CN117598637A - Self-moving robot and operation method thereof - Google Patents
Self-moving robot and operation method thereof Download PDFInfo
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- CN117598637A CN117598637A CN202410097159.3A CN202410097159A CN117598637A CN 117598637 A CN117598637 A CN 117598637A CN 202410097159 A CN202410097159 A CN 202410097159A CN 117598637 A CN117598637 A CN 117598637A
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- 238000004140 cleaning Methods 0.000 claims abstract description 73
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- 230000005540 biological transmission Effects 0.000 claims description 29
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Abstract
The embodiment of the application provides a self-moving robot and an operation method thereof. The self-moving robot comprises a host, a wiping module and a control module. The wiping and dragging module comprises a driving component and a wiping cloth disc, wherein the driving component is used for driving the wiping cloth disc to swing between a first position and a second position relative to the host machine and generating corresponding counting signals. The control module is used for controlling the driving assembly to drive the rag disc to swing and controlling the stay position of the rag disc between the first position and the second position according to the counting signal, and the cleaning distance from the edge of the rag disc to the outside of the edge of the host machine can be dynamically adjusted according to different cleaning environments, so that the working efficiency is improved.
Description
Technical Field
The present application relates to the field of cleaning devices, and in particular, to a self-moving robot and a method for operating the same.
Background
At present, a self-moving robot with a floor mopping function is designed through the swing of a rag disc, when the robot walks by the edge, the rag disc fully stretches out, but when an obstacle is encountered or a turn is needed, the rag disc must be fully retracted, so that the area near the obstacle or a corner is not towed. In addition, the speed of the rag disc is limited when the rag disc is expanded outwards or inwards due to the limitation of the rotating speed of the motor and the transmission speed of the transmission device. To avoid collisions, the machine needs to stop moving while rotating or avoiding obstacles, waiting for the dishcloth tray to fully retract before continuing to walk, which reduces overall cleaning efficiency. Because the rag disc only has two states of complete adduction or complete expansion, the control is limited, and the accurate dynamic adjustment of the telescopic distance of the rag disc is difficult to realize, so that the flexibility and the accuracy of the cleaning process are affected.
Disclosure of Invention
In order to solve the technical problem that the telescopic distance of a rag disc of a conventional cleaning robot cannot be dynamically adjusted and the cleaning efficiency is to be improved, the application provides a self-moving robot and an operation method thereof.
The embodiment of the application provides a self-moving robot, which comprises a host, a wiping module and a control module. The cleaning module comprises a driving assembly and a cleaning cloth disc, wherein the driving assembly is connected between the host and the cleaning cloth disc and is used for driving the cleaning cloth disc to swing between a first position and a second position relative to the host and generating corresponding counting signals, the cleaning cloth disc is normally positioned at the first position, the edge of the cleaning cloth disc extends to a cleaning distance outside the edge of the host, and the cleaning distance is reduced when the cleaning cloth disc swings towards the second position. The control module is arranged in the host machine and is used for controlling the driving assembly to drive the rag disc to swing and controlling the stay position of the rag disc between the first position and the second position according to the counting signal so as to dynamically adjust the cleaning distance.
In some embodiments, the driving assembly comprises a body, a first motor and a second motor, wherein a transmission mechanism is arranged in the body, the first motor is connected between the transmission mechanism and the host, and is used for driving the body to drive the rag disc to swing, and the second motor is connected between the body and the rag disc, and is used for driving the rag disc to rotate.
In some embodiments, the self-moving robot further includes a counting module disposed in the host and electrically connected to the control module, where at least a portion of the counting module is linked with the driving component, and is configured to generate one or more corresponding pulse waveforms as the counting signal according to the swinging state of the rag tray.
