CN117519201A - Self-moving robot and acquisition module - Google Patents

Abstract

The embodiment of the application provides a self-moving robot and an acquisition module. The self-moving robot includes: a machine body provided with a running mechanism; the execution device is arranged on the machine body and is used for executing the job task; the acquisition device is arranged on the machine body and used for acquiring environmental parameters; the self-cleaning device is arranged on the machine body and used for cleaning the collecting device; and the controller is electrically connected with the collecting device and the self-cleaning device and is used for controlling the self-cleaning device to work when the collecting device needs cleaning. In a first self-cleaning mode, the controller controls the self-cleaning device to clean the acquisition device when the travelling mechanism drives the self-moving robot to travel; in the second self-cleaning mode, the controller controls the self-cleaning device to clean the collection device when the self-moving robot is docked at the base station. According to the technical scheme, the problem of fuzzy acquired information of the self-moving robot in walking or in a static state is solved, and the acquired information of the acquisition device of the self-moving robot in any state is ensured to be clearly visible.

Description

Self-moving robot and acquisition module

Technical Field

The application relates to the technical field of robots, in particular to a self-moving robot and an acquisition module.

Background

Self-moving robots, such as lawn mowing robots, cleaning robots, etc., sense information in the environment through an acquisition device to have the ability to acquire their own position. For example, the acquisition device acquires image information on a traveling path of the mobile robot or image information of a surrounding environment at rest; the self-mobile robot controller analyzes and obtains information including but not limited to obstacle information, distance information, environment information and the like based on the collected image information, and the information obtained by analysis is processed to automatically finish accurate positioning, identification and navigation of equipment.

If the outer wall of the acquisition device is covered by dirt, the acquired image information is blurred; therefore, the controller cannot analyze accurate information from the blurred image information, so that the functions of positioning, identifying and navigating the equipment are greatly reduced.

Disclosure of Invention

The application provides a from mobile robot and collection module to solve or improve the problem that prior art exists.

In a first embodiment of the present application, there is provided a self-moving robot including:

a machine body provided with a running mechanism;

the execution device is arranged on the machine body and is used for executing the job task;

the acquisition device is arranged on the machine body and is used for acquiring environmental parameters;

the self-cleaning device is arranged on the machine body and used for cleaning the collecting device;

the controller is electrically connected with the acquisition device and the self-cleaning device and is used for controlling the self-cleaning device to work when the acquisition device needs cleaning;

the self-moving robot is provided with at least a first self-cleaning mode and a second self-cleaning mode, and in the first self-cleaning mode, the controller controls the self-cleaning device to clean the collecting device when the travelling mechanism drives the self-moving robot to travel; in the second self-cleaning mode, the controller controls the self-cleaning device to clean the collecting device when the self-moving robot stops at a base station.

In a second embodiment of the present application, an acquisition module is provided. The collection module comprises:

a module carrier;

the acquisition device comprises an acquisition unit and a processing chip which are electrically connected;

the self-cleaning device comprises a cleaning executing piece and a power module which are connected;

wherein the acquisition unit is arranged at the top of the module carrier; the cleaning executing piece is arranged on the front side of the module carrier, and the power module is arranged in the module carrier;

the processing chip is arranged in the module carrier and is positioned at the rear lower part of the power module.

According to the technical scheme, the self-cleaning device for cleaning the outer wall of the acquisition device is additionally arranged on the self-moving robot, the problem that acquired information of the self-moving robot is fuzzy in walking or in a static state is solved, and the acquired information of the acquisition device of the self-moving robot is guaranteed to be clearly visible in any state.

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 schematic view of a self-moving robot according to an embodiment of the present application;

FIG. 1b is a schematic view of a self-cleaning device at a panoramic camera on top of a self-moving robot, as shown in another embodiment of the present application;

FIG. 2 is a schematic diagram of a collecting device and a self-cleaning device according to an embodiment of the present disclosure;

FIG. 3 is a cross-sectional view of the structure shown in FIG. 2;

FIG. 4 is a schematic view of a cleaning implement of a self-cleaning device according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a power module according to an embodiment of the disclosure;

FIG. 6a is a schematic diagram of an end face structure of a first embodiment of a wiper strip;

FIG. 6b is a schematic perspective view of a first embodiment of a wiper strip;

FIG. 7a is a schematic diagram of an end face structure of a second embodiment of a wiper strip;

FIG. 7b is a schematic perspective view of a second embodiment of a wiper strip;

FIG. 8a is a schematic end view of a third embodiment of a wiper strip;

FIG. 8b is a schematic perspective view of a third embodiment of a wiper strip;

fig. 9 is a schematic flow chart of a self-cleaning method of a self-moving robot according to an embodiment of the present application.

