CN117502980A

CN117502980A - Self-moving cleaning device, control method and cleaning system

Info

Publication number: CN117502980A
Application number: CN202410018264.3A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2024-01-05
Filing date: 2024-01-05
Publication date: 2024-02-06

Abstract

The embodiment of the application provides self-moving cleaning equipment, a control method and a cleaning system. Wherein the self-moving cleaning apparatus comprises: the cleaning device comprises a main body, a mopping module and a control device, wherein the mopping module is arranged on the main body and comprises a driving assembly and a cleaning assembly, and the cleaning assembly comprises a cleaning component for cleaning a working surface to be cleaned; the control device is electrically connected with the driving component and is used for dynamically controlling the driving component according to the behavior information of the main body, so that the driving component drives the cleaning component to move relative to the main body, and the position of the cleaning component relative to the main body is changed. The roller component can move, and can realize no-leakage sweeping.

Description

Self-moving cleaning device, control method and cleaning system

Technical Field

The application relates to the technical field of cleaning, in particular to self-moving cleaning equipment, a control method and a cleaning system.

Background

Cleaning devices have been widely used, such as sweeping robots. When the robot is used for cleaning, the mopping module at the bottom of the main machine body is mainly used for cleaning the ground, and the mopping module comprises two turntables, wherein the turntables are used for setting cleaning tools such as rags, and the turntables are usually round or nearly round. The arrangement of the two turntables is to keep the seamless connection of the working areas as much as possible, so that no sweeping can be realized. However, when the robot walks along the edge such as the wall edge, the turntable often cannot be well attached to the wall edge, so that the corresponding ground area between the wall edge and the turntable is also caused, and the problem of missing sweeping exists.

Disclosure of Invention

In view of the circumstances of the prior art, the present application provides a self-moving cleaning apparatus, a control method and a cleaning system, so as to solve or improve the problems existing in the prior art.

In a first embodiment of the present application, a self-moving cleaning apparatus is provided. The self-moving cleaning apparatus includes:

a main body;

the mopping module is arranged on the main body; the mopping module comprises a driving assembly and a cleaning assembly; the cleaning assembly comprises a cleaning component for cleaning a work surface to be cleaned;

the control device is electrically connected with the driving assembly and is used for dynamically controlling the driving assembly according to the behavior information of the main machine body, so that the driving assembly drives the cleaning assembly to move relative to the main machine body, and the position of the cleaning assembly relative to the main machine body is changed.

In a second embodiment of the present application, a method for controlling a self-moving cleaning apparatus is also provided, wherein the self-moving cleaning apparatus has a driving assembly and a cleaning assembly connected to the driving assembly. The control method comprises the following steps:

determining behavioral information of the self-moving cleaning device;

The driving assembly is dynamically controlled according to the behavior information, so that the driving assembly drives the roller assembly to correspondingly move along with the behavior of the self-moving cleaning equipment, and the position of the cleaning assembly relative to the self-moving cleaning equipment is changed; wherein the cleaning assembly moves relative to the self-moving cleaning device along its own axis or set arc.

In a third embodiment of the present application, a cleaning system is also provided. The cleaning system includes: base station and the self-moving cleaning device provided in the first embodiment of the present application.

According to the technical scheme, the self-moving cleaning device comprises a main body, a mopping module and a control device, wherein the mopping module is arranged on the main body, the mopping module comprises a driving assembly and a cleaning assembly (such as a roller assembly or a rotary table assembly), the cleaning assembly comprises a cleaning component (such as a roller or a rotary table) for cleaning a working surface to be cleaned, the driving assembly is electrically connected with the control device, and the control device can dynamically control the driving assembly according to behavior information of the main body, so that the driving assembly drives the cleaning assembly to move (such as stretch out or recover) relative to the main body. The cleaning component can move (namely, follow the action of the main body) and can realize no-leakage sweeping. The specific movement control mode is as follows: the method comprises the steps of determining behavior information of the self-moving cleaning equipment, and then dynamically controlling the driving assembly according to the determined behavior information, so that the driving assembly drives the roller assembly to act along with the behavior of the main body (the self-moving cleaning equipment), and specifically, if the cleaning assembly is taken as the roller assembly, the roller assembly moves along the axis of the roller assembly relative to the main body. For example, when the self-moving cleaning device normally walks along the edge (the edge walking occurs without performing turning obstacle avoidance), the moving amount can be determined according to the distance between the roller assembly and the edge target object, so that the roller assembly is controlled to move along the self axis line to approach the target object according to the moving amount to contact the target object, and therefore, no gap exists between the roller assembly and the target object due to the contact between the roller assembly and the target object after the roller assembly is moved, and therefore, no problem of missing scan (such as missing scan of the edge of the target object) exists.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed to be utilized in the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1a is a bottom view of a prior art self-moving cleaning apparatus according to one embodiment of the present application;

FIG. 1b is a schematic diagram illustrating edgewise travel of a conventional self-moving cleaning apparatus according to one embodiment of the present application;

FIG. 1c is a schematic diagram of a self-moving cleaning apparatus according to one embodiment of the present application;

FIG. 1d is a schematic view of a turntable assembly according to an embodiment of the present disclosure moving along a set arc;

FIG. 1e is an enlarged partial schematic view of a turntable assembly according to an embodiment of the present disclosure moving along a set arc;

FIG. 2a is a structural view of a self-moving cleaning apparatus according to an embodiment of the present application;

FIG. 2b is a schematic illustration of an extending movement of a roller assembly on a self-moving cleaning apparatus according to one embodiment of the present application;

FIG. 2c is a schematic illustration of edgewise travel of a self-moving cleaning apparatus according to an embodiment of the present application;

FIG. 2d is a schematic illustration of edgewise walking of a self-moving cleaning apparatus shown in another embodiment of the present application;

FIGS. 3 and 4 are schematic structural views of a self-moving cleaning apparatus according to two other embodiments of the present application;

FIG. 5 is a schematic view of an electrical connector according to an embodiment of the present disclosure;

FIG. 6a is a schematic view of a self-moving cleaning apparatus for performing a turn to avoid obstacles for walking along a side according to an embodiment of the present disclosure;

FIG. 6b is a schematic diagram illustrating a principle of determining a movement amount corresponding to a drum assembly according to the embodiment of the present application for the edgewise walking scenario shown in FIG. 6 a;

FIG. 6c is a schematic view of a self-moving cleaning apparatus walking along a normal edge according to another embodiment of the present application;

FIG. 6d is a schematic diagram illustrating a movement amount determination principle corresponding to the drum assembly according to the embodiment of the present application for the edgewise walking scenario shown in FIG. 6 c;

FIG. 7 is a flow chart of a method for controlling a self-moving cleaning apparatus according to an embodiment of the present disclosure;

fig. 8 is a flowchart of a control method of a self-moving cleaning device according to another embodiment of the present application.

Detailed Description

At present, intelligent household cleaning electrical appliances are widely applied, in particular to self-moving cleaning equipment, and can automatically finish the work of cleaning, dust collection, mopping and the like on the ground, so that hands can be liberated, and the self-moving cleaning equipment is deeply favored by people. Taking the self-moving cleaning equipment as an example of a sweeping robot, the sweeping robot comprises a main body and cleaning components such as a rolling brush, a mopping module and the like which are arranged on the main body. As with the robot cleaner shown in fig. 1a, the rolling brush 12 is disposed at the front end of the bottom of the main body 10, although the rolling brush 12 may be disposed at the middle position of the bottom of the main body (e.g. at a position between two wheel assemblies 13), and dry garbage such as dust and small debris on the ground can be sucked away by the rolling brush 12, so as to realize dry cleaning of the ground; the mopping module comprises a driving assembly arranged on the main machine body and a turntable assembly 11 connected with the driving assembly, wherein the turntable assembly 11 comprises a turntable, cleaning tools such as rags (also called mops) arranged on the turntable, and the like, and the turntable assembly can automatically rotate relative to the main machine body around the axis (central axis) of the turntable assembly through the driving of the driving assembly so as to perform floor cleaning work such as mopping. The appearance of the turntable assembly is usually round (or similar to a round), and cleaning liquid (such as clear water) in the liquid supply tank of the sweeping robot can be applied to the rag on the turntable through the liquid applying device, so that the sweeping robot can sweep the ground through wet wiping cloth in the walking process, the ground wet cleaning is realized, and the ground can be cleaner through sweeping. With continued reference to fig. 1a, in an actual working scenario, the two turntable assemblies 11 are disposed at the rear end of the bottom of the main body and are always disposed in contact with each other as far as possible, that is, the edges (which may be referred to as inner edges) of the two turntable assemblies that are relatively adjacent to each other are disposed in a fitting manner as far as possible, so that the two turntable assemblies 11 can keep the working areas in a seamless connection as far as possible and have no gap in the walking process of the sweeping robot, and thus, the sweeping without leakage is realized. However, this design has a problem of missing the sweep when the sweeping robot walks along the edges. As shown in fig. 1b, the sweeping robot encounters an obstacle of a wall body and starts to walk along the wall edge, and at this time, the edge (which may be referred to as an outer edge) of the turntable assembly 11, which is close to the wall edge, of the sweeping robot faces the wall body is located at a distance D from the wall edge, and cannot be attached to the wall edge, so that a ground area corresponding to the distance D cannot be dragged and swept during the walking process, and there is a missing dragging and sweeping.