In some embodiments, the counting module includes a counting structure and an optocoupler, one of the counting structure and the optocoupler is disposed on the body, the other one of the counting structure and the optocoupler is disposed on the host, and is capable of moving relatively, wherein the counting structure includes a plurality of transparent areas and a plurality of non-transparent areas that are staggered, the optocoupler is configured to emit and receive light on opposite sides of the counting structure, the light acts on the transparent areas and the non-transparent areas to generate the pulse waveform, and the control module calculates the residence position according to the number of times of generation of the pulse waveform and the swinging angle of the dishcloth tray.
In some embodiments, the rag disc swings between the first position and the second position by taking the axle center of the first motor as the center of a circle, the center of the rag disc has a swinging path between the first position and the second position, and the light-transmitting areas and the light-non-transmitting areas are staggered along the swinging path.
In some embodiments, the extending directions of the light-transmitting areas intersect at the axis of the first motor, and the included angle between two adjacent light-transmitting areas is 1 to 5 degrees.
In some embodiments, the counting module is a code wheel or an encoder, is coaxially arranged on the first motor or the transmission mechanism, and generates the pulse waveform along with the axial movement of the first motor or the transmission mechanism, and the control module calculates the stay position according to the transmission ratio of the counting signal and the transmission mechanism.
In some embodiments, the first motor is a stepper motor, the count signal corresponds to a number of steps of the stepper motor, and the control module calculates the dwell position based on a gear ratio of the count signal to the gear.
In some embodiments, the edge of the host machine is parallel to the direction of travel of the host machine, and the distance of movement of the wipe tray between the first position and the resting position is the perpendicular distance between the center of the wipe tray and the edge of the host machine.
The application also provides a self-moving robot which comprises a host, a driving assembly and a rag tray. The host is internally provided with a control module which is electrically connected with the driving assembly and used for controlling the driving assembly to drive the rag disc to swing between a first position and a second position and generating corresponding counting signals. The control module controls the stay position of the rag disc between the first position and the second position according to the counting signal so as to dynamically adjust the cleaning distance of the edge of the rag disc extending out of the host.
The application also provides an operation method of the self-moving robot according to any of the above embodiments, which comprises the following steps: when the self-moving robot is in a general walking mode, the rag disc is normally positioned at the first position, so that the edge of the rag disc extends out of the edge of the host machine to form the cleaning distance; and when the self-moving robot is in the edge walking mode, swinging the rag disc to the direction of the second position, and controlling the stay position of the rag disc according to the counting signal so as to dynamically adjust the cleaning distance.
In some embodiments, the method of operation further comprises: detecting a motion state of the host; controlling the driving assembly to drive the rag disc to swing from the first position to the stay position according to the motion state; wherein the motion state comprises a change of the walking speed of the host machine and/or an increase or decrease of the distance between the host machine and the obstacle.
The self-moving robot of this application embodiment can produce corresponding count signal at rag dish wobbling in-process for control module is according to count signal control rag dish is in the stay position between first position and the second position, but the clean distance that the edge of dynamic adjustment rag dish stretches out to the edge outside of host computer, in order to satisfy different clean environment demands. The control module can control the rag disc to swing to any position between the first position and the second position according to actual environment requirements, so that the distance from the rag disc to the outside of the host machine can be dynamically adjusted according to different cleaning environments or obstacles, and more flexible and accurate cleaning operation is further provided.
