WO2021190247A1

WO2021190247A1 - Autonomous moving device and control method

Info

Publication number: WO2021190247A1
Application number: PCT/CN2021/078491
Authority: WO
Inventors: 耿鹤; 郭豹; 尹相超; 张为刘; 陈庆涛
Original assignee: 科沃斯机器人股份有限公司
Priority date: 2020-03-25
Filing date: 2021-03-01
Publication date: 2021-09-30
Also published as: CN113440063B; CN113440063A

Abstract

An autonomous moving device and a control method. The autonomous moving device comprises: a device body (1), on which an advancing assembly (5) is provided to provide an advancing power; a movable connection mechanism (6) provided on the device body (1); and a mopping assembly (2) movably connected to the device body (1) by means of the movable connection mechanism (6), when the autonomous moving device executes a traveling mode, the mopping assembly (2) generating a propelling force for assisting the autonomous moving device in advancing. Provided is a solution for generating, by means of the mopping assembly (2), a propelling force for assisting the autonomous moving device in advancing, thereby improving the capabilities of the autonomous moving device, such as slope climbing and obstacle surmounting.

Description

Autonomous mobile equipment and control method

cross reference

This application is cited in the Chinese patent application No. 202010219958.5 filed on March 25, 2020 named "Autonomous Mobile Equipment and Control Method", which is fully incorporated into this application by reference.

Technical field

This application relates to the field of robotics, and in particular to an autonomous mobile device and a control method.

Background technique

In recent years, with the continuous improvement of technology, robots with various functions have emerged, such as: sweeping robots, housekeeping service robots, shopping guide robots, and so on.

In most cases, robots travel on relatively flat ground. When encountering obstacles, they also rely on traveling wheels to overcome obstacles. Door cards with large height differences, slopes, and sliding door slides are often unable to pass, causing the robot to jam and fail to work normally, requiring the user to manually escape the robot.

Summary of the invention

In order to solve or improve the problems existing in the prior art, this application provides an autonomous mobile device and a control method.

In an embodiment of the present application, an autonomous mobile device is provided. This autonomous mobile device includes:

The equipment body is equipped with traveling components to provide traveling power;

The movable connection mechanism is arranged on the device body;

The dragging component is movably connected to the device body through a movable connection mechanism;

Wherein, when the autonomous mobile device executes a walking mode, the drag component generates a driving force to assist the autonomous mobile device to travel.

In another embodiment of the present application, an autonomous mobile device is provided. This autonomous mobile device includes:

The movable connection mechanism is arranged on the device body;

Wherein, when the equipment body needs to cross obstacles, the movable connection mechanism can be used to adjust the pressure exerted by the drag assembly on the traveling surface to generate a driving force that assists the traveling assembly to cross obstacles.

In yet another embodiment of the present application, an autonomous mobile device is provided. This autonomous mobile device includes:

The equipment body is equipped with traveling wheels to provide traveling power;

A wiper roller for rolling to clean the work surface, and to apply a first pressure to the work surface;

Wherein, when the autonomous mobile device executes a walking mode, the drag roller applies a second pressure not less than the first pressure to the working surface, and is the same as the steering of the traveling wheels, and the The linear speed of the drag roller is not less than the linear speed of the traveling wheel, so as to generate a driving force that assists the traveling component to overcome obstacles.

In yet another embodiment of the present application, an autonomous mobile device control method is provided. The method includes:

When the equipment body has a requirement for assisting obstacle crossing, start the obstacle crossing walking mode;

In the obstacle crossing walking mode, the drag assembly arranged on the equipment body is controlled to work in the assisting obstacle crossing state, so as to apply pressure to the traveling surface to generate a driving force that assists the traveling assembly of the equipment body to overcome obstacles.

According to the technical solution provided by the embodiment of the present invention, when the equipment body crosses the obstacle, the pressure applied by the drag assembly to the traveling surface can be adjusted by the movable connection mechanism, thereby generating a driving force that assists the traveling component to cross the obstacle; with the help of the auxiliary pushing It can improve the obstacle crossing ability of autonomous mobile devices.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

FIG. 1 is a schematic diagram of the distribution of components at the bottom of an autonomous mobile device according to an embodiment of the application;

2 is a schematic diagram when the liftable wiper component in the autonomous mobile device provided by an embodiment of the application is in the first position;

FIG. 3 is a schematic diagram when the liftable wiper component in the autonomous mobile device provided by an embodiment of the application is in a second position; FIG.

4 is a schematic structural diagram of a dragging component and an active connection mechanism in an autonomous mobile device provided by an embodiment of this application;

FIG. 5 is a schematic diagram of the drag component in the autonomous mobile device provided by an embodiment of the application in a second position under the action of a cam; FIG.

6 is a schematic diagram of the drag component in the autonomous mobile device provided by an embodiment of the application in the first position under the action of a cam;

FIG. 7 is a schematic diagram of the corresponding relationship between the cam rotation angle and the pressure in the autonomous mobile device according to an embodiment of the application;

Fig. 8 is a schematic diagram of the principle of setting sensors and controllers in an autonomous mobile device provided by an embodiment of the application;

FIG. 9 is a schematic flowchart of a method for controlling an autonomous mobile device according to an embodiment of the application;

FIG. 10 is a schematic structural diagram of an autonomous mobile device provided by another embodiment of this application;

Fig. 11 is a schematic diagram of force analysis when two disk brushes are parallel to the ground in the autonomous mobile device shown in Fig. 10;

FIG. 12 is a schematic diagram of the relationship between the frictional force generated when the two disk brushes are parallel to the ground and the driving force provided by the traveling component in the autonomous mobile device shown in FIG. 10;

FIG. 13 is a schematic diagram of the force analysis after the two disk brushes in the autonomous mobile device shown in FIG. 10 are tilted;

Fig. 14 is a schematic diagram of the driving force for assisting obstacle crossing provided by two inclined disk brushes for the device body in the autonomous mobile device shown in Fig. 10;

FIG. 15 shows a schematic diagram of the dragging component being lowered to provide driving force for the traveling component when the autonomous mobile device crosses an obstacle;

FIG. 16 is a schematic flowchart of a method for controlling an autonomous mobile device according to another embodiment of this application;

FIG. 17 is a schematic flowchart of a method for controlling an autonomous mobile device according to another embodiment of this application.

Detailed ways

Autonomous mobile equipment is a device that has autonomous driving power and can travel on a set planned path or autonomously planned path to perform corresponding tasks. Autonomous mobile devices, also known as robots, can be classified into multiple types of robots according to their tasks. For example: robots that perform cleaning tasks (such as sweeping robots, drag and sweep robots, window cleaning robots, etc.), robots that provide corresponding services (such as shopping guide robots, path guide robots, etc.). For robots performing cleaning tasks, there are generally two types of robots with mopping functions on the market. One is a sweeping and mopping robot with a floating flat wiper for mopping the floor; the other is a mopping robot. A dedicated ground robot, which has a single ground mopping function.

The first sweeping and dragging integrated robot, its mopping part (ie rag) is generally mounted on the lower surface of the robot base as a plug-in, and floats by gravity. The mounting method is generally snap-in and pull-out, and follow the robot to move. Clean the ground, but its pressure on the ground is insufficient, generally only the slight floating dust on the ground can be cleaned.

The latter special robot for mopping can keep the rag always under greater pressure on the ground and has a better floor mopping effect, but the pressure on the ground is relatively fixed, and the applicable scenarios are relatively limited. For places with more changeable environments, it is dedicated for mopping. The robot becomes less adaptable.

To this end, this application provides the following embodiments to provide an autonomous mobile device with strong environmental adaptability and higher intelligence. In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present application.

