WO2022170715A1 - 清洁机器人脱困方法及装置、介质及电子设备 - Google Patents

清洁机器人脱困方法及装置、介质及电子设备 Download PDF

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Publication number
WO2022170715A1
WO2022170715A1 PCT/CN2021/099241 CN2021099241W WO2022170715A1 WO 2022170715 A1 WO2022170715 A1 WO 2022170715A1 CN 2021099241 W CN2021099241 W CN 2021099241W WO 2022170715 A1 WO2022170715 A1 WO 2022170715A1
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WO
WIPO (PCT)
Prior art keywords
cleaning robot
cleaning
surface medium
path
cleaned
Prior art date
Application number
PCT/CN2021/099241
Other languages
English (en)
French (fr)
Inventor
侯峥韬
Original Assignee
北京石头创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头创新科技有限公司 filed Critical 北京石头创新科技有限公司
Priority to EP21925369.7A priority Critical patent/EP4292502A1/en
Publication of WO2022170715A1 publication Critical patent/WO2022170715A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4052—Movement of the tools or the like perpendicular to the cleaning surface
    • A47L11/4055—Movement of the tools or the like perpendicular to the cleaning surface for lifting the tools to a non-working position
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4069—Driving or transmission means for the cleaning tools
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G05D1/628—Obstacle avoidance following the obstacle profile, e.g. a wall or undulated terrain
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/639—Resolving or avoiding being stuck or obstructed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/40—Indoor domestic environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the present disclosure relates to the field of smart homes, and in particular, to a cleaning robot escape method, a cleaning robot escape device, a computer-readable storage medium, and an electronic device.
  • a cleaning robot escape method for a cleaning robot including a surface medium sensor, including:
  • the cleaning robot is controlled to enter a special escape mode.
  • the method further includes:
  • the cleaned path of the cleaning robot is not a path along the wall, determining whether the rear of the cleaning robot is a cleaned first surface medium area based on the generated area map;
  • the special escape mode includes:
  • controlling the cleaning robot to choose to retreat according to the path along the wall, the cleaned path or the cleaned first surface medium area
  • the cleaning robot is controlled to continue to retreat until the surface medium sensor cannot detect the surface medium change signal.
  • the method when the surface medium sensor cannot detect the surface medium change signal, the method further includes:
  • the path along the wall is a path parallel to the surface of the wall when the cleaning robot cleans along the wall.
  • the in-situ rotation angle of the cleaning robot is 15-90 degrees.
  • the surface medium change signal triggered by the surface medium sensor includes:
  • the surface medium sensor is an ultrasonic sensor.
  • the method is for the cleaning robot to be in a mode of cleaning only the first surface media area.
  • a cleaning robot escape device which is arranged on a cleaning robot including a surface medium sensor, including:
  • an information recording module used for cleaning in the first surface medium area by the cleaning robot, recording the cleaned path and generating an area map
  • the path detection module is used to detect all the cleaning robot's path in response to the surface medium change signal of the surface medium sensor when the second surface medium area is detected when the cleaning robot encounters an obstacle and turns the direction. Whether the cleaned path is a path along the wall;
  • a control module configured to control the cleaning robot to enter a special escape mode if the cleaned path of the cleaning robot is a path along the wall.
  • a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, realizes the above-mentioned method for getting out of trouble for a cleaning robot.
  • an electronic device comprising:
  • a memory for storing executable instructions for the processor
  • the processor is configured to execute the above-mentioned method for getting out of trouble for a cleaning robot by executing the executable instructions.
  • FIG. 1 is a perspective view of an automatic cleaning device according to an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to an embodiment of the present disclosure
  • FIG. 3 is an oblique view of a one-side drive wheel assembly according to an embodiment of the present disclosure
  • FIG. 4 is a front view of a side drive wheel assembly of one embodiment of the present disclosure.
  • FIG. 5 is an oblique view of a dust box according to an embodiment of the present disclosure.
  • FIG. 6 is a perspective view of a fan according to an embodiment of the present disclosure.
  • FIG. 7 is a schematic diagram of an open state of a dust box according to an embodiment of the present disclosure.
  • FIG. 8 is a schematic diagram of a combined state of a dust box and a fan according to an embodiment of the present disclosure
  • FIG. 9 is an exploded view of an automatic cleaning device according to an embodiment of the present disclosure.
  • FIG. 10 is a structural diagram of an automatic cleaning equipment support platform according to an embodiment of the present disclosure.
  • FIG. 11 is a structural diagram of a vibration member of an automatic cleaning device according to an embodiment of the present disclosure.
  • FIG. 12 is a schematic diagram of a cleaning head driving mechanism based on a crank-slider mechanism according to another embodiment of the present disclosure
  • FIG. 13 is a schematic diagram of a cleaning head driving mechanism based on a double crank mechanism according to another embodiment of the present disclosure
  • FIG. 14 is a schematic diagram of a cleaning head driving mechanism based on a crank mechanism according to another embodiment of the present disclosure.
  • 15 is a schematic diagram of a raised state of an automatic cleaning device according to an embodiment of the present disclosure.
  • 16 is a schematic diagram of a sinking state of an automatic cleaning device according to an embodiment of the present disclosure.
  • FIG. 17 is a schematic diagram of a raised state of a four-link lifting structure according to an embodiment of the present disclosure.
  • FIG. 18 is a schematic diagram of the sinking state of the four-link lifting structure according to an embodiment of the present disclosure.
  • Fig. 19 shows a route diagram of a cleaning robot when cleaning along a wall according to an embodiment of the present disclosure
  • Fig. 20 shows a schematic structural diagram of a cleaning robot when a jam occurs when cleaning along a wall according to an embodiment of the present disclosure
  • FIG. 21 shows a flowchart of a method for getting out of trouble for a cleaning robot according to an embodiment of the present disclosure
  • Fig. 22 shows a flowchart of execution steps of a method for getting rid of a cleaning robot according to an embodiment of the present disclosure
  • FIG. 23 shows a waveform diagram of echoes received by the ultrasonic sensor from the surface of the first surface medium region according to an embodiment of the present disclosure
  • FIG. 24 shows a waveform diagram of echoes received by the ultrasonic sensor from the surface of the second surface medium region according to an embodiment of the present disclosure
  • Fig. 25 shows a block diagram of a cleaning robot escape device according to an embodiment of the present disclosure
  • FIG. 26 shows a schematic diagram of a module of an electronic device according to an embodiment of the present disclosure
  • FIG. 27 shows a schematic diagram of a program product according to an embodiment of the present disclosure.
  • Example embodiments will now be described more fully with reference to the accompanying drawings.
  • Example embodiments can be embodied in various forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
  • the same reference numerals in the drawings denote the same or similar structures, and thus their detailed descriptions will be omitted.
  • Figures 1 to 2 are schematic structural diagrams of an automatic cleaning device according to an exemplary embodiment.
  • the automatic cleaning device may be a vacuum robot, or mopping/sweeping.
  • the automatic cleaning equipment may include a mobile platform 100 , a sensing system 120 , a control system 130 , a driving system 140 , a cleaning module 150 , an energy system 160 and a human-computer interaction system 170 . in:
  • the mobile platform 100 may be configured to automatically move along the target direction on the operating surface.
  • the operating surface may be the surface to be cleaned by the automatic cleaning device.
  • the automatic cleaning device can be a mopping robot, and the automatic cleaning device works on the ground, where the ground is the operating surface; the automatic cleaning device can also be a window cleaning robot, and the automatic cleaning device is in the building.
  • the outer surface of the glass works, the glass is the operation surface; the automatic cleaning equipment can also be a pipe cleaning robot, and the automatic cleaning equipment works on the inner surface of the pipe, and the inner surface of the pipe is the operation surface.
  • the following description in this application takes a floor mopping robot as an example for illustration.
  • the mobile platform 100 may be an autonomous mobile platform or a non-autonomous mobile platform.
  • the autonomous mobile platform means that the mobile platform 100 itself can automatically and adaptively make operational decisions according to unexpected environmental inputs; the non-autonomous mobile platform itself cannot make adaptive decisions according to unexpected environmental inputs. Operational decisions, but can execute a given procedure or operate according to a certain logic.
  • the target direction may be determined autonomously by the automatic cleaning device; when the mobile platform 100 is a non-autonomous mobile platform, the target direction may be set by the system or manually.
  • the mobile platform 100 includes a forward portion 111 and a rearward portion 110 .
  • Perception system 120 includes position determination device 121 located above mobile platform 100, buffer 122 located at forward portion 111 of mobile platform 100, cliff sensors 123 and ultrasonic sensors (not shown), infrared sensors located at the bottom of mobile platform 100 (not shown in the figure), magnetometer (not shown in the figure), accelerometer (not shown in the figure), gyroscope (not shown in the figure), odometer (not shown in the figure) and other sensors
  • the device provides various position information and motion state information of the machine to the control system 130 .
  • the automatic cleaning device can travel on the ground by various combinations of movements relative to the following three mutually perpendicular axes defined by the mobile platform 100: lateral axis x, Front and rear axis y and center vertical axis z.
  • the forward drive direction along the front-rear axis y is designated “forward” and the rearward drive direction along the front-rear axis y is designated “rear”.
  • the transverse axis x extends substantially along the axis defined by the center point of the drive wheel assembly 141 between the right and left wheels of the automatic cleaning apparatus.
  • the automatic cleaning device can rotate around the x-axis.
