CN117652933A - Cleaning robot and control method thereof - Google Patents

Abstract

The present disclosure relates to a cleaning robot and a control method thereof, the cleaning robot including: the device comprises a motion chassis, a movable cleaner, a detection unit and a control unit. The motion chassis walks on the working surface; the movable cleaner is movable between a first position and a second position relative to the movable chassis; when the movable cleaner is in the first position, at least part of the edge of the movable cleaner is positioned in the edge projection area of the movable chassis and is configured to swing outwards to a second position relative to the movable chassis; the detection unit is configured to detect environmental information in the cleaning robot work environment; the control unit is configured to determine that the obstacle information is on an original moving path of the cleaning robot based on the environment information, control the movable cleaner to move in a direction of the first position in advance, and control the cleaning robot to walk in a direction of deviating from the obstacle in advance. The method and the device realize cooperation of two obstacle avoidance behaviors, and reduce the probability of collision.

Description

Cleaning robot and control method thereof

Technical Field

The disclosure relates to the technical field of cleaning equipment, in particular to a cleaning robot and a control method thereof.

Background

The cleaning robot is one kind of intelligent household cleaning appliance and can complete automatically cleaning, dust sucking and floor wiping with certain artificial intelligence. With the progress of science and technology and the improvement of life quality of people, cleaning robots have been put into the lives of more and more people.

When a cleaning robot on the market works close to a wall, zero-distance welting is difficult to achieve, so that dead cleaning angles exist. In the prior art, a mechanical arm can be driven by a motor to swing a cleaner such as a rag disc to the outer side of a motion chassis, so that the aim of mopping the floor to the edge is fulfilled. However, the cleaner swung to the outside of the moving chassis is liable to strike or scratch an obstacle, which results in poor user experience. The technical problem to be solved in the present disclosure is to provide a cleaning robot capable of avoiding obstacles in advance.

Disclosure of Invention

The present disclosure provides a cleaning robot and a control method thereof in order to solve the problems existing in the prior art.

According to a first aspect of the present disclosure, there is provided a cleaning robot including:

a motion chassis configured to walk on a work surface;

A movable cleaner configured to be movable between a first position and a second position with respect to the movable chassis; when the movable cleaner is in the first position, at least part of the edge of the movable cleaner is positioned in the edge projection area of the movable chassis and is configured to swing outwards to a second position relative to the movable chassis;

a detection unit configured to detect environmental information in a cleaning robot work environment;

and a control unit configured to determine that obstacle information is on an original moving path of the cleaning robot based on the environmental information detected by the detection unit, control the movable cleaner to move in a direction of a first position in advance, and control the cleaning robot to walk in a direction of deviating from the obstacle in advance.

In one embodiment of the present disclosure, the bottom of the moving chassis is provided with two driving wheels, and the control unit is configured to control a wheel speed difference of the two driving wheels to steer the cleaning robot; alternatively, the control unit is configured to control the cleaning robot to retreat so as to deviate from the obstacle.

In one embodiment of the present disclosure, the control unit is configured to control the cleaning robot to turn and move in a manner that at least partially surrounds the obstacle.

In one embodiment of the present disclosure, after determining that the obstacle is on the original moving path of the cleaning robot, the control unit is configured to control the cleaning robot to travel a predetermined distance according to the original moving path, to control the movable cleaner to move in advance in a direction of the first position, and to control the cleaning robot to travel in advance in a direction of deviating from the obstacle.

In one embodiment of the present disclosure, the edge of the movable cleaner is located within an edge projection area of the moving chassis when in the first position; in the second position, at least a portion of the edge of the movable cleaner is located outside of the edge projection area of the moving chassis.

In one embodiment of the present disclosure, the outer contour of the moving chassis has a maximum edge in the forward direction, and at least a portion of the edge of the movable cleaner is located outside the maximum edge of the moving chassis when located in the second position.

In one embodiment of the present disclosure, the control unit is configured to control the movable cleaner to move in the direction of the first position at least until its outer edge is located within the maximum edge of the moving chassis after determining that the obstacle is on the original movement path of the cleaning robot.

In one embodiment of the present disclosure, the control unit is configured to control the movable cleaner to move to the first position or to other positions located between the first position and the second position after determining that the obstacle is on the original moving path of the cleaning robot.

In one embodiment of the present disclosure, the control unit is configured to control the movable cleaner to perform the cleaning operation on the work surface with the second position as a normal working posture after the cleaning robot leaves the base station.

In one embodiment of the present disclosure, opposite sides of the cleaning robot are denoted as a first side, a second side, respectively; a fixed cleaner is arranged on the first side of the cleaning robot, and the edge of the fixed cleaner is positioned in an edge projection area of the motion chassis; the movable cleaner is arranged on the second side;

the control unit is configured to control the cleaning robot to turn in such a manner that the movable cleaner faces the obstacle.

In one embodiment of the present disclosure, the control unit is configured to control the movable cleaner to be reset to the second position within a predetermined time or after the cleaning robot has traveled a predetermined distance after the movable cleaner moves in the direction of the first position; and/or

The control unit is configured to control the cleaning robot to travel in an original travel path within a predetermined time or after the cleaning robot travels a predetermined distance after the cleaning robot travels in a direction deviating from an obstacle.

In one embodiment of the present disclosure, the control unit is configured to control the movable cleaner to move to the first position in response to the return signal to cause the cleaning robot to rest in the base station as a maintenance pose.

According to a second aspect of the present disclosure, there is also provided a control method of a cleaning robot, the method including the steps of:

in the second position, controlling the cleaning robot to walk on the working surface to clean the working surface;

the control unit is configured to determine that an obstacle is on an original moving path of the cleaning robot based on the environmental information detected by the detection unit, control the movable cleaner to move in a direction of a first position in advance, and control the cleaning robot to walk in a direction of deviating from the obstacle in advance.

The cleaning robot has the beneficial effects that when an obstacle exists on the moving path of the cleaning robot, the control unit can control the cleaning robot to turn so as to enable the cleaning robot to avoid the obstacle as a whole; in addition, the control unit can control the movable cleaner to move in the first position in advance so as to enable the movable cleaner to retract to avoid the obstacle. The method and the device realize cooperation of two obstacle avoidance behaviors, reduce the probability of collision, prolong the service life of the cleaning robot and improve the use experience of a user. The movable cleaner can move between the first position and the second position, and the cleaning coverage range of the cleaning robot is effectively increased when the movable cleaner moves to the second position, so that comprehensive cleaning is realized.

Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic view of a cleaning robot in a first position according to an embodiment of the present disclosure;

fig. 2 is a schematic view of a cleaning robot in a second position according to an embodiment of the present disclosure;

fig. 3 is a schematic view of an internal structure of a cleaning robot provided in an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of a swing mechanism according to an embodiment of the present disclosure;

fig. 5 is a schematic structural view of a light blocking strip according to an embodiment of the present disclosure;

FIG. 6 is a schematic view of a movable cleaner according to an embodiment of the present disclosure;

fig. 7 is a schematic diagram of a pulse signal according to an embodiment of the disclosure.

The one-to-one correspondence between the component names and the reference numerals in fig. 1 to 7 is as follows:

1. a motion chassis; 11. a driving wheel; 12. a front cleaner; 13. a detection unit; 14. fixing the cleaner; 2. a movable cleaner; 21. a swinging mechanism; 211. a connection part; 212. a carrying part; 213. an elastic part; 22. a photoelectric correlation tube; 23. a dishcloth tray; 24. a swing motor; 25. a rotating electric machine; 3. a light blocking strip; 31. shielding the comb teeth; 32. a hollowed-out channel; 4. a wall body.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

The present disclosure provides a cleaning robot, which may be a self-moving cleaning apparatus for cleaning a work surface requiring cleaning, such as a floor surface, a sofa, a carpet, etc., of a floor sweeping robot, a floor mopping robot, a floor sweeping and mopping integrated robot, etc.

The cleaning robot of the present disclosure includes: the device comprises a motion chassis, a movable cleaner, a detection unit and a control unit. The motion chassis is configured to walk on a work surface, and the movable cleaner may be mounted to a bottom of the motion chassis and configured to be movable relative to the motion chassis between a first position and a second position. Specifically, the movable cleaner may be a cleaning assembly of various types such as a wiper tray, a floor brush, a floor mop, etc., and the present disclosure is not limited to the specific type of movable cleaner.

When the movable cleaner is in the first position, at least a portion of the edge thereof is positioned within the edge projection area of the moving chassis and is configured to swing outwardly relative to the moving chassis to the second position. Specifically, when the movable cleaner is located at the first position, the edge of the movable cleaner is located in the vertical projection area of the edge of the movable chassis to the ground, i.e. the edge of the movable cleaner does not exceed the edge projection area of the movable chassis, so that the movable cleaner is prevented from being blocked by objects such as furniture on the ground during operation. The movable cleaning implement may also have a portion of the edge located in the projection area of the moving chassis in the first position and another portion of the edge located outside the projection area of the moving chassis, thus allowing for a greater cleaning range of the movable cleaning implement.

The movable cleaner swings outwards relative to the movable chassis to move to the second position, that is, the movable cleaner in the second position has a larger cleaning range than the movable cleaner in the first position, so that the cleaning range can be further increased, and the sanitary dead angle which is difficult to clean in the first position is cleaned, so that the overall cleaning is realized.