Some processes described in the specification, claims, and the above-mentioned drawings of the present application include multiple operations appearing in a specific order, and these operations may be performed out of the order in which they appear in this document or performed in parallel. The sequence numbers of operations, such as 101, 102, etc., are only used to distinguish different operations, and the sequence numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions of "first" and "second" in this article are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, nor do they limit the "first" and "second" Are different types. In addition, the embodiments described below are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative work shall fall within the protection scope of this application.

Figure 1, Figure 2 and Figure 3 show schematic structural diagrams of an autonomous mobile device provided by an embodiment of the present application. As shown in FIGS. 1, 2 and 3, the autonomous mobile device includes: a device body 1, an active connection mechanism 6 and a dragging component 2. The device body 1 has the ability to move autonomously; the movable connection mechanism 6 is arranged on the device body 1; the drag assembly 2 is movably connected to the device body 1 through the movable connection mechanism 6. Wherein, when the wiper assembly 2 is in contact with the wiped object 4, the action of the movable connection mechanism 6 can change the pressure applied by the wiper assembly 2 to the wiped object 4.

Depending on the type of the autonomous mobile device, the wiping object 4 will also be different. If the autonomous mobile device is a sweeping robot, the wiping object 4 is the ground. If the autonomous mobile device is a wall wiping robot or a glass wiping robot, the wiping object 4 is a wall or glass surface. If the working attribute of the autonomous mobile device is a housekeeping robot, the autonomous mobile device moves autonomously on the ground, and its movable arm is equipped with a wiper assembly 2, and the corresponding object to be tested 4 refers to a wider range, such as desktops and cabinet surfaces , Door surface, etc.

In this embodiment, in order to avoid increasing the size of the device body 1 in height, referring to the examples shown in FIGS. 2 and 3, along the traveling direction of the device body 1, the movable connection mechanism 6 is located in the drag assembly 2. The front side. Alternatively, the movable connection mechanism 6 can also be located on the rear side of the wiper assembly 2. Further, as shown in the examples shown in FIGS. 2 and 3, the projections of the movable connection mechanism 6 and the wiper assembly 2 in the height direction at least partially overlap; this can reduce the size of the autonomous mobile device in the height direction.

In addition, FIG. 2 shows a situation where the wiper assembly 2 is in a stowed state. Fig. 3 shows a situation in which the wiper assembly 2 is in a lowered state. For the convenience of description, the position where the wiper assembly 2 is in the stowed state is called the first position, and the position where the wiper assembly 2 is in the lowered state is called the second position. That is, in this embodiment, the action of the movable connection mechanism can not only change the pressure applied by the drag assembly to the drag object, but also drive the drag assembly 2 to change between the first position and the second position. . As shown in FIG. 2, in the first position, the drag assembly 2 is kept at a distance from the drag object 4; in the second position, the drag assembly 2 is in contact with the drag object 4. When the wiper assembly 2 is in the first position driven by the movable connecting mechanism 6, the movable connecting mechanism 6 and the wiper assembly 2 are arranged along the traveling direction of the device body 1.

Among them, the movable connection mechanism 6 can adopt multiple implementation schemes. For example, the movable connection mechanism 6 includes a linear motor. The drag assembly 2 can be arranged at the linear power output end of the linear motor. When the drag component 2 is in contact with the drag object 4, the linear motor drives the drag component 2 to continue to move in the direction of the drag object 4, and the drag component 2 increases its application to the drag due to deformation. Rub the pressure of object 4. If the drag component 2 is in contact with the drag object 4 and there is pressure, the linear motor can drive the drag component 2 to move away from the drag object, which can reduce the impact of the drag component 2 on the drag object. 4 Pressure applied.

The above-mentioned linear motor is similar in principle to the structure of motor + screw nut. That is, the motor outputs rotational power, the screw is connected with the motor, and the nut is threaded with the screw. The drag assembly 2 can be linked with the nut. The rotation of the screw causes the nut to move linearly, and the drag assembly follows the nut to make a straight line. sports.

Of course, the movable connection mechanism described in this embodiment can also be realized by hydraulic or pneumatic driving power, which is not specifically limited in this embodiment.

For another example, referring to FIG. 4, the movable connection mechanism 6 is realized by a cam mechanism. Specifically, the wiper assembly 2 may include: a connecting portion 63, an operating portion 24 and a driven portion 23. Wherein, one end of the connecting portion 63 is hinged to a position of the device body 1. For example, as shown in FIG. 4, one end of the connecting portion 63 is provided with a shaft hole 62, and a position of the device body 1 is provided with a hinge shaft 61 adapted to the shaft hole 62. The shaft hole 62 is sleeved on the hinge shaft 61 so that the working part 24 can rotate around the axis of the hinge shaft 61. The working part 24 is arranged at the other end of the connecting part 63 and is used for wiping the mopping object. The driven part 23 is linked with the movable connection mechanism 6. When the movable connecting mechanism 6 is in motion, the driven portion 23 follows, so that one end of the connecting portion 63 rotates relative to the hinge axis to cause the working portion 24 to change between the first position and the second position; After the portion 24 is in the second position, the movable connection mechanism 6 continues to move, and the driven portion 23 follows, so that one end of the connection portion 63 rotates relative to the hinge axis, causing the working portion 24 to produce corresponding deformation , The pressure applied by the working part 24 to the dragging object 4 increases.

Continuing to refer to FIG. 4, the connecting portion 63 may include: a mounting bracket 231 and a support rod 631. Wherein, the mounting bracket 231 is used to install the working part 24; the supporting rod 631 extends from the mounting bracket 231 in a direction away from the working part 24, and the end of the supporting rod 631 is connected to the equipment body 1 One position hinged. That is, the end of the support rod 631 is provided with a shaft hole 62, and the shaft hole 62 is connected with the hinge shaft 61 at a position of the device body 1.

In specific implementation, the working part 24 may be a wiper roller (as shown in FIG. 4) or a wiper plate movably connected to the mounting bracket 231. For example, there may be one, two or more wipe rollers, which is not specifically limited in this embodiment. Similarly, there may be one, two or more wipers, which are not specifically limited in this embodiment.

In an achievable technical solution, the movable connection mechanism 6 and the driven portion 23 can be connected by a cam pair to achieve linkage. 4, the movable connection mechanism 6 includes: a cam motor 66, a first reducer 65 (or reduction gear box) and a cam 64; the rotation power output end of the cam motor 66 and the first reducer 65 The high-speed end of the first reducer 65 is connected to the low-speed end of the first reducer 65 is connected to the cam 64. The driven portion 23, as shown in FIG. 4, is a pressure plate that contacts the rim of the cam 64. Specifically, as shown in FIG. 5, the pressing plate includes an upper pressing plate 643 and a lower pressing plate 642. When the cam 64 rotates to a specific position, such as the position shown in FIG. The pressing plates 642 are respectively located at the two opposite rims of the cam 64 in contact with each other.

FIG. 5 shows a situation where the working part 24 of the drag assembly 2 is in the second position (that is, the working part 24 is in contact with the drag object 4) driven by the cam 64, and the pressure applied to the drag object 4 is the maximum. FIG. 6 shows a situation where the working part 24 of the drag assembly 2 is in the first position (that is, the working part is kept at a certain distance from the drag object) under the driving of the cam 64. In specific implementation, the corresponding relationship between the cam rotation angle and the pressure can be adjusted by changing the cam rim curve. Specifically, the corresponding relationship between the cam rotation angle and the pressure can be characterized as the curve shown in FIG. 7. As shown in Figure 7, the cam starts to rotate from the 0 degree position of the mark, and rotates between 0 and 90 degrees, and the drag component gradually changes from the first position to the second position; from 90 degrees to 180 degrees, the drag component applies The pressure of the dragged object gradually increases to the maximum. From 180 to 270 degrees, the pressure applied by the mopping component to the mopping object gradually increases from the maximum to the minimum. From 270 to 360, the drag gradually changes from the second position to the first position. The steepness of the pressure curve in Figure 7 can be changed by changing the cam rim curve.