  • the automatic cleaning device can be rotated about the z-axis. In the forward direction of the automatic cleaning device, when the automatic cleaning device is inclined to the right of the Y-axis, it is “turn right", and when the automatic cleaning device is inclined to the left of the y-axis, it is “turn left”.
  • cliff sensors 123 are provided on the bottom of the mobile platform 100 and at the front and rear of the driving wheel assembly 141 , and the cliff sensors 123 are used to prevent the automatic cleaning device from falling when it retreats, so that the automatic cleaning device can be avoided. damaged.
  • the aforementioned "front” refers to the same side with respect to the traveling direction of the automatic cleaning device, and the aforementioned “rear” refers to the opposite side with respect to the traveling direction of the automatic cleaning device.
  • the location determination device 121 includes, but is not limited to, a camera and a laser ranging device (LDS, Laser Direct Structuring).
  • LDS Laser Direct Structuring
  • Each component in the perception system 120 can operate independently, or can operate together to achieve the purpose function more accurately.
  • the surface to be cleaned is identified by the cliff sensor 123 and the ultrasonic sensor to determine the physical properties of the surface to be cleaned, including surface medium, cleanliness, etc., and can be combined with cameras, laser ranging devices, etc. for more accurate determination.
  • the ultrasonic sensor can determine whether the surface to be cleaned is a carpet. If the ultrasonic sensor determines that the surface to be cleaned is a carpet material, the control system 130 controls the automatic cleaning device to perform carpet mode cleaning.
  • the forward portion 111 of the mobile platform 100 is provided with a bumper 122.
  • the bumper 122 detects the travel path of the automatic cleaning device via a sensor system, such as an infrared sensor.
  • a sensor system such as an infrared sensor.
  • the control system 130 is provided on a circuit board in the mobile platform 100, and includes a computing processor, such as a central processing unit, an application processor, an application processing unit that communicates with non-transitory memory, such as hard disk, flash memory, random access memory,
  • the device is configured to receive the environmental information sensed by the plurality of sensors from the perception system 120, and use a positioning algorithm, such as SLAM, to map the real-time situation in the environment where the automatic cleaning device is located according to the obstacle information fed back by the laser ranging device. map, and autonomously determine a driving path according to the environmental information and the environmental map, and then control the driving system 140 to perform operations such as forward, backward, and/or steering according to the autonomously determined driving path. Further, the control system 130 may also decide whether to start the cleaning module 150 to perform the cleaning operation according to the environmental information and the environmental map.
  • control system 130 can combine the distance information and speed information fed back by the buffer 122 , the cliff sensor 123 and the ultrasonic sensor, infrared sensor, magnetometer, accelerometer, gyroscope, odometer and other sensing devices to comprehensively judge that the sweeper is currently in What working state, such as crossing the threshold, on the carpet, on the cliff, stuck above or below, the dust box is full, picked up, etc., will also give specific next action strategies for different situations, so that automatic cleaning The work of the device is more in line with the owner's requirements, and there is a better user experience. Further, the control system can plan the most efficient and reasonable cleaning path and cleaning method based on the real-time map information drawn by SLAM, which greatly improves the cleaning efficiency of automatic cleaning equipment.
  • the drive system 140 may execute drive commands to steer the automated cleaning apparatus across the ground based on specific distance and angular information, such as x, y, and theta components.
  • 3 and 4 are oblique views and front views of one side drive wheel assembly 141 in an embodiment of the present invention.
  • the drive system 140 includes a drive wheel assembly 141, and the drive system 140 can control the left wheel and the right wheel at the same time.
  • the drive system 140 preferably includes a left drive wheel assembly and a right drive wheel assembly, respectively.
  • the left and right drive wheel assemblies are arranged symmetrically along the transverse axis defined by the mobile platform 100 .
  • the drive wheel assembly includes a housing and a connecting frame, and a drive motor 146 is respectively disposed in the drive wheel assembly.
  • the drive motor 146 is located outside the drive wheel assembly 141, and the axis of the drive motor 146 is located in the section of the drive wheel assembly.
  • the drive wheel assembly 141 may also be connected to a circuit for measuring drive current and an odometer.
  • the automatic cleaning equipment may include one or more steering assemblies 142, and the steering assemblies 142 may be driven wheels or driving wheels, and their structural forms Including but not limited to caster wheels, the steering assembly 142 may be located in front of the drive wheel assembly 141 .
  • Drive motor 146 provides power for rotation of drive wheel assembly 141 and/or steering assembly 142 .
  • the driving wheel assembly 141 can be detachably connected to the mobile platform 100 for easy disassembly and maintenance.
  • the drive wheel may have an offset drop suspension system, movably fastened, eg, rotatably attached, to the automatic cleaning device moving platform 100, and grounded to a certain degree by elastic elements 143, such as tension springs or compression springs The force maintains the contact and traction with the ground, and at the same time, the cleaning module 150 of the automatic cleaning device also contacts the surface to be cleaned with a certain pressure.
  • the energy system 160 includes rechargeable batteries, such as nickel-metal hydride batteries and lithium batteries.
  • the rechargeable battery can be connected with a charging control circuit, a battery pack charging temperature detection circuit and a battery undervoltage monitoring circuit, and the charging control circuit, the battery pack charging temperature detection circuit, and the battery undervoltage monitoring circuit are then connected with the single-chip microcomputer control circuit.
  • the host is charged by connecting to the charging pile through the charging electrode arranged on the side or under the fuselage. If there is dust on the bare charging electrode, the plastic body around the electrode will melt and deform due to the accumulation effect of the charge during the charging process, and even the electrode itself will be deformed, making it impossible to continue normal charging.
  • the human-computer interaction system 170 includes buttons on the host panel, and the buttons are used for user selection of functions; it may also include a display screen and/or indicator lights and/or horns, and the display screen, indicator lights and horns can show the user the current state of the machine or Feature selections; may also include mobile client programs.
  • the mobile phone client can show the user a map of the environment where the equipment is located, as well as the location of the machine, which can provide users with more abundant and user-friendly function items.
  • the cleaning module 150 may include the dry cleaning module 151 and/or the wet cleaning module 400 .
  • the dry cleaning module 151 includes a roller brush, a dust box, a fan, and an air outlet.
  • the roller brush with certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the suction port between the roller brush and the dust box, and then is sucked into the dust box by the suction gas generated by the fan and passing through the dust box.
  • the dust removal ability of the sweeper can be characterized by the dust pickup efficiency DPU (Dust pickup efficiency).
  • the wind utilization rate of the formed air duct is affected by the type and power of the fan, which is a complex system design problem. Compared with ordinary plug-in vacuum cleaners, the improvement of dust removal capacity is more meaningful for cleaning automatic cleaning equipment with limited energy.
  • the dry cleaning module may also include a side brush 157 having an axis of rotation angled relative to the ground for moving debris into the rolling brush area of the cleaning module 150 .
  • FIG. 5 is a schematic diagram of the structure of the dust box 152 in the dry cleaning module
  • FIG. 6 is a schematic diagram of the structure of the fan 156 in the dry cleaning module
  • FIG. 7 is a schematic diagram of the opened state of the dust box 152
  • FIG. 8 It is a schematic diagram of the assembled state of the dust box and the fan.
  • the roller brush that has a certain interference with the ground sweeps up the garbage on the ground and rolls it up to the front of the dust suction port 154 between the roller brush and the dust box 152, and then is generated by the structure of the fan 156 and passes through the dust box 152.
  • the suction gas The dust box 152 is inhaled, and the garbage is isolated by the filter screen 153 on the side of the dust box 152 close to the dust suction port 154.
  • the filter screen 153 completely isolates the dust suction port from the air outlet, and the filtered air enters the fan 156 through the air outlet 155.
  • the dust suction port 154 of the dust box 152 is located in front of the machine, the air outlet 155 is located at the side of the dust box 152, and the air suction port of the fan 156 is opposite to the air outlet of the dust box.
  • the front panel of the dust box 152 can be opened for cleaning the garbage in the dust box 152 .
  • the filter screen 153 and the box body of the dust box 152 are detachably connected to facilitate the removal and cleaning of the filter screen.
  • the wet cleaning module 400 provided by the present invention is configured to clean at least a part of the operation surface in a wet cleaning manner; wherein, the wet cleaning module 400 includes: a cleaning head 410, A driving unit 420, wherein the cleaning head 410 is used to clean at least a part of the operation surface, and the driving unit 420 is used to drive the cleaning head 410 to reciprocate along a target surface, and the target surface is a part of the operation surface .
  • the cleaning head 410 reciprocates along the surface to be cleaned, and the contact surface between the cleaning head 410 and the surface to be cleaned is provided with a cleaning cloth or a cleaning plate, which generates high-frequency friction with the surface to be cleaned through the reciprocating motion, thereby removing the surface to be cleaned. stains.
  • the reciprocating motion may be repeated motion along any one or more directions within the operation surface, or may be vibration perpendicular to the operation surface, which is not strictly limited.
  • the driving unit 420 includes: a driving platform 421 connected to the bottom surface of the moving platform 100 for providing driving force; a supporting platform 422 detachably connected to the driving platform 421 for supporting The cleaning head 410 can be lifted and lowered under the driving of the driving platform 421 .
  • An elevating module is arranged between the cleaning module 150 and the mobile platform 100, so that the cleaning module 150 can better contact the surface to be cleaned, or different cleaning strategies are adopted for the surface to be cleaned of different materials.
