, for example, an operation mode suitable for the main unit 10 to operate on a vertical surface such as a window or a wall surface or an inclined surface having an angle greater than 45 degrees. It will be appreciated that the modes of operation may also include other modes of operation in which the angle of the work surface is between 15 and 45 degrees, and are not limited to the horizontal and upright modes of operation described by way of example above. In addition, the control system 110 may further include a map navigation module, which includes a map generation unit and a map storage unit, and is configured to construct and store a work map of the work area of the mobile robot 1, so as to optimize the path planning of the mobile robot 1.

The cleaning module 120 is disposed at the bottom surface of the main housing 150, which may be a sponge, a cleaning cloth, a scouring pad, or the like, and surrounds an air chamber recessed toward the main housing 150 within the bottom range of the main housing 150. The traveling module 130 includes a driving wheel (e.g., a track wheel driven by a track) and a driving motor, and under the control of the control system 110, the driving motor drives the track wheel to rotate, so as to drive the main machine 10 to move in different directions, such as forward, backward, or rotation.

The adsorption module 140 is disposed on the bottom surface of the main housing 150, and it can adopt various mechanisms or devices to realize the adsorption of the mobile robot 1 on the working surface, for example, in this embodiment, the negative pressure adsorption mode is matched with the air chamber surrounded by the cleaning module 120, and the negative pressure adsorption mode is connected to a vacuum pump through a hose, and the vacuum pump performs vacuum suction in the air chamber, so that the air chamber is converted into a negative pressure chamber, and the main housing 10 is adsorbed on the working surface through the negative pressure chamber. In other embodiments of the present application, the suction cup may form a negative pressure chamber to suck the main body 10 on the working surface.

The power supply system 20 may be disposed in the power slot 160 of the main housing 150 through a wired connection or a wireless connection, and is electrically connected to the power circuits of the control system 110, such as the charging control circuit, the battery pack charging temperature detection circuit, and the under-voltage battery monitoring circuit, through the power slot 160. The power supply system 20 includes a plurality of power modules, such as a battery module used as a first power module and configured with a first operation mode, a safety chuck module used as a second power module and configured with a second operation mode, and a power module used as a third power module and configured with an adapter with a safety rope and configured with a third operation mode, which can provide power for the operation of the host 10. As shown in fig. 1, in the present embodiment, a plurality of power modules are detachably disposed in the power socket 160, including at least a first battery module 210 and a safety chuck module 220. The first battery module 210 may be, but not limited to, a rechargeable battery (such as a nickel-metal hydride battery or a lithium battery), a dry battery or other types of batteries, and the structural shape of the outer casing of the first battery module 210 matches with the structural shape of the power slot 160, so that when the first battery module 210 is inserted into the power slot 160, the side of the first battery module exposed out of the surface of the host casing 150 may be cut and aligned with the surface of the host casing 150 to be integrated.

The safety suction cup module 220 comprises a power connector 221, a conductive wire 222 and a safety suction cup 223, the conductive wire 222 is respectively connected to the power connector 221 and the safety suction cup 223, the safety suction cup module 220 is inserted into the power socket 160 through the power connector 221, and the power provided by the safety suction cup 223 is transmitted to the host 10 through the conductive wire 222. The appearance of the power connector 221 may be the same as or similar to the electrical connector of the battery module, or may be one of the battery modules, so that when the power connector is disposed in the power slot 160, the power connector can be integrated with the main housing 150 to maintain the consistency of the appearance. In addition, the power supply of the safety suction cup 223 may be a wireless power supply, for example, by installing a power supply module to supply power; or a wired power supply, such as an external socket connected by a power cord.