In view of the above problems, one solution that exists is: the vertical rotation axis of the turntable can swing, that is, the turntable can move in the horizontal direction (or the width direction of the main body), and after the movement, part of the turntable extends out of the edge of the main body to be contacted (attached) with a corresponding barrier such as a wall, so that the floor sweeping robot can realize the sweeping of corner areas such as a wall edge, a wall corner and the like. However, this solution still has the problem of missing the sweep, for example, after the turntables move, the turntables can be contacted with the obstacle in a fitting way, but a certain distance is generated between the two turntables, so that the working areas of the two turntables have gaps, and missing the sweep still exists.

In order to better solve the above problems, a design idea provided by the present application is approximately: the mopping module arranged at the bottom of the main machine body of the sweeping robot comprises a roller assembly, and the roller assembly can rotate (autorotation) along the axis of the roller assembly and can also move at the same time, so that the aim of no leakage sweeping during edge walking is fulfilled. Alternatively, two turntables on the sweeping robot move together simultaneously towards the same side direction of the sweeping machine.

Based on the design thought, the application provides self-moving cleaning equipment, a control method and a cleaning system.

In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application.

In some of the flows described in the specification, claims, and drawings described above, a plurality of operations occurring in a particular order are included, and the operations may be performed out of order or concurrently with respect to the order in which they occur. The sequence numbers of operations such as 101, 102, etc. are merely used to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first" and "second" herein are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, and are not limited to the "first" and the "second" being different types. Furthermore, the embodiments described below are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

Referring to fig. 2a and 1a, a self-moving cleaning apparatus is provided in an embodiment of the present application, which is capable of performing a cleaning task by walking on the floor by a walking device thereon. The self-moving cleaning device may be, but is not limited to, a home/commercial sweeping robot (e.g., a mopping robot, a sweeping and mopping integrated robot, etc.). Referring to fig. 2a, the self-moving cleaning apparatus includes a main body 10, a cleaning module and a control device, wherein the cleaning module and the control device are disposed on the main body 10. The cleaning module is connected with the driving assembly. The control device is electrically connected with the driving assembly. The control device is used for dynamically controlling the driving assembly according to the behavior information of the main body 10, so that the cleaning assembly moves (changes position) relative to the main body under the driving of the driving assembly (for example, along the self axis l (being the central axis)). Wherein the movement includes an outward extension or an inward retraction movement of the cleaning assembly relative to the main body. The cleaning element extends outwardly with one end edge extending beyond or at least flush with the widest edge of the main body (i.e., in line with, or coincident with). The cleaning assembly is retracted inwardly and does not extend beyond the widest edge of the main body.

Details regarding the functional implementation of the control device will be described in further embodiments given below.

Taking the traveling direction (i.e., the forward direction, the traveling direction) of the main body 10 as the first direction, the main body 10 has two sides parallel to the traveling direction. The widest edge of the main body described above may be the opposite side edges of the main body 10 which are spaced the farthest in the direction perpendicular to the first direction, but is not limited thereto. For example, referring to fig. 2b, if the appearance of the main body 10 is a combination of straight edges and arc structures, the widest edge is a side straight edge of opposite sides of the main body parallel to the first direction, such as a side straight edge of the main body 10 that coincides with the imaginary line l1 and the imaginary line l2, respectively. For another example, if the appearance of the main body 10 is a circular structure, the widest edge is a side of the main body 10 with a tangent line parallel to the first direction on opposite sides. The appearance of the main body 10 may be any shape, for example, a combination shape of straight sides and arc structures (shown in left side view) or a rectangular shape (shown in left side view) shown in fig. 2a, or a circular shape, etc., and the appearance of the main body is not limited in this embodiment.

In the implementation, the initial setting position of the cleaning component is defined as a first position, and the position of the maximum movement amount of the cleaning component is defined as a second position, and the cleaning component is driven to move between the first position and the second position relative to the main body by the driving component. In the second position or any third position between the position of the widest edge of one side of the main body and the second position, the edge of the cleaning component extends out of the widest edge of the main body. In the first position or a fourth position between the first position and the position where the widest edge of the main body is located, the portion of the cleaning assembly that does not protrude or protrudes beyond the edge of the main body is reduced.

The cleaning component is arranged at the rear end of the main machine body (in the traveling direction of the main machine body). The cleaning assembly may be a roller assembly or a turntable assembly. An example of a cleaning assembly being a turntable assembly 11 is shown in fig. 1a to 1 e. Fig. 2a to 4 show examples of the cleaning assembly being a roller assembly 15, the roller assembly 15 being moved to a position which may be, but is not limited to, as shown by the dotted rectangle.

The cleaning member, when extended outward, is extended out of the widest edge of the main body 10 on the side corresponding to the extending direction. For example, referring to fig. 2b, the cleaning assembly is shown as an example of the drum assembly 15, where the drum assembly 15 extends horizontally to the right, and after the extending movement, the position of the drum assembly 15 is changed to the position shown by the dotted rectangle, and the rightmost edge of the drum assembly extends beyond the right widest edge (i.e., the edge coinciding with the dotted line l 2) on the main body.

As seen in fig. 1a to 1e, the cleaning assembly is a turntable assembly 11. The turntable assembly 11 comprises a turntable on which cleaning implements such as wipes are provided for cleaning a cleaning surface in a wet cleaning manner. For a description of the implementation of wet cleaning, see below for a description of the cylinder. In specific implementation, the turntable assembly 11 is driven by a corresponding driving assembly to move along a set arc line. The set arc is related to the size, position, etc. of some of the components in the drive assembly.

For example, referring to fig. 1c, the corresponding drive assembly 210 of the turntable assembly 11 includes: a rotation mechanism 211, a change mechanism 212 and a transmission mechanism 213. The transmission mechanism 213 is disposed between the rotation mechanism 211 and the variation mechanism 212, and is connected to the turntable in the turntable assembly 11 through the rotation mechanism 211, and is connected to the turntable assembly through the variation mechanism, so that the corresponding first driving motor through the rotation mechanism 211 drives the turntable to rotate (spin) relative to the main body, and the second driving motor through the variation mechanism drives the turntable assembly to move along a certain set arc line relative to the main body, so as to vary the position. Specifically, as the reference to fig. 1c continues, the above-mentioned varying mechanism includes a gear 2122 and a sector gear 2121, for example, a turntable assembly (referred to as a left turntable assembly) located at the left side of the main body, and the moving process of the left turntable assembly can be shown in fig. 1d under the driving of the corresponding varying mechanism. More specifically, referring to the enlarged partial schematic view of fig. 1e shown for the movement of the left hand turntable assembly, the left hand turntable assembly moves upwardly along the corresponding set arc similar to the edge arc of the sector teeth 2121, and in particular, with respect to the position, size, etc. of the sector teeth 212, gear 2122, etc. as it is moved to extend outwardly by the corresponding change mechanism. The "cross" in fig. 1d and 1e represents the center of the turntable assembly. If the left rotary table group price is driven by the corresponding change mechanism to be recovered and moved inwards, the left rotary table group price moves downwards along the corresponding set arc line and moves rightwards at the same time.

It should be noted that, in fig. 1c to fig. 1d, for the convenience of observation and understanding, a certain distance is always kept between the two turntable assemblies, and in an actual working scene, in order to avoid scanning, the two turntable assemblies keep the working area seamless as much as possible (as shown in fig. 1a and fig. 1 b);

for a turntable assembly located on the right side of the main body (referred to as a right side turntable assembly), the moving manner includes the following two manners:

in the first mode, the right rotary table assembly and the left rotary table assembly move towards different sides of the main body, if the right rotary table assembly is driven by the corresponding change mechanism to extend outwards for movement, the right rotary table assembly moves upwards along the corresponding set arc line and simultaneously moves to the right; if the right turntable group price is driven by the corresponding change mechanism to be recovered and moved inwards, the right turntable group price moves downwards along the corresponding set arc line and moves leftwards.

In the second mode, under the condition that the right rotary table assembly and the left rotary table assembly face the same side of the main body, when the left rotary table assembly moves leftwards along the set arc line side to extend outwards, the right rotary table assembly moves leftwards along the set arc line side to recover inwards, so that the left rotary table assembly and the right rotary table assembly move leftwards towards the left side of the main body; and when the left rotary table assembly moves downwards along the set arc line and moves rightwards for inward recovery, the right rotary table assembly moves rightwards along the set arc line at the moment, so that the left rotary table assembly and the right rotary table assembly move towards the right side of the main body.

In this embodiment, it is preferable to control the right turntable assembly and the left turntable assembly to move toward the same side of the main body, and this movement mode can make no gap between the two turntable assemblies during the whole movement process, and still keep the working area in seamless connection, which is more beneficial to realizing no-leakage scanning.