In some embodiments, the first motor is a stepper motor, the corresponding counting signal can be generated by the number of steps of the stepper motor, or a sensing component such as a code wheel, an encoder or a counting structure, an optocoupler and the like is arranged on the self-moving robot, and the sensing component can generate a pulse waveform along with the rotation of the first motor or the transmission mechanism. Therefore, the control module can calculate the stay position of the rag disc according to the counting signal, and the accurate regulation and control of the swinging of the rag disc are achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a top view of a self-moving robot of an embodiment of the present application;
FIG. 2 is a schematic illustration of a drive assembly of an embodiment of the present application;
FIG. 3 is a bottom view of the self-moving robot of an embodiment of the present application;
FIG. 4 is an enlarged partial schematic view of a drive assembly of an embodiment of the present application;
FIGS. 5 and 6 are system block diagrams of a self-moving robot according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a counting structure according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a counting module according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a pulse waveform of an embodiment of the present application;
FIG. 10 is a system block diagram of a self-moving robot according to another embodiment of the present application;
fig. 11 is a diagram illustrating a swing state of the self-moving robot according to the embodiment of the present application;
FIG. 12 is a diagram of a swing relationship of a self-moving robot according to an embodiment of the present application;
fig. 13 is a flowchart of an operation method of the self-mobile robot according to the embodiment of the present application.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
Referring to fig. 1 to 5, a self-moving robot 1 capable of performing a cleaning task on a surface to be cleaned (e.g., a floor) is provided. The self-moving robot 1 includes a host 10, a wiping module 20, and a control module 30, wherein the wiping module 20 includes a driving assembly 21 connected to the host 10, and a wiper disc 22 connected to the driving assembly 21 (e.g., the wiper disc 22 is magnetically fixed to the driving assembly 21). The cleaning cloth tray 22 is used for setting cleaning tools such as cleaning cloth or brushing tool, and the driving assembly 21 is used for driving the cleaning cloth tray 22 to rotate around its own central axis relative to the host 10 so as to perform floor cleaning operations such as mopping or brushing. Meanwhile, the driving assembly 21 can also drive the rag disc 22 to swing between the first position P1 and the second position P2 relative to the host 10, and generate corresponding counting signals.
In the initial state, the wiper disc 22 is normally located at the first position P1. At this time, the edge of the cloth tray 22 is protruded beyond the edge of the main body 10 by a cleaning distance S, so that the cleaning area can be enlarged on the driving path of the main body 10. In a specific state corresponding to edge cleaning, corner cleaning or encountering an obstacle, the dishcloth tray 22 can swing towards the second position P2 to stay at any position, and the cleaning distance S of the edge of the dishcloth tray 22 extending beyond the edge of the host 10 is relatively reduced, so as to avoid the obstacle. It will be appreciated that when the dishcloth tray 22 is swung to the second position P2, the edge of the dishcloth tray 22 is submerged within the edge of the host 10, such that the dishcloth tray 22 provides a cleaning effect within the projected range of the host 10.
The control module 30 is disposed in the host 10, and is used for controlling the driving assembly 21 to drive the cleaning cloth tray 22 to swing, and controlling the staying position of the cleaning cloth tray 22 between the first position P1 and the second position P2 according to the counting signal generated in the swinging process, so as to dynamically adjust the cleaning distance S of the edge of the cleaning cloth tray 22 extending out of the edge of the host 10 according to different cleaning environments.
The main body 10 may be provided in any shape such as rectangular, circular, etc. in terms of structural exterior. The embodiment uses a circular structure as an example of the host 10, but is not limited thereto. Also, for convenience of explanation, the edge of the wiper disc 22 referred to in the embodiment of the present application is the outermost edge of the wiper disc 22 in the direction perpendicular to the traveling direction of the host 10, the tangent line thereof is parallel to the traveling direction of the host 10, and the moving distance of the wiper disc 22 between the first position P1 and the resting position is the perpendicular distance between the center of the wiper disc 22 and the edge of the host 10.
For example, if the traveling direction of the host machine 10 is the first direction A1, the edge of the host machine 10 defines a first reference line L1, the edge of the wiper 22 defines a second reference line L2, and the first reference line L1 and the second reference line L2 are parallel to the first direction A1 (as shown in fig. 3). And in some embodiments of the present application, when the dishcloth tray 22 swings, the control module 30 may obtain the swinging angle of the dishcloth tray 22 according to the counting signal generated during the swinging process, and calculate the resting position of the dishcloth tray 22 according to the counting signal and the swinging angle, so as to accurately adjust the cleaning distance.