In the present embodiment, the form of supplying power by the battery module is illustrated as an example, but not limited thereto. Several embodiments are included, one of which is to arrange a battery module on the body 225 of the safety chuck 223. For the sake of description, the battery module disposed in the main unit 10 is referred to as the first battery module 210, and the battery module disposed in the safety chuck 223 is referred to as the second battery module 224. As shown in fig. 1 and 3, the safety suction cup 223 includes a second battery module 224 and a body 225, a receiving groove 2251 is formed on the body 225 to serve as a power socket, and the second battery module 224 is detachably disposed in the receiving groove 2251 and transmits power to the body 225 through the conductive terminals in the receiving groove 2251. In another embodiment, the first battery module 210 and the second battery module 224 may be identical in appearance and size, and may be replaced with each other, or the first battery module 210 may be directly used as the second battery module 224, but not limited thereto. Therefore, in the self-moving robot 1 provided in some embodiments of the present application, the safety suction cup module 220 of the power supply system 20 may include only the body 225 provided with the receiving groove 2251 without the second battery module 224. In practice, the first battery module 210 may be selectively disposed directly in the power socket 160 of the host 10 as a power source of the self-moving robot 1, or may be selectively disposed in the storage groove 2251 of the safety chuck 223 as a power source of the safety chuck module 220, and then electrically connected to the host 10 through the safety chuck module 220 as a power source of the self-moving robot 1. In other embodiments, the power connector 221 of the safety chuck module 220 may be directly configured in the form of a battery module, and when electrically connected to the host 10, the power connector may be used as a power source for the host 10, or as a power source for both the host 10 and the safety chuck 223.

In addition, for safety in operation, in some embodiments of the present application, a corresponding snap mechanism may be optionally provided on the body 225 of the safety suction cup 223 and the second battery module 224, so as to prevent the second battery module 224 from being easily detached from the body 225. As shown in fig. 3 and 4, a fastening part 2234 recessed inward is provided on an inner edge or an inner wall surface of the body 225 adjacent to the receiving groove 2251, and the elastic member 226 and the fastening member 227 are provided on the second battery module 224. The latch 227 comprises a pressing portion 2271, an extracting portion 2272 and a latch 2273, wherein the pressing portion 2271 is connected between the extracting portion 2272 and the latch 2273, the elastic member 226 is disposed in the housing of the second battery module 224, the pressing portion 2271 of the latch 227 is disposed on the elastic member 226, and the extracting portion 2272 and the pressing portion are exposed out of the housing.

When the second battery module 224 is disposed in the receiving groove 2251, the locking member 227 can compress or release the elastic member 226 through the pressing portion 2271 to move along a first direction, so as to be coupled to the fastening portion 2234 to block the second battery module 224 from moving along a second direction. For example, the elastic element 226 pushes against the pressing portion 2271 in the first direction, so that the locking element 227 is displaced in a direction perpendicular to the main body 10, and the locking tongue 2273 is driven to extend into the locking portion 2234, so that the locking element 227 is combined with the locking portion 2234, so as to block the second battery module 224 in the horizontal direction (the second direction) of the main body 10, and prevent the second battery module 224 from being disengaged from the accommodating groove 2251 of the main body 225; or under the action of external force, the pressing portion 2271 of the locking element 227 compresses the elastic element 226 along the first direction to drive the tenon 2273 to be drawn out from the fastening portion 2234, so that the locking element 227 is separated from the fastening portion 2234, and the horizontal blocking is released, so that the external force acts on the drawing portion 2272 of the locking element 227 in the second direction, and the second battery module 224 is displaced along the second direction to be separated from the accommodating groove 2251, and is detached from the body 225.

In other embodiments of the present application, as shown in fig. 3 and 5, a corresponding push button 228 may be optionally disposed on the body 225 of the safety suction cup 223, so as to further improve the operation safety. For example, the push button 228 is disposed on the body 225 at a position corresponding to the locking member 227 and is displaceable along the second direction, and when the second battery module 224 is disposed in the receiving groove 2251, the push button 228 corresponds to the pressing portion 2271 of the locking member 227 in the first direction and is located at the other side of the pressing portion 2271 opposite to the locking portion 2234, that is, the push button 228 and the elastic member 226 are located at the same side, so as to block the pressing portion 2271 from compressing the elastic member 226 in the first direction and maintain the locking tongue 2273 in a state of extending into the locking portion 2234, thereby ensuring that the second battery module 224 is stably combined on the body 225.