From the above, in one embodiment, the cleaning assembly is a turntable assembly; the turntable assembly moves along a set arc line, specifically moves in two different directions perpendicular to each other at the same time, that is, the moving speed of the turntable assembly is decomposed into two component speeds in different directions, one component speed is in the width direction of the main body, and the other component speed is in the length direction of the main body.

In the implementation, the number of the turntable assemblies is two, the turntable assemblies are respectively arranged on two opposite sides of the main machine body at intervals, and the two turntable assemblies respectively move towards the same side direction of the main machine body along different set arcs.

Referring again to fig. 2a to 4, the cleaning assembly is a roller assembly 15. The roller assembly 15 comprises a roller for cleaning, in particular wet cleaning, a work surface to be cleaned, such as a floor of wood, tile or the like. The cleaning cloth is sleeved on the periphery of the roller, the roller can rotate (rotate, also called autorotation) along the axis of the roller under the drive of the driving assembly, and cleaning liquid (such as clean water) is applied to the surface in the rotation process so as to wet the cleaning cloth, so that the working surface to be cleaned can be cleaned through the wet cleaning cloth.

The drum assembly 15 can be moved along its own axis (i.e., the above-mentioned extending and retracting movements), in particular, can be moved laterally (horizontally) along the central axis of the drum (i.e., the rotation central axis), such as laterally left or laterally right. The central axis of the drum is substantially aligned with the width direction of the main body 10, and based on this, the drum assembly 15 can be said to be movable in the width direction of the main body 10. The roller assembly moves linearly, the central axis of the roller and the width direction of the main body are perpendicular to the traveling direction of the main body, and based on the fact, the roller assembly moves linearly along the axis of the roller assembly towards the target direction, wherein the target direction is perpendicular to the traveling direction of the main body.

The advantages of the above design to enable the movement of the roller assembly are: because the length of the roller assembly is fixed and not infinitely long, in particular, the length of the roller assembly is generally smaller than the width of the main machine body corresponding to the position of the roller assembly, if the roller assembly cannot move, the roller assembly can only drag and sweep the ground area corresponding to the position of the roller assembly (usually the ground area corresponding to the middle area of the main machine body), so that the roller assembly is easy to leak and sweep when walking along the edge; the roller assembly is designed to move, so that part of the roller assembly can extend out of the main machine body, and the roller assembly can be in fit contact with the corresponding edge (the edge of an obstacle) when walking along the edge, and dead angles such as a wall edge, a corner and the like can be dragged and cleaned through the roller assembly, so that no leakage sweeping is realized.

In particular, when it is detected that an obstacle is encountered and the robot needs to walk along the edge, the robot can control the driving assembly to drive the roller assembly 15 to move (horizontally move) along its own axis, wherein the moving direction is related to the direction in which the obstacle is located, and the moving amount (i.e., the moving amplitude) is related to the distance between the end of the roller assembly 15 (the end near the obstacle) and the widest edge of the main body.

For example, in connection with the left-hand diagram in fig. 2 c. In the case of normal walking of the self-moving cleaning apparatus to perform a self-cleaning task, the drum assembly 15 may be maintained at an initial set position (often a main body intermediate position) to perform a cleaning operation. When an obstacle W is detected on the walking path, such as a wall or a floor cabinet, the self-moving cleaning robot adjusts the walking mode to perform edge-along walking of the machine body along the edge of the obstacle, and meanwhile, according to the distance between the edge of the end of the drum assembly, which is closer to the obstacle, and the widest edge of one side of the main machine body, as shown in the left diagram of fig. 2c, the distance d1 between the edge of the right end of the drum assembly and the extension line of the widest edge of the right side of the main machine body is shown, the drum assembly 15 is driven by the driving assembly to move horizontally and rightward for the distance d1, and after the movement, the drum assembly 15 is positioned at the position shown by the dotted rectangle, at the moment, the edge of one end of the drum assembly 15 coincides with the extension line of the widest edge of one side of the main machine body, and meanwhile, the drum assembly contacts (is attached to) the obstacle, so that no gap exists between the drum assembly 15 and the obstacle W, and cleaning leakage problem does not exist.

The example given in fig. 2c is a manner of determining the amount of movement of the drum assembly in a walking scenario in which the main body of the self-moving cleaning device is closely fitted to the edge of the obstacle without any gap. However, in the actual working scenario, in order to avoid collision and abrasion of the machine body, the self-moving cleaning device keeps a certain edge distance with the obstacle when walking along the edge, for example, the edge distance may be 1cm, 2cm, etc., in this scenario, as shown in fig. 2d, in order to avoid missing scanning, the distance that the roller assembly 15 moves towards the direction close to the obstacle (i.e. the movement amount, which is the protrusion amount) may be controlled as follows: the distance d1 between the edge of one end of the roller assembly 15 near the obstacle and the widest edge of one side of the main body+the edge distance d2 between the widest edge of one side of the main body and the obstacle, wherein the edge distance d2 can be obtained by the detection of an edge sensor provided on the main body; after movement, the roller assembly is positioned as shown by the dashed rectangle, where a portion of the roller assembly extends beyond the widest edge of one side of the main body to contact an obstacle. In addition, when the self-moving cleaning device does not walk along the edge, the roller assembly can be driven by the driving assembly to do recovery (retraction) action, and the recovery amount can be different from or the same as the extension amount, so long as the roller assembly is ensured not to exceed the widest edge of the main body after recovery.

It should be noted that the manner in which the roller assembly 15 moves may be, but is not limited to, sliding. The roller assembly is disposed at a rear end of the main body. The main body rear end, front end, etc. described in this application are all seen in the direction of travel of the self-moving cleaning device. The specific implementation of the roller assembly 15 being moved by the drive assembly will be described in detail below. In addition, the edge of the drum assembly may be, but is not limited to, the edge of the body structure of the drum assembly, but also the outer edge of a cleaning tool (e.g., drum) contained in the drum assembly.

In one embodiment, as seen in fig. 3, the roller assembly 15 includes: a roller 150, a liquid applying device 151 and a dirt collecting tray 152. The drum 150 may be cylindrical in shape, and details regarding the drum 150 are provided above. The liquid applying device 151 is used for applying the cleaning liquid to the drum in a spray manner. The cleaning liquid can be clear water, a cleaning agent or a mixed liquid of clear water and the cleaning agent, etc. In particular, the liquid applying device 151 has a plurality of liquid outlet holes, through which the cleaning liquid is applied to the drum. The cleaning liquid applied by the liquid application device can be provided by a liquid supply assembly comprising: a liquid supply tank 17 and a liquid delivery member (not shown in the drawings). The liquid supply tank 17 is used for storing cleaning liquid. One end of the liquid conveying member is communicated with the liquid supply tank 17, and the other is communicated with the liquid applying device 151. The self-moving cleaning robot can be operated by controlling the liquid delivery member to apply the cleaning liquid stored in the liquid supply tank 17 to the drum 150 through the liquid delivery member and the liquid application device to wet the cloth on the drum during the cleaning task. The liquid delivery member may be, but is not limited to, a water pump, which may be a centrifugal pump, comprising a water inlet and a water outlet, the water inlet of the water pump being in communication with the liquid supply tank 17 via a respective conduit and the water outlet of the water pump being in communication with the liquid application device 151 via a respective conduit. The dirt on the drum 150 is drained into the dirt collecting tray 152 for temporary storage, and when the dirt collecting tray 152 is implemented, the dirt flowing down from the drum can be drained into the dirt collecting tray 152 by using corresponding flow guiding members (such as sheet type flow guiding members), wherein the dirt drained into the dirt collecting tray 152 is mainly sewage, and the dirt can also comprise fine particle dirt. After the amount of dirt in the dirt collecting tray 152 reaches the set amount (e.g., full load), a prompt message may be output to prompt the user to manually clean the dirt in the dirt collecting tray, however, considering that this mode needs to be manually participated and the user experience is poor, the mode adopted in this embodiment is that the self-moving cleaning device automatically sucks the dirt in the dirt collecting tray 152 into the recovery tank 18 (which is a sewage tank). For example, the self-moving cleaning device is further provided with a suction motor for the dirt collecting tray and a recovery pipeline connecting the dirt collecting tray 152 and the recovery tank 18, and dirt in the dirt collecting tray 152 can be sucked into the recovery tank 18 through the recovery pipeline under the action of the suction motor. The suction motor may be disposed within the recovery duct. The amount of dirt in the dirt collecting tray 152 may be, but is not limited to, determined by analysis based on data detected by a liquid level sensor in the dirt collecting tray or image data collected by an image sensor with respect to the dirt collecting tray, and the like, and is not limited herein.