Further, referring to FIG. 5, FIG. 6 and FIG. 8, the autonomous mobile device provided in this embodiment may further include a first sensor 7 and a controller 12. Wherein, the first sensor 7 is used to sense parameters related to the action of the movable connection mechanism 6. The controller 12 is communicatively connected with the first sensor 7, and is configured to determine whether the drag component 2 is in contact with the drag object 4 according to the parameter; when it is determined that the drag component 2 is in contact with the drag object 4 At this time, the amount of pressure applied by the drag component 2 to the drag object 4 can also be determined based on the parameter.

For example, the first sensor 7 may be an angle sensor for sensing the rotation angle of the cam 64 of the movable connection mechanism 6 (as shown in FIGS. 5 and 6). Alternatively, the first sensor 7 is a position sensor for sensing the high and low position information of the driven part 23 following the action of the cam 64 of the movable link mechanism 6. Alternatively, the first sensor 7 is a force sensor, which can be arranged on the mounting bracket 63 for sensing information about the force received by the mounting bracket 63. Since the working part 24 exerts pressure on the dragging object 4, the reaction force of the pressure will act on the mounting bracket 63. Therefore, by monitoring the force on the mounting bracket 63, the working part 24 can be known. The pressure applied to the dragged object 4.

In addition, the controller may be the main controller of the autonomous mobile device, or a single-chip microcomputer connected to the main controller, which is not specifically limited in this embodiment.

Further, referring to FIG. 1, the autonomous mobile device provided in this embodiment further includes: a second sensor 71 and a controller 12. Wherein, the second sensor 71 is used to sense information related to the dirtiness of the dragging object 4; the controller 12 is communicatively connected to the second sensor 71, and is used to sense information according to the second sensor 71 According to information, the movable connection mechanism 6 is controlled to make corresponding actions, so that the mopping assembly 2 applies a pressure suitable for the dirtiness of the mopping object 4 to the mopping object 4. As shown in Figure 1, the second sensor 71 can be arranged between the mopping assembly 2 and the dust suction port 13, or arranged near the dust suction port 13, for identifying the degree of dirtiness of the ground after the dust suction port 13 sucks in dust. . The selection of the second sensor 71 is not specifically limited in this embodiment, as long as the information related to the dirtiness of the dragging object 4 can be sensed.

Further, the controller 12 is configured with a global planning module, which is used to use the global planning module to determine that the current position of the device body 1 is the dragged position, and control the action of the movable connection mechanism 6 so that the The drag assembly 2 is from the second position to the first position; wherein, in the second position, the drag assembly is in contact with the drag object; in the first position, the drag assembly is in contact with the Drag the object to keep the distance. What needs to be explained here is that the global planning module can be simply understood as: a control program installed on the equipment body, which can record which parts of the equipment body 1 have been wiped and which parts have not been wiped during this operation pass. For the content of the global planning module, please refer to the related content in the prior art, which is not specifically limited in this article. When the drag component is in the second position, it is a kind of resistance to the device body. The device body needs to consume some energy to overcome this part of the resistance during the traveling process. For this reason, this embodiment is based on the global planning module to determine the device body When the current position is the wiped position, the wiping assembly is retracted to keep a distance from the wiping object, so as to eliminate the resistance caused by the wiping assembly.

Further, referring to FIG. 8, the autonomous mobile device provided in this embodiment further includes a third sensor 14. Among them, the third sensor 14 is used to sense the type of media to which the dragging object 4 belongs. The controller 12 is connected to the third sensor 14 (wirelessly or wiredly), and is used for controlling when the third sensor 14 senses that the medium type to which the mopping object 4 belongs is carpet. The movable connection mechanism 6 operates to make the drag assembly 2 move from the second position to the first position. The third sensor 14 may be arranged on the front side of the wiper assembly 2 to sense the type of media to which the wiped object belongs in advance before the wiper assembly 2 moves to the sensing position. For example, as shown in FIG. 8, the third sensor 14 may be arranged at the front of the device body of the autonomous mobile device.

Because the drag assembly changes between the first position and the second position as shown in FIG. 2 and FIG. 3, the angle of the device body 1 relative to the drag object 4 will change. In order to ensure the traveling assembly 5 of the device body 1 The traveling wheel in can always be in contact with the dragging object 4, as shown in FIG. 2, the device body 1 is provided with a traveling component 5. The traveling assembly 5 is used to output traveling power, so that the device body 1 moves on the dragging object 4. The traveling assembly 5 is movably connected with the equipment body 1 so as to change the relative positional relationship with the equipment body 1 as the drag assembly 2 changes between the first position and the second position , So as to maintain the contact between the traveling assembly 5 and the dragging object 4.

Specifically, as shown in FIG. 2, the autonomous mobile device includes: a tension spring 51 and a rotating shaft 52 of a traveling wheel assembly. One end of the tension spring 51 is fixed to a position of the device body 1; the other end of the tension spring 51 is connected to the traveling assembly 5. For example, in the example shown in FIG. 2, the traveling assembly 5 includes a crawler-type traveling wheel; wherein, the component indicated by the reference number 53 in FIG. 2 is a crawler. The rotating shaft 52 of the traveling wheel assembly is fixed at another position of the equipment body 1. When the drag assembly 2 changes between the first position and the second position, the relative positional relationship with the device body 1 is changed; the structure shown in FIG. 2 is adopted to ensure that the The traveling component 5 is in contact with the dragging object 4 without detaching.

The technical solutions provided in the embodiments of the present application will be described below with reference to a specific type of equipment, such as a cleaning robot, as an example. The cleaning robot may include: traveling components, dust suction ports, dust suction channels, collection devices, fan components, mopping components, and the like. The fan assembly starts to work to generate negative pressure in the dust suction channel, so dust is sucked in from the dust suction port along with the suction airflow, and enters the collection device through the dust suction channel; the dust stays in the collection device, and the filtered air passes through The exhaust port of the cleaning robot is discharged into the atmosphere. If during the sweeping process of the cleaning robot, the wiper assembly is in the lowered state (that is, in the second position), that is, it is in contact with the ground and has a certain pressure on the ground, the wiper roller in the wiper assembly can be used to steer with the traveling wheel in the traveling assembly The same rotational movement. In addition, the cleaning robot may also include: at least one sensor, a camera, a communication component for communicating with an external device (such as a user's mobile phone, a tablet computer, or a server device), etc., which is not specifically limited in this embodiment. Based on the feature that the movable connection mechanism can change the position of the wiper assembly and the pressure exerted by the wiper assembly on the wiping object, this embodiment can realize two working modes of the cleaning robot, mopping the floor or not. More specifically, five working modes can be set for the cleaning robot, namely:

Sweep-only mode, drag-only mode, drag-sweep parallel mode, or auto mode.

During specific implementation, the user can instruct the cleaning robot to work in the sweep-only mode, the drag-not-sweep mode, and the drag-and-sweep parallel mode through the client, the controls on the cleaning robot, or voice control. Wherein, in the sweep only mode, the wiper assembly is in the first position by controlling the action of the movable connection mechanism, and the fan assembly of the cleaning robot works normally to suck dust through the dust suction port. In the mode of only dragging and not sweeping, by controlling the action of the movable connection mechanism to make the mopping assembly in the second position (ie contact with the ground), the fan assembly of the cleaning robot stops working, and the sweeping brush on the cleaning robot can also stop rotating at this time. In the drag-and-sweep parallel mode, the fan assembly works normally to suck dust through the dust suction port, and the mop assembly is in the second position to perform mopping operations on the ground. In the drag-and-sweep mode and the drag-and-sweep parallel mode, the pressure applied by the dragging component to the ground can also be changed by controlling the action of the movable connection mechanism. The instruction to change the pressure can also be triggered by the user, that is, the user can trigger the instruction to change the pressure through the client, controls on the sweeping robot, or voice control.