While the above description describes the engagement of the safety suction cup 223 with the second battery module 224, it is understood that the same or similar snap mechanism is also applicable to the engagement between the power socket 160 of the host 10 and the first battery module 210, and the engagement between the power socket 160 of the host 10 and the conductive contact of the safety suction cup module 220. In the embodiment where the host machine 10 is provided with the fastening part 2234 and the first battery module 210 is provided with the fastener 227, the displacement stroke of the tenon 2273 of the fastener 227 away from the fastening part 2234 is greater than or equal to the distance between the bottom surface of the host machine 10 and the working surface, which may be, but is not limited to, the distance between the side of the driving wheel disposed at the bottom of the host machine 10 contacting the working surface and the bottom surface of the host machine 10 provided with the negative pressure chamber. Therefore, when the first battery module 210 is combined with the main unit 10 and the main unit 10 is placed on a working surface to walk, if the force is applied to the fastening member 227 in the first direction perpendicular to the working surface due to the distance between the bottom of the main unit 10 and the working surface, the withdrawing portion 2272 of the fastening member 227 is stopped on the working surface, so that the compression stroke of the pressing portion 2271 on the elastic member 226 is limited, and the tenon 2273 cannot be withdrawn from the fastening portion 2234. Alternatively, the pressing portion 2271 and the handle portion similar to the withdrawing portion 2272 are disposed on the first battery module 210 (wherein the handle portion is mainly used for the user to extend and buckle the fingers when the user presses the pressing portion 2271 with the thumb, so as to perform the drawing operation later), and when the first battery module 210 is inserted into the power slot 160, the bottom surface of the handle portion is flush with the bottom surface of the host 10, so as to limit the displacement stroke of the pressing portion 2271, so that the first battery module 210 is limited in the power slot 160, thereby preventing the first battery module 210 from being accidentally detached from the power slot 160. Therefore, if the first battery module 210 is to be easily removed from the main body 10, the main body 10 must be detached from the working surface, such as being lifted from a horizontal surface or being removed from an upright surface, so that the latch 227 has a sufficient moving distance in the first direction to allow the latch 2273 to be pulled out of the fastening portion 2234, so as to allow the first battery module 210 to be detached from the main body 10. Therefore, the locking mechanism can prevent the first battery module 210 from being removed improperly when the host 10 performs a cleaning operation.

The following describes an operation method of the self-moving robot provided in the embodiments of the present application with reference to some application scenarios.

Referring to fig. 1, fig. 2 and fig. 6, in operation, the operation method of the self-moving robot 1 according to the embodiment of the present application includes:

first, the power source in the power slot 160 of the host 10 is identified by the control system 110 (S101): when the power module is inserted into the power slot 160 and the conductive terminals in the power slot 160 are turned on, the kind of the power source is identified in real time by the control system 110 and is classified as an internal power source or an external power source, for example, when the first battery module 210 is inserted into the power slot 160, the control system 110 identifies the first battery module 210 as the internal power source according to the level change or the contact position of the conductive terminals; and when the safety chuck module 220 is inserted into the power slot 160, the control system 110 identifies the safety chuck module 220 as an external power source according to the level change or the contact position of the conductive terminal.

Next, the control system 110 sets the operating mode of the host 10 according to the power source (S103): after the power source identification is completed, the control system 110 reads the script of the corresponding working mode from the control program stored in the memory, and sets the relevant operation program.