  • the dry cleaning module 151 can be connected to the mobile platform 100 through a passive lifting module. When the cleaning equipment encounters an obstacle, the dry cleaning module 151 can more easily overcome the obstacle through the lifting module.
  • the wet cleaning module 400 can be connected to the mobile platform 100 through an active lifting module. When the wet cleaning module 400 does not work temporarily, or encounters a surface to be cleaned that cannot be cleaned by the wet cleaning module 400 At the time, the wet cleaning module 400 is lifted up by the active lifting module and separated from the surface to be cleaned, so as to realize the change of the cleaning means.
  • the driving platform 421 includes: a motor 4211, which is arranged on the side of the driving platform 421 close to the moving platform 100, and outputs power through the motor output shaft; a driving wheel 4212, which is connected with the The motor output shaft is connected, and the driving wheel 4212 is an asymmetrical structure; the vibration member 4213 is arranged on the opposite side of the driving platform 421 to the motor 4211, and is connected with the driving wheel 4212. 4212 realizes reciprocating motion under asymmetrical rotation.
  • the drive platform 421 may further include a drive wheel and a gear mechanism.
  • the gear mechanism 235 may connect the motor 4211 and the driving wheel 4212 .
  • the motor 4211 can directly drive the driving wheel 4212 to perform a rotary motion, or indirectly drive the driving wheel 4212 to perform a rotary motion through a gear mechanism.
  • the gear mechanism may be one gear, or may be a gear set composed of multiple gears.
  • the motor 4211 transmits the power to the cleaning head 410, the driving platform 421, the supporting platform 422, the water supply mechanism, the water tank and the like at the same time through the power transmission device.
  • the energy system 160 provides power and energy for the motor 4211 and is controlled by the control system 130 as a whole.
  • the power transmission device may be a gear drive, a chain drive, a belt drive, or a worm gear or the like.
  • the motor 4211 includes a forward output mode and a reverse output mode. In the forward output mode, the motor 4211 rotates in the forward direction. In the reverse output mode, the motor 4211 rotates in the reverse direction. In the forward output mode of the motor 4211, the motor 4211 passes through the power transmission device.
  • the cleaning head 410 and the water supply mechanism in the wet cleaning assembly 400 can be simultaneously driven to move synchronously.
  • the driving platform 421 further includes: a connecting rod 4214, extending along the edge of the driving platform 421, connecting the driving wheel 4212 and the vibration member 4213, so that the vibration member 4213 extends to a preset position, wherein , the extension direction of the vibration member 4213 is perpendicular to the connecting rod 4214 .
  • the motor 4211 is connected with the driving wheel 4212 , the vibration member 4213 , the connecting rod 4214 and the vibration buffer device 4215 through the power transmission device.
  • the motor 4211 starts to rotate forward, the motor 4211 drives the connecting rod 4214 to reciprocate along the surface of the drive platform 421 through the drive wheel 4212, and the vibration buffer device 4215 drives the vibration member 4213 along the drive platform 421.
  • the surface reciprocates, the vibrating member 4213 reciprocates along the surface of the support platform 422 with the cleaning substrate 4221, and the cleaning substrate 4221 reciprocates along the surface to be cleaned with the active area 412.
  • the clean water pump makes clean water flow out from the clean water tank, and sprinkles clean water on the cleaning head 410 through the water outlet device 4217, and the cleaning head 410 cleans the surface to be cleaned by reciprocating motion.
  • the cleaning intensity/efficiency of the automatic cleaning equipment can also be automatically and dynamically adjusted according to the working environment of the automatic cleaning equipment.
  • the automatic cleaning equipment can realize dynamic adjustment according to the physical information of the surface to be cleaned detected by the sensing system 120 .
  • the sensing system 120 can detect the flatness of the surface to be cleaned, the material of the surface to be cleaned, whether there is oil and dust, etc., and transmit the information to the control system 130 of the automatic cleaning device.
  • the control system 130 can instruct the automatic cleaning equipment to automatically and dynamically adjust the rotational speed of the motor and the transmission ratio of the power transmission device according to the working environment of the automatic cleaning equipment, thereby adjusting the preset reciprocating period of the reciprocating motion of the cleaning head 410 .
  • the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the water pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device is on a less flat ground During operation, the preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger. This is because flat surfaces are easier to clean than less flat surfaces, so cleaning uneven surfaces requires faster reciprocation (ie, higher frequency) of cleaning head 410 and a larger volume of water.
  • the preset reciprocating period can be automatically and dynamically adjusted to be longer, and the water volume of the pump can be automatically and dynamically adjusted to be smaller; when the automatic cleaning device 100 is working on the ground, the The preset reciprocating period can be automatically and dynamically adjusted to be shorter, and the water volume of the pump can be automatically and dynamically adjusted to be larger.
  • the cleaning head 410 needs to perform fewer reciprocating movements, and the water pump can provide a relatively small amount of water to clean the desktop. clean.
  • the supporting platform 422 includes a cleaning substrate 4221 , which is freely movable on the supporting platform 422 , and the cleaning substrate 4221 reciprocates under the vibration of the vibration member 4213 .
  • the cleaning substrate 4221 includes: an assembly notch (not shown), which is arranged at a position in contact with the vibration member 4213 , when the support platform 422 is connected to the drive platform 421 , the vibration The member 4213 is assembled in the assembly notch, so that the cleaning substrate 4221 can reciprocate synchronously with the vibration member 4213 .
  • FIG. 12 illustrates another cleaning head drive mechanism 800 based on a crank-slider mechanism according to various embodiments of the present application.
  • the drive mechanism 800 may be applied to the drive platform 421 .
  • the driving mechanism 800 includes a driving wheel 4212, a vibration member 4213, a cleaning substrate 4221, a chute 4222 (a first chute) and a chute 4223 (a second chute).
  • the chutes 4222 and 4223 are opened on the support platform 422 . Both ends of the cleaning substrate 4221 include sliders 525 (first sliders) and sliders 528 (second sliders), respectively.
  • the sliders 525 and 528 are respectively a protrusion at both ends of the cleaning substrate 4221 .
  • the sliding block 525 is inserted in the sliding groove 4222 and can slide along the sliding groove 4222 ;
  • the sliding block 4223 is inserted in the sliding groove 4223 and can slide along the sliding groove 4223 .
  • the chute 4222 and the chute 4223 are on the same line. In some embodiments, the chute 4222 and the chute 4223 are not on the same line. In some embodiments, the chute 4222 and the chute 4223 extend in the same direction.
  • the extending direction of the sliding groove 4222 and the sliding groove 4223 is the same as the extending direction of the cleaning substrate 4221 . In some embodiments, the extending directions of the sliding grooves 4222 and the sliding grooves 4223 are different from the extending directions of the cleaning substrate 4221 . In some embodiments, the extending directions of the chute 4222 and the chute 4223 are different. For example, as shown in FIG. 12 , the extension direction of the chute 4222 is the same as the extension direction of the cleaning substrate 4221 , and the extension direction of the chute 4223 and the extension direction of the chute 4222 are at a certain angle.
  • the vibrating member 4213 includes a rotating end 512 and a sliding end 514 .
  • the rotating end 512 is connected with the driving wheel 4212 through a first pivot shaft 516
  • the sliding end 514 is connected with the cleaning substrate 4221 through a second pivot shaft 518 .
  • the rotation center of the driving wheel 4212 is point O
  • the pivot center of the first pivot shaft 516 is point A.
  • Point O and point A do not coincide, and the distance between them is the preset distance d.
  • the point A When the driving wheel 4212 rotates, the point A performs a circular rotary motion accordingly.
  • the rotary end 512 performs a circular rotary motion following the point A; the sliding end 514 drives the cleaning substrate 4221 to perform sliding motion through the second pivot shaft 518 .
  • the slider 525 for cleaning the substrate 4221 reciprocates linearly along the chute 4222 ; the slider 528 performs a reciprocating linear motion along the chute 4223 .
  • the moving speed of the moving platform 210 is V0, and the moving direction is the target direction.
  • the overall displacement of the cleaning substrate 4221 is substantially perpendicular to the target direction.
  • the overall displacement of the cleaning substrate 4221 includes both being perpendicular to the target direction and parallel to the target direction. component in the target direction.
  • a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
  • FIG. 13 shows another cleaning head driving mechanism 600 based on a double crank mechanism according to various embodiments of the present application.
  • the drive mechanism 600 may be applied to the drive platform 421 .
  • the driving mechanism 600 includes a driving wheel 4212 (a first driving wheel), a driving wheel 4212' (a second driving wheel), and a cleaning substrate 4221.
  • the cleaning substrate 4221 has two ends. The first end is connected to the drive wheel 4212 through a pivot shaft 624 (first pivot shaft); the second end is connected to the drive wheel 4212' through a pivot shaft 626 (second pivot shaft).
  • the rotation center of the driving wheel 4212 is point O
  • the pivot center of the pivot shaft 624 is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
  • the center of rotation of the drive wheel 236 is the point O'
  • the center of rotation of the pivot shaft 626 is the point A'. Point O' and point A' do not coincide, and the distance between them is the preset distance d.
  • points A, A', O, and O' lie on the same plane. Therefore, the driving wheel 4212, the driving wheel 4212' and the cleaning substrate 4221 may form a double crank mechanism (or parallelogram mechanism), wherein the cleaning substrate 4221 acts as a coupling lever and the driving wheels 4212 and 4212' act as two cranks.