The user can also instruct the cleaning robot to work in automatic mode through the client, the controls on the sweeping robot, or voice control. In automatic mode, the cleaning robot starts an automatic control program. For example, when it encounters a carpet or other ground that cannot be dragged, it will automatically work in the sweep only mode. For another example, based on the global planning module of the cleaning robot, when passing through a position that has been swept and swept, it automatically switches to the sweep-and-no-drag mode or the non-sweep-and-drag mode. When it senses that the ground is dirty, it automatically switches to the drag-and-sweep parallel mode, and can automatically control the action of the movable connection mechanism to change the pressure that the dragging component exerts on the ground according to the degree of dirt.

Because the mopping effect of the mopping component is proportional to the pressure of the mopping component on the ground, that is, the greater the pressure of the mopping component on the ground when the mopping component is mopping, the better the mopping effect of the mopping component. The present application is based on this principle, and the movable connection mechanism is used to adjust the lifting of the mopping assembly, thereby reducing or increasing the pressure of the mopping assembly on the ground and obtaining a better mopping effect. In order to enable the cleaning robot to accurately learn the current pressure of the mopping component on the ground, corresponding sensors can be provided on the cleaning robot. For example, angle sensors (suitable for cam mechanisms), pressure sensors, displacement sensors, etc.

The cleaning robot can judge the degree of dirt based on the information sensed by the sensor, and automatically adjust the pressure of the mopping component on the ground. Or, the user instructs the cleaning robot to adjust the pressure of the mopping component on the ground through a corresponding control or sound hole on the client, the cleaning robot, or the like. Take the scheme realized by the cam mechanism of the movable connection mechanism as an example. When the soil surface is low, the cam only needs to be rotated to the first angle (for example, an angle between 90 and 180 degrees), and the dragging component uses a lower pressure. mop. When the ground is dirty and stubborn, the cam rotates to a second angle (180 degrees), and the mopping component moppes the floor with maximum pressure.

FIG. 9 shows a schematic flowchart of a method for controlling an autonomous mobile device provided by an embodiment of the present application. The control method provided in this embodiment is implemented on the hardware basis of the above-mentioned autonomous mobile device embodiment. The content in this method embodiment and the foregoing device embodiment can be cross-referenced. Specifically, the execution subject of the method provided in this embodiment may be the controller in the foregoing device embodiment. As shown in Figure 9, the method includes:

101. Based on the acquired data information, determine whether it is necessary to change the pressure applied by the drag component to the drag object;

102. Obtain the pressure change amount when it needs to be changed;

103. Control the action of the movable connection mechanism according to the amount of pressure change.

Wherein, the autonomous mobile device includes a device body, and the dragging component is movably connected to the device body through a movable connection mechanism.

In the above 101, the data information includes at least one of the following: user setting information, and information related to the dirtiness of the dragging object sensed by the second sensor on the device body. During specific implementation, the user setting information may be triggered by the user through a corresponding control on the client, the device body, or an interactive device (such as a touch screen or a voice control unit). As shown in FIG. 1, the second sensor 71 can be arranged between the mopping assembly 2 and the dust suction port 13, or arranged near the dust suction port 13, for identifying the dirt on the ground after the dust suction port 13 sucks in dust. degree.

In an achievable technical solution, the above 101 "determine whether it is necessary to change the pressure applied by the drag component to the drag object based on the acquired data information" may include the following steps:

1011. If the data information includes user setting information, obtain the set pressure corresponding to the user setting information; obtain the actual pressure exerted by the drag component on the drag object; When there is a difference in pressure, it is determined that the pressure applied by the mopping component to the mopping object needs to be changed;

1012. If the data information includes the information related to the dirtiness of the drag object, determine the target pressure according to the information; obtain the actual pressure exerted by the drag component on the drag object; When there is a difference in the actual pressure, it is determined that the pressure applied by the mopping component to the mopping object needs to be changed;

Wherein, the difference is the pressure change amount.

4, 5 and 6, the movable connection mechanism 6 is connected to the wiper assembly 2 through a cam pair; the movable connection mechanism 6 contains a cam 64, and the wiper assembly 2 Contains a follower 23 which is in contact with the cam 64. Correspondingly, the foregoing step 103 "control the action of the movable connection mechanism according to the amount of pressure change to change the pressure applied by the drag component to the drag object" may include:

1031. Determine the rotation direction and angle of the cam according to the pressure change amount;

1032. Control the action of the movable connection mechanism so that the cam rotates the angle in the rotation direction to change the pressure applied by the drag component to the drag object.

Further, the "obtaining the actual pressure exerted by the drag component on the drag object" in the above 1011 and 1012 includes any one of the following steps:

Receiving parameters related to the action of the movable connection mechanism sensed by the first sensor on the device body, and determining the actual pressure according to the parameters;

Receive a sensing signal sent by a force sensor on the device body for sensing the pressure of the drag component on the drag object, and obtain the actual pressure according to the sensing signal.

In a specific implementation solution, when the movable connection mechanism is a linear motor, the first sensor may be a sensor for detecting output power parameters of the linear motor, and determine the output power parameters based on the linear power parameters output by the linear motor. State the actual pressure. For another example, when the movable connection mechanism is a cam mechanism, the first sensor may be an angle sensor for detecting the rotation angle of the cam; and the actual pressure is determined according to the rotation angle of the cam.

Still further, the method provided in this embodiment may further include:

104. Control the action of the movable connection mechanism on the device body of the autonomous mobile device, so that the drag component is moved from the first position to the second position;

Wherein, when in the first position, the dragging component keeps a distance from the dragging object; when in the second position, the dragging component is in contact with the dragging object.

Further, the method provided in this embodiment may further include:

105. When judging that the current position of the device body is the wiped position by using the configured global planning module, control the action of the movable connection mechanism so that the wiper assembly moves from the second position to the first position.

Further, the method provided in this embodiment may further include:

106. Acquire the media type of the drag object sensed by the third sensor on the device body to which it belongs;

107. In the case that the medium type to which the mopping object belongs is a carpet, controlling the action of the movable connection mechanism so that the mopping assembly moves from the second position to the first position.

Further, the method provided in this embodiment may further include:

108. After traveling to the wiped position, detect the degree of dirt at the wiped position;

109. In the case that the degree of contamination is greater than the degree threshold, obtain the first pressure applied by the mopping component to the mopped object when the mopping component was in the mopped position last time;

110. When the first pressure is not greater than a preset maximum pressure, increase the first pressure to the second pressure;

111. Control the action of the movable connection mechanism according to the second pressure.

In the above 108, the wiped position may be the position where the autonomous mobile device has just wiped, that is, after the autonomous mobile device has just wiped a certain position, it moves back to that position to detect the dirt at that position through the second sensor. degree. The degree of dirt is greater than the degree threshold, which indicates that the dirt block is stubborn, and the effect of mopping with the pressure just now is not good. It is necessary to continue to increase the pressure of the mopping component on the mopped surface. Alternatively, the wiped position may be the position reached when the autonomous mobile device performs the whole house and all-site operations and then retakes the wiped path, and then detects the degree of dirtiness of the wiped position.

The following describes the autonomous mobile device provided in the foregoing embodiment in conjunction with specific application scenarios.