Detailed Description

The self-moving robot, such as a mowing robot, a cleaning robot and the like, introduces a V-SLAM (visual-SLAM) technology to improve the capability of the self-moving robot to acquire the self-position in an unknown environment, and realizes the self-positioning and navigation of the intelligent self-moving robot by constructing a walking path map through self-learning. The SLAM is synchronous positioning and mapping, and is called simultaneous localization and mapping, SLAM. The key module realized by the V-SLAM technology is an image acquisition unit and is used for acquiring image information on a walking path of the self-moving robot or image information of surrounding environment during static state, the controller analyzes the acquired image information to obtain information including but not limited to obstacle information, distance information, environment information and the like, and the information obtained by analysis is subjected to data processing and data storage to automatically finish accurate positioning, identification and navigation of the self-moving robot.

The V-SLAM technology of the self-mobile robot realizes the definition of the pictures acquired by the image acquisition unit, the surface of the image acquisition unit is blurred, the image information shot and collected by the image acquisition unit is blurred, and the controller cannot analyze the blurred image information to obtain the obstacle information, the distance information, the environment information and the like of the intelligent self-mobile robot in the walking process or the static process of the intelligent self-mobile robot, so that the positioning, identifying and navigation functions of the self-mobile robot are greatly reduced.

Aiming at the problems, the embodiments of the application provide a scheme capable of reducing the battery charging interruption times as much as possible; furthermore, a scheme for guiding the user to start the self-cleaning function in time after the cleaning equipment is used is provided.

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.

A self-moving robot is a device with a driving wheel that can move by itself. The working scene of the self-moving robot can be an indoor area or an outdoor area to execute specific work, such as cleaning working surfaces (such as floors, desktops, walls, windows and the like), mowing, water absorption and the like. By function, the self-moving robot may be, but is not limited to: cleaning robots, sweeping robots, floor washing machines, lawn mowers, home service robots, and the like, which are not particularly limited in this embodiment.

An embodiment of the present application provides a self-moving robot. The self-moving robot may be various devices (or robots) having an autonomous moving function, such as a planned path, an autonomous obstacle avoidance function, and the like. Specifically, as shown in fig. 1a and 1b, the self-moving robot may include: the device comprises a machine body 1, a collecting device 3, an executing device (not shown in the figure), a self-cleaning device 4 and a controller (not shown). If the self-moving robot is an intelligent mower, the executing device is a cutter head arranged at the bottom of the machine body 1, and the corresponding operation task is a mowing task. If the self-moving robot is a cleaning robot, the executing device may be a cleaning device such as a rolling brush or a rag on the machine body 1, and the corresponding task is a sweeping, dragging or wiping task. Wherein the machine body 1 is provided with a travelling mechanism 2. The execution device is provided on the machine body 1 for executing a job task. The acquisition device 3 is arranged on the machine body 1 and is used for acquiring environmental parameters. A self-cleaning device 4 is arranged on the machine body 1 for cleaning the collecting device. The controller is electrically connected with the collecting device 3 and the self-cleaning device 4, and is used for controlling the self-cleaning device 4 to work when the collecting device 3 needs cleaning.

The self-moving robot is provided with at least a first self-cleaning mode and a second self-cleaning mode, and in the first self-cleaning mode, the controller controls the self-cleaning device to clean the collecting device when the travelling mechanism drives the self-moving robot to travel; in the second self-cleaning mode, the controller controls the self-cleaning device to clean the collecting device when the self-moving robot stops at a base station.

When the collecting device is dirty, the controller controls the self-cleaning device to work; or after the collecting device works for a certain period of time or the last cleaning time exceeds a set period of time, the controller controls the self-cleaning device to work; or the controller controls the self-cleaning device to work before the self-moving robot executes the task, and the task is executed after the collecting device is cleaned; or after the self-moving robot performs the task, the controller controls the self-cleaning device to work, and the collecting device stops after cleaning; or when the execution device pauses execution of the job task, the controller controls the self-cleaning device to work so as to clean the acquisition device in the pause gap; etc.

For example, in one specific example, in the first self-cleaning mode, the controller controls the self-cleaning device to clean the collecting device according to the dirt degree of the outer wall of the collecting device. More specifically, in the first self-cleaning mode, the controller identifies the dirt level of the outer wall of the collection device based on the collection information of the collection device; and triggering the self-cleaning device to work when the dirt degree is larger than a threshold value.

In the first self-cleaning mode, the controller may control the self-cleaning device to operate when the execution device pauses execution of the job task.