The detection unit is in communication with the control unit, wherein the detection unit is configured for detecting environmental information in the cleaning robot work environment. In particular, the detection unit may be a detection structure of an edge sensor, a camera, a laser radar, etc. provided on the cleaning robot, and the present disclosure is not limited to a specific type of the detection unit. The detection unit can send the detected environmental information to the control unit in real time, and the control unit can make analysis and judgment on the environmental information and send a control instruction based on the analysis and judgment, so that the cleaning robot is controlled.

Specifically, the control unit is configured to determine that the obstacle information is on an original moving path of the cleaning robot based on the environmental information detected by the detection unit, control the movable cleaner to move in a direction of the first position in advance, and control the cleaning robot to walk in a direction of deviating from the obstacle in advance.

The driving direction of the cleaning robot is recorded as the front, and when an obstacle exists in front of the cleaning robot, the detection unit can detect the existence of the obstacle and send information such as the size, the position and the like of the obstacle to the control unit; after analysis, the control unit judges that the obstacle is positioned on the moving path of the cleaning robot, so that the cleaning robot is controlled to avoid the obstacle in advance. The cleaning robot of the present disclosure has two obstacle avoidance behaviors, one of which: the movable cleaner is retracted in advance, namely the control unit controls the movable cleaner to move towards the first position; and two,: the cleaning robot turns to and keeps away the barrier, namely the control unit controls the cleaning robot to walk in advance to the direction deviating from the barrier, two kinds of obstacle avoidance behaviors are carried out cooperatively, and therefore collision is avoided.

When an obstacle exists on the moving path of the cleaning robot, the control unit can control the cleaning robot to turn so as to enable the cleaning robot to avoid the obstacle integrally; in addition, the control unit can control the movable cleaner to move in the first position in advance so as to enable the movable cleaner to retract to avoid the obstacle. Therefore, the cooperation of the two obstacle avoidance behaviors is realized, the probability of collision is reduced, the service life of the cleaning robot is prolonged, and the use experience of a user is improved. The movable cleaner can move between the first position and the second position, and the cleaning coverage range of the cleaning robot is effectively increased when the movable cleaner moves to the second position, so that comprehensive cleaning is realized.

The present disclosure provides a cleaning robot capable of performing a cleaning work on the floor. In order to facilitate understanding, a specific structure, an operating principle, and the like of the cleaning robot provided by the present disclosure will be described in detail with reference to fig. 1 to 7.

Referring to fig. 1 and 2, the cleaning robot of the present disclosure includes: a motion chassis 1, a movable cleaner 2, a detection unit 13 and a control unit. The moving chassis 1 is configured to walk on a work surface, and the movable cleaner 2 may be mounted at the bottom of the moving chassis and configured to be movable relative to the moving chassis between a first position and a second position. Wherein the movable cleaner 2 in fig. 1 is located at the first position, and the movable cleaner 2 in fig. 2 is located at the second position. Specifically, the movable cleaner 2 may be a cleaning assembly of various types such as a trowel, a floor brush, a floor mop, etc., and the present disclosure is not limited to the specific type of the movable cleaner 2.

When the movable cleaner 2 is in the first position, at least part of its edge is located in the edge projection area of the moving chassis 1 and is configured to be able to swing outwardly relative to the moving chassis 1 to the second position. That is, when the movable cleaner 2 is in the first position, the edges thereof can be entirely located in the edge projection area of the movable chassis 1, so that the whole cleaning robot is smaller in size, convenient to store and not easy to collide during running; the edges of which may also be located partly within the edge projection area of the moving chassis 1 and partly outside the edge projection area of 1, which may allow a greater cleaning range of the movable cleaning implement 2 in the first position.

The movable cleaner 2 swings outward relative to the movable chassis 1 to move to the second position, that is, the movable cleaner 2 in the second position has a larger cleaning range than the movable cleaner 2 in the first position, so that the cleaning range can be further increased, and the sanitary dead angle which is difficult to clean in the first position is cleaned, so that the overall cleaning is realized.

In one embodiment of the present disclosure, as shown in fig. 1, when the movable cleaner 2 is in the first position, the edge of the movable cleaner 2 is located in a vertical projection area of the edge of the moving chassis 1 to the floor, that is, the edge of the movable cleaner 2 does not exceed the edge projection area of the moving chassis 1, so that the movable cleaner 2 is prevented from being caught by objects such as furniture on the floor during operation. At this time, the cleaning range of the movable cleaner 2 does not exceed the travel range of the cleaning robot. As shown in fig. 2, when the movable cleaner 2 is located at the second position, at least part of the edge of the movable cleaner 2 is located outside the edge of the projection area of the movement chassis 1, so as to increase the cleaning range, thereby cleaning the sanitary dead angle which is difficult to clean when in the first position, and realizing comprehensive cleaning.

Specifically, with continued reference to fig. 1 and 2, in an actual cleaning scene where the wall 4 is present, it is difficult for the cleaning robot to travel against the wall 4, even if the cleaning robot is attached to the wall 4, the movable cleaner 2 located at the first position is still unable to clean the dead angle area along the edge. At this time, at least the movable cleaner 2 near the wall 4 needs to be extended to the second position, so that the cleaning range is enlarged, no dead angle is left, and the overall cleaning is realized.

However, the movable cleaner 2 in the second position has a problem in that it is difficult to avoid the obstacle in time. When the cleaning robot turns or the cleaning robot runs close to the edge of the wall 4, the distance is difficult to accurately control, the movable cleaner 2 is easy to strike and scratch objects, and even the cleaning robot can be blocked at the obstacle. To solve the above-described problems, the present disclosure provides a detection unit 13 and a control unit on a cleaning robot.

The detection unit 13 is in communication with the control unit, wherein the detection unit 13 is configured for detecting environmental information in the cleaning robot work environment. Specifically, as shown in fig. 1, the detection unit 13 in the present embodiment is a laser radar disposed on the cleaning robot, and the detection unit 13 may also be other types of detection structures such as an edge sensor, a camera, etc., and the specific type of the detection unit 13 is not limited in this disclosure. The detection unit 13 can transmit the detected environmental information to the control unit in real time, and the control unit can make analysis judgment on the environmental information and transmit a control instruction based on the analysis judgment, thereby controlling the cleaning robot.

Specifically, the control unit is configured to determine that the obstacle information is on the original moving path of the cleaning robot based on the environmental information detected by the detection unit 13, control the movable cleaner 2 to move in the direction of the first position in advance, and control the cleaning robot to walk in the direction of deviating from the obstacle in advance.

The detection unit 13 can detect the presence of an obstacle when the obstacle exists in front of the cleaning robot, and send information of the size, position, etc. thereof to the control unit; after the control unit is analyzed, the obstacle is judged to be positioned on the moving path of the cleaning robot, so that the cleaning robot is controlled to actively avoid the obstacle in advance. The cleaning robot of the present disclosure has two obstacle avoidance behaviors, one of which: the movable cleaner 2 is retracted in advance, namely, the control unit controls the movable cleaner 2 to move towards the first position; and two,: the cleaning robot turns to and keeps away the barrier, namely the control unit controls the cleaning robot to walk in advance to the direction deviating from the barrier, two kinds of obstacle avoidance behaviors are carried out cooperatively, and therefore collision is actively avoided.

When an obstacle exists on the moving path of the cleaning robot, the control unit can control the cleaning robot to turn so as to enable the cleaning robot to avoid the obstacle integrally; in addition, the control unit can control the movable cleaner 2 to move in the first position in advance so as to retract the obstacle avoidance in the movable cleaner 2. Therefore, the cooperation of the two obstacle avoidance behaviors is realized, the probability of collision is reduced, the service life of the cleaning robot is prolonged, and the use experience of a user is improved. The movable cleaner 2 can move between the first position and the second position, and when moving to the second position, the cleaning coverage of the cleaning robot is effectively increased, and comprehensive cleaning is realized.

In one embodiment of the present disclosure, the sequence of two active obstacle avoidance behaviors of the cleaning robot is not particularly limited, specifically, the control unit is configured to determine that the obstacle information is on the original moving path of the cleaning robot based on the environmental information detected by the detection unit 13, control the movable cleaner 2 to move toward the first position, and control the cleaning robot to turn away from the obstacle; or, firstly, controlling the movable cleaner 2 to move towards the first position, and then controlling the cleaning robot to turn towards the direction away from the obstacle; alternatively, the cleaning robot is controlled to turn in a direction away from the obstacle, and then the movable cleaner 2 is controlled to move in a direction toward the first position.

The control unit can adopt a proper obstacle avoidance mode to avoid an obstacle in different cleaning scenes, for example, when the cleaning robot runs close to a wall, the detection unit 13 detects a corner in front of the cleaning robot, and at the moment, the control unit can control the cleaning robot to turn in a direction away from the obstacle while controlling the movable cleaner 2 to move in a direction of a first position; alternatively, the movable cleaner 2 may be controlled to move in the direction of the first position and then the cleaning robot may be controlled to turn in the direction away from the obstacle. The adduction obstacle avoidance and the turning obstacle avoidance are carried out simultaneously, or the obstacle avoidance mode of adduction and turning is adopted, so that the cleaning robot has smaller turning radius when turning is started at the corner position, and the missing area in the cleaning process is reduced.