If the power source is a battery module, the control system 110 sets a corresponding horizontal operating mode (S105): when the power source inserted into the power socket 160 is the first battery module 210, the control system 110 reads the corner book of the first operating mode, i.e. the corner book of the horizontal operating mode, from the control program stored in the memory and sets the relevant operating program. Since the main body 10 is generally placed on a floor, a desktop, a table top, or the like, or a plane with a small inclination angle in the horizontal operation mode, the control system 110 can only drive the walking module 130 to move the main body 10 on the cleaning path, and start the cleaning module 120 to perform the cleaning task. In addition, in this operation mode, since the first battery module 210 is wirelessly coupled to the main unit 10, the self weight of the first battery module can be attached to the main unit 10, so as to increase the pressure applied by the cleaning module 120 to the floor, which is beneficial to improving the effect of rubbing the floor for cleaning. In addition, in some embodiments of the present application, the main body 10 may further drive the suction module 140 to form a negative pressure chamber on the bottom surface of the main body 10 according to the current state of the working environment, so as to enable the cleaning module 120 to apply a pressure to the floor surface through negative pressure suction.

On the contrary, if the power source is the safety chuck module 220, the control system 110 sets a corresponding vertical operation mode to drive the suction module 140 to form a negative pressure chamber on the bottom surface of the host 10 (S107): when the power source inserted into the power socket 160 is the safety chuck module 220, the control system 110 reads the corner book of the second operating mode, i.e. the corner book of the vertical operating mode, from the control program stored in the memory and sets the relevant operating program. At this time, since the main unit 10 must be placed on the window glass or the wall surface to be cleaned, the control system 110 needs to drive the fan of the adsorption module 140 to operate in addition to the start of the walking module 130 and the cleaning module 120, and after the air chamber on the bottom surface of the main unit is vacuumized, a negative pressure chamber is formed, so that the main unit 10 can be adsorbed on a vertical surface with a vertical or large inclination angle through the negative pressure chamber to run, so as to execute a corresponding cleaning program. In this operation mode, the safety chuck module 220 is adsorbed on the vertical working surface through the safety chuck 223, and provides power to the host 10 through the conductive wire 222 and the power connector 221, so that the host 10 is not provided with the first battery module 210 and does not have a power source, thereby omitting the weight of the first battery module 210, facilitating to reduce the gravity borne by the host 10, and increasing the endurance.

Referring to fig. 7 and 8, a self-moving robot 1 according to another embodiment of the present application is substantially the same as the self-moving robot according to the above embodiment, and a difference between the two embodiments is that the host 10 of the self-moving robot 1 of the present embodiment further includes an environment detection module 170 electrically connected to the control system 110. The environment detection module 170 may be, but not limited to, a sensor such as a gyroscope, a level, a three-axis accelerometer, or a gravity accelerometer, or a light source of visible light or invisible light, and may be an electronic component for determining a working environment state such as a direction or a working surface form of the host 10 in a space, in this embodiment, the environment detection module 170 is configured to detect whether a current working environment of the host 10 matches a working mode recognized by the control system 110, for example, the environment detection module 170 includes an acceleration sensor for detecting that the working environment of the host 10 is a horizontal working surface corresponding to a horizontal working mode, or an upright working surface corresponding to an upright working mode. The operation method comprises the following steps:

detecting, by the environment detection module 170, that the operating environment of the host 10 is an operating environment corresponding to the horizontal operating mode or an operating environment corresponding to the vertical operating mode (S201): after the control system 110 completes the setting of the working mode, before the control system 110 starts the cleaning procedure, the environment detection module 170 may measure the working environment of the host 10, for example, before the host 10 is placed on the floor for the cleaning procedure, the environment detection module 170 may detect the working environment as a horizontal direction (or a horizontal surface) corresponding to the horizontal working mode or an upright direction (or an upright surface) corresponding to the upright working mode by using a sensor, or detect the working environment as a horizontal working surface or an upright working surface corresponding to the horizontal working mode by using a light source and using visible light or invisible light. The following description is made by way of example and not limitation to horizontal and vertical surfaces.