  • a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
  • FIG. 14 shows a drive mechanism 700 based on a crank-slider mechanism according to various embodiments of the present application.
  • the drive mechanism 700 may be applied to the drive platform 421 .
  • the driving mechanism 700 includes a driving wheel 4212 , a cleaning substrate 4221 and a chute 4222 .
  • the chute 4222 is opened on the support platform 422 .
  • the cleaning substrate 4221 includes a swivel end 4227 and a sliding end 4226 .
  • the swivel end 4227 is connected to the drive wheel 4212 by the pivot shaft 4228.
  • the pivot center of the driving wheel 4212 is point O
  • the pivot center of the pivot shaft 4228 at the pivot end is point A. Point O and point A do not coincide, and the distance between them is the preset distance d.
  • Sliding end 4226 includes slider 4225.
  • the slider 4225 is a protrusion on the sliding end 4226 .
  • the slider 4225 is inserted into the chute 4222 and can slide along the chute 4222 . Therefore, the driving wheel 4221, the cleaning base plate 4221, the slider 4225 and the chute 4222 constitute a crank-slider mechanism.
  • the driving wheel 4212 rotates, point A performs a circular rotary motion.
  • the rotary end 4227 of the cleaning substrate 4221 performs a circular rotary motion following the point A; and the slider 4225 slides in the chute 4222 to perform a reciprocating linear motion.
  • the cleaning substrate 4221 starts to reciprocate.
  • the direction of the chute 4222 is approximately perpendicular to the target direction of the moving speed of the mobile platform, thus, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular swivel movement of the swivel end 4227 simultaneously Includes components perpendicular to the target direction and parallel to the target direction.
  • the moving speed of the mobile platform is V0, and the moving direction is the target direction; and the chute 4222 is approximately perpendicular to the target direction.
  • the reciprocating motion of the cleaning substrate 4221 as a whole has both a movement component parallel to the target direction of the automatic cleaning device and a movement component perpendicular to the target direction of the automatic cleaning device.
  • a vibration buffering device 4215 is included, which is arranged on the connecting rod 4214 and is used to reduce vibration in a specific direction. In this embodiment, it is used to reduce vibration in the direction of the moving component perpendicular to the target direction of the automatic cleaning device.
  • the support platform 422 further includes: an elastic disassembly button 4229, which is disposed on at least one side of the support platform 422, and is used to detachably connect the support platform 422 to the claw 4216 of the drive platform 421. .
  • At least one assembling area 4224 is disposed on the supporting platform 422 for assembling the cleaning head 410 .
  • the mounting area 4224 may be formed of an adhesive material with an adhesive layer.
  • the cleaning head 410 includes: an active area 412 , which is connected to the cleaning substrate 4221 and reciprocates along the cleaning surface under the driving of the cleaning substrate 4221 .
  • the active area 412 is disposed at a substantially central position of the cleaning head 410 .
  • An adhesive layer is provided on the side where the active area 412 is connected to the cleaning substrate 4221 , and the active area 412 and the cleaning substrate 4221 are connected through the adhesive layer.
  • the cleaning head 410 further includes: a fixing area 411 connected to the bottom of the support platform 422 through the at least one assembly area 4224 , and the fixing area 411 cleans the at least a portion of the operating surface.
  • the cleaning head 410 further includes: a flexible connecting portion 413 disposed between the fixed area 411 and the active area 412 for connecting the fixed area 411 and the active area 412 .
  • the cleaning head 410 further includes: a sliding latch 414 extending along the edge of the cleaning head 410 and detachably installed at the latching position 4225 of the support platform 422 .
  • the cleaning head 410 can be made of a certain elastic material, and the cleaning head 410 is fixed on the surface of the support platform 422 through an adhesive layer, thereby realizing reciprocating motion. When the cleaning head 410 is in operation, the cleaning head 410 is always in contact with the surface to be cleaned.
  • the water supply mechanism includes a water outlet device 4217, and the water outlet device 4217 can be directly or indirectly connected with the cleaning liquid outlet of the water tank (not shown), that is, the liquid outlet of the clean water tank, wherein the cleaning liquid can pass through the cleaning liquid of the water tank.
  • the outlet flows to the water outlet device 4217, and can be evenly coated on the surface to be cleaned by the water outlet device.
  • a connecting piece (not shown in the figure) may be provided on the water outlet device, and the water outlet device is connected to the cleaning liquid outlet of the water tank through the connecting piece.
  • the water outlet device is provided with a distribution port.
  • the distribution port can be a continuous opening or a combination of several broken small openings.
  • the distribution port can be provided with several nozzles.
  • the cleaning liquid flows to the distribution port through the cleaning liquid outlet of the water tank and the connecting piece of the water outlet device, and is evenly coated on the operating surface through the distribution port.
  • the water supply mechanism may further include a clean water pump 4219 and/or a clean water pump pipe 4218 , and the clean water pump 4219 may communicate with the clean liquid outlet of the water tank directly or through the clean water pump pipe 4218 .
  • the clean water pump 4219 may be connected to the connection of the water outlet, and may be configured to draw the cleaning fluid from the water tank to the water outlet.
  • the clean water pump can be a gear pump, a vane pump, a plunger pump, a peristaltic pump, and the like.
  • the water supply mechanism draws out the cleaning liquid in the clean water tank through the clean water pump 4219 and the clean water pump pipe 4218, and transports it to the water outlet device. to wet the cleaning head and the surface to be cleaned. Stains on the wetted surface to be cleaned can be cleaned more easily.
  • the power/flow rate of the clean water pump can be adjusted.
  • the cleaning head can reciprocate, so that the surface to be cleaned can be repeatedly cleaned, so that in the movement trajectory of the cleaning robot, one pass through a certain area can achieve multiple times. cleaning, which greatly enhances the cleaning effect, especially for areas with more stains, the cleaning effect is obvious.
  • the present invention provides a liftable automatic cleaning device, comprising: a mobile platform 100 configured to automatically move on an operating surface; a wet cleaning module 400 movably connected through a four-link lifting structure 500 On the mobile platform 100, it is configured to clean at least a part of the operation surface by a wet cleaning method; wherein, the four-link lifting structure 500 is a parallelogram structure, which is used to make the wet cleaning module 400 in the Switching between a rising state and a sinking state, the rising state is when the wet cleaning module 400 leaves the operation surface, as shown in FIG. 15 ; the sinking state is when the wet cleaning module 400 is attached to the Operation surface, as shown in Figure 16.
  • the four-link lifting structure 500 includes: a first connecting end 501 for providing main power to switch the wet cleaning module 400 between a rising state and a sinking state; a second connection end 501
  • the connecting end 502 is disposed opposite to the first connecting end 501 and rotates under the action of the main power.
  • the first connection end 501 and the second connection end 502 are located on two sides of the wet cleaning module 400 respectively, and the wet cleaning module 400 is raised or lowered by stably providing a lifting force.
  • the first connecting end 501 includes a first bracket 5011, which is fixedly connected to the bottom of the mobile platform 100; the first bracket 5011 is roughly in the shape of a “ji”, and the first bracket 5011 includes: a cross beam 50111, a first vertical The beam 50114 and the second longitudinal beam 50115, and the tail ends of the first longitudinal beam 50114 and the second longitudinal beam 50115 are respectively connected to the mobile platform 100 and the wet cleaning module 400 by bolts, so as to provide the supporting force when the wet cleaning module 400 is lifted and lowered. .
  • the first connecting end 501 further includes a first connecting rod pair 5012, one end of the first connecting rod pair 5012 is rotatably connected to the first bracket 5011, and the other end is rotatably connected to the wet cleaning module 400.
  • the first connecting rod pair 5012 can be a hollow structure, which can reduce the overall weight of the lifting end.
  • the first connecting rod pair 5012 includes a first connecting rod 50121 and a second connecting rod 50122 that are arranged in parallel, and the first ends of the first connecting rod 50121 and the second connecting rod 50122 can be connected through movable studs. It is rotatably connected to the first longitudinal beam 50114, and the second ends of the first connecting rod 50121 and the second connecting rod 50122 are rotatably connected to the wet cleaning module 400 through movable studs.
  • both ends of the first connecting rod 50121 and the second connecting rod 50122 are respectively provided with through holes with a diameter larger than that of the movable stud, so that the movable stud can rotate freely in the through hole, and the movable stud passes through the through hole
  • the rear is fixedly connected to the first longitudinal beam 50114 .
  • the lifting structure 500 further includes a pulling cable 42194, which is used to provide a pulling power to rotate the first connecting rod pair 5012 within a preset angle.
  • the cable 42194 includes a cable motor terminal 50131 and a cable support terminal 50132.
  • the cable motor terminal 50131 is connected to the drive unit 420, for example, a gear connected to the motor output shaft is wound and connected to realize telescopic movement under the rotation of the motor; the cable bracket terminal 50132 is connected to the first bracket 5011, The motor makes the second ends of the first connecting rod 50121 and the second connecting rod 50122 ascend or descend through the pulling cable 42194.
  • the first bracket 5011 further includes: a chute 50112 extending along the surface of the cross beam 50111, and a snap hole 50113 extending through the cross beam 50111 and disposed at the extended end of the chute 50112 for accommodating and Snap the cable bracket terminal 50132, the cable 42194 is connected to the second ends of the first connecting rod 50121 and the second connecting rod 50122 through the sliding groove 50112 and the clamping hole 50113, and the sliding groove 50112 can restrict The moving direction of the cable ensures the stability of the lifting and lowering of the module, and the width of the chute should match the thickness of the cable.