When the cleaning robot travels in a relatively open area and the detection unit 13 detects that an obstacle exists in front of the cleaning robot, the control unit can control the cleaning robot to turn in a direction away from the obstacle, and then control the movable cleaner 2 to move in a direction of a first position. This allows the movable cleaning implement 2 to be retracted as late as possible and thus to remain in the second position for as long as possible to obtain a larger cleaning area.

In one embodiment of the present disclosure, the cleaning robot moves the movable cleaner 2 in the direction of the first position while turning each turn. It can be understood that, in addition to turning when encountering obstacles, the cleaning robot also makes an adaptive turn according to the topography when it encounters a situation that requires turning, which is common in cleaning situations such as a corner, a cabinet foot, etc., during normal cleaning. The control unit can control the movable cleaner 2 to be retracted while the cleaning robot turns, thereby maintaining a small turning radius of the cleaning robot and reducing a missing area in the cleaning process.

In particular, when the cleaning robot makes a turn at a turn preset by the "bow-shaped" path in cleaning the floor along the preset "bow-shaped" path in an open cleaning scene, the movable cleaner 2 can be always maintained at the second position without being retracted in the direction of the first position. This is because the control unit is a preset path generated based on the cleaning range of the movable cleaner at the second position, and the cleaning robot turns at a large radius, but the cleaning omission area does not occur, and the movable cleaner 2 only needs to be kept at the second position all the time to achieve the full cleaning.

In one embodiment of the present disclosure, as shown in fig. 1, the bottom of the sports chassis 1 is provided with two driving wheels 11 for walking, and the two driving wheels 11 are disposed at intervals on both left and right sides of the traveling direction of the sports chassis 1. The control unit is configured to control the wheel speed difference of the two driving wheels 11 to steer the cleaning robot; alternatively, the control unit is configured to control the cleaning robot to retreat so as to deviate from the obstacle. When the detection unit 13 detects that there is an obstacle in front of the cleaning robot, the control unit can bypass the obstacle by controlling the rotational speeds of the two driving wheels 11 or controlling the rotational directions of the two driving wheels 11.

Specifically, when it is necessary to control the cleaning robot to turn left, the rotation speed of the driving wheel 11 on the left side may be controlled to be slower than that of the driving wheel 11 on the right side; when it is necessary to control the cleaning robot to turn around right, the rotation speed of the driving wheel 11 on the right side can be controlled to be slower than that of the driving force 11 on the left side, thus realizing control of the cleaning robot to turn through wheel speed difference. The cleaning robot can bypass the front obstacle after turning, thereby preventing collision.

The control unit can also reverse the two driving wheels 11 to drive the cleaning robot backward, which can also keep the cleaning robot away from the obstacle in front. After the cleaning robot is retreated, the control unit can re-plan the cleaning path, so that the obstacle is no longer present on the cleaning path, and collision is prevented.

In a specific embodiment of the present disclosure, the control unit is configured to control the cleaning robot to turn and move in such a way that it at least partly surrounds the obstacle. When the obstacle is a small-sized obstacle which can be bypassed, such as a table leg, a bed leg, a floor lamp, etc., the cleaning robot can travel around the obstacle, thereby avoiding collision. Specifically, when the obstacle is a table leg positioned on the cleaning path of the cleaning robot, the cleaning robot can travel around the table leg for half a turn, thereby bypassing the table leg and returning to the original cleaning path; the cleaning robot can also travel around the table legs for a half a circle and then return to the original cleaning path, thereby preventing missing the floor around the table legs.

In one embodiment of the present disclosure, after determining that the obstacle is on the original moving path of the cleaning robot, the control unit is configured to control the cleaning robot to travel a predetermined distance according to the original moving path, to control the movable cleaner 2 to move in advance in a direction of the first position, and to control the cleaning robot to travel in advance in a direction of deviating from the obstacle. After the detection unit 13 detects an obstacle located in front of the cleaning robot, the control unit may not immediately transmit an obstacle avoidance command, but transmit the command to avoid an obstacle after the cleaning robot continues to travel forward a predetermined distance.

Specifically, the predetermined distance may be set according to a detection range of the detection unit 13, for example, the detection unit 13 can detect a range within a radius of one meter, when the detection unit 13 detects an obstacle, it means that the obstacle is located at a position in front of the cleaning robot by one meter, and the control unit may control the cleaning robot to travel by 0.8 meter according to the original path and then send an obstacle avoidance command, that is, control the movable cleaner 2 to move in a direction of the first position in advance, and control the cleaning robot to travel in a direction deviating from the obstacle in advance. Therefore, the obstacle can be avoided as late as possible on the premise of not impacting the obstacle, and the cleaning missing area is reduced to the greatest extent.

In one embodiment of the present disclosure, after the cleaning robot leaves the base station, the control unit is configured to control the movable cleaner 2 to perform the cleaning operation on the work surface with the second position as a normal working posture. Further, the control unit is configured to control the movable cleaner 2 to move to the first position in response to the return signal so that the cleaning robot is stopped in the base station as a maintenance posture. The cleaning robot has a matched base station, and the cleaning robot needs to return to the base station for charging or maintenance after the cleaning work is completed. When the cleaning robot is in the base station, the movable cleaner 2 is positioned at the first position, and the edge of the movable cleaner does not exceed the edge projection area of the motion chassis 1, so that the space of the base station is saved. When the cleaning robot leaves the base station and starts to perform cleaning work, the movable cleaner 2 performs cleaning work on the working surface with the second position as a normal working posture, so that the cleaning area is enlarged, and the cleaning efficiency is improved.

Specifically, the control unit may control the movable cleaner 2 to move to the first position when the cleaning robot receives a signal to return to the base station. The control unit may also control the movable cleaner 2 to move to the first position during the travel of the cleaning robot toward the base station after the cleaning robot receives a signal to return to the base station. This ensures that the cleaning robot, when docked, has its movable cleaner 2 retracted to the first position, facilitating access of the cleaning robot to the base station in a maintenance position.

In the process that the cleaning robot returns to the base station, an alignment program needs to be executed first so as to ensure that the pose of the cleaning robot is correct, and the cleaning robot can accurately stop in the accommodating cavity at the bottom of the base station. The control unit may control the movable cleaner 2 to move to the first position while the cleaning robot performs the alignment process. The control unit may also control the movable cleaner 2 to move to the first position during the time when the cleaning robot has completed the alignment procedure and stopped at the base station. This allows the movable cleaner 2 to be kept in the second position as long as possible before docking, thereby having a large cleaning area before docking, so as to avoid dead cleaning angles at the periphery of the base station.

In another embodiment of the present disclosure, the movable cleaner 2 may perform a cleaning operation on the work surface with the first position as a normal working posture, and may be moved to the second position only at the time of welt cleaning. Therefore, the flexibility of the cleaning robot can be improved, the cleaning robot has a smaller volume in a normal working posture, and the cleaning robot can enter a narrower area for cleaning. Also in more crowded cleaning scenarios, for example: in a family cleaning scene with compact furniture arrangement, the first position is used as a normal working posture, so that collision can be reduced.

The present disclosure does not particularly limit the normal operation posture of the cleaning robot, and a description will be given hereinafter with the movable cleaner 2 in the second position as the normal operation posture.

In one embodiment of the present disclosure, referring to fig. 1 and 2, opposite sides of the cleaning robot are respectively denoted as a first side, where the fixed cleaner 14 is provided, and an edge of the fixed cleaner 14 is located in an edge projection area of the moving chassis 1, and a second side where the movable cleaner 2 is provided. The movable cleaner 2 and the fixed cleaner 14 may be wiper discs, and the right side is a first side and the left side is a second side with reference to the view direction of fig. 1. The movable cleaner 2 is a wiper disc on the right side in fig. 1, and the wiper disc can move between a first position and a second position; the stationary cleaner 14 is a wiper disc on the left in fig. 1, which can only be moved stationary in the first position.

With the wiper tray thus provided, the control unit is configured to control the cleaning robot to turn in such a manner that the movable cleaner 2 faces the obstacle. Referring to the view direction of fig. 1, the upper side is the front of the cleaning robot, and when the detection unit 13 detects that there is an obstacle in the front, the control unit can control the cleaning robot to turn to the left side. It will be appreciated that when the cleaning robot turns, the movable cleaner 2 located on the right may still be in a state where the second position has not been retracted yet, or may be retracted only to a state between the first position and the second position; at this time, the cleaning robot is controlled to turn so that the movable cleaner 2 faces the obstacle, so that the minimum turning radius of the cleaning robot can be ensured, and the cleaning omission area can be minimized.

In one embodiment of the present disclosure, as shown in fig. 1, the cleaning robot may further include a front cleaner 12, and the front cleaner 12 may be a dust suction port or a roll brush, or may include a dust suction port and a roll brush. Specifically, the front cleaner 12 may be a dust suction port, the movable cleaner 2 may be a wiper tray for wiping a floor, and the movable cleaner 2 is disposed behind the dust suction port; the movable cleaner 2 may be attached with water and wet towed on the floor to be cleaned, and the movable cleaner 2 may be installed adjacent to the rear end edge of the moving chassis 1. Further, a rolling brush for wiping the floor can be installed at the front cleaner 12, and the cleaning robot can realize a cleaning sequence of wiping after sweeping in the running process.