In another specific example, in the second self-cleaning mode, the controller controls the self-cleaning device to clean the collection device before the self-moving robot is charged and leaves the base station.

In addition, in the first self-cleaning mode, the self-moving robot can walk and clean the collecting device, and also can stop walking to trigger the self-cleaning device to work, and the self-moving robot starts walking after the collecting device is cleaned.

Wherein the self-cleaning device has a non-working state and a working state. As shown in fig. 2, in the non-operating state, the cleaning actuator 41 of the self-cleaning device 4 is outside the collection range of the collection device 3; in the working state, the cleaning executing member 41 executes the cleaning action within the collecting range to clean the outer wall of the collecting device 3.

The self-moving robot may be, but is not limited to, an implement, such as a mower, for use outdoors to maintain an outdoor environment clean. The self-moving robot comprises a machine body 1 and a travelling mechanism 2. As shown in fig. 1a, the travelling mechanism 2 is disposed at the bottom of the machine body 1 and is used for driving the machine body to move around. The running gear 2 may comprise a drive wheel 21 and a universal wheel 22. The driving wheel 21 may be provided at the rear of the machine body 1 and the universal wheel 22 at the front of the machine body 1. Of course, the reverse is also possible, i.e. the driving wheel is located at the front of the machine body and the universal wheel is located at the rear of the machine body. The acquisition device 3 may be arranged on the machine body 1 for acquiring environmental parameters. In particular embodiments, the collection device 3 may include, but is not limited to: fisheye cameras, time of Flight (TOF) modules (e.g., lidar), panoramic cameras, and the like. The collecting device 3 may be provided on top of the machine body 1. For example, as shown in fig. 1a, a panoramic camera 32 may be provided on the top surface of the body 1 and disposed upward for identifying the working environment of the self-moving robot. The fisheye camera and the TOF module 31 may be located on a side of the body 1, which may be, but not limited to, the same side as the forward direction of the self-moving robot, and disposed obliquely forward. The fisheye camera and the TOF module can be used to identify the travel path and possible obstacles from the direction of travel of the mobile robot. Wherein the forward tilting may be as shown in fig. 1a, toward the front of the self-moving robot, and the lower head tilting to be toward the obliquely front of the body.

What is needed here is that: the embodiments shown in fig. 1a to 3 only show the solution of a self-cleaning device arranged at the fisheye camera and the TOF module 31 for cleaning the fisheye camera and the TOF module 31. Essentially, a self-cleaning device 4 may also be provided at the panoramic camera. The cleaning implement of the self-cleaning device 4 is adapted to the housing of the panoramic camera 32. As in the example shown in fig. 1b, the housing of the panoramic camera 32 is hemispherical, and the cleaning implement of the self-cleaning device 4 may be a wiper strip adapted to the hemispherical shape. Under the operating condition, the scraping strip is rotatable, the left side of the panoramic camera is stuck to the shell of the panoramic camera from a horizontal posture to a vertical posture, and then the left side of the panoramic camera is turned to the right side of the panoramic camera from the horizontal posture, so that one cleaning action is completed.

Further, as shown in fig. 2 and 3, in a specific embodiment, the self-cleaning device 4 may further include a power module 42 in addition to the cleaning implement 41, and the cleaning implement 41 is provided with a scraping strip 410. In the working state, the power module 42 drives the cleaning executing member 41 to act, so that the scraping strip 410 enters the collection range from the outside of the collection range of the collection device 3 and contacts with the outer wall of the collection device 3, and performs reciprocating motion to clean. Specifically, as shown in the embodiment of fig. 2 and 3, the fisheye camera and the TOF module 31 are mounted on a module carrier, and have the same transparent cover. The outer side wall of the transparent cover is the object to be cleaned by the cleaning implement 41. The transparent cover may be transparent glass, transparent plastic, or the like, which is not limited in this embodiment.

As shown in fig. 3 and 4, the cleaning actuator 41 may be implemented as follows. Specifically, the cleaning implement 41 may include: swing rod 411, scraping strip bracket 412, spring 413 and power connector 414. One end of the swing rod 411 is connected with the scraping strip bracket 412, and the other end is connected with the power connecting piece 414. One end of the spring 413 is connected with the swing rod 411, and the other end is connected with the power connecting piece 414. The power connection 414 is connected with the power module 42; the wiper strip 410 is detachably connected to the wiper strip holder 412. In practice, the spring 413 may be a tension spring or the like.