  • the second connecting end 502 includes: a second bracket 5021, which is fixedly connected to the bottom of the mobile platform 100; a second connecting rod pair 5022, one end of which is rotatably connected to the second bracket 5021, The other end is rotatably connected to the wet cleaning module 400 ; the second connecting rod pair 5022 rotates with the rotation of the first connecting rod pair 5012 .
  • the second connecting rod pair 5022 can be a hollow structure, which can reduce the overall weight of the lifting end.
  • the second connecting rod pair 5022 includes a third connecting rod 50221 and a fourth connecting rod 50222 arranged in parallel, and the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatable through movable studs
  • the second end of the third connecting rod 50221 and the fourth connecting rod 50222 are rotatably connected to the wet cleaning module 400 through movable studs.
  • both ends of the third connecting rod 50221 and the fourth connecting rod 50222 are respectively provided with through holes with a diameter larger than that of the movable stud, so that the movable stud can rotate freely in the through hole, and the movable stud passes through the through hole
  • the rear is fixedly connected to the second bracket 5021 .
  • the first connecting end 501 When the first connecting end 501 is rotated under the driving of the motor 50131, the first ends of the third connecting rod 50221 and the fourth connecting rod 50222 rotate around the movable stud at the first end at the same time, and the third connecting rod 50221 The second end of the fourth connecting rod 50222 rotates around the movable stud at the second end at the same time, so that the wet cleaning module 400 is raised.
  • the first connecting end 501 releases the tension
  • the third connecting rod 50221 and the fourth connecting rod 50222 rotate in the opposite direction around the movable stud at the same time, and descend under the action of gravity, so that the wet cleaning module 400 sinks.
  • the wet cleaning module can be raised and lowered relative to the mobile platform, and when the mopping task is performed, the wet cleaning module is lowered to make the wet cleaning module In contact with the ground, when the mopping task is completed, lift the wet cleaning module to separate the wet cleaning module from the ground, so as to avoid the increased resistance due to the existence of the cleaning module when the cleaning equipment moves freely on the surface to be cleaned. .
  • the lifting module can clean the wet cleaning module according to different surfaces to be cleaned. For surfaces such as floor tiles, put the wet cleaning module down for cleaning, so as to achieve a more comprehensive cleaning effect.
  • a dry cleaning module 151 and a wet cleaning module 400 are installed at the same time.
  • the dry cleaning module 151 is located at the front end of the walking direction to clean the ground; and
  • the wet cleaning module 400 is located at the rear end of the traveling direction. After the dry cleaning module 151 has finished cleaning, the ground can be mopped and cleaned.
  • the wet cleaning module 400 generally cannot be used for carpet cleaning.
  • a lifting mechanism of the wet cleaning module is usually provided on the cleaning robot 2000 .
  • the wet cleaning module can be lifted, so that when the cleaning robot 2000 passes over the carpet, the wet cleaning module will not touch the carpet.
  • the wet cleaning module 400 can be lowered again to mop and clean the floor.
  • the range in which the wet cleaning module 400 can be lifted and lowered is very limited, usually only about 1 mm.
  • the wet cleaning module 400 is lifted, it is difficult to avoid the above items from getting wet, and even the cleaning robot 2000 may get stuck and cannot move.
  • the cleaning robot 2000 completes the cleaning and reverses the direction, or encounters obstacles, it is also easy to encounter a narrow gap surrounded by other obstacles. At this time, the cleaning robot 2000 is also very easy to get stuck and cannot be get out of trouble.
  • an exemplary embodiment of the present disclosure provides a method for getting out of trouble for a cleaning robot, and the above situation will now be described with reference to FIG. 19 and FIG. 20 .
  • the cleaning robot 2000 when the cleaning robot 2000 cleans the floor without carpet along the wall, or cleans the corner floor far from the carpet, the cleaning robot 2000 can sense the distance between the fuselage and the wall through the side distance sensor. And keep the distance between the fuselage and the wall constant and move along the edge of the wall, and sweep the dust on the edge of the wall into the main brush of the fuselage through the front side brush 157 of the cleaning robot 2000, and you can also choose to use the wet cleaning mode. Group 400 mopped and cleaned the floor. After the cleaning robot 2000 completes the task of cleaning along the wall, it will automatically turn the direction to continue cleaning the ground, as shown in Figure 19.
  • the cleaning robot 2000 encounters obstacles such as other walls while cleaning along the wall and turns around and detects the carpet 301, that is, there is a narrow gap 303 between the carpet 301 and the wall 302 as shown in FIG. 20 .
  • the surface medium sensor 103 Since the cleaning robot 2000 enters the slit 303, the surface medium sensor 103 is located on one side of the wall 302, that is, the surface medium sensor 103 does not detect the carpet 301, and the surface medium sensor 103 is not triggered at this time. After encountering an obstacle or completing cleaning along the wall, when the cleaning robot 2000 turns and returns, the surface medium sensor 103 is triggered. If the width of the slit 303 is not enough for the cleaning robot 2000 to turn, the cleaning robot 2000 will be stuck inside and cannot be come out and cause trouble to the user.
  • the method for getting rid of a cleaning robot may include the following steps:
  • Step S2210 when the cleaning robot cleans the first surface medium area, record the cleaned path and generate an area map
  • Step S2220 when the cleaning robot encounters an obstacle and turns the direction, in response to the surface medium change signal of the surface medium sensor, in the case of detecting the second surface medium area, detect whether the cleaned path of the cleaning robot is a path along the wall;
  • Step S2230 if the cleaned path of the cleaning robot is a path along the wall, control the cleaning robot to enter a special escape mode.
  • the surface medium sensor is triggered to detect that the surface medium has changed, Therefore, when the second surface medium area such as carpet is identified, you can first determine whether the cleaned path of the cleaning robot is a path along the wall. If the cleaned path of the cleaning robot is a path along the wall, it will enter a special escape mode to help cleaning. The robot escapes.
  • the path along the wall refers to a path parallel to the surface of the wall when the cleaning robot sweeps along the wall.
  • the method for getting out of trouble for a cleaning robot provides a method for how to get out of trouble when the cleaning robot turns the direction after the cleaning robot completes cleaning along the wall, so as to avoid the situation that the cleaning robot is stuck and improve the automatic cleaning of the cleaning robot.
  • the ability to get out of trouble reduces the failure rate of cleaning robots, thereby improving the user experience.
  • the above cleaning robot escape method is applicable when the cleaning robot is in the uncleaning carpet mode or the wet cleaning module is turned on. In these two modes, the cleaning robot cannot go on the carpet, that is, only the first surface is cleaned. The mode of the media area. Therefore, when the cleaning robot is trapped in a second surface medium area such as a carpet, the cleaning robot can be controlled to get out of the trap without covering the carpet by the method for getting rid of the cleaning robot provided by the exemplary embodiment of the present disclosure, so as to reduce the cleaning robot being trapped by the cleaning robot. Probability of carpet trapping.
  • first surface medium here is one or more of wood floor, carpet, ceramic tile, cement surface and other floor surface media
  • second surface medium is a wooden floor, carpet, ceramic tile, One or more of floor surface media such as cement surface
  • step S2301 can be entered to determine that when the cleaning robot detects the second surface medium area in the reverse direction, the judgment condition 1 is entered, wherein the judgment Condition 1 is to judge whether the cleaned path of the cleaning robot is a path along the wall; if so, that is, the cleaned path of the cleaning robot is a path along the wall, then step S2302 is executed to control the cleaning robot to enter a special escape mode; If the cleaned path is not along the wall, step S2303 is executed to enter judgment condition 2, wherein judgment condition 2 is to judge whether the rear of the cleaning robot is the cleaned first surface medium area based on the generated area map; if not, then Step S2302 is executed to control the cleaning robot to enter a special escape mode; if yes, then step S2304 is executed to control the cleaning robot to walk directly along the cleaned first surface medium area to avoid the second surface medium area, abbreviated as step S2304 is to walk along the cleaned first surface medium area.
  • the special escape mode includes: controlling the cleaning robot to choose to retreat according to the path along the wall, the cleaned path or the cleaned first surface medium area; wherein, if the cleaned path of the cleaning robot is along the If the cleaned path of the cleaning robot is not the path along the wall, and the first surface medium area behind the cleaning robot is not the cleaned first surface medium area, the cleaning robot is controlled to retreat along the cleaned path , so that it can escape from the second surface medium area as soon as possible.
  • the cleaning robot when the retreating distance reaches the preset distance, the cleaning robot is controlled to rotate in place.
  • the cleaning robot if the second surface medium is detected in response to the surface medium change signal of the surface medium sensor area, it means that the cleaning robot has not avoided the second surface medium area, that is, it has not yet escaped the trap.
  • the cleaning robot is controlled to continue to retreat until the surface medium sensor cannot detect the surface medium change signal, and the cleaning robot is determined to be out of trouble.
  • the preset distance for retreating may be at least half the length of the fuselage. Generally, after retreating by half the length of the fuselage, it can be ensured that the cleaning robot avoids the previous distance during the rotation process. scope of test. In practical applications, the preset distance may also be other distances greater than half the length of the fuselage, which is not made special in this exemplary embodiment.