Therefore, the environment detection module 170 may determine in advance whether the working direction of the host computer 10 is a horizontal surface; and pre-determining whether the operation direction of the main unit 10 is an upright surface (e.g., a vertical surface) or the like before the main unit 10 is placed on a window for a cleaning process.

In addition, in some embodiments of the present application, the detection result of the environment detection module 170 may further include a third operating environment between the horizontal operating mode and the vertical operating mode, wherein the third operating environment may also belong to one of the operating environments corresponding to the vertical operating mode, such as an inclined surface with an inclined angle. In this case, the host 10 may drive the adsorption module 140 to form a negative pressure chamber according to the current state of the third working environment, and adjust the negative pressure value accordingly. For example, the main unit 10 may correspondingly increase the negative pressure value from the negative pressure value in the horizontal operation mode to the negative pressure value in the vertical operation mode according to the inclination angle of the inclined surface from small to large, so as to adapt to the multi-task application in different operation environments.

Next, the control system 110 checks whether the working environment matches the working mode according to the detection result (S203): after the working environment of the host computer 10 is determined, the environment detection module 170 returns the determination result to the control system 110. The control system 110 checks whether the set operation mode is consistent with the current operation surface of the host 10 according to the determination result, for example, when the host 10 uses the first battery module 210 as the power source, the control system 110 checks whether the current operation surface of the host 10 is a horizontal surface corresponding to the horizontal operation mode according to the detection result; or when the host 10 uses the safety chuck module 220 as a power source, the control system 110 checks whether the current working surface of the host 10 is a vertical surface corresponding to the upright working mode or not according to the detection result.

If the result of the review is negative, the control system 110 resets the operation mode or stops the operation of the host 10 (S205): based on the safety consideration, if the rechecking result is inconsistent with the originally set operation mode, the control system 110 can reset the operation mode, or stop the operation of the host 10, and restart the corresponding operation mode after the user makes further check confirmation, so as to avoid the damage caused by the malfunction in the operation process. For example, when the operation mode is set to be the horizontal operation mode in the initial step, but the rechecking result of the control system 110 indicates that the operation surface of the host computer 10 is the vertical surface and is inconsistent with the original setting, the control system 110 switches the operation mode of the host computer 10 to the vertical operation mode, thereby preventing the host computer 10 from falling off from a window or a wall surface due to misoperation; or stop the operation of the host 10 and send out an alarm to inform the user to check the confirmation again.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A self-moving robot, comprising:

the host comprises a control system, a power supply slot and an adsorption module, wherein the power supply slot and the adsorption module are electrically connected with the control system; and

the power supply system comprises a first battery module and a safety sucker module, and the power supply system can selectively electrically connect the first battery module or the safety sucker module to the power socket to serve as a power supply;

when the first battery module is electrically connected to the power socket, the control system identifies the first battery module as an internal power supply and sets a corresponding horizontal working mode; and when the safety sucker module is electrically connected to the power supply slot, the control system identifies the safety sucker module as an external power supply and sets a corresponding vertical working mode so as to drive the adsorption module to form a negative pressure chamber on the bottom surface of the host.

2. The self-moving robot as claimed in claim 1, wherein the safety chuck module comprises a power connector, a conductive wire and a safety chuck, the conductive wire is connected to the power connector and the safety chuck, respectively, the safety chuck module is electrically connected to the power socket through the power connector and supplies power through the safety chuck.

3. The self-moving robot as claimed in claim 2, wherein the safety chuck comprises a body and a second battery module, the body has a receiving groove, and the second battery module is detachably disposed in the receiving groove.

4. The self-moving robot as claimed in claim 3, wherein the second battery module is replaceable by the first battery module.

5. The self-moving robot as claimed in claim 3, wherein the body has a fastening portion adjacent to a side of the receiving groove, the second battery module includes an elastic member and a fastening member, and when the second battery module is disposed in the receiving groove, the fastening member is coupled to or separated from the fastening portion by a restoring movement of the elastic member along a first direction by compression or release of the elastic member.