As shown in fig. 5, the power module 42 may include, but is not limited to: motor support, motor 422 and power take off. The power take-off comprises a power shaft 423 and a follower 424. The follower 424 extends from the shaft wall of the power shaft 423 in the cross-sectional radial direction of the power shaft 423. The motor 422 drives the power shaft 423 to rotate; the motor 422 and the power take-off are respectively located at two sides of the motor support. More specifically, as shown in fig. 5, the motor bracket includes a partition plate 421 disposed vertically (e.g., Y-direction in fig. 5) and a supporting frame 426 extending laterally (e.g., X-direction in fig. 5). The motor 422 is disposed on a support bracket 426. The motor 422 and the power take-off are located on both sides of the partition plate 421, respectively. For example, the motor 422 in the power module may be a high torque motor, and may be adapted to wipe various complex dry or wet conditions with a wiper.

Further, as shown in fig. 5, two triggering members 5 are provided on the motor support, so that one triggering member 5 is triggered when the follower 424 rotates in a first direction around the axis of the power shaft to a first position, and the other triggering member 5 is triggered when the follower rotates in a second direction around the axis of the power shaft to a second position. The controller is configured to control the motor 422 to switch the direction of rotation power in response to the trigger member triggered by either one of the two trigger members 5. The controller may count the number of swings of the follower 424, in addition to controlling the motor 422 to switch the direction of the rotational force when the trigger 5 is triggered. For example, in some scenarios, in a self-cleaning program preconfigured by the self-moving robot, the cleaning execution member is set to swing N times for one cleaning task, where N may be 5, 10 or any positive integer. The controller starts counting after controlling the motor to start working; counting a number of times when a trigger is triggered; the other trigger is counted again when triggered. Assuming that the number of oscillations of the cleaning implement for one cleaning task is 10, the controller controls the motor to stop working when the count reaches 10. Alternatively, the controller counts 0.5 times when one trigger is triggered; when the other trigger piece is triggered, counting for 0.5 again; and after the counting is the set times, controlling the motor to stop working.

As shown in fig. 5, the motor bracket includes a partition plate 421. The power shaft 423 is perpendicular to the partition plate 421; the two triggering pieces 5 and the power output piece are respectively positioned at two sides of the partition plate 421; two buffer members 425 are further arranged on one side of the partition plate 421 corresponding to the power output member; the two buffer members 425 are respectively arranged at the first position and the second position, so that the pause friction in the wiping process can be reduced, the service life of the motor is prolonged, and the cleaning effect of the whole self-cleaning device is greatly ensured.

In practical applications, the triggering element 5 may be a hall element, and the follower 424 may be provided with a magnet 6. When the follower 424 rotates to the first position along with the power shaft 423, the magnet on the follower 424 corresponds to one of the hall elements, the hall element is triggered to generate a trigger signal, and the trigger signal is sent to the controller. When the follower 424 rotates to the second position, the magnet on the follower 424 corresponds to the position of the other hall element, and the hall element triggers to generate a trigger signal and sends the trigger signal to the controller. As shown in fig. 3, the follower 424 is provided with a recess, and the magnet 6 can be inserted into the recess. More specifically, the magnet 6 is disposed at the end of the follower 424 remote from the power shaft 423.

Of course, the following arrangement is also possible. The trigger piece 5 is disposed on the follower 424, that is, a hall element is disposed on the follower 424, a first magnet is disposed on the other side of the partition plate 421 corresponding to the first position, and a second magnet is disposed corresponding to the second position.

As shown in fig. 6a, 6b, 7a, 7b, 8a and 8b, the scraping strip 410 includes a connection base 7, a return elastic body 8 extending from an upper end surface of the connection base 7 along a direction perpendicular to the upper end surface, and a scraping body 9 shrinking upward from the return elastic body 8 to form a pointed shape. Wherein the elastomer 8 gives the wiper strip elasticity; the scraping body 9 is in line contact with the outer wall of the collecting device 3.

Specifically, as shown in fig. 6a and fig. 4, the connection seat 7 includes a plate-shaped base and an extension plate extending from an upper end surface of the plate-shaped base along a direction perpendicular to the upper end surface; the cross section of the plate-shaped base and extension plate combined structure is T-shaped. Correspondingly, the scraper bar support 412 is provided with an adaptive slot, such as a T-shaped slot. Thus, the connection seat 7 is inserted into the slot to complete the installation of the scraping strip.