Referring to fig. 1, 2, 4 and 5, in some embodiments of the present application, the driving assembly 21 includes a body 211, a first motor 212 and a second motor 213, and a transmission mechanism 214 is disposed in the body 211. The first motor 212 is connected between the transmission mechanism 214 and the host 10, and is used for driving the body 211 to drive the rag tray 22 to swing. The second motor 213 is connected between the body 211 and the wiper disc 22 for driving the wiper disc 22 to rotate. For example, the driving assembly 21 further includes a swinging mechanism 215 and a rotating mechanism 216 disposed in the body 211, wherein the driving mechanism 214 is connected to the wiper disc 22, and the swinging mechanism 215 and the rotating mechanism 216 are respectively connected to the driving mechanism 214 for driving the driving mechanism 214 to correspondingly drive the wiper disc 22 to rotate and swing. It is understood that the transmission mechanism 214 may be, but is not limited to, a gear box disposed between the swinging mechanism 215 and the rotating mechanism 216, and connected to the wiper disc 22 through the swinging mechanism 215 and the rotating mechanism 216, respectively, so as to drive the wiper disc 22 to swing and rotate relative to the host 10 through the first motor 212 and the second motor 213.
In addition, the host 10 further includes a plurality of limit switches 11 disposed at the first position P1 and the second position P2, respectively, and electrically connected to the control module 30. Therefore, when the driving assembly 21 drives the wiper 22 to swing to the first position P1 or the second position P2 to trigger the limit switch 11, the limit switch 11 transmits the trigger signal to the control module 30, so that the control module 30 stops the operation of the first motor 212, and the wiper 22 stops at the first position P1 or the second position P2, thereby avoiding the structural damage caused by excessive expansion or contraction of the wiper 22.
Please refer to fig. 3 and 6. In some embodiments of the present application, a detection module 130 is further disposed within the host 10, and a walking module 140 is disposed at the bottom of the host 10. The control module 30 is electrically connected to the detection module 130 and the traveling module 140, respectively, and is configured to control the modules to perform corresponding operations.
For example, the plurality of wheel assemblies 141 of the walking module 140 are disposed at intervals at the bottom of the host 10, and under the control of the control module 30, the host 10 is driven to work in a general walking mode on the ground, or in a scene of encountering an obstacle, the host 10 is driven to avoid the obstacle, then walk along the edge of the obstacle, and keep a side distance with the obstacle, so as to avoid collision.
The detecting module 130 is configured to detect the motion state of the host 10, and transmit the detection result to the control module 30 in the form of an electrical signal, so that the control module 30 can correspondingly control the wiper disc 22 of the wiping module 20 to work at a proper position according to the motion state of the host 10. The motion state of the host 10 may be, but is not limited to, a change in the walking speed of the host 10, an increase or decrease in the distance between the host 10 and an obstacle, and/or a border distance between an edge of the host 10 and a wall or obstacle, etc. For example, the host 10 is driven by the wheel assembly 141 to travel straight or to turn around when encountering an obstacle, so as to avoid the obstacle.
In addition, in order for the wiper disc 22 to generate a count signal during oscillation, in some embodiments, the self-moving robot 1 further includes a count module 40 disposed within the host 10. The counting module 40 is electrically connected to the control module 30, and at least a portion of the counting module 40 is coupled to the driving assembly 21 for generating one or more corresponding pulse waveforms as a counting signal according to the oscillating state of the wiper disc 22.
As shown in fig. 1, 2, 7, and 8, in some embodiments, the counting module 40 includes a counting structure 41 and an optocoupler 42. In configuration, one of the counting structure 41 and the optocoupler 42 is disposed on the main body 211 of the driving assembly 21, and the other is disposed on the host 10, so that one of the counting structure and the optocoupler swings with the driving assembly 21, thereby achieving relative motion. For example, the counting structure 41 is fixed on one side of the host 10 near the second motor 213, and the optocoupler 42 is disposed on the body 211 of the driving assembly 21, so that the optocoupler 42 moves relative to the counting structure 41 during the swinging process of the body 211. The counting structure 41 includes a plurality of transparent regions 411 and non-transparent regions 412 arranged in a staggered manner, and the optocoupler 42 is configured to emit and receive light at two opposite sides of the counting structure 41, such that the light acts on the transparent regions 411 and the non-transparent regions 412 to generate pulse waveforms.