The number of movable cleaners 2 may be one, two or more, and when the number of movable cleaners 2 is two or more, at least one second position of the movable cleaner 2 is located on the left side of the moving chassis 1 and at least one second position of the movable cleaner 2 is located on the right side of the moving chassis 1.

In one embodiment of the present disclosure, the movable cleaners 2 may be provided in two, two movable cleaners 2 being provided side by side, each movable cleaner 2 having one first position and one second position. The second position of the left movable cleaner 2 is located at the left side of the movement chassis 1, the second position of the right movable cleaner 2 is located at the right side of the movement chassis 1, and when the left side or the right side of the movement chassis 1 is close to the wall or the periphery of furniture, the movable cleaner 2 at the corresponding side can move to the second position of the side of the movement chassis 1, and the joint corners are comprehensively cleaned. The two movable cleaners 2 may be independently controlled, for example, when there is no dead space on the right side of the cleaning robot and there is a wall 4 to be welted cleaned on the left side, the control unit may control only the movable cleaner 2 on the left side to move to the second position and the movable cleaner 2 on the right side may be in the first position.

In a specific embodiment of the present disclosure, referring to fig. 3 and 6, the movable cleaner 2 is a wiper tray including: a swinging mechanism 21, a rag pan 23, a swinging motor 24 and a rotating motor 25. One end of the swinging mechanism 21 is rotatably connected to the bottom of the motion chassis 1 through a swinging motor 24, and the rag tray 23 is rotatably connected to the other end of the swinging mechanism 21 through a rotating motor 25. The swing motor 24 is configured to drive the swing mechanism 21 to move the movable cleaner 2 between the second position and the first position. The rotating motor 25 may be fixedly arranged on the swinging mechanism 21, and its output end may be in transmission connection with the rotating shaft of the wiper disc 23, so as to drive the wiper disc 23 to perform self-rotation motion. Therefore, the cleaning robot can clean the working surface by rotating the cleaning robot when the cleaning robot performs cleaning work.

In one embodiment of the present disclosure, the outer contour of the motion chassis 1 has a maximum edge in the forward direction, and in the second position at least part of the edge of the movable cleaner 2 is located outside the maximum edge of the motion chassis 1. Specifically, the motion chassis 1 may be provided in any shape such as a rectangle, a circle, or the like, and the motion chassis 1 in the present embodiment is a circle.

With reference to fig. 1 and 2, the α -axis shows the maximum edge of the outer contour of the chassis 1 in the advancing direction. It will be appreciated that when the cleaning robot is operated to a position closest to the wall 4, the alpha axis coincides with the edge of the wall 4, and a cleaning dead angle is formed due to the gap between the movable cleaner 2 in the first position and the alpha axis. In order to compensate for the gap between the movable cleaner 2 and the α -axis, it is necessary to swing the movable cleaner 2 to the outside and move at least part of the edge thereof to a position beyond the α -axis, as shown in fig. 2. This allows the cleaning range of the movable cleaning implement 2 in the second position to cover the widest part of the travel range of the chassis 1. Since the movable cleaner 2 in the present embodiment takes the second position as the normal operation posture, the cleaning range of the robot of the present disclosure at the time of normal operation can cover at least the widest part of the travel range of the moving chassis 1, and the cleaning efficiency is high.

In one embodiment of the present disclosure, the control unit is configured to control the movable cleaner 2 to move in the direction of the first position at least until its outer edge is located within the largest edge of the moving chassis 1 after determining that the obstacle is on the original movement path of the cleaning robot. When the detection unit 13 detects an obstacle located in front of the cleaning robot, the control unit controls the movable cleaner 2 to move inward to avoid the obstacle in advance. The obstacle encountered by the movable cleaner 2 in the second position is located outside the maximum edge of the motion chassis 1, that is, the obstacle does not collide with the motion chassis 1, and therefore, the obstacle can be avoided by moving the movable cleaner 2 into the maximum edge of the motion chassis 1.

In a specific embodiment of the present disclosure, the control unit is configured to control the movable cleaner 2 to move to the first position or to other positions located between the first position and the second position after determining that the obstacle is on the original moving path of the cleaning robot. When the movable cleaner 2 moves to the first position, the edge of the movable cleaner 2 does not exceed the edge projection area of the movable chassis 1 and is naturally positioned in the maximum edge of the movable chassis 1, so that obstacle avoidance can be realized.

However, the movable cleaner 2 does not have to be moved completely back into the first position each time the obstacle is avoided, but can be swung by a smaller extent only to other positions between the first position and the second position where obstacle avoidance is possible. As shown in fig. 2, there is a large space between the movable cleaner 2 located at the first position and the α -axis, and the control unit can control the movable cleaner 2 to move to any position therebetween. Therefore, the swing stroke of obstacle avoidance every time is reduced, and the cleaning efficiency is improved.

The movable cleaner 2 moves towards the first position to avoid the obstacle, and needs to be reset to the second position after the obstacle is cleared, so that a large cleaning range is maintained. The cleaning robot needs to be reset to the original moving path after bypassing the obstacle to reduce the cleaning omission area.

In one embodiment of the present disclosure, the control unit is configured to control the movable cleaner 2 to be reset to the second position within a predetermined time or after the cleaning robot has traveled a predetermined distance after the movable cleaner 2 moves in the direction of the first position; and/or after the cleaning robot walks in a direction deviating from the obstacle, the control unit is configured to control the cleaning robot to walk along the original movement path within a predetermined time or after the cleaning robot walks a predetermined distance.

In one embodiment of the present disclosure, the control unit may start timing from the movable cleaner 2 leaving the second position, and after a predetermined time has elapsed, the control unit controls the movable cleaner 2 to be reset to the second position. The predetermined time is the time required for the cleaning robot to pass an obstacle in a normal case. For example: the predetermined time may be five seconds, and the movable cleaner 2 may be reset by moving outward five seconds after leaving the second position. If the cleaning robot has passed over the obstacle at the time of resetting, the cleaning robot can be smoothly reset to the second position and the cleaning can be continued in a large range. If the cleaning robot has not passed over the obstacle at the time of resetting, the control unit can control the movable cleaner 2 to move in the direction of the first position again to avoid the obstacle again, and count the time again, so that it reciprocates until resetting.

In another embodiment of the present disclosure, the control unit may start timing after the cleaning robot walks in a direction deviating from the obstacle, and after a predetermined time has elapsed, the control unit controls the cleaning robot to be reset to the original moving path. As above, taking the preset time as five seconds as an example, the cleaning robot can be reset to the original path after being deviated from the original path for five seconds, so as to continue cleaning along the original path. If the cleaning robot has not passed over the obstacle at the time of resetting, the control unit can control the cleaning robot to walk in the direction deviating from the obstacle again to avoid the obstacle again, and count the time again, so that the cleaning robot reciprocates until resetting.

In another specific embodiment of the present disclosure, the control unit may calculate the travel distance of the cleaning robot from the position where the movable cleaner 2 is away from the second position, and after reaching the predetermined distance, the control unit controls the movable cleaner 2 to be reset to the second position. The travel distance includes both the distance traveled by the cleaning robot forward and the distance traveled during turns and turns. For example: the predetermined distance may be one meter, and the cleaning robot continues to travel one meter after the movable cleaner 2 leaves the second position, and at this time, the movable cleaner 2 may be moved outward to be reset. If the cleaning robot has passed over the obstacle at the time of resetting, the cleaning robot can be smoothly reset to the second position and the cleaning can be continued in a large range. If the cleaning robot has not passed over the obstacle at the time of resetting, the control unit can control the movable cleaner 2 to move in the direction of the first position again to avoid the obstacle again, and recalculate the travel distance, so as to reciprocate until resetting.

In another specific embodiment of the present disclosure, the control unit may start calculating the travel distance of the cleaning robot after the cleaning robot walks in a direction deviating from the obstacle, and after reaching the predetermined distance, the control unit controls the cleaning robot to be reset to the original travel path. As above, taking the example that the predetermined distance is one meter, the cleaning robot continues to travel one meter after deviating from the original path, and at this time, the cleaning robot can be reset to the original path to continue cleaning along the original path. If the cleaning robot has not passed over the obstacle at the time of resetting, the control unit can control the cleaning robot to walk in a direction deviated from the obstacle again to avoid the obstacle again, and recalculate the travel distance, so as to reciprocate until resetting.

The detection unit 13 may have a detection blind area, for example, when the detection unit 13 is a lidar mounted on top of the moving chassis 1, it is difficult to detect a low obstacle such as a threshold. The prognosis of the control unit may also deviate for detectable obstacles. It can be seen that the provision of the probe 13 only reduces the occurrence of the impact, but does not completely avoid the impact. After the collision, the movable cleaner 2 needs to be retracted in time, otherwise, the cleaning robot may be blocked and difficult to operate. For this purpose, the cleaning robot of the present disclosure is further provided with a detection unit for passive obstacle avoidance.