Application scenario 1

The autonomous mobile device is a cleaning robot in the mall to clean the floor of the mall. Autonomous mobile devices vacuum the dust while traveling on the ground of the mall. When the second sensor on the cleaning robot detects that there is a dirty block on the ground, the movement of the movable connection mechanism is controlled to reduce the wiper assembly to contact with the ground, and the movement of the movable connection mechanism is adjusted according to the degree of dirt on the ground. The pressure of the mopping component on the ground is adapted to the degree of dirtiness. The cleaning robot moves forward, and the mopping component makes a wiping action on the ground. After the cleaning robot advances to a certain position, it can also return to detect whether the dirt in the area just wiped has been cleaned. If it is detected that the dirt has been cleaned, the action of the movable connection mechanism can be controlled to retract the wiper assembly, and continue to move while vacuuming. If the detected dirt is not clean, it means that the dirty block is relatively stubborn. It is necessary to increase the pressure exerted by the mopping assembly on the ground, continue to control the action of the movable connection mechanism to increase the pressure, and perform the mopping operation again.

Application scenario 2

The user sets the cleaning robot to a working mode of sweeping and dragging. The cleaning robot sweeps and drags while moving in the user's home. The pressure of the drag component to the ground is the default pressure. It is detected that the ground is dirty, and the cleaning robot increases the pressure of the mopping component against the ground. After finishing the dragging, return the pressure of the dragging component to the ground to the default pressure.

Existing robots rely on two-wheel drive to walk and cross obstacles, and often fail to pass through door cards, slopes, and sliding door slides with large height differences, causing the robot to jam and fail to work normally, requiring the user to manually escape the robot. For this reason, the embodiment of the present application also provides a relatively novel solution, that is, the autonomous mobile device has a walking mode, for example, the autonomous mobile device enters the walking mode when climbing a slope, traveling to a slide rail, door card, etc. , The drag component generates the driving force that assists the autonomous mobile device to travel. Specifically, the autonomous mobile device provided in this embodiment has the same structure as the autonomous mobile device provided in the foregoing embodiments. Therefore, the structure diagram can be seen in the above-mentioned FIGS. Wherein, the equipment body 1 is provided with a traveling assembly for providing traveling power; the movable connection mechanism 6 is arranged on the equipment body 1; the drag assembly 2 is movably connected with the equipment body 1 through the movable connection mechanism 6. When the autonomous mobile device executes a walking mode, the drag component 2 generates a driving force that assists the autonomous mobile device to travel.

In a specific implementation solution, the mopping component includes a mopping roller (the working part 24 in FIGS. 4 and 5). Wherein, the equipment body 1 is provided with traveling wheels to provide traveling power. The wiper roller is used to roll and clean the work surface. In the case that the autonomous mobile device executes the obstacle-crossing walking mode, the steering of the drag roller and the traveling wheel are the same. Further, the linear speed of the drag roller is not less than the linear speed of the traveling wheel, so as to generate a driving force that assists the traveling component to overcome obstacles.

What needs to be added here is: in this article, the walking modes that need to be activated for autonomous mobile devices such as climbing hills and crossing obstacles are collectively referred to as obstacle-crossing walking modes.

Further, in the embodiments shown in Figures 1, 2, 3, 4, 5, and 6, the wiper roller is movably connected to the equipment body through the movable connection mechanism; in the case that the equipment body needs to overcome obstacles Next, the pressure exerted by the drag roller on the working surface can be adjusted by the movable connection mechanism to generate a driving force that assists the traveling component to overcome obstacles.

In an autonomous mobile device provided by another embodiment of the present application, the structure diagram can be referred to as shown in Figures 1, 2, 3, 4, 5 and 6 above. The autonomous mobile device includes: a device body 1, an active connection Mechanism 6 and mopping assembly 2. Wherein, the equipment body 1 is provided with a traveling assembly 5 on it to provide traveling power. The movable connection mechanism 6 is arranged on the device body 1. The wiper assembly 2 is movably connected to the device body 1 through the movable connection mechanism 6. Wherein, when the equipment body 1 needs to cross obstacles, the movable connection mechanism 6 can be used to adjust the pressure exerted by the drag assembly 2 on the traveling surface to generate a driving force that assists the traveling assembly 5 to cross obstacles. See FIG. 15 for a schematic diagram of the state of the autonomous mobile device during obstacle crossing. As shown in FIG. 15, when the autonomous mobile device crosses an obstacle, the drag component 2 exerts pressure on the traveling surface to provide the traveling component 5 with a driving force that assists it to cross the obstacle.

If the autonomous mobile device is an integrated sweeping and dragging robot, the traveling surface is the dragging object 4 mentioned in the above embodiment. When at least part of the area of the drag assembly 2 is in contact with the traveling surface, the action of the movable connection mechanism 6 can change the pressure applied by the drag assembly to the traveling surface, thereby changing the magnitude of the pushing force. What needs to be added here is: when the drag assembly is changed between the first position and the second position as shown in FIG. 2 and FIG. 3, the angle (or position) of the device body 1 relative to the drag object 4 will change. In order to ensure that the traveling wheel in the traveling assembly 5 of the equipment body 1 can always be in contact with the drag object 4, as shown in FIG. 2, the traveling assembly 5 is movably connected to the equipment body 1 so as to follow the drag The change of the component 2 between the first position and the second position changes the relative positional relationship with the device body 1 to maintain the contact between the traveling component 5 and the dragging object 4.

In a specific implementation solution, when the equipment body 1 crosses an obstacle, the drag assembly 2 and the traveling assembly 5 bear the weight of the equipment body 1 according to a moving ratio. For example, as shown in FIG. 1, the traveling assembly 5 includes traveling wheels on the left and right sides of the autonomous mobile device, the mopping assembly 2 is arranged on the rear side of the autonomous mobile device, and the dust suction port 13 is located on the front side of the mopping assembly 2. The drag roller and the two traveling wheels equally bear the weight of the equipment body. That is, in such a structure, the drag assembly bears 1/3 of the gravity of the equipment body, and the two traveling wheels each bear 1/3 of the gravity of the equipment body.

In an achievable technical solution, the mopping assembly 2 includes a mopping roller (the working part 24 shown in Figs. 4 and 5). Correspondingly, when the equipment body needs to walk over obstacles and/or walk normally, the steering of the drag roller and the traveling wheels in the traveling assembly 5 are the same. Further, while the rotation of the drag roller and the traveling wheel in the traveling assembly 5 are the same, the linear velocity of the drag roller is greater than or equal to the linear velocity of the traveling wheel. The linear velocity of the drag roller refers to the speed at which the drag roller is used to contact any point on the surface of the drag object 4 (i.e. the traveling surface) to make a circular motion on the fixed axis (i.e. the axis of the drag roller). The linear velocity of the traveling wheel refers to the speed at which any point on the wheel surface of the traveling wheel used to contact the traveling surface makes a circular motion on the axis of the traveling wheel. In particular, when normal walking encounters obstacles, switch to obstacle-crossing walking to further increase the speed of the wiper roller or increase the pressure of the wiper roller on the walking surface.