In the present embodiment, the wiper disc 22 swings between the first position P1 and the second position P2 with the axis of the first motor 212 as the center, the center of the wiper disc 22 has a swing path between the first position P1 and the second position P2, and the counting structure 41 may be, but is not limited to, arranged along the swing path of the wiper disc 22 in an arc-shaped strip form, so that the light-transmitting areas 411 and the light-non-transmitting areas 412 are staggered along the swing path. In some embodiments of the present application, the plurality of light-transmitting areas 411 and the plurality of light-non-transmitting areas 412 are staggered to form a grid with notches on the counting structure, and the optocoupler 42 includes a light emitting diode 421 and a photodiode 422 respectively disposed on the upper and lower sides of the counting structure 41 and corresponding to the grid.
When the optocoupler 42 swings with the body 211 to correspond to the light-transmitting area 411, the light emitted by the light-emitting diode 421 passes through the light-transmitting area and is received by the light-sensitive diode 422, so as to generate an optical signal. Conversely, when the optocoupler 42 corresponds to the opaque region 412, the light is blocked by the opaque region, so that the optical signal stops being received. Thus, during the swing process, the light is intermittently received through the light-transmitting area 411, so as to form a pulse waveform (as shown in fig. 9, the light signal may form a square pulse wave through the design of the light-transmitting area 411 and the light-non-transmitting area 412). Of course, in practice, the pulse wave is not limited to the optical signal of the optocoupler 42, and in some possible embodiments, the pulse wave may be a transient change in voltage or current, depending on the structural design.
In this way, the control module 30 can convert the swing angle of the dishcloth tray 22 by the generation times of the pulse waveform, and calculate the stay position of the dishcloth tray 22 according to the generation times of the pulse waveform and the swing angle of the dishcloth tray 22, so as to accurately control the dishcloth tray 22 to stay at any position between the first position P1 and the second position P2, and realize the adjustment of the cleaning distance S. For example, the included angle between two adjacent light-transmitting areas 411 is set to be between 1 and 5 degrees, so that the swinging angle of the cleaning cloth tray 22 can be directly calculated according to the generation times of the pulse waveform.
The calculation of the swing and the movement distance of the wiper tray 22 will be described below.
Referring to fig. 11 and 12, the driving assembly 21 has a swing center point O (i.e. the position of the rotation axis of the first motor 212), the host 10 has two symmetrical wheel assemblies 141, and the wiper 22 has a center point B and a center point a at the first position P and the second position P2, respectively. A line segment AE perpendicular to the first reference line L1 is provided between the center point a and the first reference line L1 (E is an intersection point of the line segment AE and the first reference line L1), the line segment AE is parallel to the central axes L3 of the two wheel assemblies 141, and a line segment OD perpendicular to the line segment AE is provided between the swing center point O and the line segment AE (D is an intersection point of the line segment OD and the line segment AE).
Therefore, when the wiper disc 22 is located at the first position P1, the edge of the wiper disc 22 protrudes beyond the edge of the host computer 10 to form a cleaning distance (i.e., a distance between the first reference line L1 and the second reference line L2). When the center of the wiper disc 22 is moved from the center point B to the center point P by swinging, a line segment PC perpendicular to the line segment AE is provided between the center point P and the line segment AE, and the control module 30 can calculate the swinging angle and the moving distance of the wiper disc 22 by the following formula.
Step one, by knowing the parameter line segment OD (which can be obtained from the structural dimensions of the mobile robot), therefore, the cosine function (cos) is used: cos θ=adjacent edge (line segment OD)/hypotenuse (line segment OA), the angle of ++aod can be derived, and hence ++oad. For example, assume that +.AOD is 60 degrees, then +.OAD is 30 degrees.