As shown in fig. 6a and 6b, the resilient body 8 is provided with resilient grooves 80 on opposite side walls. The resilient groove 80 is designed to give the wiper strip resiliency. Alternatively, as shown in fig. 7a, 7b, 8a and 8b, the elastomer 8 has at least one hollow-out structure 81 in the middle. Referring to the example shown in fig. 7a and 7b, the resilient body 8 has two hollow-out structures 81 in the middle. In the example shown in fig. 8a and 8b, the resilient body 8 has a hollow-out structure 81 in the middle. Of course, there may be more, such as three, four, etc., and this embodiment is not exemplary.

In particular embodiments, the wiper strip may be a PVC (Polyvinyl Chloride ) material. For example, the scraping strips are all made of PVC materials. Alternatively, as shown in fig. 8a and 8b, the outer portion of the rebound body 8 may be provided with a coating layer 82, and the coating layer 82 may be made of nylon cloth material. Alternatively, nylon cloth is provided at the lower parts of the rebound body 8 and the scraping body 9.

The hardness of the upper part of the scraping body 9 is smaller than that of the lower part of the scraping body 9; the hardness of the lower part of the scraping body 9, the rebound body 8 and the connecting seat 7 is the same.

The embodiment of the application provides a strip is scraped to many different shapes, need not to spray clear water or other washing liquid at collection system's outer wall and washs, can strike off the dirt through scraping the strip. In addition, the scraping force of the scraping strip can be controlled in a better range by selecting a proper spring, and the scraping force is not too large or too small. The scraping force is too large, the scraping strip movement resistance is large, and the energy consumption is large. The scraping force is too small and the cleaning effect is insufficient.

In addition, the scraping strip with the rebound body is adopted, the scraping strip is in elastic contact with the outer wall of the collecting device, fine particle dust attached to the surface of the outer wall in the cleaning process is rapidly separated from the surface along the scraping direction of the scraping strip, fine particles cannot adhere between the scraping strip and the outer wall to rub, and the risk of scraping the surface of the outer wall is avoided.

As shown in fig. 2 and 3, the self-moving robot further comprises a module carrier 10. The acquisition device 3 comprises an electrically connected acquisition unit and a processing chip 33. Wherein the acquisition unit may include, but is not limited to: fisheye camera and TOF module. The self-cleaning device 4 comprises a cleaning executing piece 41 and a power module 42; the acquisition unit is arranged on the top of the module carrier 10; the cleaning actuator 41 is disposed at the front side of the module carrier 10, and the power module 42 is disposed inside the module carrier 10; the processing chip 33 is arranged inside the module carrier 10 and is positioned at the rear lower part of the power module 42; the bottom of the module carrier 10 is also provided with a heat sink 11.

The processing chip 33 is used for processing the acquired information of the acquisition unit, so as to send the processing result to the controller of the self-moving robot, so that the controller can control the robot based on the processing result. The processing chip 33 may have a certain computing power, such as an image recognition capability, a data computing capability, and the like.

The self-cleaning device in the embodiment of the application can work under the instruction of a user, when the acquisition device is detected to be cleaned, or before or after the task is executed. For example, the self-mobile robot is provided with an interaction device (such as voice interaction, control, touch screen and the like), and a user can trigger an instruction through the interaction device to control the self-cleaning device to clean the acquisition device. Alternatively, the user sends an instruction to the self-moving robot via a client device (e.g., a mobile phone, a smart wearable device, a computer, etc.) so that the self-moving robot starts the self-cleaning device after receiving the instruction. Or starting the acquisition device to work from the mobile robot, and determining whether cleaning is needed or not according to the acquisition information of the acquisition device. And if the cleaning is required, controlling the self-cleaning device to clean the collecting device. Or the self-moving robot controls the self-cleaning device to clean the collecting device before or after the task is executed, and then the task is executed or stopped after the cleaning is finished. Or the collecting device works for a certain time or the distance from the last cleaning exceeds a set time, and the self-cleaning device is controlled to clean the collecting device.

Namely, the following embodiment of the application also provides a self-cleaning method of the self-moving robot. The self-moving robot is provided with a collecting device and a self-cleaning device. Specifically, as shown in fig. 9, the self-cleaning method of the self-moving robot may include:

s1, controlling the self-cleaning device to work, wherein a cleaning executing piece of the self-cleaning device executes a cleaning action within a collection range of the collection device so as to clean the outer wall of the collection device;

s2, determining whether the end requirement is met or not based on the acquisition information of the acquisition device;

and S3, controlling the self-cleaning device to stop working when the self-cleaning device is satisfied, wherein the cleaning executing piece is positioned outside the collection range of the collection device.

Further, if S4 is not satisfied, the process returns to S1.

The execution subject of the method provided by the embodiment of the application may be a controller of a self-moving robot. The controller can receive the user command,

The above S1 may specifically be: the controller starts to the motor of power module to drive the action of scraping the strip and clean the outer wall of collection system.