  • the angle of in-situ rotation of the cleaning robot can also be between 15-90 degrees, and the angle of in-situ rotation can also be increased in a progressive manner, that is, if the cleaning robot rotates in place by 15 degrees, the detection When the second surface medium area is reached, the cleaning robot is controlled to rotate by another 15 degrees or other angles, and when the surface medium change signal is still not detected after the rotation reaches 90 degrees, it is determined that the cleaning robot has avoided the second surface medium area.
  • step S2305 needs to be executed to enter judgment condition 3, that is, it is judged whether the surface medium sensor can detect and obtain the surface medium change signal; if so, That is, if the surface medium change signal can be detected, proceed to step S2302, the special escape mode; if not, that is, the surface medium sensor cannot detect the surface medium change signal, then execute step S2306, and control the cleaning robot to exit the special escape mode, referred to as exit.
  • the cleaning robot escape method provided by the exemplary embodiment of the present disclosure is to control the cleaning robot to enter a special escape mode, so as to control the cleaning robot to choose to retreat along the recorded path along the wall, the cleaned path or the cleaned first surface medium area. , so as to avoid another trapped situation caused by the random retreat of the cleaning robot, and improve the success rate of the cleaning robot to escape.
  • the cleaning robot in the process of controlling the cleaning robot to choose to retreat along the recorded path along the wall, the cleaned path or the cleaned first surface medium area, can be controlled according to the path along the wall, the cleaned path, and the cleaned first surface
  • the order of a surface medium area selects the way of retreat, so as to achieve the purpose of selecting the optimal path to retreat.
  • the existing commonly used surface medium sensors mainly include infrared sensors, ultrasonic sensors and other different sensor identification devices, and the specific methods for detecting whether the surface medium sensor of the cleaning robot is located at the location of the surface medium change may be different.
  • This exemplary embodiment uses an ultrasonic sensor as an example to illustrate how the surface medium sensor triggers the method of the surface medium change signal:
  • the ultrasonic sensor when used to transmit ultrasonic signals to the first surface medium area such as the ground and receive the echo signals reflected by the first surface medium area, the waveform of the ultrasonic echo signal on the surface of the first surface medium area is different from that of the first surface medium area.
  • the waveform of the ultrasonic echo signal on the surface of the two-surface dielectric region has deviations, as shown in Figure 23 and Figure 24. Therefore, the surface of the first surface medium region and the surface of the second surface medium region can be distinguished according to the difference of the echo signals.
  • the surface of the second surface medium area refers to the surface of the second surface medium area laid on the ground surface. Among them, the waveform and peak number of the echo signal can be used to characterize the signal.
  • the process of detecting the surface medium sensor of the cleaning robot triggering the surface medium change signal specifically includes: controlling the surface medium sensor to vertically transmit ultrasonic signals to the current surface, and receiving the actual echo signal reflected by the current surface; Whether the echo signal is different from the echo signal on the surface of the first surface medium area, if there is a difference, it is determined that the position of the surface medium sensor is already in the second surface medium area, that is, the surface medium has changed.
  • the media sensor triggers a surface media change signal.
  • the ultrasonic sensor converts the electrical signal into an ultrasonic signal and transmits it down to the surface of the medium area.
  • the ultrasonic signal is reflected by the surface of the medium area and is received by the ultrasonic sensor and converted into an electrical signal.
  • judging the difference between the actual echo signal and the echo signal on the surface of the first surface medium region may include: judging whether the number of peaks in the actual echo signal is less than the number of peaks in the echo signal on the surface of the first surface medium region, if If the number of peaks in the actual echo signal is smaller than the number of peaks in the echo signal on the surface of the first surface medium area, the current ground is identified as the surface of the second surface medium area.
  • the actual echo signal can be compared with the echo signal of the surface of the first surface medium region corresponding to the current region separately, so as to improve the accuracy of identifying the second surface medium region.
  • the echo signal of the second surface medium region is judged based on the echo signal of the surface of the first surface medium region, so as to reduce the difficulty of identifying the second surface medium region and improve the recognition of the second surface by the cleaning robot Accuracy and precision in the media area.
  • the cleaning robot in the process of retreating in the special escape mode, can be controlled to adopt a forward retreat mode, or a reversed retreat mode.
  • a reverse-backward manner is adopted to ensure that the cleaning robot quickly escapes.
  • the initial position here may be the position where the cleaning robot starts to clean along the wall, which is not limited in this exemplary embodiment.
  • determining whether the cleaning robot has separated from the second surface medium area is mainly determined according to whether the surface medium sensor of the cleaning robot triggers the surface medium change signal.
  • the actual echo signal is the same as the echo signal on the surface of the first surface medium area, Then it is determined that the cleaning robot has escaped from the second surface medium area. It will not be repeated here.
  • the cleaning robot also includes other functions that help realize the overall operation, which will not be repeated in this exemplary embodiment.
  • the above method is not only used for cleaning robots with dry cleaning devices and wet cleaning modules, but also for cleaning robots with only dry cleaning devices or mopping robots with only wet cleaning modules. It may be other intelligent robots that have an autonomous walking mechanism and need to recognize the shape of the ground, which is not limited by the exemplary embodiments of the present disclosure.
  • a cleaning robot escape device is also provided, which is arranged on a cleaning robot including a surface medium sensor.
  • the cleaning robot escape device 2600 may include: an information recording module 2601 , a path detection module 2602 and a control module 2603, wherein:
  • the information recording module 2601 is used for cleaning in the first surface medium area by the cleaning robot, recording the cleaned path and generating an area map;
  • the path detection module 2602 is used to detect the second surface medium area in response to the surface medium change signal of the surface medium sensor when the cleaning robot encounters an obstacle and turns the direction, and detects the cleaning robot. whether the cleaned path is a path along the wall;
  • the control module 2603 is configured to control the cleaning robot to enter a special escape mode if the cleaned path of the cleaning robot is a path along the wall.
  • an electronic device capable of implementing the above method is also provided.
  • aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention can be embodied in the following forms: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, which may be collectively referred to herein as implementations "circuit", “module” or "system”.
  • FIG. 26 An electronic device 2700 according to this embodiment of the present invention is described below with reference to FIG. 26 .
  • the electronic device 2700 shown in FIG. 26 is only an example, and should not impose any limitation on the function and scope of use of the embodiments of the present invention.
  • electronic device 2700 takes the form of a general-purpose computing device.
  • the components of the electronic device 2700 may include, but are not limited to: the above-mentioned at least one processing unit 2710, the above-mentioned at least one storage unit 2720, a bus 2730 connecting different system components (including the storage unit 2720 and the processing unit 2710), and a display unit 2740.
  • the storage unit 2720 stores program codes, which can be executed by the processing unit 2710, so that the processing unit 2710 executes various examples according to the present invention described in the above-mentioned "Exemplary Methods" section of this specification steps of sexual implementation.
  • the processing unit 2710 can perform step S2210 as shown in FIG.
  • step S2220 when the cleaning robot encounters an obstacle and When the direction is reversed, in response to the surface medium change signal of the surface medium sensor, when the second surface medium area is detected, it is detected whether the cleaned path of the cleaning robot is a path along the wall; step S2230, if the cleaned path of the cleaning robot is Along the wall path, control the cleaning robot to enter a special escape mode.
  • the storage unit 2720 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 27201 and/or a cache storage unit 27202, and may further include a read only storage unit (ROM) 27203.
  • RAM random access storage unit
  • ROM read only storage unit
  • the storage unit 2720 may also include a program/utility 27204 having a set (at least one) of program modules 27205 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, An implementation of a network environment may be included in each or some combination of these examples.
  • the bus 2730 may be representative of one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local area using any of a variety of bus structures bus.
  • the electronic device 2700 may also communicate with one or more external devices 2770 (eg, keyboards, pointing devices, Bluetooth devices, etc.), with one or more devices that enable a user to interact with the electronic device 2700, and/or with Any device (eg, router, modem, etc.) that enables the electronic device 2700 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 2750 . Also, the electronic device 2700 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 2760 . As shown, network adapter 2760 communicates with other modules of electronic device 2700 via bus 2730. It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with electronic device 2700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives and data backup storage systems.
  • the exemplary embodiments described herein may be implemented by software, or may be implemented by software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure may be embodied in the form of software products, and the software products may be stored in a non-volatile storage medium (which may be CD-ROM, U disk, mobile hard disk, etc.) or on the network , including several instructions to cause a computing device (which may be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to an embodiment of the present disclosure.
  • a computing device which may be a personal computer, a server, a terminal device, or a network device, etc.
  • a computer-readable storage medium is also provided, on which a program product capable of implementing the above-mentioned method of the present specification is stored.
  • aspects of the present invention can also be implemented in the form of a program product comprising program code for enabling the program product to run on a terminal device The terminal device performs the steps according to various exemplary embodiments of the present invention described in the "Example Method" section above in this specification.
  • a program product 2800 for implementing the above method according to an embodiment of the present invention is described, which may adopt a portable compact disc read only memory (CD-ROM) and include program codes, and may be stored in a terminal device, For example running on a personal computer.
  • CD-ROM portable compact disc read only memory
  • the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • the program product may employ any combination of one or more readable media.
  • the readable medium may be a readable signal medium or a readable storage medium.
  • the readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
  • a computer readable signal medium may include a propagated data signal in baseband or as part of a carrier wave with readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a readable signal medium can also be any readable medium, other than a readable storage medium, that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
  • Program code embodied on a readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
  • Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural Programming Language - such as the "C" language or similar programming language.