Step two, the oscillating angle of the wiper disc 22 is obtained by counting the signals (in this embodiment, the number of pulses generated by the counting structure 41 and the optocoupler 42 is described). Since the arc radius of the counting structure corresponds to the swing track of the dishcloth tray 22, the arc radius of the counting structure 41 is equal to the swing radius of the dishcloth tray 22, the triangle AOP is an isosceles triangle, and the angle corresponding to the arc swing track from the center point P to the center point a can be calculated by the triangle AOP. The angle calculating method comprises the following steps: arc length = radius of circle x corresponding angle. Since the oscillation tracks of the counting structure 41 and the wiper disc 22 are concentric circles, the angle AOP can be directly converted by the counting signal. Similarly, the +.OAP can also be obtained by the formula (180-AOP)/2, and the +.CAP= +.OAP-OAD can be known by the formula.
And thirdly, calculating the length of the line segment AP. The length of the line segment AP can be calculated by using the sine function sinθ=opposite side/oblique side, θ= AOP/2, the oblique side is the line segment OA (i.e. the swing radius R), and opposite side=line segment AP/2.
And step four, calculating the AC length of the outgoing line segment to obtain the CE length. The length of the line segment AC can be calculated according to the length of the line segment AP and the included angle CAP. Since the vertical distance from the center point a to the edge of the host computer 10 (first reference line L1) is fixedly known (i.e., line segment AE), after calculating the line segment AC distance, the following expression is used; AE-AC, the vertical distance of the wipe tray 22 from the edge of the host 10 can be calculated to adjust the dwell position of the wipe tray 22 or the cleaning distance of the wipe tray 22 beyond the edge of the host 10.
As shown in fig. 10, in some embodiments of the present application, the counting module 40 may also be in the form of a code wheel or encoder coaxially disposed on the first motor 212 or transmission 214 of the driving assembly 21. The difference from the above embodiment is that the encoder and the encoder generate pulse waveforms along with the movement of the first motor 212 or the shaft center of the transmission mechanism 214, so that the control module 30 can calculate the stop position of the wiper disc 22 according to the counting signal generated correspondingly to the pulse waveforms and the transmission ratio of the transmission mechanism 214.
For example, when the counting module 40 in the form of a code wheel or an encoder is coaxially disposed on the rotation axis of the first motor 212 or the transmission mechanism 214, a specific mark (e.g. an optical code sheet) or a coding mode on the counting module 40 will also change accordingly, and a pulse is generated at each position change, so that a pulse waveform is formed along with the swinging process of the wiper disc 22 to generate a corresponding counting signal. In addition, since the first motor 212 is interlocked with the transmission mechanism 214, the control module 30 can convert the swing angle of the wiper disc 22 by the counting signal, and calculate the stay position of the wiper disc 22 according to the swing angle and the transmission ratio of the transmission mechanism 214.
The generation of the count signal may be achieved by a method other than the counting module 40. For example, the first motor 212 is a stepper motor, and the count signal may directly correspond to the number of steps of the stepper motor. Since the first motor 212 is interlocked with the transmission mechanism 214, the control module 30 can calculate the resting position of the wiper disc 22 according to the counting signal and the transmission ratio of the transmission mechanism 214.
The following describes the operation method of the self-mobile robot in the embodiment of the present application with reference to an application scenario.
When the self-moving robot is in a general walking mode, the rag disc is normally positioned at a first position, so that the edge of the rag disc extends out of the edge of the host machine to form a cleaning distance (S101); and when the self-moving robot is in the edge walking mode, swinging the rag disc to the direction of the second position, and controlling the stay position of the rag disc according to the counting signal so as to dynamically adjust the cleaning distance (S102).
In this step, the self-moving robot 1 performs a cleaning task in a general walking mode along a cleaning path preset in the control module 30. At this time, the traveling module 140 drives the self-moving robot 1 to travel along a straight line or in a zigzag manner, and performs a cleaning procedure on the floor under the operation of the rolling brush assembly and the mopping module 20 on the host 10.