The collecting device in S2 may include, but is not limited to: camera, TOF module etc. Accordingly, the acquisition information of the acquisition device may include image information. By identifying the image information, such as whether there is dirt, image sharpness, etc. And if no dirt exists in the image information and/or the image definition meets the preset definition requirement, determining that the ending requirement is met. And if the image information is identified to have dirt and/or the image definition does not meet the preset definition requirement, determining that the ending requirement is not met.

For example, in rainy days or heavy fog days, water vapor is attached to the outer glass surface of a collecting device (such as an image collecting unit), the image collecting unit recognizes and judges that surface fog beads affect positioning, recognition and navigation of the self-moving robot, the self-moving robot executes shutdown action logic, the self-cleaning device starts scraping the water vapor on the glass surface for a plurality of times, and the self-moving robot continues to execute work tasks or returns to a base station after wiping is completed.

The triggering time of the collecting device in S2 to be triggered to collect the information may be after the self-cleaning device performs the cleaning time or the cleaning operation for the set times. That is, the method provided in this embodiment may further include:

s5, after the self-cleaning device executes cleaning actions with set cleaning time or set times, the collecting device is started to collect information.

The set cleaning time period is not particularly limited herein, and may be 30s, 1min, or the like. What is needed here is that: when the controller controls the self-cleaning device to start working, timing is started, and after the timing time length reaches the set time length, the acquisition device is started to acquire information. The number of the above-mentioned settings may be 10 times, 20 times, etc. As mentioned above, the controller triggers the trigger member after controlling the self-cleaning device to start working, the follower rotates along with the power shaft, and the controller counts once in response to the triggered trigger member. After the counted times reach the set times, the controller starts the acquisition device to acquire information.

Further, the method provided in this embodiment may further include at least one of the following:

triggering the self-cleaning device to work before the self-moving robot executes a task;

triggering the self-cleaning device to work before the self-moving robot leaves the base station;

based on the acquisition information of the acquisition device, recognizing the dirt degree of the outer wall of the acquisition device; when the dirt degree is larger than a threshold value, triggering the self-cleaning device to work;

triggering the self-cleaning device to work when the time from the last cleaning exceeds a first time;

and triggering the self-cleaning device to work after the self-moving robot continuously works for a second time period.

The first duration and the second duration may be any duration, which is not limited in this embodiment. For example, the first duration is 1 hour, 6 hours, or more; the second time period may be 20min, 30min, etc

Further, the method provided in this embodiment further includes:

s6, after the self-moving robot pauses to execute the task, the self-cleaning device is controlled to work again.

Further, the method provided in this embodiment further includes: and if the task of the self-moving robot is not finished, executing the unfinished task after the self-cleaning device stops working.

Assuming that the self-moving robot is a lawn mowing robot, the task of the lawn mowing robot is to clear the lawn in the current yard. The mowing robot plans a mowing path, and travels along the mowing path and performs mowing actions. And if the robot moves to a certain position A in the middle of the mowing path and the mowing robot needs to clean the collecting device, stopping the mowing robot from moving, and controlling the self-cleaning device to work so as to clean the collecting device. After the collecting device is cleaned, the collecting device continues to travel along a subsequent path by taking the position A as a starting point and executes mowing action.

The application provides an intelligent mower, include: organism, collection device, self-cleaning device and controller. Wherein, the machine body is provided with a running mechanism. The acquisition device is arranged on the machine body and used for acquiring environmental parameters. The self-cleaning device is arranged on the machine body and has a non-working state and a working state; in a non-working state, the cleaning executing piece of the self-cleaning device is positioned outside the collection range of the collection device; and in the working state, the cleaning executing piece executes cleaning action in the collecting range so as to clean the outer wall of the collecting device. And the controller is electrically connected with the acquisition device and the self-cleaning device and is used for realizing the steps in the self-cleaning method of the self-moving robot provided by the embodiment.

The acquisition device is an image acquisition device and is obliquely arranged at the top of the front side of the machine body forwards.

Namely, the technical scheme provided by the embodiments is suitable for the intelligent mower. For details of the body, the collecting device, the self-cleaning device, and the control logic of the controller, reference should be made to the above description, and details are not repeated here.