In one embodiment of the present disclosure, the detection unit is configured to be triggered when the movable cleaner 2 is subjected to an external force; the control unit is capable of controlling the movement of the movable cleaner 2 in the direction of the first position based on the signal triggered by the detection unit. It should be noted that, the detecting unit can directly or indirectly continuously detect the stress state of the movable cleaner 2, and continuously send the detection signal to the control unit; the control unit can make analysis judgment on the detection signal, and only when the control unit judges that the movable cleaner 2 collides with an obstacle, the control unit can control the movable cleaner 2 to move towards the first position so as to avoid.

When the external force applied to the movable cleaner 2 is small, the control unit determines that the movable cleaner 2 is in a normal operation state, for example: the movable cleaner 2 receives a frictional force from the working surface when mopping, and the working surface frictional force does not cause the movable cleaner 2 to move in the direction of the first position. Only when the external force applied to the movable cleaner 2 reaches a certain threshold value, the control unit judges that the movable cleaner 2 collides with the obstacle and controls the movable cleaner to move towards the first position to avoid the obstacle.

The cleaning robot realizes the cooperative operation of active obstacle avoidance and passive obstacle avoidance through the two sets of obstacle avoidance systems of the detection unit and the detection unit 13. For the obstacle detected by the detection unit 13, the control unit may retract the movable cleaner 2 in advance, and control the cleaning robot to extract a turn, thereby actively avoiding a collision; for the collision that can not avoid, the detecting unit can detect the emergence of collision, and the control unit can be based on the signal retrieval movable cleaner 2 that detecting unit triggered, prevents cleaning robot by the obstacle card dead, has promoted user experience.

The detecting unit of the present disclosure is configured to be triggered when the movable cleaner 2 is subjected to an external force, and the specific manner in which the detecting unit detects the force applied to the movable cleaner 2 is various, and the present disclosure is not limited to the specific manner of detection. Several different detection methods provided by the present disclosure, and specific structures of the detection units will be described in detail below in conjunction with several embodiments.

In one embodiment of the present disclosure, when located at the second position, the movable cleaner 2 is configured to vibrate at least in a swinging direction of the movable cleaner 2 when subjected to an external force, and the control unit is configured to control the movement of the movable cleaner 2 in the direction of the first position based on a signal obtained by the detection unit when the movable cleaner 2 vibrates.

When the movable cleaner 2 collides with an obstacle, for example, when the movable cleaner 2 is caught in a corner, the driving wheel 11 of the cleaning robot is continuously rotated, and the cloth tray 23 on the movable cleaner 2 is continuously pressed from the corner; a certain gap exists between the mechanical structures in the movable cleaner 2, and under the action of the pressure of the corners, the mechanical structures in the movable cleaner 2 can continuously collide and rebound, which can cause the movable cleaner 2 to vibrate as a whole. The swinging mechanism 21 is rotatably connected with the motion chassis 1, and the rotation connection point is positioned at one end far away from the rag disc 23, so that the moment is large, and therefore, under the condition of continuous stress, the rag disc 23 firstly vibrates by taking the rotation connection point as an axis, namely, vibrates in the swinging direction of the movable cleaner 2.

Since the movable cleaner 2 may also vibrate in the swing direction during normal operation of the cleaning robot, it is also necessary to further define the vibration signal. In a specific embodiment of the present disclosure, the control unit can determine that the movable cleaner 2 has been bumped and control the movement of the movable cleaner 2 in the direction of the first position only when the vibration reaches a predetermined frequency. When the cleaning robot is operating normally, even if the movable cleaner 2 vibrates, only the lower frequency vibration will occur, and only when the movable cleaner 2 collides with the dead angle, the high frequency vibration will occur under the action of continuous stress. For example: when the movable cleaner 2 vibrates 10 times within 200ms, the vibration is considered to reach a predetermined frequency, and the control unit controls the movable cleaner 2 to move in the direction of the first position to perform obstacle avoidance.

In addition to the vibration caused by the gap between the mechanical structures in the movable cleaner 2, an elastic portion 213 may be provided in the movable cleaner 2, and the elastic portion 213 may also cause the vibration of the movable cleaner 2. The elastic portion 213 is provided to provide a buffer, and the elastic portion 213 can absorb an impact force when the movable cleaner 2 collides, thereby extending the service life of the cleaning apparatus. The present disclosure provides two specific arrangements of the elastic portion 213 as follows.

In a specific embodiment of the present disclosure, referring to fig. 6, the movable cleaner 2 includes a connection part 211 for rotatably connecting the moving chassis 1, and a carrying part 212. The connection portion 211 is configured to be connected to the bearing portion 212 through an elastic portion 213, and the elastic portion 213 is configured to provide an elastic force for restoring the bearing portion 212. In this embodiment, the connection portion 211, the bearing portion 212 and the elastic portion 213 are all part of the swing mechanism 21, the connection portion 211 may be connected to the motion chassis 1 through the swing motor 24, the bearing portion 212 may be used for mounting the wiper disc 23, and the wiper disc 23 may be rotatably connected to the bearing portion 212 through the rotary motor 25. The connection portion 211 is connected to the carrying portion 212 through an elastic portion 213, and the elastic portion 213 may be a spring, a spring plate, or an elastic material.

When the wiper disc 23 collides, the bearing portion 212 rotatably connected with the wiper disc 23 receives a certain impact force, and the impact force transmitted to the connecting portion 211 and the motion chassis 1 is greatly reduced under the buffering action of the elastic portion 213. The elastic portion 213 is elastically deformed by the impact force applied to the bearing portion 212, and generates an elastic force opposite to the impact force, and the bearing portion 212 can rebound and return under the action of the elastic force.

When the volume of the obstacle is smaller, the obstacle can not block the movable cleaner 2, and the cleaning robot can directly cross the obstacle by virtue of the running speed, so that the movable cleaner 2 does not need to be retracted; the cloth tray 23 can be reset directly under the action of elastic force and cleaning can be continued. It will be appreciated that when the movable cleaner 2 is not stuck by an obstacle, a single impact of the obstacle may cause the movable cleaner 2 to vibrate, but the vibration frequency of the movable cleaner is low under the buffering action of the elastic portion 213, so that the predetermined frequency for avoiding the obstacle is not reached.

When the volume of the obstacle is large, for example: walls, corners, large pieces of furniture, etc., the movable cleaner 2 may be caught by an obstacle, and at this time, the movable cleaner 2 needs to be retracted. When the movable cleaner 2 is blocked by an obstacle, the rag disc 23 is continuously stressed, and the rag disc 23 is rebounded and reset under the action of elastic force and is collided again, so that high-frequency vibration is generated. The control unit determines that the vibration frequency of the movable cleaner 2 reaches a predetermined frequency, and controls the movable cleaner 2 to move toward the first position to avoid the obstacle.

In another specific embodiment of the present disclosure, an elastic portion 213 is provided between the moving chassis 1 and the movable cleaner 2, and the movable cleaner 2 is configured to have a tendency to move toward the second position under the force of the elastic portion 213. The elastic portion 213 can continuously provide the movable cleaner 2 with an elastic force in the direction of the second position, and the movable cleaner 2 can be retracted to the first position only by the driving action of the swing motor 24. In the present embodiment, the movable cleaner 2 is considered to be integrally moved, and when the movable cleaner 2 collides, the movable cleaner is entirely swung in the first position direction, and the impact force transmitted to the movement chassis 1 is greatly reduced by the cushioning effect of the elastic portion 213. By providing the elastic portion 213 between the moving chassis 1 and the movable cleaner 2, a certain moving space is provided for the movable cleaner 2, and when the movable cleaner 2 is stuck by an obstacle, high-frequency vibration occurs in the moving space. The control unit determines that the vibration frequency of the movable cleaner 2 reaches a predetermined frequency, and controls the movable cleaner 2 to move toward the first position to avoid the obstacle.

In one embodiment of the present disclosure, referring to fig. 3 to 5, the detection unit includes: a light blocking strip 3 and a photoelectric correlation tube 22. The light blocking strip 3 is arranged on one of the moving chassis 1 and the movable cleaner 2, and the photoelectric correlation tube 22 is arranged on the other of the moving chassis 1 and the movable cleaner 2. That is, the light blocking strip 3 is mounted on the moving chassis 1, and the photo-correlation tube 22 is mounted on the movable cleaner 2; alternatively, the light blocking strip 3 is mounted on the movable cleaner 2, and the photo-correlation tube 22 is mounted on the moving chassis 1. The specific mounting manner of the light blocking strip 3 and the photo-collimator 22 is not limited in the present disclosure, as long as one of them can follow the movement of the movable cleaner 2, and the other is stationary.

As shown in fig. 3 and 4, the light blocking strip 3 is mounted on the moving chassis 1 in the present embodiment, and the photo correlation tube 22 is mounted on the movable cleaner 2. As shown in fig. 5, the light blocking strip 3 is configured such that a plurality of hollowed-out channels 32 are provided at intervals in the swing direction of the movable cleaner 2, and the light blocking strip 3 may be an arc-shaped grating strip extending in the swing direction of the movable cleaner 2. The light blocking strip 3 comprises a shielding comb tooth 31 and a plurality of hollow channels 32 which are alternately arranged, so that the comb tooth-shaped light blocking strip 3 is formed.