Further, the roller assembly 15 may further include: the scraping member 153 scrapes off dirt (e.g., sewage) on the drum 150, and the scraped dirt is guided into the dirt collecting tray 152, so that the dirt collecting tray 152 is used for collecting the dirt scraped off from the drum for temporary storage. The dirt scraping member 153 may be a strip-shaped scraping strip, such as a rectangular scraping strip, which may be made of soft rubber. One end of the dirt scraping member 153 is in contact with the drum surface and in interference contact (i.e. there is a certain interference between the dirt scraping member and the drum surface) so as to facilitate the scraping of dirt on the drum surface (in particular a wipe on the drum) during the rotation of the drum. The included angle between the dirt scraping member 153 and the drum 150 may be fixed or may be automatically adjusted. For example, the dirt scraping member may be connected to an actuator (as a control mechanism), and the dirt scraping member 153 may be driven to rotate by controlling the actuator, so as to change the included angle between the dirt scraping member 153 and the drum.

The dirt scraping member 153 is disposed on the same side of the drum 150 as the dirt collecting tray 152, and the dirt scraping member 153 is disposed above the dirt collecting tray 152.

In another embodiment, as seen in fig. 4, the roller assembly 15 described above includes: a roller 150, a liquid applying device 151 and a dirt scraper 153. The liquid applying device 151 is used to apply a cleaning liquid to the drum 150. The scraping member 153 serves to scrape off dirt, such as sewage, on the drum 150. For detailed descriptions of the functions of the liquid applying device 151 and the dirt scraping member 153, refer to the above related matters, and the detailed descriptions are omitted here. The dirt scraping member 153 and the recovery box 18 are disposed on the same side of the drum, and the dirt scraping member 153 is disposed above a suction passage 181 described below.

Further, a recovery device is also arranged on the self-moving cleaning device and is used for recovering dirt. The recovery device includes a recovery tank 18, a suction passage 181, a suction motor, and the like. One end of the suction passage 181 is connected to the recovery tank 18, and the other end is directly connected to the drum chamber of the drum, which may be called a suction port. The suction motor is located in the suction passage 181, and during cleaning, both the dirt thrown from the drum 150 and scraped dirt is sucked into the recovery tank 18 through the suction passage by the suction force generated by the suction motor. In the cleaning process, the roller can rotate at a high speed, so that a large centrifugal force is generated due to the high-speed rotation, and part of dirt on the roller is always thrown out under the action of the centrifugal force.

In this embodiment, the suction channel 181 may be a flexible hose, such as a silicone hose, a transparent flexible hose, etc., so that when the drum assembly 15 is moved, the suction channel 181 may also move along with the drum assembly 15, thereby ensuring that dirt thrown off the drum 150 and/or scraped dirt continues to be sucked through the suction channel 181 even if the drum assembly is moved through the suction channel 181.

The two embodiments described above for the roller assembly 15 are preferably employed in the present application in connection with the embodiment described in connection with fig. 3.

The roller assembly 15 is moved by a driving assembly. The drive assembly includes a drive motor and a transmission mechanism, the transmission mechanism being connected to the roller assembly 15, the drive motor providing power to the transmission mechanism. The transmission mechanism may be, but is not limited to, a mechanism including a gear (e.g., drive wheel 161 shown in fig. 3 or 4), a rack. In addition, in other embodiments, the driving assembly can also rotate the roller in the roller assembly 15, that is: the rotation of the drum and the movement of the drum assembly 15 can be achieved by the same driving assembly. In the above scenario, the driving assembly may further include: the rotating mechanism and the changing mechanism are respectively connected with the transmission mechanism and are used for driving the corresponding roller in the roller driving assembly to rotate (autorotate) and the roller driving assembly to integrally change (namely move along the axis of the roller driving assembly). The transmission mechanism can be arranged between the rotating mechanism and the changing mechanism, is connected with the roller through the rotating mechanism and is connected with the roller assembly through the changing mechanism, so that the corresponding first driving motor through the rotating mechanism drives the roller to rotate relative to the main body, and the second driving motor through the changing mechanism drives the roller assembly to change relative to the main body along the axis of the roller assembly.

Of course, in other embodiments, the rotation of the drum and the movement of the drum assembly 15 may be implemented by different driving assemblies, for example, the movement of the drum assembly 15 is implemented by a first driving assembly, and the rotation of the drum in the drum assembly 15 is implemented by a second driving assembly.

The roller can be rotated while moving by the driving component. Since the drum assembly is still required to be kept rotating while being moved during cleaning, the driving assembly for driving the drum to rotate is required to follow the movement and to be kept in a power supply state at the same time, and more particularly, the driving motor included in the driving assembly for driving the drum to rotate is required to be kept in a power supply state. For convenience of the following description, a driving assembly for driving the drum to rotate will be referred to herein as a driving assembly a. For the above-mentioned scenario, a main body of the self-moving cleaning apparatus is further provided with a conductive slot assembly (not shown in the figure), where the conductive slot assembly includes a conductive slot body, specifically, but not limited to, a conductive slot body with a long strip shape and a U-shaped section, and the conductive slot body may be a slideway (i.e. may be an electric slideway). In particular, the conductive slot body may be made of any conductive material (such as copper), and the conductive slot body is electrically connected to a power supply device on the self-moving cleaning apparatus through a corresponding circuit, i.e. the power supply device supplies power to the conductive slot body. The electric connection part (such as an electric connection terminal) is arranged in the electric conduction groove body and is used for being electrically connected with an electric interface (particularly an electric connection interface of a driving motor) of the driving assembly A, and the electric connection part can move (slide) in the electric conduction groove body, so that when the driving assembly A moves correspondingly along with the movement of the roller, the electric interface of the driving assembly A also moves correspondingly in the electric conduction groove body, and the driving assembly A can always keep a power supply state and still continuously drive the roller to rotate. Alternatively, the conductive groove body may not have any electrical connector, and the electrical interface of the driving component a is connected to an electrical connector, which has electrical conductivity, such as the electrical connector 20 shown in fig. 5, and the electrical interface of the driving component a may be electrically connected to one electrical connection end (the first electrical connection end 211) of the electrical connector 20, and the other electrical connection end (the second electrical connection end 212) of the electrical connector 20 may be inserted into the conductive groove body and establish electrical connection with the conductive groove body, and may also slide in the conductive groove body and be kept in an electrical connection state with the conductive groove all the time during the sliding process.

From the top, the self-moving cleaning device still includes power supply unit, and power supply unit is including the holding tank that is used for holding the battery, and the holding tank can be seted up in main machine body bottom, for example, for making main machine body weight heart balance in order to guarantee that the self-moving cleaning device walking is more steady, the holding tank can be seted up in the position department between two wheel components 13 of main machine body bottom. The components (e.g., drive motor, control, sensor, etc.) on the self-moving cleaning device that require power can be powered by the battery.

Further, as shown in fig. 3 or 4, the self-moving cleaning apparatus may further include: and the rolling brush assembly is arranged at the front end of the main body. The rolling brush assembly is used for dry cleaning of the working surface to be cleaned. For example, when cleaning a work surface to be cleaned such as a carpet, which does not require wet cleaning, dry cleaning may be performed only by the roll brush assembly.

The self-moving cleaning device provided in this embodiment may further include other functional components besides the above functional components, for example, a walking device, an edge brush, a detection device, an interaction device (such as a voice interaction device, a display screen), a charging interface, and so on. The functional components included in different types of self-moving cleaning devices will generally vary. Further functional components that may be included with the self-moving cleaning device are referred to in the art and will not be described in detail herein.

The running gear comprises a plurality of wheel assemblies which are arranged at the bottom of the main body at intervals. Preferably, the number of wheel assemblies is two. The wheel assembly includes a drive wheel.

The detection device comprises a plurality of sensors and is mainly used for detecting the behavior information of the host body. Behavior information is understood to be extensible to include all information about the behavior of the host body. For example, the behavior information may include not only behavior actions (movement states) of the main body, such as normal straight line running, turning running, stopping, movement information of the driving wheel (such as speed, turning angle, turning radius, etc.), and the like; behavior environmental information such as where the behavior occurred, surrounding obstacle data (e.g., including obstacle location, distance from the obstacle, obstacle size), etc. may also be included. In particular, the detection means may comprise at least one sensor selected from the group consisting of: distance sensor (e.g. radar), speed sensor. The distance sensor may be used to detect a distance between the main body and the obstacle. The speed sensor is used to detect the speed (rotational speed) at which each wheel assembly rolls on the ground. The speed sensor may be, for example, a photoelectric encoder for detecting the speed and position of the main body, which is coaxially connected to the driving motor of the driving wheel in the wheel assembly through a decelerator, and records pulses corresponding to the rotation angle of the driving motor in an incremental encoding manner.

The control device in the self-moving cleaning equipment is a mopping module, a traveling device, a detection device and the like which are respectively and electrically connected with the self-moving cleaning equipment and used for controlling the modules to execute corresponding actions. For example, the detection device transmits the behavior information of the detected main body to the control module in the form of an electric signal, and the control device can control the roller assembly in the mopping module to work at a proper position according to the behavior information; and/or controlling a wheel assembly in the traveling device to drive the main body to work in a normal traveling mode on the ground or drive the main body to work in a side traveling mode in a scene of encountering an obstacle, so that the main body can travel along the edge of the obstacle after avoiding the obstacle, and the side distance is kept between the main body and the obstacle, thereby avoiding collision.