  • the program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.
  • the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (eg, using an Internet service provider business via an Internet connection).
  • LAN local area network
  • WAN wide area network

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Abstract

一种清洁机器人（2000）脱困方法、清洁机器人（200）脱困装置、计算机可读存储介质及电子设备，方法包括：在清洁机器人（2000）于第一表面介质区域内清扫时，记录已清洁路径并生成区域地图（S2210）；当清洁机器人（2000）遇到障碍并调转方向时，响应于表面介质传感器触发的表面介质改变信号，检测到第二表面介质区域的情况下，检测清洁机器人（2000）的已清洁路径是否为沿墙路径（S2220）；如果清洁机器人（2000）的已清洁路径为沿墙路径，则控制清洁机器人（2000）进入特殊脱困模式（S2230）。该方法能够提高清洁机器人（2000）自动脱困的能力，降低清洁机器人（2000）的故障率，提升用户体验。

Description

清洁机器人脱困方法及装置、介质及电子设备
相关申请的交叉引用
本公开要求于2021年2月10日提交的申请号为202110184806.0名称为“清洁机器人脱困方法及装置、介质及电子设备”的中国专利申请的优先权，该中国专利申请的全部内容通过引用全部并入本文。
技术领域
本公开涉及智能家居领域，尤其涉及一种清洁机器人脱困方法、清洁机器人脱困装置、计算机可读存储介质及电子设备。
背景技术
近年来，随着计算机技术与人工智能科学的飞速发展，智能机器人技术逐渐成为现代机器人研究领域的热点。其中，扫地机器人作为智能机器人中最实用化的一种，能凭借一定的人工智能，自动完成地面的清理工作。
目前，越来越多的家庭铺设了地毯，当扫地机器人在完成地毯和墙体之间的窄缝区域清扫后，调转方向时很容易出现卡死现象。
然而目前并没有对上述卡死现象进行处理的方法，扫地机器人只能处于卡死状态，或等待人为解困。
发明内容
根据本公开的一方面，提供一种清洁机器人脱困方法，用于包括表面介质传感器的清洁机器人，包括：
在所述清洁机器人于第一表面介质区域内清扫，记录已清洁路径并生成区域地图；
当所述清洁机器人遇到障碍并调转方向时，响应于所述表面介质传感器触发的表面介质改变信号，检测到第二表面介质区域的情况下，检测所述清洁机器人的所述已清洁路径是否为沿墙路径；
如果所述清洁机器人的所述已清洁路径为沿墙路径，则控制所述清洁机器人进入特殊脱困模式。
本公开的一种示例性实施例中，所述方法还包括：
如果所述清洁机器人的所述已清洁路径不为沿墙路径，则基于已生成的所述区域地图判断所述清洁机器人的后方是否为已清洁的第一表面介质区域；
如果所述清洁机器人后方不为所述已清洁的第一表面介质区域，则进入特殊脱困模式。
本公开的一种示例性实施例中，所述特殊脱困模式包括：
控制所述清洁机器人根据所述沿墙路径、所述已清洁路径或所述已清洁的第一表面介质区域择一选择后退；
所述后退的距离达到至少二分之一机身长度后原地旋转；
若响应于所述表面介质传感器触发的表面介质改变信号，检测到第二表面介质区域，则控制所述清洁机器人继续后退，直到所述表面介质传感器检测不到所述表面介质改变信号。
本公开的一种示例性实施例中，当所述表面介质传感器检测不到所述表面介质改变信号时，所述方法还包括：
控制所述清洁机器人退出所述特殊脱困模式。
本公开的一种示例性实施例中，所述沿墙路径为所述清洁机器人沿墙清扫时的与墙的表面平行的路径。
本公开的一种示例性实施例中，所述清洁机器人的原地旋转角度为15-90度。
本公开的一种示例性实施例中，所述表面介质传感器触发的表面介质改变信号包括：
控制所述表面介质传感器向当前表面垂直发射信号，并接收所述当前表面反射的实际回波信号；
判断所述实际回波信号是否区别于所述第一表面介质区域的回波信号，若有区别，则确定所述表面介质传感器所在的位置已经在所述第二表面介质区域内；
其中，所述表面介质传感器为超声波传感器。
本公开的一种示例性实施例中，所述方法用于所述清洁机器人处于仅清洁所述第一表面介质区域的模式。
根据本公开的一方面，提供一种清洁机器人脱困装置，设置于包括表面介质传感器的清洁机器人，包括：
信息记录模块，用于在所述清洁机器人于第一表面介质区域内清扫，记录已清洁路径并生成区域地图；
路径检测模块，用于当所述清洁机器人遇到障碍并调转方向时，响应于所述表面介质传感器的表面介质改变信号，检测到第二表面介质区域的情况下，检测所述清洁机器人的所述已清洁路径是否为沿墙路径；
控制模块，用于如果所述清洁机器人的所述已清洁路径为沿墙路径，则控制所述清洁机器人进入特殊脱困模式。
根据本公开的一方面，提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述的清洁机器人脱困方法。
根据本公开的一方面，提供一种电子设备，包括：
处理器；以及
存储器，用于存储所述处理器的可执行指令；
其中，所述处理器配置为经由执行所述可执行指令来执行上述的清洁机器人脱困方法。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开的一个实施例的自动清洁设备的斜视图；
图2为本公开的一个实施例的自动清洁设备的底部结构的示意图；
图3为本公开的一个实施例的一侧驱动轮组件的斜视图；
图4为本公开的一个实施例的一侧驱动轮组件的正视图；
图5为本公开的一个实施例的尘盒的斜视图；
图6为本公开的一个实施例的风机的斜视图；
图7为本公开的一个实施例的尘盒的打开状态示意图；
图8为本公开的一个实施例的尘盒、风机组合状态示意图；
图9为本公开的一个实施例的自动清洁设备的爆炸图；
图10为本公开的一个实施例的自动清洁设备支撑平台的结构图；
图11为本公开的一个实施例的自动清洁设备震动件的结构图；
图12为本公开的另一实施例的基于曲柄滑块机构的清洁头驱动机构示意图；
图13为本公开的另一实施例的基于双曲柄机构的清洁头驱动机构示意图；
图14为本公开的另一实施例的基于曲柄机构的清洁头驱动机构示意图；
图15为本公开的一个实施例的自动清洁设备的升起状态示意图；
图16为本公开的一个实施例的自动清洁设备的下沉状态示意图；
图17为本公开的一个实施例的四连杆升降结构升起状态示意图；
图18为本公开的一个实施例的四连杆升降结构下沉状态示意图；
图19示出了根据本公开一实施例示出的一种清洁机器人的沿墙清扫时的路线图；
图20示出了根据本公开一实施例示出的一种清洁机器人的沿墙清扫出现卡死时的结构示意图；
图21示出了根据本公开一实施例示出的一种清洁机器人脱困方法的流程图；
图22示出了根据本公开一实施例示出的一种清洁机器人脱困方法的执行步骤流程图；
图23示出了根据本公开一实施例示出的超声波传感器接收到第一表面介质区域表面的回波波形图；
图24示出了根据本公开一实施例示出的超声波传感器接收到第二表面介质区域表面的回波波形图；
图25示出了根据本公开一实施例示出的一种清洁机器人脱困装置的框图；
图26示出了根据本公开一实施例示出的电子设备的模块示意图；
图27示出了根据本公开一实施例示出的程序产品示意图。
具体实施方式
现在将参考附图更全面地描述示例实施例。然而，示例实施例能够以多种形式实施，且不应被理解为限于在此阐述的范例；相反，提供这些实施例使得本公开将更加全面和完整，并将示例实施例的构思全面地传达给本领域的技术人员。图中相同的附图标记表示相同或类似的结构，因而将省略它们的详细描述。
虽然本说明书中使用相对性的用语，例如“上”“下”来描述图标的一个组件对于另一组件的相对关系，但是这些术语用于本说明书中仅出于方便，例如根据附图中所述的示例的方向。能理解的是，如果将图标的装置翻转使其上下颠倒，则所叙述在“上”的组件将会成为在“下”的组件。其他相对性的用语，例如“高”“低”“顶”“底”“左”“右”等也作具有类似含义。当某结构在其它结构“上”时，有可能是指某结构一体形成于其它结构上，或指某结构“直接”设置在其它结构上，或指某结构通过另一结构“间接”设置在其它结构上。
用语“一个”、“一”、“所述”用以表示存在一个或多个要素/组成区分/等；用语“包括”和“具有”用以表示开放式的包括在内的意思并且是指除了列出的要素/组成区分/等之外还可存在另外的要素/组成区分/等。
图1-图2是根据一示例性实施例示出的一种自动清洁设备的结构示意图，如图1-图2所示，自动清洁设备可以是真空吸地机器人、也可以是拖地/刷地机器人、也可以是爬窗机器人等等，该自动清洁设备可以包含移动平台100、感知系统120、控制系统130、驱动系统140、清洁模组150、能源系统160和人机交互系统170。其中：