The photoelectric correlation tube 22 comprises an emitting tube and a receiving tube which are positioned on two opposite sides of the light blocking strip 3, when the photoelectric correlation tube 22 moves to a position corresponding to the hollowed-out channel 32 relative to the light blocking strip 3, the receiving tube is configured to receive the light signal from the emitting tube through the hollowed-out channel 32, and when the photoelectric correlation tube 22 moves to a position deviating from the hollowed-out channel 32, the light signal emitted by the emitting tube is blocked by the light blocking strip 3. The emitting tube and the receiving tube of the photoelectric correlation tube 22 may be respectively installed on the movable cleaner 2 and can swing along with the movable cleaner 2, and the emitting tube and the receiving tube may be respectively installed on the upper and lower sides of the arc-shaped grating bars.

When the movable cleaner 2 works normally, the emitting tube and the receiving tube can be respectively positioned on the upper side and the lower side of the shielding comb teeth 31 on the light blocking strip 3, the light signal emitted by the emitting tube can be shielded by the light blocking strip 3, and the receiving tube can not receive the signal. When the movable cleaner 2 swings, the transmitting tube and the receiving tube swing together with the movable cleaner 2, so that the light-blocking strip 3 moves to the upper side and the lower side of the hollow channel 32, the receiving tube receives the optical signal from the transmitting tube through the hollow channel 32, and the control unit can judge that the movable cleaner 2 swings based on the optical signal.

Of course, when the movable cleaner 2 works normally, the transmitting tube and the receiving tube may be located at the upper and lower sides of the hollow channel 32, respectively, and the receiving tube may continuously receive the optical signal from the transmitting tube; when the light signal disappears, this means that the movable cleaner 2 swings.

As shown in fig. 7, the optical signal received by the receiving tube is the high level signal in fig. 7, and the signal that the receiving tube cannot receive is the low level signal in fig. 7. When the light blocking strip 3 and the photoelectric correlation tube 22 are relatively static, the level signal can be kept at a high level or a low level; when the level signal is suddenly changed, that is, when a pulse signal is generated, it means that the light blocking strip 3 and the photoelectric correlation tube 22 are relatively moved, that is, the movable cleaner 2 swings relative to the movable chassis 1.

When the level signal exhibits a pulse signal having a low frequency at a constant speed, it can be judged that the movable cleaner 2 is being extended or retracted by the swing motor 24. In a specific embodiment of the present disclosure, the hollowed-out channels 32 are configured to be arranged on the light blocking strip 3 at predetermined intervals, and the control unit is configured to control the movable cleaner 2 to swing a predetermined angle between the first position and the second position based on the pulse signal detected by the photoelectric pair of the radiation tubes 22. It will be appreciated that each occurrence of a high signal means that the photo-correlation tube 22 passes through the hollowed-out channel 32 once, and each occurrence of a low signal means that the photo-correlation tube 22 passes through the shielding comb teeth 31 once. Therefore, the pulse signals can be counted, and the swinging angle of the movable cleaner 2 can be calculated from the number of signals. The control unit may control the movable cleaner 2 to swing a predetermined angle between the first position and the second position based on this, that is, may control the movable cleaner 2 to move to any position between the first position and the second position. Thus, the precise positioning of the movable cleaner 2 is realized, so that the pose and the form of the movable cleaner 2 can be more finely adjusted, and more complex cleaning operation can be realized.

When the level signal suddenly changes suddenly in a short time, i.e., a pulse signal having a high frequency is presented, it can be judged that the movable cleaner 2 is vibrated by the external force. The control unit may determine the frequency of the vibration based on the pulse signal, and when the frequency of the vibration is greater than a predetermined frequency, it may determine that the movable cleaner 2 is bumped, and it is necessary to retract the movable cleaner 2.

In a specific embodiment of the present disclosure, the control unit is configured to control the movement of the movable cleaner 2 in the direction of the first position when the pulse signal detected by the photo-alignment tube 22 within a predetermined time reaches a threshold value. The movable cleaner 2 generates high-frequency vibration at the time of impact, and at this time, the transmitting tube and the receiving tube vibrate back and forth along the swing direction together with the movable cleaner 2. So as to rapidly oscillate back and forth between the adjacent shielding comb teeth 31 and the shielding channels 32, thus forming a high-frequency pulse signal. The control unit may count the pulse signals, each set of high and low levels means one vibration, and the control unit calculates the vibration frequency of the movable cleaner 2 based on the pulse signals. When the pulse signal reaches the threshold value within the preset time, the vibration frequency of the movable cleaner 2 reaches the preset frequency, so that the movable cleaner 2 can be judged to be impacted, and the control unit controls the movable cleaner 2 to move towards the first position so as to avoid the obstacle.

The above describes the specific implementation mode that the detection units are the light blocking strip 3 and the photoelectric correlation tube 22, the detection method of photoelectric sensing is high in precision and not prone to misjudgment, and when the movable cleaner 2 is impacted, the control unit can quickly and timely control the movable cleaner 2 to recover inwards to avoid obstacles. In addition to the manner of photo-sensing, the present disclosure provides some other detection methods, which will be described in detail below.

In one embodiment of the present disclosure, the cleaning robot includes a swing motor 24, and the movable cleaner 2 is configured to move between a first position and a second position under the influence of the swing motor 24. The control unit is configured to control the movement of the movable cleaner 2 in the direction of the first position based on at least one signal of the magnitude of the force, the swing displacement, the swing angle, the current of the swing motor 24, the rotation angle of the swing motor 24 of the movable cleaner 2 detected by the detection unit.

In a specific embodiment of the present disclosure, the control unit is configured to control the movement of the movable cleaner 2 in the direction of the first position based on the magnitude of the force of the movable cleaner 2 detected by the detection unit. The detecting unit is a pressure sensor provided on the movable cleaner 2, and when the magnitude of the pressure detected by the pressure sensor reaches a predetermined pressure, it is indicated that the movable cleaner 2 is impacted. If the obstacle is small, the movable cleaner 2 is not continuously caught after a collision, and obstacle avoidance may not be performed. Therefore, the control unit may count time after the pressure reaches the predetermined pressure, determine that the movable cleaner 2 is stuck by the obstacle only when the pressure is always greater than the predetermined pressure for a period of time (for example, within two seconds), and control the movable cleaner 2 to move in the direction of the first position to avoid the obstacle.

In a specific embodiment of the present disclosure, the control unit is configured to control the movement of the movable cleaner 2 in the direction of the first position based on the swing displacement detected by the detection unit. The detection unit is a position sensor provided on the movable cleaner 2, and the control unit can know the real-time position of the movable cleaner 2. The control unit may determine whether the movable cleaner 2 collides based on the positional information of the movable cleaner 2, for example, the position sensor detects a pulse-type change in the swing displacement of the movable cleaner 2, which indicates that the movable cleaner 2 vibrates, and when the vibration frequency is greater than a predetermined frequency, the control unit may control the movable cleaner 2 to move in the direction of the first position to avoid the obstacle.

In a specific embodiment of the present disclosure, the control unit is configured to control the movement of the movable cleaner 2 in the direction of the first position based on the swing angle detected by the detection unit. The detection unit is a code wheel provided on the movable cleaner 2, the code wheel being capable of detecting angle information of the movable cleaner 2 in the swing direction. The control unit may determine whether the movable cleaner 2 collides based on the angle information fed back from the code wheel, for example, the code wheel detects a pulse change of the swing angle of the movable cleaner 2, which indicates that the movable cleaner 2 vibrates, and when the vibration frequency is greater than a predetermined frequency, the control unit may control the movable cleaner 2 to move in the direction of the first position to avoid the obstacle.

In a specific embodiment of the present disclosure, the control unit is configured to control the movement of the movable cleaner 2 in the direction of the first position based on the current of the swing motor 24 detected by the detection unit. The control unit can acquire the current magnitude of the swing motor 24 in real time. When the movable cleaner 2 is collided, the current of the swing motor 24 is increased accordingly, and the control unit can judge whether the movable cleaner 2 is collided according to the current of the swing motor 24. For example: the current of the swing motor 24 is changed in a pulse manner, which means that the movable cleaner 2 vibrates along the swing direction, and when the vibration frequency is greater than the preset frequency, the control unit can control the movable cleaner 2 to move towards the first position to avoid the obstacle.

In a specific embodiment of the present disclosure, the control unit is configured to control the movement of the movable cleaner 2 in the direction of the first position based on the rotation angle of the swing motor 24 detected by the detection unit. The rotation shaft of the swing motor 24 may be provided with a motor code wheel, which can detect the rotation angle of the swing motor 24. The control unit can acquire the rotation angle of the swing motor 24 in real time, for example: the rotation angle of the swing motor 24 detected by the motor code wheel is changed in a pulse mode, which indicates that the movable cleaner 2 vibrates along the swing direction, and when the vibration frequency is greater than the preset frequency, the control unit can control the movable cleaner 2 to move towards the first position to avoid the obstacle.

In a specific embodiment of the present disclosure, the control unit may also control the movement of the movable cleaner 2 in the direction of the first position based on at least two signals of the force magnitude, the swing displacement, the swing angle, the current of the swing motor 24, and the rotation angle of the swing motor 24 of the movable cleaner 2 detected by the detection unit. The detection unit may comprise at least a first detection unit and a second detection unit, which may be used for detecting different signals, respectively, such as: the first detection unit is used for detecting the stress magnitude of the movable cleaner 2, and the first detection unit is used for swinging the current of the motor 24. The control unit may comprehensively judge the actual state of the movable cleaner 2 based on at least the signals fed back by the first and second detection units. Therefore, the misjudgment rate of the control unit is reduced, the control unit can more accurately judge whether the movable cleaner 2 is impacted or not and whether the movable cleaner needs to be retracted or not, and the user experience is improved.