Based on the above, the host may, but is not limited to, walk sideways in the following scenario:

in the first scene, when walking along the straight line, an obstacle is arranged at one side of the walking direction (the first direction) in a short distance (such as 2 cm), but the walking along the original straight line can be continuously kept without turning to avoid the obstacle, so that the obstacle can be walked along the edge. For example, referring to fig. 6c, when the self-moving cleaning apparatus walks from the start point to the point B according to the planned path, it is detected that there is a floor standing cabinet at a short distance to the left of the walking direction, at this time, the self-moving cleaning apparatus may continue to walk straight in the original walking direction without turning, and will walk along the long edge 31 of the floor standing cabinet while continuing to walk.

Scene II: the obstacle is encountered to turn and avoid the obstacle so as to walk along the edge. For example, referring to fig. 6a, when the self-moving cleaning apparatus walks from the start point to the point a according to the planned path, an obstacle that encounters the floor standing cabinet is detected in the walking direction, and the self-moving cleaning apparatus needs to turn to avoid the obstacle to walk along the short edge 32 of the floor standing cabinet.

When the main body needs to walk along the edge, the control device needs to control the roller assembly on the main body to correspondingly move so as to extend out of the edge of the main body. In different edgewise scenarios, the control means may control the drive assembly in different control ways such that a portion of the drum assembly protrudes beyond the edge of the main body to contact the edgewise obstacle. For example, in the above scenario, the movement amount may be determined directly according to the distance between the drum assembly and the edge barrier, and the movement speed may be a set fixed value or determined according to behavior information of the main body (such as the rotation speed of the driving wheel), so that the driving assembly is controlled according to the movement amount and the movement speed. For another example, in the above-described second scenario, the driving assembly may be controlled according to behavior information of the main body (more specifically, differential information of two driving wheels of the main body). The specific sources for controlling the drive assembly based on differential information of the two drive wheels will be described in detail in the method embodiments set forth below. Of course, the above scenario is also understood to be essentially controlling the driving assembly according to the behavior information of the host.

Based on the foregoing, the present application also provides two embodiments of a control method for a self-moving cleaning apparatus. Two method embodiments are specifically as follows:

fig. 7 is a schematic flow chart of a control method of a self-moving cleaning device according to an embodiment of the present application, which is mainly an embodiment of the control method given in the first scenario, and an execution subject of the method is the self-moving cleaning device, and more specifically, a control device in the self-moving cleaning device. The self-moving cleaning device is provided with a driving component and a cleaning component connected with the driving component, and the structural details of the self-moving cleaning device can be found in other embodiments. As shown in fig. 7, the control method provided in this embodiment includes:

101. determining a walking mode of the self-moving cleaning device;

102. when the walking mode is a edgewise walking mode, determining an edgewise target object;

103. determining a movement amount according to the distance between a cleaning component on the self-moving cleaning device and the target object;

104. and according to the moving amount, controlling the cleaning assembly to move along the self axis or the set arc line to approach the target object so as to contact the target object.

The cleaning assembly described in this embodiment is a roller assembly or a turntable assembly. When the cleaning component is a roller component, the cleaning component moves along the axis of the cleaning component; when the cleaning assembly is a turntable assembly, the cleaning assembly moves along a set arc. In the following description of the steps 101 to 104, a roller assembly is mainly taken as an example to enumerate corresponding examples to describe specific implementation of each step.

In 101, the walking mode may be determined according to the monitored behavior information of the self-moving cleaning device, where the behavior information includes behavior actions (such as rotational speeds of two driving wheels) and behavior environment information.

When the self-moving cleaning device walks along a straight line, the rotating speeds of the two driving wheels are generally the same, the differential speed is zero, and the walking mode can be determined to be normal straight line walking at the moment. When the main body turns, only one driving wheel is usually driven to turn left or right by taking the other driving wheel as a fulcrum, and the rotation speeds of the two driving wheels are different to generate certain differential speed, so that the walking mode can be determined to be a steering (/ turning) walking mode. If the two drive wheels are moving in opposite directions (i.e. one forward and the other reverse) at equal rotational speeds, the self-moving cleaning apparatus will rotate in place but not move, at which point the travel pattern can be determined as a rotational travel. Further, in the normal straight line walking mode, if it is determined that an obstacle appears at a position which is not far away from one side of the mobile cleaning device according to the behavior environment information, but no steering obstacle avoidance is needed, the mobile cleaning device can continue to walk along the original straight line, and the mobile cleaning device is going to walk along edges when walking continuously, and the walking mode in which the mobile cleaning device walks along edges without steering obstacle avoidance is called as a normal edge walking mode. The corresponding walking mode that the obstacle is required to turn and avoid the obstacle to walk along the edge is called turning and avoid the obstacle to walk along the edge.

In the step 102, when it is determined that the self-moving cleaning device is to be controlled to perform the normal edge traveling mode, the edge target object may be determined, so as to perform the step 103 to directly control the cleaning assembly to perform the extending movement according to the distance between the cleaning assembly and the target object.

A specific implementation of controlling the outward extending movement of the cleaning assembly when it is determined that the self-moving cleaning apparatus is to be subsequently controlled to make a turn to avoid an obstacle to follow a limbed mode will be described in further detail below in another method embodiment.

The target object may be an obstacle encountered during the walking process of the self-moving cleaning device, such as a static obstacle like a wall, a floor cabinet, etc., and may be a dynamic obstacle. In the present embodiment, it is preferable to refer to a static obstacle.

In one implementation, the above 103 "determining the movement amount according to the distance between the cleaning component on the self-moving cleaning apparatus and the target object" may specifically include:

1031. acquiring a first distance between one end of the cleaning component, which is close to the target object, and the widest edge of one side of the self-moving cleaning device;

1032. acquiring a second distance between the widest edge of one side of the self-moving cleaning device and the target object;

1033. Determining the movement amount according to the first distance and the second distance;

wherein the one-side widest edge is one side edge close to the target object among opposite side edges of the self-moving cleaning apparatus which are spaced farthest apart in a direction perpendicular to a traveling direction thereof.

The first distance may be calculated based on at least one of a current position of the cleaning assembly, a length of the cleaning assembly, a width (which is a maximum width) of the self-moving cleaning apparatus, and the like. The second distance may be obtained, but is not limited to, based on data detected from a distance sensor (e.g., radar) mounted on the mobile cleaning device, and may, of course, be obtained using, for example, an image analysis method, as not limited herein. The sum of the first distance and the second distance may be determined as a required movement amount of the drum assembly.

For example, referring to fig. 6c and 6d, assume that at point a of the self-moving cleaning device (on its left widest edge, l ₃ An extension line of the widest edge on the left side) is provided with a distance sensor (such as a radar), when the self-moving cleaning equipment walks from a starting point to a point B based on a planned path, a floor cabinet is detected on the left side in front of the walking through the distance sensor, the distance between the distance sensor and a corner point B on the floor cabinet is detected to be Lab, and the distance Lab is the hypotenuse side length of a right triangle abc; according to the distance Lab, the distance Lac between the point a and the point c can be calculated by using the Pythagorean theorem of the right triangle, wherein the distance Lac is the second distance d2 between the left widest edge of the self-moving cleaning device and the floor cabinet, namely the extension line l of the left widest edge and a long edge 31 (close to the self-moving cleaning device) of the floor cabinet ₄ Distance between them. In addition, assuming that the current position of the drum assembly is the intermediate position (initial set position) of the main body of the self-moving cleaning apparatus when the self-moving cleaning apparatus walks to the B point position: the first distance d1 between the left end edge of the roller assembly near the floor cabinet and the left widest edge of the self-moving cleaning device is: (maximum width of self-moving cleaning device-length of roller assembly)/(2), wherein maximum width is between left and right widest edges of self-moving cleaning deviceIs a distance of (3). The first distance d1 and the second distance d2 are the movement amounts corresponding to the outward extending movement of the roller assembly, and the extending direction (movement direction) is the transverse left (opposite to the second direction). When the roller assembly is controlled to extend outwards, the corresponding moving speed can be a fixed value or can be determined according to the third distance from the floor cabinet along the walking direction of the roller assembly and the walking speed of the self-moving cleaning equipment. For example, when the roller assembly on the self-moving cleaning device walks to the position of the B point, the distance between an edge of the self-moving cleaning device, which is along the walking direction and is close to the floor cabinet, and a short edge 32 of the floor cabinet is a third distance d3, the self-moving cleaning device keeps walking normally along a straight line at a uniform velocity V, and the movement velocity corresponding to the outward extending movement of the roller assembly can be: by controlling the outward extending movement of the roller assembly according to the movement speed of (d1+d2)/(d 3/V), when the movement amount of the roller assembly reaches the sum of the first distance d1 and the second distance d2, just one edge of the roller assembly, which is close to the floor cabinet along the walking direction, is leveled with (on the same vertical line) a short edge 32 of the floor cabinet, so that the roller assembly with no time gap is contacted with the long edge 31 of the floor cabinet, and better edge non-leakage cleaning is realized.