When the detection module 130 detects that an obstacle is present on the walking path of the host machine 10, the control module 30 changes the motion state of the host machine 10, for example, controls the wheel assemblies 141 of the walking module 140 to slow down or makes a speed difference between the wheel assemblies 141 to change the walking direction of the host machine 10.
Along with the change of the motion state of the host 10, for example, turning to avoid an obstacle, the control module 30 controls the driving assembly 21 of the mopping module 20 to drive the dishcloth tray 22 to swing from the first position P1 to the second position P2 to a required stop position, and generates a counting signal in the swinging process, so that the control module 30 accurately controls the stop position of the dishcloth tray 22 according to the counting signal, and simultaneously adjusts and reduces the cleaning distance S of the edge of the dishcloth tray 22 extending out of the edge of the host 10 to match the edge distance between the host 10 and an obstacle when walking along the edge, thereby avoiding the collision between the host 10 and the obstacle.
It should be noted that, in the embodiment of the present application, the cleaning cloth tray 22 can swing between the first position P1 and the second position P2 according to actual requirements and stay at any desired position, so that the cleaning range of the cleaning cloth tray can be adjusted to a range suitable for cleaning along the edge in real time, and meanwhile, the cleaning cloth tray does not interfere with the normal running of the host 10, thereby improving the operation efficiency.
As can be seen from the above description, in the embodiment of the present application, the control module controls the driving assembly to drive the rag disc to swing, and controls the stay position of the rag disc between the first position and the second position according to the counting signal generated in the swinging process, so as to correspond to different cleaning environments, and meanwhile, the cleaning distance from the edge of the rag disc extending out of the edge of the host machine can be dynamically adjusted, so as to achieve the edge cleaning effect.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (12)
1. A self-moving robot, comprising:
a host;
the cleaning module comprises a driving assembly and a cleaning cloth disc, wherein the driving assembly is connected between the host machine and the cleaning cloth disc and is used for driving the cleaning cloth disc to swing between a first position and a second position relative to the host machine and generating corresponding counting signals, the cleaning cloth disc is normally positioned at the first position, the edge of the cleaning cloth disc extends out of the edge of the host machine by a cleaning distance, and the cleaning distance is reduced when the cleaning cloth disc swings towards the second position; and
the control module is arranged in the host machine and used for controlling the driving assembly to drive the rag disc to swing and controlling the stay position of the rag disc between the first position and the second position according to the counting signal so as to dynamically adjust the cleaning distance.
2. The self-moving robot of claim 1, wherein the driving assembly comprises a body, a first motor and a second motor, wherein a transmission mechanism is arranged in the body, the first motor is connected between the transmission mechanism and the host machine and used for driving the body to drive the rag disc to swing, and the second motor is connected between the body and the rag disc and used for driving the rag disc to rotate.
3. The self-moving robot of claim 2, further comprising a counting module disposed in the host and electrically connected to the control module, wherein at least a portion of the counting module is coupled to the driving assembly for generating one or more corresponding pulse waveforms as the counting signal according to the oscillating state of the wiper disc.
4. The self-moving robot of claim 3, wherein the counting module comprises a counting structure and an optical coupler, one of the counting structure and the optical coupler is arranged on the body, the other of the counting structure and the optical coupler is arranged on the host machine and can move relatively, the counting structure comprises a plurality of light-transmitting areas and a plurality of non-light-transmitting areas which are arranged in a staggered mode, the optical coupler is used for transmitting and receiving light on two opposite sides of the counting structure, the light acts on the light-transmitting areas and the non-light-transmitting areas to generate the pulse waveform, and the control module calculates the stay position according to the generation times of the pulse waveform and the swinging angle of the rag disc.
5. The self-moving robot of claim 4, wherein the wiper disc swings between the first position and the second position with the axis of the first motor as a center, the center of the wiper disc has a swing path between the first position and the second position, and the light-transmitting areas and the light-non-transmitting areas are staggered along the swing path.