The disclosure also provides a control method of the cleaning robot, specifically, the method comprises the following steps:

in the second position, controlling the cleaning robot to walk on the working surface to clean the working surface;

The control unit is configured to determine that an obstacle is on the original moving path of the cleaning robot based on the environmental information detected by the detection unit 13, control the movable cleaner 2 to move in the direction of the first position in advance, and control the cleaning robot to walk in the direction of deviating from the obstacle in advance.

After the cleaning robot leaves the base station, the control unit is configured to control the movable cleaner 2 to perform a cleaning operation on the work surface with the second position as a normal working posture. Specifically, when the cleaning robot leaves the base station, that is, when the cleaning work starts, the movable cleaner 2 performs the cleaning work on the working surface with the second position as a normal working posture, thereby enlarging the cleaning area and improving the cleaning efficiency.

When an obstacle exists in front of the cleaning robot, the detection unit can detect the existence of the obstacle and send information such as the size, the position and the like of the obstacle to the control unit; after analysis, the control unit judges that the obstacle is positioned on the moving path of the cleaning robot, so that the cleaning robot is controlled to avoid the obstacle in advance. The cleaning robot of the present disclosure has two obstacle avoidance behaviors, one of which: the movable cleaner 2 is retracted in advance, namely, the control unit controls the movable cleaner 2 to move towards the first position; and two,: the cleaning robot turns to and keeps away the barrier, namely the control unit controls the cleaning robot to walk in advance to the direction deviating from the barrier, two kinds of obstacle avoidance behaviors are carried out cooperatively, and therefore collision is avoided.

Application scenario one

The cleaning robot of the present disclosure may be a floor mopping robot, and the cleaning device of the floor mopping robot is used for cleaning a work surface when the floor mopping robot is working. When the floor mopping robot leaves the base station and starts to perform cleaning work, the movable cleaner 2 performs cleaning work on the working surface with the second position as a normal working posture, so that the cleaning area is enlarged, and the cleaning efficiency is improved. The movable cleaner 2 positioned at the second position can cover dead corners which are difficult to clean, such as wall roots, cabinet feet and the like, and realizes comprehensive cleaning.

When an obstacle exists in front of the floor mopping robot, the detection unit can detect the existence of the obstacle and send information such as the size, the position and the like of the obstacle to the control unit; after analysis, the control unit judges that the obstacle is positioned on the moving path of the cleaning robot and sends a command to control the cleaning robot to avoid the obstacle in advance. The floor mopping robot has two obstacle avoidance behaviors, one of which is: the movable cleaner 2 is retracted in advance, namely, the control unit controls the movable cleaner 2 to move towards the first position; and two,: the control unit controls the floor mopping robot to walk in the direction deviating from the obstacle in advance, and the two obstacle avoidance behaviors are performed cooperatively, so that the probability of collision is reduced, the service life of the cleaning robot is prolonged, and the use experience of a user is improved.

Application scene two

The cleaning robot of the present disclosure may be a floor mopping robot, and when the movable cleaner 2 of the floor mopping robot moves in the direction of the first position to avoid an obstacle, it is required to return to the second position, thereby maintaining a large cleaning range. After the movable cleaner 2 moves in the direction of the first position, the control unit is configured to control the movable cleaner 2 to be reset to the second position within a predetermined time or after the floor mopping robot has traveled a predetermined distance.

The control unit may start timing from the movable cleaner 2 leaving the second position, and after a predetermined time has elapsed, the control unit controls the movable cleaner 2 to be reset to the second position. The predetermined time may be five seconds, and the movable cleaner 2 may be reset by moving outward five seconds after leaving the second position. If the mopping robot passes over the obstacle during resetting, the robot can be smoothly reset to the second position and can continue to clean in a large range. If the robot has not passed over the obstacle at the time of resetting, the control unit can control the movable cleaner 2 to move in the direction of the first position again to avoid the obstacle again, and count the time again, so that the robot reciprocates until resetting.

The control unit may also calculate a travel distance of the floor mopping robot from the position where the movable cleaner 2 leaves the second position, and when a predetermined distance is reached, the control unit controls the movable cleaner 2 to be reset to the second position. The driving distance includes both the distance that the mopping robot is driving forward and the distance that the mopping robot is driving during turning and winding. The predetermined distance may be one meter, and the floor mopping robot continues to travel one meter after the movable cleaner 2 leaves the second position, and at this time, the movable cleaner 2 can be moved outwards to reset. If the mopping robot passes over the obstacle during resetting, the robot can be smoothly reset to the second position and can continue to clean in a large range. If the floor mopping robot has not passed over the obstacle at the time of resetting, the control unit can control the movable cleaner 2 to move in the direction of the first position again to avoid the obstacle again, and recalculate the travel distance again, so as to reciprocate until resetting.

Application scenario three

The cleaning robot of the present disclosure may be a floor mopping robot that needs to be reset to an original moving path after bypassing an obstacle to reduce a cleaning omission area. After the floor mopping robot walks in a direction deviating from the obstacle, the control unit is configured to control the floor mopping robot to walk in the original moving path within a predetermined time or after the floor mopping robot walks a predetermined distance.

The control unit can start timing after the mopping robot walks in the direction deviating from the obstacle, and when the preset time is up, the control unit controls the mopping robot to reset to the original moving path. The preset time is five seconds, and the floor mopping robot can be reset to the original path after being deviated from the original path for five seconds so as to continue cleaning along the original path. If the mopping robot does not pass over the obstacle during resetting, the control unit can control the mopping robot to walk in the direction deviating from the obstacle again so as to avoid the obstacle again, and count the time again, so that the robot reciprocates until resetting.

The control unit can also start to calculate the driving distance of the mopping robot after the mopping robot walks in the direction deviating from the obstacle, and after the preset distance is reached, the control unit controls the mopping robot to reset to the original moving path. The preset distance is one meter, and the mopping robot can be reset to the original path at the moment to continue cleaning along the original path after deviating from the original path for one meter. If the mopping robot does not pass over the obstacle during resetting, the control unit can control the mopping robot to walk in the direction deviating from the obstacle again so as to avoid the obstacle again, and recalculate the driving distance again, so that the robot reciprocates until resetting.

Application scene four

The cleaning robot of the present disclosure may be a mopping robot, and the detection unit 13 may be a laser radar, which can detect in real time whether an obstacle to be avoided exists in the cleaning environment, and transmit detection information to the control unit. The control unit can predict the size and distance of the obstacle according to the detection information of the laser radar and control the movable cleaner 2 to move in the direction of the first position in advance before collision, thereby realizing active obstacle avoidance

The lidar has a detection dead zone, which is difficult to detect a short obstacle when the lidar is installed on top of the floor mopping robot moving chassis 1. The prognosis of the control unit may also deviate for detectable obstacles. For example, when a low threshold is provided in front of the floor mopping robot, the laser radar cannot detect the threshold, the floor mopping robot cannot make a pre-judgment in advance, and the movable cleaner 2 collides with the threshold.

The detection unit can timely detect the collision, and the control unit can retract the movable cleaner 2 based on the signal triggered by the detection unit, so that the floor mopping robot is prevented from being blocked by the threshold. Thus, the cooperative operation of active obstacle avoidance and passive obstacle avoidance is realized, and for the obstacle which can be detected by the laser radar, the control unit can retract the movable cleaner 2 in advance to actively avoid collision; for the collision which cannot be avoided, the detection unit can detect the occurrence of the collision, the control unit can retract the movable cleaner 2 based on the signal triggered by the detection unit, the floor mopping robot is prevented from being blocked, and the user experience is improved. .

Application scene four

The cleaning robot of the present disclosure may be a floor mopping robot, and when the floor mopping robot leaves the base station, i.e., starts to perform a cleaning operation, the movable cleaner 2 performs the cleaning operation on the work surface with the second position as a normal working posture. The outer contour of the moving chassis 1 has a maximum edge in the forward direction, and in the second position at least part of the edge of the movable cleaning implement 2 is located outside the maximum edge of the moving chassis 1. This allows the cleaning range of the movable cleaning implement 2 in the second position to cover the widest part of the travel range of the chassis 1. The cleaning range of the mopping robot in normal operation can at least cover the widest part of the walking range of the motion chassis 1, and the cleaning efficiency is very high.

When the mopping robot runs along the wall, the position of the wall root can be cleaned. When the detection unit 13 detects a corner in front of the floor mopping robot, the control unit can control the floor mopping robot to turn in a direction away from the obstacle while controlling the movable cleaner 2 to move in a direction of the first position; alternatively, the movable cleaner 2 may be controlled to move in the direction of the first position, and then the floor mopping robot may be controlled to turn in the direction away from the obstacle. The adduction obstacle avoidance and the turning obstacle avoidance are carried out simultaneously, or the obstacle avoidance mode of adduction and turning is adopted, so that the floor mopping robot has smaller turning radius when turning is started at the corner position, and the missing area in the cleaning process is reduced.