In the above 104, in addition to controlling the movement of the cleaning assembly according to the determined movement amount, the control may be performed in combination with a corresponding movement speed. The moving speed can be a set fixed value; alternatively, the distance between the edge of the cleaning member, which is closer to the target object in the traveling direction of the self-moving cleaning device, and the target object, and the traveling speed of the self-moving cleaning device may be determined. If the latter is used to determine the movement speed, the cleaning assembly can realize the synchronous following of the action and the execution speed when the execution position of the cleaning assembly is changed when the cleaning assembly is controlled to move according to the movement amount and the movement speed. For a detailed description of this movement speed, reference is made to the relevant matters in the example given in step 103 above. Wherein the walking speed of the self-moving cleaning device can be determined according to the rotation speed of the driving wheel.

In the specific control, the driving component corresponding to the roller component is controlled according to the movement amount and the movement speed, so that the cleaning component is driven to correspondingly move by the driving component.

According to the technical scheme provided by the embodiment, when the walking mode of the self-moving cleaning equipment is the edge walking mode, an edge target object is determined at the moment, and the moving amount is determined according to the distance between the cleaning assembly (such as the roller assembly) and the target object, so that the cleaning assembly is controlled to move along the axis or the set arc line of the cleaning assembly along the direction close to the target object so as to be in contact with the target object according to the moving amount. Because the cleaning component is contacted with the target object after moving, no gap exists between the cleaning component and the target object, and therefore no problem of missing scanning exists.

Further, when the cleaning assembly is a roller assembly, the roller assembly includes: a drum and a dirt collecting tray for collecting dirt guided down from the drum; and, the method provided by the embodiment further includes:

when the dirt amount in the dirt collecting disc reaches a set amount, sucking the dirt in the dirt collecting disc to a recovery box on the self-moving cleaning equipment; or outputting prompt information to prompt a user to clean dirt in the dirt collecting tray.

The prompt information can be one or a combination of voice, text and graphics.

For a specific implementation description of each step in the method provided in the above embodiment, reference may be made to the relevant content in other embodiments. In addition to the steps described above, the method provided in this embodiment may further include other steps, and regarding other steps and the same specific implementation, reference may also be made to the related matters in the other embodiments.

Fig. 8 shows a control method of a self-moving robot according to another embodiment of the present application, and an execution subject of the method is a control device in the self-moving cleaning apparatus. The self-moving cleaning device is provided with a driving component and a cleaning component connected with the driving component, and the structural details of the self-moving cleaning device can be found in other embodiments. As shown in fig. 8, the control method provided in this embodiment includes:

201. Determining behavioral information of the self-moving cleaning device;

202. the driving assembly is dynamically controlled according to the behavior information, so that the driving assembly drives the cleaning assembly to correspondingly move along with the behavior of the self-moving cleaning equipment, and the position of the cleaning assembly relative to the self-moving cleaning equipment is changed;

wherein the cleaning assembly moves relative to the self-moving cleaning device along its own axis or set arc. In particular, the cleaning assembly is movable along its own axis or set arc relative to the main body of the self-moving cleaning apparatus. The cleaning component can be a roller component or a rotary table component, and when the cleaning component is the roller component, the cleaning component moves along the axis of the cleaning component; in the case of a turntable assembly, movement is along a set arc. The specific implementation of each step is mainly described in detail below by taking a roller assembly as an example.

In 201 above, the behavior information may be obtained from detection information of at least one sensor on the mobile cleaning device. The behavior information may include: behavior actions, behavior environmental information, etc. For details regarding behavior information, see the relevant content in other embodiments above.

Take a cleaning assembly as an example of a roller assembly. When the self-moving cleaning device executes the next walking action, the behavior information corresponding to the next action of the self-moving cleaning device is often determined based on the planned path, the currently collected environment information, the self-state information and the like, for example: advancing and maintaining the current speed; or turn, target orientation, and turn speed; etc. When the behavior information corresponding to the next action is determined, the position of the roller assembly can be adjusted by dynamically following the next walking of the self-moving cleaning equipment, so that the roller assembly can follow the behavior action of the self-moving cleaning equipment. For example, if the behavior information corresponding to the next action is turning to avoid the obstacle to walk along the edge, that is, if the behavior information corresponding to the next action characterizes that the walking mode corresponding to the next step of the self-moving cleaning device is turning to avoid the obstacle to walk along the edge, in order to better fit the change generated by the behavior of the self-moving cleaning device due to the actual environmental change, the roller assembly needs to make corresponding changes in time, that is, in response to the pose change of the self-moving cleaning device, the roller assembly also correspondingly makes movement to adjust the position of the roller assembly. The motion of controlling the movement of the drum assembly can be divided into controlling the movement amount and the movement speed of the drum assembly. For example, when the self-moving cleaning device encounters an obstacle, the self-moving cleaning device needs to quickly turn to avoid the obstacle to walk along the edge, and at the moment, the roller assembly needs to quickly extend and move, and the moving amount is controlled according to the relative distance between the main body and the obstacle fed back by the sensor; when the obstacle is far away from the main body, the roller assembly can be quickly controlled to recover to the original position. Similarly, the moving amount and the moving speed of the roller assembly can be freely controlled in the scene of needing slow and small-amplitude extending movement. After the self-moving cleaning equipment encounters an obstacle, the roller assembly is stretched out and moved in the turning obstacle avoidance process so as to stretch out of the edge of the main machine body, and the roller assembly is contacted with the obstacle after the turning is finished, so that no time gap and no leakage are realized. After bypassing the obstacle, the roller assembly can be recovered so as not to extend out of the widest edge of the main body.

Based on the foregoing, in the foregoing 201, the continuous cleaning component is exemplified as a roller component, and the following may be specifically expressed as: the specific movement amount and the movement speed of the roller assembly are matched according to the behavior information of the self-moving cleaning device fed back by specific scenes, wherein the behavior information comprises behavior actions including, but not limited to, main body actions (such as turning, straight advancing, retreating and the like) of the self-cleaning device, and behavior action speeds (such as straight advancing or retreating speeds, turning speeds and the like). Specifically, it may be: the action is performed quickly, and the movement of the roller assembly is correspondingly quick; the action is performed slowly and the movement of the drum assembly is correspondingly slow. Of course, other dynamic following forms are also possible, such as, for example, or alternatively: the action is performed quickly, and the movement of the roller assembly is correspondingly slow; the action is performed slowly and the movement of the drum assembly is correspondingly fast. Such as roller assemblies that dynamically follow the behavior of the self-moving cleaning apparatus. The actions include an extension movement and a retraction movement.

Under the situation that the self-moving robot turns to avoid the obstacle to walk along the edge, the speed difference of the two driving wheels of the self-moving cleaning equipment is not zero, so that the turning speed, the turning radius and the like of the self-moving cleaning equipment can be represented, and the driving assembly of the roller assembly can be controlled according to the speed difference information of the two driving wheels, and the roller assembly is driven to act along with the self-moving cleaning equipment.

That is, in one possible implementation, the behavior information includes differential information of the two driving wheels of the self-moving cleaning apparatus, which may be determined according to the detected rotational speeds of the two driving wheels. And correspondingly, in the step 202, "dynamically controlling the driving component according to the behavior information", may specifically include:

2021. and dynamically controlling the driving assembly according to the differential information of the two driving wheels.

The running gear of the self-moving cleaning device comprises two wheel assemblies, which contain driving wheels. The rotation speed of the driving wheel, the turning angle of the self-moving cleaning device, the walking speed and the like can be determined through the photoelectric encoder corresponding to the wheel assembly. As with fig. 3 or 4 in combination, the self-moving cleaning apparatus comprises a left wheel assembly and a right wheel assembly, the rotational speed V of the left drive wheel being obtainable by a photoelectric encoder on the left wheel assembly _L The rotation speed V of the right driving wheel can be obtained through the photoelectric encoder on the right wheel assembly _R The method comprises the steps of carrying out a first treatment on the surface of the According to the rotation speed V _R And rotation speed V _L The differential speed of the two driving wheels can be determined. Further, the turning angle, turning speed, turning radius, etc. of the self-moving cleaning apparatus can also be obtained based on the differential speed of the two driving wheels. According to the obtained information, in the process of executing the turning by the self-moving cleaning device, the driving assembly corresponding to the roller assembly can be controlled to work so as to drive the roller assembly to perform outward extending movement at the corresponding movement speed until the corresponding movement amount is reached. The roller assembly on the self-cleaning mobile equipment is controlled to extend and move by controlling the self-cleaning mobile equipment to turn at the same time, so that the roller assembly can be contacted with the corresponding obstacle after the turning is finished, the self-cleaning mobile equipment can immediately start to walk along the edge, and the roller assembly does not need to take time to control the roller assembly to extend and move It is possible to start walking along the edge, which is advantageous in shortening the cleaning time. In this process, the turning speed and turning radius of the self-moving cleaning device can determine the corresponding moving speed (extending speed) and moving amount when the roller assembly extends outwards. For example, the turning speed is high and the turning radius is large, and accordingly, the moving speed of the drum assembly needs to be high and the moving amount is slightly small.