Specifically, as shown in FIG. 4, the wiper assembly 2 includes a connecting portion 63, a wiper roller, and a driven portion 64. Wherein, one end of the connecting portion 60 is hinged to a position of the device body 2; the drag roller is arranged at the other end of the connecting portion 63; the driven portion 23 is linked with the movable connecting mechanism 6. Wherein, when the movable connecting mechanism 6 moves, the driven portion 23 follows, so that one end of the connecting portion 63 rotates with respect to the hinge axis to cause the drag roller to change between the first position and the second position. When in the first position, the wiper roller keeps a distance from the running surface; when in the second position, the wiper roller is in contact with the running surface. Furthermore, as shown in FIG. 4, the connecting portion 63 includes a mounting bracket 231 and a support rod 631. Wherein, the mounting bracket 231 is used for mounting the wiper roller. The two ends of the wiper roller (that is, the working part 24) along the axis of the drag roller are respectively connected to two corresponding positions of the mounting bracket 231 in rotation. The supporting rod 631 extends from the mounting bracket 231 in a direction away from the drag roller, and the end of the supporting rod 631 is hinged to a position of the device body 1. The movable connecting mechanism 6 and the driven portion 23 are connected by a cam pair to achieve linkage. Specifically, for the foregoing structure, reference may be made to the content in the corresponding embodiment above, and details are not described herein again.

Normally, when the wiper rolls to clean the work surface, the pressure exerted on the work surface is the first pressure; when the autonomous mobile device executes a walking mode, such as climbing, crossing obstacles, etc. The drag roller applies a second pressure not less than the first pressure to the working surface and is the same as the steering of the traveling wheel; the linear velocity of the drag roller is not less than the linear velocity of the traveling wheel, To generate a driving force that assists the traveling component to overcome obstacles. In specific implementation, the pressure exerted by the drag roller on the working surface can be adjusted to the second pressure by the movable connection mechanism, so as to generate a driving force that assists the traveling component to overcome obstacles.

Or alternatively, an autonomous mobile device with the structure shown in Figure 10. Fig. 10 shows a schematic structural diagram of an autonomous mobile device provided by another embodiment of the present application. Among them, the drag component 2 can also provide driving force for autonomous mobile devices when crossing obstacles. That is, as shown in FIG. 10, the wiper assembly 2 includes a disc brush 200; when the device body 1 needs to cross an obstacle, the movable connection mechanism 6 is used to adjust the inclination of the disc brush 200 with respect to the traveling surface. At an angle (see FIG. 13), the edge portion of the disk brush 200 is in contact with the traveling surface to generate a driving force that assists the traveling component to overcome obstacles.

As shown in Fig. 13, the movable connection mechanism 6 includes:

The connecting shaft 91 is arranged on the equipment body 1 and has an axis parallel to the traveling direction of the traveling assembly; and

A drive assembly (not shown in the figure) provides power for the disk brush 200 to rotate around the axis of the connecting shaft 91 to change the angle between the disk brush 200 and the traveling surface;

Wherein, the autonomous mobile device has a dragging walking mode and an obstacle-crossing walking mode. In the dragging walking mode, the disk brush 200 is parallel to the traveling surface, as shown in FIG. 11; In the walking mode, the disk brush 200 is at an angle to the traveling surface, as shown in FIG. 13.

What needs to be added here is that the movable connection mechanism 6 not only provides power for tilting the disk brush, but also provides power for the disk brush to move up and down relative to the device body. That is, the movable connection mechanism 6 may further include: a power source (such as a linear motor) that outputs linear power. The connecting shaft is linked with the power source that outputs linear power to move up and down in a linear motion to achieve the change between the first position and the second position as shown in Figs. 2 and 3 above. In this way, the autonomous mobile device can lower the disk brush to make contact with the ground when a drag operation is required, and retract the disk brush to maintain a distance from the ground when no drag operation is required.

As shown in the example shown in FIG. 10, the device body 1 has a symmetry axis 101 parallel to the traveling direction; and there are two disc brushes 200, and the two disc brushes 200 are symmetrically arranged with respect to the symmetry axis 101. Correspondingly, as shown in FIG. 13, the deformation of the side near the symmetry axis of the two disk brushes 200 due to inclination is smaller than the deformation of the side far from the symmetry axis; or, the two disk brushes 200 The amount of deformation of the side of the brush far from the axis of symmetry due to inclination is smaller than the amount of deformation of the side close to the axis of symmetry.

Fig. 11 shows that in the normal working mode, the pressure generated by each disc brush is evenly distributed on the entire disc brush, and the friction forces cancel each other out. That is, in Fig. 11, force N1=N1'; N2=N2'. But for the movement of the whole machine, as shown in Fig. 12, the combined friction force f1 and f2 of the disc brush 200 are in the backward direction, which is the movement resistance.

Figure 13 shows that when the device body crosses the obstacle, the disk brush is simultaneously lifted to the inside (or simultaneously lifted to the outside) under the action of the movable connection structure, and the inside force N1'<N1, N2'<N2. As shown in Fig. 14, the forward frictional driving forces f1' and f2' are thus obtained. The frictional driving forces f1' and f2' can assist the traveling component to overcome obstacles.

Further, the autonomous mobile device may also include a detection component and a controller. in,

The detection component is configured to be set on the device body 1;

The controller is communicatively connected with the detection component, and is used for starting the obstacle-crossing walking mode when the detection component detects that the device body needs to cross the obstacle; in the obstacle-crossing walking mode, the control is set in the device The drag component on the body works in a state of assisting obstacle crossing to exert pressure on the traveling surface and then generate a driving force to assist the traveling component of the equipment body to overcome obstacles.

Further, the controller is also used for controlling the action of the movable connection mechanism to make the dragging assembly in a recovery state to maintain a distance from the traveling surface when it is monitored that the traveling component successfully crosses the obstacle.

In the technical solution provided by this embodiment, the dragging component can move up and down relative to the device body, and can also provide the traveling component with a driving force to assist it to overcome obstacles and improve its ability to overcome obstacles when obstacles need to be overcome. The solution provided by this embodiment utilizes the advantages of controllable pressure between the drag component of the autonomous mobile device and the ground, and high-frequency friction between the drag component and the ground, etc., to realize the obstacle crossing operation of the autonomous mobile device.

The following describes the technical solution provided in this embodiment by taking the autonomous mobile device as a cleaning robot as an example. As shown in FIG. 1, the traveling wheels included in the traveling assembly 5 are located on the left and right sides of the cleaning robot, the mopping assembly 2 is arranged on the rear side of the cleaning robot, and the dust suction port 13 is located on the front side of the mopping assembly 2. As shown in 13, when the cleaning robot cannot pass through obstacles such as door cards, slopes, and sliding door slides, the two disk brushes are tilted through the movable connection structure to provide the traveling component with a driving force to assist it to overcome obstacles.

Here is a supplement to the technical solutions provided by the embodiments of this application:

For an example in which the drag component of an autonomous mobile device includes a drag roller, in general, the steering of the drag roller can be the same as that of the traveling wheel, and the rotation speed of the drag roller is not greater than the rotation speed of the traveling wheel; in the first special case (For example, when the ground is dirty), the steering of the drag roller can be the same as the steering of the traveling wheel, and the rotation speed of the drag roller can be greater than that of the traveling wheel; in the second special case (such as the high degree of dirt on the ground, such as Sticky dirt), the steering of the drag roller can be opposite to that of the traveling wheel, and the rotation speed of the drag roller can be equal to the rotation speed of the traveling wheel, so that the speed of the drag roller relative to the ground is relatively high, which can achieve better mopping. Effect.

FIG. 16 shows a schematic flowchart of a method for controlling an autonomous mobile device according to another embodiment of the present application. Similarly, the control method provided in this embodiment is implemented on the hardware basis of the above-mentioned autonomous mobile device embodiment. The content in this method embodiment and the foregoing device embodiment can be cross-referenced. Specifically, the execution subject of the method provided in this embodiment may be the controller in the foregoing device embodiment. As shown in FIG. 16, the control method of the autonomous mobile device includes:

301. Start the obstacle-crossing walking mode when the equipment body has a requirement for assisting obstacle-crossing;

302. In the obstacle crossing walking mode, control the drag assembly provided on the equipment body to work in the assisting obstacle crossing state, so as to apply pressure to the traveling surface to generate a driving force that assists the traveling assembly of the equipment body to overcome obstacles.