Application scene five

The cleaning robot of the present disclosure may be a mopping robot, and when the detection unit 13 detects that there is an obstacle in front, the control unit is configured to control the mopping robot to turn and move in such a manner as to at least partially surround the obstacle.

For example, the obstacle is a table leg positioned on the cleaning path of the cleaning robot, and the floor mopping robot can travel half a turn around the table leg, thereby bypassing the table leg and returning to the original cleaning path; the floor mopping robot can also travel around the table legs for a half circle and then return to the original cleaning path, so that the floor around the table legs is prevented from being missed.

Further, after the detection unit 13 detects an obstacle located in front of the cleaning robot, the control unit may not immediately transmit an obstacle avoidance command, but transmit the command to avoid an obstacle after the floor mopping robot continues to travel forward a predetermined distance. The predetermined distance may be set according to the detection range of the detection unit 13.

For example, the detection unit 13 can detect a range within a radius of one meter, when the detection unit 13 detects an obstacle, it means that the obstacle is located at a position in front of the mopping robot by one meter, and the control unit can control the mopping robot to walk 0.8 meter along the original path and then send an obstacle avoidance command, that is, control the movable cleaner 2 to move in the direction of the first position in advance, and control the mopping robot to walk in the direction deviating from the obstacle in advance. Therefore, the obstacle can be avoided as late as possible on the premise of not impacting the obstacle, and the cleaning missing area is reduced to the greatest extent.

Application scene six

The cleaning robot of the present disclosure may be a floor mopping robot, which needs to return to a base station after one cleaning operation of the floor mopping robot is completed. For example, when the floor mopping robot has completed cleaning all the working areas, the robot can stop to the base station for maintenance and storage; or, the condition that needs to be maintained appears in the cleaning process of the floor mopping robot, such as the conditions of insufficient electric quantity, excessive dirt on the rag disc and the like, and the floor mopping robot needs to return to a base station for charging or self-cleaning and the like. The user can also directly send a control instruction for returning to the base station to the mopping robot on the mobile phone client.

The movable cleaner 2 on the floor mopping robot is in the second position in operation, and the control unit is configured to control the movable cleaner 2 to move to the first position in response to the return signal, so that the cleaning robot is stopped in the base station as a maintenance pose. When the floor mopping robot is in the base station, the movable cleaner 2 is positioned at the first position, and the edge of the movable cleaner does not exceed the edge projection area of the motion chassis 1, so that the space of the base station is saved.

Specifically, the control unit may control the movable cleaner 2 to move to the first position when the floor mopping robot receives a signal to return to the base station. The control unit may also control the movable cleaner 2 to move to the first position in the course of the floor mopping robot traveling toward the base station after the floor mopping robot receives a signal to return to the base station. This ensures that the mobile cleaner 2 of the floor mopping robot has been retracted to the first position when the robot is docked, thereby facilitating entry of the robot into the base station in a maintenance position.

In the process that the floor mopping robot returns to the base station, an alignment program needs to be executed first so as to ensure that the pose of the floor mopping robot is correct, and the floor mopping robot can accurately stop to the accommodating cavity at the bottom of the base station. The control unit may control the movable cleaner 2 to move to the first position while the mopping robot performs the alignment process. The control unit may also control the movable cleaner 2 to move to the first position in the course that the floor mopping robot has completed the alignment procedure and stopped towards the base station. This allows the movable cleaner 2 to be kept in the second position as long as possible before docking, thereby having a large cleaning area before docking, so as to avoid dead cleaning angles at the periphery of the base station.

Application scene seven

The cleaning robot of the present disclosure may be a floor mopping robot, and after the floor mopping robot enters a home cleaning scene, a control unit thereof may generate a map and a cleaning path according to an indoor layout. In a clear scene, the control unit can generate an arc-shaped path, and the mopping robot turns in advance when approaching the wall surface every time until the cleaning of the whole house is completed.

When the floor cleaning robot cleans the ground along a preset bow-shaped path in an open cleaning scene, and turns at a turning position preset by the bow-shaped path, the movable cleaner 2 can be always kept at the second position without being retracted inwards in the direction of the first position. This is because the control unit is based on the preset path generated by the cleaning range of the movable cleaner at the second position, and the cleaning omission area does not occur although the turning radius of the floor mopping robot is large when turning, and the movable cleaner 2 only needs to be kept at the second position all the time to realize the full cleaning.

Except for the cleaning path preset in the bow shape, the movable cleaner 2 moves toward the first position at the same time when the floor mopping robot turns under other conditions. The floor mopping robot can turn when encountering obstacles, and can adaptively turn according to the terrain when encountering frequent situations needing to turn in cleaning scenes such as corners, cabinet feet and the like in the normal cleaning process. The control unit can control the movable cleaner 2 to be retracted while the floor mopping robot turns, so that the floor mopping robot maintains a smaller turning radius, and the missing area in the cleaning process is reduced.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims (13)

1. A cleaning robot, characterized in that the cleaning robot comprises:

-a motion chassis (1), the motion chassis (1) being configured to walk on a work surface;

a movable cleaner (2), the movable cleaner (2) being configured to be movable relative to the movable chassis (1) between a first position and a second position; the movable cleaner (2) is located in a first position, at least part of the edge of the movable cleaner is located in an edge projection area of the movable chassis (1), and is configured to be capable of swinging outwards to a second position relative to the movable chassis (1);

a detection unit (13), the detection unit (13) being configured for detecting environmental information in a cleaning robot work environment;

a control unit configured to determine obstacle information on an original moving path of the cleaning robot based on the environmental information detected by the detection unit (13), control the movable cleaner (2) to move in a direction of a first position in advance, and control the cleaning robot to walk in a direction of deviating from the obstacle in advance.

2. A cleaning robot according to claim 1, characterized in that the bottom of the motion chassis (1) is provided with two drive wheels (11), the control unit being configured to control the wheel speed difference of the two drive wheels (11) to steer the cleaning robot; alternatively, the control unit is configured to control the cleaning robot to retreat so as to deviate from the obstacle.

3. The cleaning robot of claim 1, wherein the control unit is configured to control the cleaning robot to turn and move in a manner that at least partially surrounds the obstacle.

4. The cleaning robot according to claim 1, characterized in that after determining that an obstacle is on the original movement path of the cleaning robot, the control unit is configured to control the cleaning robot to travel a predetermined distance in accordance with the original movement path, to control the movable cleaner (2) to move in advance in the direction of the first position, and to control the cleaning robot to travel in advance in the direction of deviating from the obstacle.

5. A cleaning robot according to claim 1, characterized in that in the first position the edge of the movable cleaner (2) is located in the edge projection area of the moving chassis (1); in the second position, at least part of the edge of the movable cleaner (2) is located outside the edge projection area of the moving chassis (1).

6. A cleaning robot according to claim 1, characterized in that the outer contour of the moving chassis (1) has a maximum edge in the direction of advance, at least part of the edge of the movable cleaner (2) being located outside the maximum edge of the moving chassis (1) in the second position.

7. A cleaning robot according to claim 6, characterized in that the control unit is configured to control the movement of the movable cleaner (2) in the direction of the first position at least until its outer edge is located within the largest edge of the moving chassis (1) after determining that an obstacle is on the original path of movement of the cleaning robot.

8. The cleaning robot according to claim 7, characterized in that the control unit is configured to control the movable cleaner (2) to move to a first position or to other positions located between the first position and the second position after determining that an obstacle is on the original movement path of the cleaning robot.

9. The cleaning robot according to claim 1, characterized in that the control unit is configured to control the movable cleaner (2) to perform a cleaning operation on the work surface with the second position as a normal working posture after the cleaning robot leaves the base station.

10. The cleaning robot of claim 9, wherein opposite sides of the cleaning robot are denoted as a first side, a second side, respectively; a fixed cleaner (14) is arranged on a first side of the cleaning robot, and the edge of the fixed cleaner (14) is positioned in an edge projection area of the moving chassis (1); the movable cleaner (2) is arranged on the second side;

The control unit is configured to control the cleaning robot to turn in such a way that the movable cleaner (2) faces the obstacle.

11. The cleaning robot according to claim 1, characterized in that the control unit is configured to control the resetting of the movable cleaner (2) to the second position within a predetermined time or after a predetermined distance of the cleaning robot after the movement of the movable cleaner (2) in the direction of the first position; and/or

The control unit is configured to control the cleaning robot to travel in an original travel path within a predetermined time or after the cleaning robot travels a predetermined distance after the cleaning robot travels in a direction deviating from an obstacle.

12. The cleaning robot according to claim 1, characterized in that the control unit is configured to control the movable cleaner (2) to move to the first position in response to the return signal, so that the cleaning robot is stopped in the base station as a maintenance pose.

13. A control method of a cleaning robot according to any one of claims 1 to 12, characterized in that the method comprises the steps of:

in the second position, controlling the cleaning robot to walk on the working surface to clean the working surface;

The control unit is configured to determine that an obstacle is on an original moving path of the cleaning robot based on the environmental information detected by the detection unit (13), control the movable cleaner (2) to move in a direction of a first position in advance, and control the cleaning robot to walk in a direction of deviating from the obstacle in advance.