6. The self-moving robot according to claim 5, wherein the extending directions of the plurality of light-transmitting areas intersect at the axis of the first motor, and the included angle between two adjacent light-transmitting areas is 1 to 5 degrees.
7. A self-moving robot according to claim 3, wherein the counting module is a code wheel or an encoder, is coaxially arranged on the first motor or the transmission mechanism, and generates the pulse waveform along with the axial movement of the first motor or the transmission mechanism, and the control module calculates the stop position according to the transmission ratio of the counting signal and the transmission mechanism.
8. The self-moving robot of claim 2, wherein the first motor is a stepper motor, the count signal corresponds to a number of steps of the stepper motor, and the control module calculates the dwell position based on a gear ratio of the count signal to the gear.
9. The self-moving robot of claim 1, wherein an edge of the host machine is parallel to a traveling direction of the host machine, and a distance of movement of the wiper disc between the first position and the resting position is a perpendicular distance between a center of the wiper disc and the edge of the host machine.
10. The self-moving robot is characterized by comprising a host, a driving assembly and a rag disc, wherein a control module is arranged in the host and is electrically connected with the driving assembly, the control module is used for controlling the driving assembly to drive the rag disc to swing between a first position and a second position and generate corresponding counting signals, and the control module is used for controlling the stay position of the rag disc between the first position and the second position according to the counting signals so as to dynamically adjust the cleaning distance of the edge of the rag disc extending out of the host.
11. A method of operating a self-moving robot according to any one of claims 1 to 10, comprising:
when the self-moving robot is in a general walking mode, the rag disc is normally positioned at the first position, so that the edge of the rag disc extends out of the edge of the host machine to form the cleaning distance; and
when the self-moving robot is in the edge walking mode, the cleaning cloth tray swings towards the direction of the second position, and the staying position of the cleaning cloth tray is controlled according to the counting signal so as to dynamically adjust the cleaning distance.
12. The method of claim 11, further comprising:
detecting a motion state of the host; and
controlling the driving assembly to drive the rag disc to swing from the first position to the stay position according to the motion state;
wherein the motion state comprises a change of the walking speed of the host machine and/or an increase or decrease of the distance between the host machine and the obstacle.
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| CN202410097159.3A CN117598637A (en) | 2024-01-24 | 2024-01-24 | Self-moving robot and operation method thereof |
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Citations (5)
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| CN103845002A (en) * | 2012-11-30 | 2014-06-11 | 三星电子株式会社 | Cleaning robot and control method thereof |
| CN214965088U (en) * | 2021-01-07 | 2021-12-03 | 江门市贝尔斯顿电器有限公司 | Floor cleaning device with replaceable mop and brush structure |
| CN115251772A (en) * | 2021-06-11 | 2022-11-01 | 科沃斯机器人股份有限公司 | Cleaning robot and control method |
| CN116942022A (en) * | 2023-08-25 | 2023-10-27 | 北京石头世纪科技股份有限公司 | Transmission device and cleaning equipment |
| WO2023241628A2 (en) * | 2022-06-14 | 2023-12-21 | 追觅创新科技(苏州)有限公司 | Cleaning device |
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2024
- 2024-01-24 CN CN202410097159.3A patent/CN117598637A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103845002A (en) * | 2012-11-30 | 2014-06-11 | 三星电子株式会社 | Cleaning robot and control method thereof |
| CN214965088U (en) * | 2021-01-07 | 2021-12-03 | 江门市贝尔斯顿电器有限公司 | Floor cleaning device with replaceable mop and brush structure |
| CN115251772A (en) * | 2021-06-11 | 2022-11-01 | 科沃斯机器人股份有限公司 | Cleaning robot and control method |
| WO2023241628A2 (en) * | 2022-06-14 | 2023-12-21 | 追觅创新科技(苏州)有限公司 | Cleaning device |
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