Thus, a specific implementation of the above-mentioned 2021 "dynamically controlling the driving assembly according to the differential information of the two driving wheels" may be implemented by the following steps:

20211. determining a turning speed and a turning radius of the self-moving cleaning device according to the differential information when the differential information is not zero (i.e., when the differential information characterizes that the behavior of the self-moving cleaning device is turning obstacle avoidance);

20212. determining the moving speed and the moving amount of the cleaning assembly according to the turning speed and the turning radius;

20213. and controlling the driving assembly according to the moving speed and the moving amount.

In 20211, the differential information is not zero, which indicates that the self-moving cleaning device is to be controlled to turn to avoid the obstacle, and the turning speed and the turning radius of the self-moving cleaning device can be determined according to the differential information. The turning radius can be further calculated by combining the distance between the two driving wheels, and the specific calculation of the turning radius can be realized by referring to the prior related content; the differential speed of the two driving wheels can be used as the turning speed.

In 20212, the moving speed may be specifically determined according to the turning radius and the turning speed, where the moving speed corresponding to the small turning radius and the high turning speed is greater than the moving speed corresponding to the large turning radius and the low turning speed, because the time required for completing the turn is relatively short when the turning radius is small and the turning speed is high, so that the control of the driving assembly is also completed while the turn is completed, so that the cleaning assembly moves along with the turning action of the self-moving cleaning device by the determined moving amount, and the moving speed of the cleaning assembly is required to be relatively high.

In particular implementations, the speed of movement of the cleaning assembly can be determined, but is not limited to, in the following manner: according to a large amount of measured data, a corresponding relation of turning radius, turning speed, moving amount and moving speed is pre-established, wherein in the corresponding relation, parameters such as turning radius, rotating speed, moving amount and moving speed can be a specific value or a range value, and the corresponding relation is not particularly limited; and then, selecting an adaptive target moving speed from the corresponding relation according to the turning speed and the turning radius, so as to determine the moving speed of the cleaning assembly according to the target moving speed. If the target moving speed is a range value, any speed in the corresponding range can be determined as the moving speed of the roller assembly; if the target moving speed is a specific value, the target moving speed can be directly determined as the moving speed of the drum assembly.

And, the moving amount of the drum assembly may be determined according to the turning radius. In particular, the amount of movement corresponding to a large turning radius is smaller than the amount of movement corresponding to a small turning radius, because the more the self-moving cleaning device approaches the corresponding obstacle edge after turning is completed when the turning radius is large, the smaller the amount of movement of the cleaning assembly is needed at this time to achieve contact with the corresponding obstacle edge after turning is completed. The amount of protrusion from the edge of the cleaning assembly out of the edge of the mobile cleaning device corresponds to a smaller amount of protrusion when the turning radius is large than when the turning radius is small.

For example, taking a cleaning assembly as an example of a roller assembly in connection with fig. 6a, after the self-moving cleaning device walks from a starting point to an a point position based on a planned path, a floor cabinet is detected in front, a next step action is to perform turning obstacle avoidance so as to walk along a short edge 32 of the floor cabinet after turning is completed, at this time, after a turning radius R is determined according to differential information of two driving wheels corresponding to the next step action, a movement amount of the roller assembly, which is required to move, can be calculated according to the turning radius R and a distance (a distance d3 shown in fig. 6 a) between the front edge of the self-moving cleaning device and the floor cabinet, which is currently detected. For example, referring to fig. 6b, when the self-moving cleaning apparatus makes a turn with a turning center point O and a turning radius R, after the turn is completed, the outer widest edge (the left widest edge) of the self-moving cleaning apparatus often coincides with the tangent line L, based on this, it is possible to: firstly, determining the distance d5 between the widest edge on the outer side of the self-moving cleaning device and the point A after the turning is finished according to the turning radius, wherein the distance d5=the distance d4 between the point R-A of the turning radius and the turning center point O; then, according to the distance d5 and the originally detected distance d3, calculating the distance d2 between the outer side widest edge of the self-moving cleaning device and the short edge 32 of the floor cabinet after turning is completed, wherein the distance d2=the distance d 3-the distance d5; and finally, determining the sum of the calculated distance d2 and the calculated distance d1 as the movement amount of the roller assembly to move along with the next turning action of the self-moving cleaning device, wherein the distance d2 is the distance between the widest edge of one end of the current roller assembly and the widest edge of the outer side of the self-moving cleaning device, and the end of the roller assembly is the end, which is closer to the widest edge of the outer side of the self-moving cleaning device, of the roller assembly.

Of course, the manner of determining the movement amount according to the turning radius is not limited to the manner given in the above example, and other manners of calculating and determining may be adopted, and the calculation is not particularly limited herein, so long as it is ensured that the outward extending movement of the corresponding drum assembly is also completed at the same time when the turning is completed, and that one end of the drum assembly is (or almost) in seamless contact with the corresponding obstacle edge (such as the short edge 32 of the floor stand shown in fig. 6 b) after the movement, and the dotted rectangle is the position where the drum assembly is located after the movement, as shown in one of the figures given below in fig. 6 a.

After the self-moving cleaning equipment finishes turning and edge walking, when the self-moving cleaning equipment is switched to normally walking, the driving assembly can be controlled to drive the roller assembly to recycle and move, so that the edge of the roller assembly does not exceed the widest edge of the self-moving cleaning equipment. The corresponding moving speed may be a fixed value or may be determined according to the traveling speed of the self-moving cleaning apparatus during the recovery movement, for example, the moving speed corresponding to the traveling speed is high when the traveling speed is high, and the moving speed corresponding to the traveling speed is low when the traveling speed is low, which is not particularly limited herein.

In 2013, in the turning process of the self-moving cleaning device, the driving component is controlled according to the determined moving speed and the moving amount, the cleaning component can be driven to stretch out, the roller component is controlled to stretch out while controlling the turning of the self-moving cleaning device, and the cleaning component can be contacted with the corresponding obstacle after the turning is finished, so that the cleaning component can immediately start to walk along the edge.

Of course, in the case of turning obstacle avoidance to walk along the edge, the corresponding movement amount and movement speed may be determined in other manners than the manner provided in step 2021. For example, the self-moving cleaning device may be controlled to complete the turn, the edge-following travel may not be immediately performed after the turn is completed, but the self-moving cleaning device may be controlled to temporarily maintain a stopped travel state, and then the distance between the edge of the cleaning device near the obstacle and the obstacle may be determined according to information detected by the sensor, etc., so that the amount of movement corresponding to the extending movement of the cleaning device may be determined according to the distance, the movement speed may be a fixed value or may be determined according to the travel speed corresponding to the next step when the edge-following travel is performed, the extending movement of the cleaning device may be controlled according to the determined amount of movement and the determined movement speed, and the edge-following travel of the self-moving cleaning device may be controlled after the extending movement is completed. For a specific implementation description of the movement amount and the movement speed described in the above examples, reference may also be made to the related content described in connection with fig. 6c in other embodiments of the present application. However, in order to realize no-leakage sweeping, the control mode of controlling the turning and then controlling the cleaning assembly to perform the extending movement is that the self-moving cleaning device cannot be immediately controlled to perform the edge-following walking after the turning is completed, and a certain time is required to be spent for completing the extending movement control of the roller assembly before the self-moving cleaning device is controlled to perform the edge-following walking, which can definitely lengthen the execution time of the cleaning task, cause low cleaning efficiency and easily bring poor experience to users.

In summary, therefore, in the case of turning obstacle avoidance to walk along the edge, the present embodiment preferably uses the method provided in step 2021 to determine the corresponding movement amount and movement speed for performing the extension movement control on the cleaning assembly.

In addition to the above-mentioned turning obstacle avoidance to be in an edgewise walking scenario, there is an edgewise walking scenario, that is, the situation that the robot walks directly and normally without obstacle avoidance as described in other embodiments, as shown in fig. 6c, when walking from the mobile cleaning device to the point B, the edgewise walking scenario is to be performed next, where the movement amount and the movement speed corresponding to the roller assembly can be determined directly according to the behavior information. Based on this, in another implementation solution, the 202 "dynamically controlling the driving component according to the behavior information" may include:

2021', determining a movement amount and a movement speed of the cleaning member according to the behavior information;

2022', controlling the drive assembly according to the amount of movement and the speed of movement.

In 2021' above, the amount of movement (also referred to as the magnitude of movement) may be determined based on the distance of the drum assembly from the edge target object when the behavior information characterizes the travel pattern from the mobile cleaning device as a normal edge travel pattern. Thus, in a specific implementation, the step 2021' "of determining the movement amount and the movement speed of the roller assembly according to the behavior information may include the following steps:

S1, determining a walking mode of the self-moving cleaning equipment according to the behavior information;

s2, determining an edge target object when the walking mode is an edge walking mode;

s3, determining a moving amount according to the distance between the cleaning component and the target object;

s4, determining the moving speed of the cleaning assembly according to the behavior information.