In 301 above, there are two situations in which the equipment body has a requirement for assisting obstacle crossing:

One situation is that if the equipment body needs to cross the obstacle, it can be considered that the equipment body has a need to assist in the obstacle crossing;

Another situation is: when the traveling component of the equipment body fails to cross the obstacle, the auxiliary obstacle crossing is restarted; that is, when the equipment body fails to cross the obstacle, it is determined that the equipment body has an auxiliary obstacle crossing requirement.

That is, the method provided in this embodiment further includes any one of the following:

In the case where it is detected that the equipment body has not successfully crossed the obstacle, it is determined that the equipment body has a requirement for assisting obstacle crossing;

When an obstacle that needs to be surmounted by the equipment body is detected, it is determined that the equipment body has a requirement for assisting obstacle surmounting.

When the wiper assembly includes a wiper roller (the working part 24 shown in FIGS. 4 and 5); in step 302, "control the wiper assembly arranged on the device body to work in the assisted obstacle crossing state" , Which can specifically include at least one of the following:

Controlling the steering of the drag roller to be the same as that of the traveling wheels in the traveling assembly;

Controlling the first driving device to output corresponding power so that the linear velocity of the drag roller is greater than or equal to the linear velocity of the traveling wheel, wherein the linear velocity of the drag roller and the traveling wheel are in the same direction;

Controlling the action of the movable connection mechanism to adjust the pressure exerted by the drag roller on the traveling surface, wherein the drag roller is movably connected to the device body through the movable connection mechanism;

The action of the movable connection mechanism is controlled to adjust the drag roller to switch from the first position to the second position, wherein, in the first position, the drag roller keeps a distance from the traveling surface; in the second position, the drag roller The wiper is in contact with the traveling surface.

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

In the case that the auxiliary driving force provided by the drag roller fails to cross the obstacle, controlling the first driving device to increase the output power to increase the linear speed of the drag roller;

In the case that the auxiliary driving force provided by the drag roller is not used to successfully cross the obstacle, the action of the movable connection mechanism is controlled to increase the pressure exerted by the drag roller on the traveling surface, so that the obstacle of the traveling component is assisted to cross the obstacle. The impetus is increased.

When the drag component includes a disk brush, the corresponding step 302 "control the drag component provided on the device body to work in the assisted obstacle crossing state" may specifically include:

Controlling the action of the movable connection mechanism to adjust the inclination angle of the disk brush relative to the traveling surface so that the edge portion of the disk brush is in contact with the traveling surface;

Wherein, the disk brush is movably connected with the device body through the movable connection mechanism.

Further, the method provided in this embodiment may further include the following steps:

In the case that the inclined disk brush is not used to successfully cross the obstacle, the movement of the movable connection mechanism is controlled to increase the inclination angle, so that the driving force for assisting the traveling component to cross the obstacle is increased.

Referring to FIG. 17, another embodiment of the present application provides a method for controlling the autonomous mobile device. Similarly, the control method provided in this embodiment is implemented on the hardware basis of the above-mentioned autonomous mobile device embodiment. The content in this method embodiment and the foregoing device embodiment can be cross-referenced. Specifically, the execution subject of the method provided in this embodiment may be the controller in the foregoing device embodiment. As shown in FIG. 17, the method provided in this embodiment includes:

401. In the case of receiving an obstacle crossing instruction, control the action of the movable connection mechanism to make the drag assembly in a recycling state to maintain a distance from the traveling surface;

402. When it is detected that the traveling component has not successfully crossed the obstacle, control the action of the movable connection mechanism so that at least a part of the dragging component contacts the traveling surface, so as to generate a driving force that assists the traveling component to cross the obstacle;

Wherein, the autonomous mobile device includes a device body on which the traveling assembly is provided; the dragging assembly is movably connected to the device body through the movable connection mechanism.

In an achievable technical solution, the wiper assembly includes a wiper roller and a first drive device, and the first drive device drives the wiper roller to rotate; and

The above step 402 "in the case of monitoring that the traveling component has not successfully crossed the obstacle, control the action of the movable connection mechanism so that at least part of the area of the drag component is in contact with the traveling surface, so as to generate a push to assist the traveling component to cross the obstacle. Force" can include:

4021. In the case where it is detected that the traveling component has not successfully crossed the obstacle, control the action of the movable connection mechanism so that a part of the drag roller is in contact with the traveling surface;

4022. Control the first driving device to output corresponding power so that the steering of the drag roller is the same as the steering of the traveling wheel in the traveling assembly, and the rotation speed of the drag roller is less than or equal to that of the traveling wheel. Rotating speed.

403. Acquire the pressure of the drag roller on the traveling surface in the case that the drag roller is not successfully used to cross the obstacle;

404. Control the action of the movable connection mechanism to increase the pressure, so that the driving force for assisting the traveling component to overcome obstacles is increased.

In another achievable technical solution, the drag assembly includes a disk brush and a second driving device, and the second driving device drives the disk brush to rotate around an axis perpendicular to the traveling surface. Correspondingly, in the above step 402, “in the case of monitoring that the traveling component has not successfully crossed the obstacle, control the action of the movable connection mechanism so that at least part of the area of the drag component contacts the traveling surface, so as to generate assistance for the traveling component to cross the obstacle. Impetus for obstacles", which may include:

4021'. When it is detected that the traveling assembly has not successfully crossed the obstacle, control the movement of the movable connection mechanism to tilt the disk brush so that the disk brush is at an angle to the traveling surface;

4022' controls the second driving device to output corresponding power to generate a driving force that assists the traveling assembly to overcome obstacles.

Still further, the method provided in this embodiment may further include:

405. Obtain the inclination angle of the disk brush in the case that the inclined disk brush is not successfully used to cross the obstacle;

406. Control the movement of the movable connection mechanism to increase the inclination angle, so that the driving force for assisting the traveling assembly to overcome obstacles is increased.

In the case that the traveling wheel successfully crosses the obstacle, in order to avoid the drag component contacting the traveling surface from affecting the traveling of the autonomous mobile device, the drag component needs to be retracted after the traveling wheel successfully crosses the obstacle. That is, the method provided in this embodiment may further include the following steps:

407. When it is detected that the traveling component has crossed the obstacle, control the action of the movable connection mechanism to make the dragging component in a recovery state to maintain a distance from the traveling surface.

Application scenario 3

The autonomous mobile device is a household cleaning robot, and the household cleaning robot moves in the living room while vacuuming. The mopping component of the household cleaning robot is in a retracted state. Proceed to the junction of the living room and the kitchen. Since the kitchen door is a sliding door, the track of the sliding door must be crossed. At this time, the household cleaning robot puts down the mopping assembly to make contact with the ground, and there is a certain pressure to provide auxiliary driving force for the traveling wheels to cross obstacles. After the household cleaning robot successfully crosses the obstacle, retract the wiper assembly to avoid scratches between the sliding door track and the wiper assembly. After the whole machine has crossed the sliding door track, the household cleaning robot learns that it is in the kitchen and switches the sweep-only mode without dragging to the parallel sweeping and dragging mode. The household cleaning robot puts the mopping component down and sweeps while dragging. During the cleaning process, the household cleaning robot detects a piece of dirt, and controls the action of the movable connection mechanism to increase the pressure of the mopping component against the ground, so as to improve the mopping effect.