In addition, the collection device and the self-cleaning device in the application can be used as a module, can be used as an independent component, and can be installed on any equipment needing environment information collection, such as an intelligent mower, a service robot, an intelligent air purifier, a cleaning robot and the like. As shown in fig. 2 and fig. 3, an embodiment of the present application further provides an acquisition module, including: module carrier 10, collection device 3 and self-cleaning device 4. The collecting device 3 includes a collecting unit and a processing chip 33 which are electrically connected. The self-cleaning device 4 includes a cleaning implement 41 and a power module 42 connected thereto. Wherein the acquisition unit is arranged on top of the module carrier 10; the cleaning actuator 41 is disposed at the front side of the module carrier 10, and the power module 42 is disposed inside the module carrier 10; the processing chip 33 is disposed inside the module carrier 10 and below the rear of the power module 42.

Further, as shown in fig. 3, a heat sink 11 is further disposed at the bottom of the module carrier 10. The heat sink 11 is used to dissipate heat generated during the operation of the processing chip.

Correspondingly, an embodiment of the application also provides a self-moving robot system. The self-moving robot system may include: the self-moving robot and the base station provided in the above embodiments. The base station is provided with a stopping platform, and the self-mobile robot advances to the stopping platform of the base station after the task is completed, when the electric quantity is insufficient or maintenance is needed. After the self-moving robot performs the task, the self-moving robot can be in butt joint with the charging end of the base station to charge, and the self-moving robot stops at the base station after charging. When the self-moving robot needs to be charged in the middle of executing the task, the self-moving robot can travel to the base station to be in butt joint with the charging end of the base station for charging, and the self-moving robot starts to continue to execute the unfinished task after charging. Assuming that the self-moving robot is a cleaning robot, when the cleaning robot requires maintenance, the cleaning robot may travel to the base station to interface with the supply port of the base station for supply of materials (e.g., water). Assuming the self-moving robot is a lawn mower robot, the lawn mower robot may travel to a base station when maintenance is required so that the base station can replace cutterhead with the lawn mower robot, and so on.

The following describes the technical schemes provided in each embodiment of the present application in connection with a specific application scenario.

Scene one

The intelligent mower works in rainy days. Working in rainy days, the soil of the lawn is wet and slippery. In the process of trimming lawns, a fisheye camera at the front end of the top of the intelligent mower and an outer cover of the TOF module are splashed with a lot of sludge. The intelligent mower stops advancing and starts the self-cleaning device to work when the intelligent mower is determined to need cleaning through identifying the images acquired by the fisheye camera and the TOF module. The self-cleaning device executes cleaning action to clean the fisheye camera and the outer cover of the TOF module. After the scraping strip of the self-cleaning device executes cleaning actions for set times, the controller of the intelligent mower controls the fisheye camera to acquire image information. When the intelligent mower recognizes that the image is determined to be clean, travel is initiated to continue performing tasks along the planned path. When the intelligent mower recognizes that the image is still required to be cleaned, the self-cleaning device is started again to work.

Scene two

The intelligent mower works on the lawn to trim the lawn. In the working process, the intelligent mower detects that the battery power is lower (for example, equal to or lower than 10%), and returns to the base station for charging. The intelligent mower travels to and interfaces with the base station. After the docking is completed, the base station charges the intelligent mower. When the electric quantity of the intelligent mower battery is 100%, the pollution degree is detected on the fisheye camera and the TOF module area of the intelligent mower. The higher the degree of soiling, the longer the working time of the self-cleaning device. For example, when the degree of soiling is low, the self-cleaning device is operated for 15 minutes. When the dirt level is moderate, the self-cleaning device works for 30min. When the dirt degree is heavy, the self-cleaning device works for 1min.

If the dirt degree corresponding to the fish-eye camera and the TOF module area is detected to be moderate, the intelligent mower starts the self-cleaning device to work so as to clean the outer covers of the fish-eye camera and the TOF module; the self-cleaning device stops working after cleaning for 30min. The intelligent mower is parked in the base station before the intelligent mower does not receive the next task.

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 (15)

1. A self-moving robot, comprising:

a machine body provided with a running mechanism;

the execution device is arranged on the machine body and is used for executing the job task;

the acquisition device is arranged on the machine body and is used for acquiring environmental parameters;

the self-cleaning device is arranged on the machine body and used for cleaning the collecting device;

the controller is electrically connected with the acquisition device and the self-cleaning device and is used for controlling the self-cleaning device to work when the acquisition device needs cleaning;

the self-moving robot is provided with at least a first self-cleaning mode and a second self-cleaning mode, and in the first self-cleaning mode, the controller controls the self-cleaning device to clean the collecting device when the travelling mechanism drives the self-moving robot to travel; in the second self-cleaning mode, the controller controls the self-cleaning device to clean the collecting device when the self-moving robot stops at a base station.