For a description of the specific implementation of steps S1 to S4 above, reference may be made to the relevant content in other embodiments.

The above embodiment may further include other steps besides the steps described above, and regarding other steps and the same specific implementation, reference may also be made to the related matters in the other embodiments.

Further, the position of the drum assembly may be controlled by the user in addition to varying according to the behavior of the self-moving cleaning apparatus. That is, the method provided by the embodiment of the application may further include the following steps:

203. and responding to an instruction triggered by a user through the interaction device on the self-moving cleaning equipment, and controlling the driving assembly to drive the roller assembly to move to the user indication position.

The interaction device can be a voice interaction device, a touch screen, an operation control and the like which are arranged on the self-moving cleaning equipment.

An embodiment of the present application further provides a cleaning system, where the cleaning device includes a base station and the self-moving cleaning device provided in other embodiments of the present application. The base station is used for providing docking services for the self-moving cleaning device, and in addition, the base station can also provide charging, replenishment (such as liquid replenishment), discharge (such as sewage discharge) and the like services for the self-moving cleaning device. The self-moving cleaning device can realize the functions corresponding to the steps in the method embodiment provided by the application.

The self-moving cleaning apparatus mentioned in the embodiments of the present application may be a cleaning robot, such as a floor mopping robot, a sweeping and mopping integrated robot, etc., which is not limited in the embodiments of the present application.

Finally, the technical scheme provided by the embodiment of the application is explained by combining with a specific application scene.

The user has a robot of sweeping floor in the house, has drive assembly and the cylinder subassembly of being connected with drive assembly on this robot of sweeping floor, and the cylinder subassembly can carry out autorotation (rotation) and horizontal migration along self axis. The user turns on the power switch device of the sweeping robot to clean the ground. In the floor cleaning process, the floor sweeping robot detects that a wall body is encountered through an upper sensor (such as a radar), a walking mode is adjusted for the wall body to start to walk along the edge of the wall body, after the walking mode is adjusted, the distance between the end, which is closer to the wall body, of the roller component and the widest edge of the roller component and the distance between the widest edge of the roller component and the edge of the wall body are determined, the upper sensor is used for detecting the distance between the widest edge of the roller component and the edge of the wall body, and the driving component is controlled to work so as to provide power according to the determined distance, thereby driving the roller component to stretch out and move in the direction of approaching the wall body, the roller component stretches out of the widest edge of the floor sweeping robot to contact with (be attached to) the wall body, no gap exists between the roller component and the wall body, and the floor sweeping robot can clean the edge of the wall through the roller component in the edge walking process, so that the floor is cleaner. Further, when the end of the edge walking mode is detected and the sweeping robot is changed to start normal walking, the sweeping robot can drive the roller assembly to carry out recovery (retreating) movement through the driving assembly, and the roller assembly does not exceed the widest edge of the sweeping robot after recovery movement.

Embodiments of the present application also provide a computer-readable storage medium. The computer readable storage medium has stored therein a computer program which, when executed by, for example, a self-moving cleaning device, is capable of carrying out the steps or functions of the control method provided by the above-described method embodiments.

Embodiments of the present application also provide a computer program product comprising a computer program which, when executed by a processor, such as a processor (controller) in a self-moving cleaning apparatus, causes the processor to carry out the steps or functions of the control method provided in the above embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims

1. A self-moving cleaning apparatus, comprising:

A main body;

2. The self-moving cleaning apparatus of claim 1, wherein the cleaning assembly is a roller assembly, and the cleaning member included in the roller assembly is a roller; the roller assembly further includes: a dirt collecting tray; the dirt collecting tray is arranged on one side of the roller and is used for collecting dirt flowing down from the roller.

3. The self-moving cleaning apparatus of claim 2, wherein the roller assembly further comprises: a dirt scraping member; the dirt scraping piece is arranged above the dirt collecting disc, one end of the dirt scraping piece is in interference contact with the roller, and the dirt scraping piece is used for scraping dirt on the roller.

4. A self-moving cleaning apparatus as recited in claim 3, wherein said drum assembly further comprises a deflector for diverting dirt scraped from said drum into said dirt collection tray.

5. The self-moving cleaning apparatus of claim 2, further comprising; the recycling box, the suction channel and the suction motor;

one end of the suction channel is connected with the recovery box, and the other end of the suction channel is connected with the roller;

the suction motor is disposed in the suction passage for providing a suction force to suck dirt flowing down the drum into the recovery tank.

6. The self-moving cleaning apparatus of claim 5, wherein the suction channel is a hose that can follow the movement of the roller assembly.

7. The self-moving cleaning apparatus as recited in any one of claims 1-6, wherein said drive assembly is further capable of rotating said cleaning element relative to said main body; and

the self-moving cleaning apparatus further comprises: a conductive slot assembly for powering the drive assembly;

the conductive groove assembly comprises a conductive groove body and a power receiving piece, wherein the power receiving piece is arranged in the conductive groove body and can move in the conductive groove body and is used for being electrically connected with an electric interface of the driving assembly;

When the driving component moves along with the cleaning component, the power receiving piece moves in the conductive groove to follow the cleaning component, so that the driving component can move and simultaneously can keep a power supply state.

8. The self-moving cleaning apparatus of any one of claims 1 to 6, wherein the movement comprises extension and retraction;

when the movement is extension, one end of the cleaning component extends out of at least one side widest edge of the main body; wherein the one-side widest edge is one of opposite side edges of the main body which are spaced apart from the farthest in a direction perpendicular to a traveling direction thereof.

9. The self-moving cleaning apparatus of any one of claims 1-6, wherein the cleaning assembly is a roller assembly;

the roller assembly moves linearly along the axis of the roller assembly towards the target direction; wherein the target direction is perpendicular to a walking direction of the main body.

10. The self-moving cleaning apparatus of any one of claims 1-6, wherein the cleaning assembly is a turntable assembly;

the turntable assembly moves along a set arc line in two different directions which are perpendicular to each other at the same time;

The number of the turntable assemblies is two, and the two turntable assemblies respectively move along different set arcs towards the same side direction of the main machine body.

11. The control method of the self-moving cleaning equipment is characterized in that the self-moving cleaning equipment is provided with a driving component and a cleaning component connected with the driving component; the method comprises the following steps:

determining behavioral information of the self-moving cleaning device;

the driving assembly is dynamically controlled according to the behavior information, so that the driving assembly drives the cleaning assembly to correspondingly move along with the behavior of the self-moving cleaning equipment, and the position of the cleaning assembly relative to the self-moving cleaning equipment is changed;

wherein the cleaning assembly moves relative to the self-moving cleaning device along its own axis or set arc.

12. The method of claim 11, wherein the behavioral information includes differential information of two drive wheels of the self-moving cleaning apparatus; and

dynamically controlling the driving assembly according to the behavior information, including:

and dynamically controlling the driving assembly according to the differential information.

13. The method of claim 12, wherein dynamically controlling the drive assembly based on the differential information comprises:

Determining the turning speed and the turning radius of the self-moving cleaning equipment according to the differential information when the differential information characterizes that the behavior of the self-moving cleaning equipment is turning obstacle avoidance;

determining an amount of movement required by the cleaning assembly based on the turning radius;

determining a required movement speed of the cleaning device according to the turning radius and the turning speed;

and controlling the driving assembly according to the moving speed and the required moving speed.

14. The method of claim 13, wherein the amount of movement corresponding to when the turning radius is large is less than the amount of movement corresponding to when the turning radius is small;

the corresponding moving speed is larger than the corresponding moving speed when the turning radius is large and the turning speed is low when the turning radius is small and the turning speed is high.

15. The method of claim 11, wherein dynamically controlling the drive assembly based on the behavioral information comprises:

determining the movement amount and the movement speed of the cleaning component according to the behavior information;

and controlling the driving assembly according to the moving amount and the moving speed.

16. The method of claim 15, wherein determining the amount and speed of movement of the cleaning assembly based on the behavioral information comprises:

Determining a walking mode of the self-moving cleaning equipment according to the behavior information;

when the walking mode is a edgewise walking mode, determining an edgewise target object;

determining the amount of movement based on the distance of the cleaning assembly from the target object;

and determining the moving speed of the cleaning component according to the behavior information.

17. The method of claim 16, wherein determining the amount of movement based on the distance of the cleaning assembly from the target object comprises:

acquiring a first distance between one end of the cleaning assembly, which is close to the target object, and the widest edge of one side of the self-moving cleaning device;

acquiring a second distance between the widest edge of one side of the self-moving cleaning device and the target object;

determining the movement amount according to the first distance and the second distance;

18. The method of any one of claims 11 to 17, wherein the cleaning assembly is a drum assembly or a turntable assembly;

The roller assembly comprises a roller and a dirt collecting tray, wherein the dirt collecting tray is used for collecting dirt flowing down from the roller;

and, when the cleaning assembly is a roller assembly, the method further comprises:

19. A cleaning system, comprising: a base station and a self-moving cleaning apparatus as claimed in any one of claims 1 to 10.