Through the description of the above implementation manners, those skilled in the art can clearly understand that each implementation manner can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic A disc, an optical disc, etc., include several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiment.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the application, not to limit them; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

An autonomous mobile device, which includes:

The equipment body is equipped with traveling components to provide traveling power;

The movable connection mechanism is arranged on the device body;

The dragging component is movably connected to the device body through a movable connection mechanism;

Wherein, when the autonomous mobile device executes a walking mode, the drag component generates a driving force to assist the autonomous mobile device to travel.
The autonomous mobile device according to claim 1, wherein the mopping component comprises a mopping roller;

In the case that the autonomous mobile device executes the obstacle-crossing walking mode, the steering of the drag roller is the same as that of the traveling wheels in the traveling assembly.
The autonomous mobile device according to claim 2, wherein the linear velocity of the drag roller is greater than or equal to the linear velocity of the traveling wheel.
The autonomous mobile device according to claim 2, wherein the traveling component contains two traveling wheels;

The drag roller and the two traveling wheels equally bear the weight of the equipment body.
The autonomous mobile device according to any one of claims 1 to 4, wherein the dragging component comprises:

A connecting portion, one end of which is hinged to a position of the device body;

The wiper roller is arranged at the other end of the connecting part;

The driven part is linked with the movable connection mechanism;

Wherein, when the movable connecting mechanism moves, the driven part follows, so that one end of the connecting part rotates with respect to the hinge axis to cause the drag roller to change between the first position and the second position; in the first position, The dragging stick keeps a distance from the traveling surface; in the second position, the dragging stick is in contact with the traveling surface.
The autonomous mobile device according to claim 5, wherein the connection part comprises:

Mounting bracket for mounting the wiper roller;

The two ends of the wiper roller in the axial direction of the wiper roller are respectively rotatably connected with two corresponding positions of the mounting bracket;

A supporting rod extends from the mounting bracket in a direction away from the working part, and the end of the supporting rod is hinged to a position of the equipment body.
The autonomous mobile device according to claim 5, wherein the movable connection mechanism and the driven part are connected by a cam pair to achieve linkage.
The autonomous mobile device according to claim 1, wherein the dragging component includes a disk brush;

When the autonomous mobile device executes the obstacle-crossing walking mode, the inclination angle of the disk brush relative to the traveling surface is adjusted by the movable connection mechanism, so that the edge portion of the disk brush contacts the traveling surface to produce The driving force that assists the traveling component to overcome obstacles.
The autonomous mobile device according to claim 8, wherein the movable connection mechanism comprises:

The connecting shaft is arranged on the equipment body and has an axis parallel to the traveling direction of the traveling component; and

A drive assembly that provides the disk brush with power to rotate around the axis of the connecting shaft to change the inclination angle of the disk brush with respect to the traveling surface;

Wherein, the autonomous mobile device has a drag walking mode and an obstacle-crossing walking mode. In the dragging walking mode, the disk brush is parallel to the traveling surface; in the obstacle-crossing walking mode, the disk The brush is at an angle to the running surface.
The autonomous mobile device according to claim 8, wherein the device body has a symmetry axis parallel to the direction of travel; and

There are two disk brushes,

The two disk brushes are symmetrically arranged with respect to the symmetry axis.
The autonomous mobile device according to claim 10, wherein the amount of deformation of the two disk brushes on the side close to the axis of symmetry due to inclination is smaller than the amount of deformation on the side far from the axis of symmetry; or The amount of deformation of the disk brush on the side far from the axis of symmetry due to inclination is smaller than that of the side near the axis of symmetry.
The autonomous mobile device according to claim 1, further comprising:

The detection component is arranged on the device body;

The controller is communicatively connected with the detection component, and is used for starting the obstacle-crossing walking mode when the detection component detects that the device body needs to cross the obstacle; in the obstacle-crossing walking mode, the control is set in the device The drag component on the body works in a state of assisting obstacle crossing to exert pressure on the traveling surface and then generate a driving force to assist the traveling component of the equipment body to overcome obstacles.
An autonomous mobile device, which includes:

The equipment body is equipped with traveling components to provide traveling power;

The movable connection mechanism is arranged on the device body;

The dragging component is movably connected to the device body through a movable connection mechanism;

Wherein, when the equipment body needs to cross obstacles, the movable connection mechanism can be used to adjust the pressure exerted by the drag assembly on the traveling surface to generate a driving force that assists the traveling assembly to cross obstacles.
An autonomous mobile device, which includes:

The equipment body is equipped with traveling wheels to provide traveling power;

A wiper roller for rolling to clean the work surface, and to apply a first pressure to the work surface;

Wherein, when the autonomous mobile device executes a walking mode, the drag roller applies a second pressure that is not less than the first pressure to the working surface and is the same as the steering of the traveling wheel. The linear speed of the roller is not less than the linear speed of the traveling wheel, so as to generate a driving force that assists the traveling assembly to overcome obstacles.
The autonomous mobile device according to claim 14, further comprising: an active connection mechanism;

The wiper roller is movably connected with the device body through the movable connection mechanism;

When the autonomous mobile device executes the obstacle-crossing walking mode, the pressure exerted by the drag roller on the working surface can be adjusted to a second pressure through the movable connection mechanism to generate a push to assist the traveling component in obstacle-crossing force.
A control method of autonomous mobile equipment, which includes:

When the equipment body has a requirement for assisting obstacle crossing, start the obstacle crossing walking mode;

In the obstacle crossing walking mode, the drag assembly arranged on the equipment body is controlled to work in the assisting obstacle crossing state, so as to apply pressure to the traveling surface to generate a driving force that assists the traveling assembly of the equipment body to overcome obstacles.
The method of claim 16, wherein the mopping assembly includes a mopping roller; and

Controlling the drag component installed on the device body to work in the assisting obstacle crossing state includes at least one of the following:

Controlling the steering of the drag roller to be the same as that of the traveling wheels in the traveling assembly;

Controlling the first driving device to output corresponding power so that the linear velocity of the drag roller is greater than or equal to the linear velocity of the traveling wheel, wherein the linear velocity of the drag roller and the traveling wheel are in the same direction;

Controlling the action of the movable connection mechanism to adjust the pressure exerted by the drag roller on the traveling surface, wherein the drag roller is movably connected to the device body through the movable connection mechanism;

The action of the movable connection mechanism is controlled to adjust the drag roller to switch from the first position to the second position, wherein, in the first position, the drag roller keeps a distance from the traveling surface; in the second position, the drag roller The wiper is in contact with the traveling surface.
The method according to claim 17, further comprising at least one of the following:

In the case that the auxiliary driving force provided by the drag roller fails to cross the obstacle, controlling the first driving device to increase the output power to increase the linear speed of the drag roller;

In the case that the auxiliary driving force provided by the drag roller is not used to successfully cross the obstacle, the action of the movable connection mechanism is controlled to increase the pressure exerted by the drag roller on the traveling surface, so that the obstacle of the traveling component is assisted to cross the obstacle. The impetus is increased.
The method of claim 16, wherein the mopping assembly includes a disk brush; and

Controlling the drag component installed on the device body to work in the assisted obstacle crossing state, including:

Controlling the action of the movable connection mechanism to adjust the inclination angle of the disk brush relative to the traveling surface so that the edge portion of the disk brush is in contact with the traveling surface;

Wherein, the disk brush is movably connected with the device body through the movable connection mechanism.
The method according to claim 16, further comprising:

In the case that the inclined disk brush is not used to successfully cross the obstacle, the movement of the movable connection mechanism is controlled to increase the inclination angle, so that the driving force for assisting the traveling component to cross the obstacle is increased.
The method according to any one of claims 16 to 20, further comprising any one of the following:

In the case where it is detected that the equipment body has not successfully crossed the obstacle, it is determined that the equipment body has a requirement for assisting obstacle crossing;

When an obstacle that needs to be surmounted by the equipment body is detected, it is determined that the equipment body has a requirement for assisting obstacle surmounting.