2. The self-moving robot of claim 1, wherein in the first self-cleaning mode, the controller controls the self-cleaning device to clean the collecting device according to a degree of contamination of an outer wall of the collecting device.

3. The self-moving robot of claim 2, wherein in the first self-cleaning mode, the controller identifies a degree of soiling of an outer wall of the collection device based on the collection information of the collection device; and triggering the self-cleaning device to work when the dirt degree is larger than a threshold value.

4. The self-moving robot of claim 1, wherein in the second self-cleaning mode, the controller controls the self-cleaning device to clean the collection device before the self-moving robot is charged and leaves the base station.

5. The self-moving robot of claim 1, wherein in the first self-cleaning mode, the controller controls the self-cleaning device to operate while the execution device pauses execution of a work task.

6. The self-moving robot as claimed in any one of claims 1 to 5, wherein the self-cleaning device comprises a cleaning actuator and a power module, wherein the cleaning actuator is provided with a scraping bar;

the power module drives the cleaning executing piece to act, so that the scraping strip enters the collecting range from the outside of the collecting range of the collecting device and contacts with the outer wall of the collecting device, and the reciprocating motion is executed to clean.

7. The self-moving robot of claim 6, wherein the cleaning implement comprises: the device comprises a swing rod, a scraping strip bracket, a spring and a power connecting piece;

one end of the swing rod is connected with the scraping strip bracket, and the other end of the swing rod is connected with the power connecting piece;

one end of the spring is connected with the swing rod, and the other end of the spring is connected with the power connecting piece;

the power connecting piece is connected with the power module;

the scraping strip is detachably connected with the scraping strip support.

8. The self-moving robot of claim 6, wherein the power module comprises: the motor comprises a motor bracket, a motor and a power output piece;

the power output piece comprises a power shaft and a follower, and the follower extends from the shaft wall of the power shaft along the radial direction of the cross section of the power shaft;

the motor drives the power shaft to rotate;

the motor and the power output piece are respectively positioned at two sides of the motor bracket;

the motor bracket is provided with two trigger pieces, so that one trigger piece is triggered when the follower rotates to a first position along a first direction around the axis of the power shaft, and the other trigger piece is triggered when the follower rotates to a second position along a second direction around the axis of the power shaft;

the controller is used for responding to the trigger piece triggered by any one of the two trigger pieces and controlling the motor to switch the rotating power direction.

9. The self-moving robot of claim 8, wherein the motor bracket comprises a divider plate;

the power shaft is perpendicular to the partition plate;

the two triggering pieces and the power output piece are respectively positioned at two sides of the partition plate;

two buffer parts are arranged on one side of the partition plate, which corresponds to the power output part;

the two cushioning members are disposed at the first position and the second position, respectively.

10. The self-moving robot of claim 6, wherein the wiper strip comprises:

a connecting seat;

the elastic body extends from the upper end face of the connecting seat along the direction vertical to the upper end face, and the elastic body enables the scraping strip to have elasticity; and

and the elastic body is contracted upwards to form a sharp-topped scraping body, wherein the scraping body is in line contact with the outer wall of the collecting device.

11. The self-moving robot of claim 10, wherein the rebound grooves are provided on opposite side walls of the rebound body; or the rebound body is provided with at least one middle hollow structure.

12. The self-moving robot of claim 10, wherein the wiper strip is PVC material;

the outside of the rebound body is provided with nylon cloth, or the rebound body and the lower part of the scraping body are provided with nylon cloth.

13. The self-moving robot of claim 10, wherein the hardness of the upper portion of the scraping body is less than the hardness of the lower portion of the scraping body;

the hardness of the lower part of the scraping body, the rebound body and the connecting seat is the same.

14. The self-moving robot of any one of claims 1 to 5, further comprising a module carrier;

the acquisition device comprises an acquisition unit and a processing chip which are electrically connected;

the self-cleaning device comprises a cleaning executing piece and a power module;

the acquisition unit is arranged at the top of the module carrier;

the cleaning executing piece is arranged on the front side of the module carrier, and the power module is arranged in the module carrier;

the processing chip is arranged in the module carrier and is positioned at the rear lower part of the power module;

and the bottom of the module carrier is also provided with a radiating fin.

15. An acquisition module, characterized by comprising:

a module carrier;

the acquisition device comprises an acquisition unit and a processing chip which are electrically connected;

the self-cleaning device comprises a cleaning executing piece and a power module which are connected;

wherein the acquisition unit is arranged at the top of the module carrier; the cleaning executing piece is arranged on the front side of the module carrier, and the power module is arranged in the module carrier;

the processing chip is arranged in the module carrier and is positioned at the rear lower part of the power module.