6. The self-propelled robot as recited in claim 5, wherein the body further comprises a push button that abuts the latch in the first direction and is reciprocally displaceable in a second direction to move toward and away from the latch.

7. The self-moving robot as claimed in claim 1, wherein a concave fastening portion is disposed on an inner wall surface of the power slot, and the first battery module has a fastening portion corresponding to the fastening portion, the fastening portion includes an elastic member and a fastening member, when the first battery module is disposed in the power slot, the fastening member is pushed by the elastic member and is coupled to the fastening portion along a first direction to prevent the first battery module from being disengaged from the power slot along a second direction, wherein the fastening member can compress the elastic member along the first direction under an external force to disengage from the fastening portion, so that the first battery module can be disengaged from the power slot along the second direction.

8. The self-moving robot as claimed in claim 7, wherein the locking member includes a pressing portion, an extracting portion and a locking tongue, the pressing portion is disposed on the elastic member and connected between the extracting portion and the locking tongue, the locking member extends into the locking portion through the locking tongue to be combined with the locking portion, wherein when the pressing portion compresses the elastic member by the external force along the first direction, the locking tongue is extracted from the locking portion, and when the external force acts on the extracting portion along the second direction, the first battery module is separated from the power slot.

9. The self-moving robot as claimed in claim 8, wherein the displacement of the latch from the engaging portion is greater than or equal to the distance between the bottom surface of the main body and a working surface when the main body is placed on the working surface.

10. The self-moving robot as claimed in claim 1, wherein the first battery module comprises a pressing portion and a handle portion, and a bottom surface of the handle portion is flush with a bottom surface of the main body when the first battery module is inserted into the power slot.

11. The autonomous mobile robot of claim 1, wherein the host further comprises an environment detection module electrically connected to the control system for detecting an operating environment of the host.

12. The self-moving robot as claimed in claim 11, wherein the environment detecting module comprises an acceleration sensor for detecting whether the working environment of the host computer is a horizontal working surface corresponding to the horizontal working mode or an upright working surface corresponding to the upright working mode.

13. From mobile robot a from mobile robot, characterized by, includes:

a host including a control system; and

a power supply system including a first power module and a second power module, and selectively electrically connected to the host with the first power module or the second power module;

when the first power supply module is electrically connected to the host, the control system identifies the first power supply module as an internal power supply and sets a corresponding first working mode; and when the second power supply module is electrically connected to the host, the control system identifies the second power supply module as an external power supply and sets a second working mode different from the first working mode.

14. The self-moving robot as recited in claim 13, wherein the first mode of operation is a horizontal mode of operation and the second mode of operation is an upright mode of operation.

15. An operating method of a self-moving robot, comprising:

identifying a power source in a power slot of a host through a control system; and

setting the working mode of the host according to the power source;

if the power source is a battery module, the control system sets a corresponding horizontal working mode;

if the power source is the safety sucker module, the control system sets a corresponding vertical working mode to drive the adsorption module to form a negative pressure chamber on the bottom surface of the host.

16. The method of operation of claim 15, further comprising:

detecting that the working environment of the host is the working environment corresponding to the horizontal working mode or the working environment corresponding to the vertical working mode through an environment detection module; and

the control system rechecks whether the working environment is matched with the working mode or not according to the detection result;

if not, the control system resets the working mode or stops the operation of the host.

17. The method of operation of claim 16, further comprising:

and in the horizontal working mode, the host drives the adsorption module to form the negative pressure chamber on the bottom surface of the host according to the current state of the working environment.

18. The method of operation of claim 16, further comprising:

when the detection result of the environment detection module is the third working environment of the vertical working mode, the host drives the adsorption module to form the negative pressure chamber according to the current state of the third working environment, and correspondingly adjusts the negative pressure value.