移动平台100可以被配置为在操作面上自动沿着目标方向移动。所述操作面可以为自动清洁设备待清洁的表面。在一些实施例中，自动清洁设备可以为拖地机器人，则自动清洁设备在地面上工作，所述地面为所述操作面；自动清洁设备也可以是擦窗机器人，则自动清洁设备在建筑的玻璃外表面工作，所述玻璃为所述操作面；自动清洁设备也可以是管道清洁机器人，则自动清洁设备在管道的内表面工作，所述管道内表面为所述操作面。纯粹是为了展示的需要，本申请中下面的描述以拖地机器人为例进行说明。
在一些实施例中，移动平台100可以是自主移动平台，也可以是非自主移动平台。所述自主移动平台是指移动平台100本身可以根据预料之外的环境输入自动地及适应性地 做出操作决策；所述非自主移动平台本身不能根据预料之外的环境输入适应性地做出操作决策，但可以执行既定的程序或者按照一定的逻辑运行。相应地，当移动平台100为自主移动平台时，所述目标方向可以是自动清洁设备自主决定的；当移动平台100为非自主移动平台时，所述目标方向可以是系统或人工设置的。当所述移动平台100是自主移动平台时，所述移动平台100包括前向部分111和后向部分110。
感知系统120包括位于移动平台100上方的位置确定装置121、位于移动平台100的前向部分111的缓冲器122、位于移动平台底部的悬崖传感器123和超声传感器(图中未示出)、红外传感器(图中未示出)、磁力计(图中未示出)、加速度计(图中未示出)、陀螺仪(图中未示出)、里程计(图中未示出)等传感装置，向控制系统130提供机器的各种位置信息和运动状态信息。
为了更加清楚地描述自动清洁设备的行为，进行如下方向定义：自动清洁设备可通过相对于由移动平台100界定的如下三个相互垂直轴的移动的各种组合在地面上行进：横向轴x、前后轴y及中心垂直轴z。沿着前后轴y的前向驱动方向标示为“前向”，且沿着前后轴y的后向驱动方向标示为“后向”。横向轴x实质上是沿着由驱动轮组件141的中心点界定的轴心在自动清洁设备的右轮与左轮之间延伸。其中，自动清洁设备可以绕x轴转动。当自动清洁设备的前向部分向上倾斜，后向部分向下倾斜时为“上仰”，且当自动清洁设备的前向部分向下倾斜，后向部分向上倾斜时为“下俯”。另外，自动清洁设备可以绕z轴转动。在自动清洁设备的前向方向上，当自动清洁设备向Y轴的右侧倾斜为“右转”，当自动清洁设备向y轴的左侧倾斜为“左转”。
如图2所示，在移动平台100底部上并且在驱动轮组件141的前方和后方设置有悬崖传感器123，该悬崖传感器123用于防止在自动清洁设备后退时发生跌落，从而能够避免自动清洁设备受到损坏。前述的“前方”是指相对于自动清洁设备行进方向相同的一侧，前述的“后方”是指相对于自动清洁设备行进方向相反的一侧。
位置确定装置121包括但不限于摄像头、激光测距装置(LDS，Laser Direct Structuring)。
感知系统120中的各个组件，既可以独立运作，也可以共同运作以更准确的实现目的功能。通过悬崖传感器123和超声波传感器对待清洁表面进行识别，以确定待清洁表面的物理特性，包括表面介质、清洁程度等等，并可以结合摄像头、激光测距装置等进行更准确的判定。
例如，可以通过超声波传感器对待清洁表面是否为地毯进行判断，若超声波传感器判断待清洁表面为地毯材质，则控制系统130控制自动清洁设备进行地毯模式清洁。
移动平台100的前向部分111设置有缓冲器122，在清洁过程中驱动轮组件141推进自动清洁设备在地面行走时，缓冲器122经由传感器系统，例如红外传感器，检测自动清洁设备的行驶路径中的一或多个事件(或对象)，自动清洁设备可通过由缓冲器122检测到 的事件(或对象)，例如障碍物、墙壁，而控制驱动轮组件141使自动清洁设备来对所述事件(或对象)做出响应，例如远离障碍物。
控制系统130设置在移动平台100内的电路主板上，包括与非暂时性存储器，例如硬盘、快闪存储器、随机存取存储器，通信的计算处理器，例如中央处理单元、应用处理器，应用处理器被配置为接收感知系统120传来的所述多个传感器的感受到的环境信息，根据激光测距装置反馈的障碍物信息等利用定位算法，例如SLAM，绘制自动清洁设备所在环境中的即时地图，并根据所述环境信息和环境地图自主决定行驶路径，然后根据所述自主决定的行驶路径控制驱动系统140进行前进、后退和/或转向等操作。进一步地，控制系统130还可以根据所述环境信息和环境地图决定是否启动清洁模组150进行清洁操作。
具体地，控制系统130可以结合缓冲器122、悬崖传感器123和超声传感器、红外传感器、磁力计、加速度计、陀螺仪、里程计等传感装置反馈的距离信息、速度信息综合判断扫地机当前处于何种工作状态，如过门槛，上地毯，位于悬崖处，上方或者下方被卡住，尘盒满，被拿起等等，还会针对不同情况给出具体的下一步动作策略，使得自动清洁设备的工作更加符合主人的要求，有更好的用户体验。进一步地，控制系统能基于SLAM绘制的即时地图信息规划最为高效合理的清扫路径和清扫方式，大大提高自动清洁设备的清扫效率。
驱动系统140可基于具体的距离和角度信息，例如x、y及θ分量，执行驱动命令而操纵自动清洁设备跨越地面行驶。图3、图4为本发明一实施例中一侧驱动轮组件141的斜视图和正视图，如图所示，驱动系统140包含驱动轮组件141，驱动系统140可以同时控制左轮和右轮，为了更为精确地控制机器的运动，优选驱动系统140分别包括左驱动轮组件和右驱动轮组件。左、右驱动轮组件沿着由移动平台100界定的横轴对称设置。所述驱动轮组件包括壳体及连接架，所述驱动轮组件内分别设置有驱动马达146，所述驱动马达146位于驱动轮组件141外侧，且驱动马达146的轴心位于驱动轮组件的截面投影内，驱动轮组件141还可以连接测量驱动电流的电路和里程计。
为了自动清洁设备能够在地面上更为稳定地运动或者更强的运动能力，自动清洁设备可以包括一个或者多个转向组件142，转向组件142可为从动轮，也可为驱动轮，其结构形式包括但不限于万向轮，转向组件142可以位于驱动轮组件141的前方。
驱动马达146为驱动轮组件141和/或转向组件142的转动提供动力。
驱动轮组件141可以可拆卸地连接到移动平台100上，方便拆装和维修。驱动轮可具有偏置下落式悬挂系统，以可移动方式紧固，例如以可旋转方式附接，到自动清洁设备移动平台100，并通过弹性元件143，如拉簧或者压簧以一定的着地力维持与地面的接触及牵引，同时自动清洁设备的清洁模组150也以一定的压力接触待清洁表面。
能源系统160包括充电电池，例如镍氢电池和锂电池。充电电池可以连接有充电控制电路、电池组充电温度检测电路和电池欠压监测电路，充电控制电路、电池组充电温度检测电路、电池欠压监测电路再与单片机控制电路相连。主机通过设置在机身侧方或者下方 的充电电极与充电桩连接进行充电。如果裸露的充电电极上沾附有灰尘，会在充电过程中由于电荷的累积效应，导致电极周边的塑料机体融化变形，甚至导致电极本身发生变形，无法继续正常充电。
人机交互系统170包括主机面板上的按键，按键供用户进行功能选择；还可以包括显示屏和/或指示灯和/或喇叭，显示屏、指示灯和喇叭向用户展示当前机器所处状态或者功能选择项；还可以包括手机客户端程序。对于路径导航型清洁设备，在手机客户端可以向用户展示设备所在环境的地图，以及机器所处位置，可以向用户提供更为丰富和人性化的功能项。
清洁模组150可包括干式清洁模组151和/或湿式清洁模组400。
如图5-图8所示，干式清洁模组151包括滚刷、尘盒、风机、出风口。与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒之间的吸尘口前方，然后被风机产生并经过尘盒的有吸力的气体吸入尘盒。扫地机的除尘能力可用垃圾的清扫效率DPU(Dust pickup efficiency)进行表征，清扫效率DPU受滚刷结构和材料影响，受吸尘口、尘盒、风机、出风口以及四者之间的连接部件所构成的风道的风力利用率影响，受风机的类型和功率影响，是个复杂的系统设计问题。相比于普通的插电吸尘器，除尘能力的提高对于能源有限的清洁自动清洁设备来说意义更大。因为除尘能力的提高直接有效降低了对于能源要求，也就是说原来充一次电可以清扫80平米地面的机器，可以进化为充一次电清扫180平米甚至更多。并且减少充电次数的电池的使用寿命也会大大增加，使得用户更换电池的频率也会增加。更为直观和重要的是，除尘能力的提高是最为明显和重要的用户体验，用户会直接得出扫得是否干净/擦得是否干净的结论。干式清洁模组还可包含具有旋转轴的边刷157，旋转轴相对于地面成一定角度，以用于将碎屑移动到清洁模组150的滚刷区域中。
图5为所述干式清洁模组中的尘盒152的结构示意图，图6为所述干式清洁模组中的风机156的结构示意图，图7为尘盒152的打开状态示意图，图8为尘盒、风机组装状态示意图。
与地面具有一定干涉的滚刷将地面上的垃圾扫起并卷带到滚刷与尘盒152之间的吸尘口154前方，然后被风机156结构产生并经过尘盒152的有吸力的气体吸入尘盒152，垃圾被滤网153隔离在尘盒152内部靠近吸尘口154一侧，滤网153将吸尘口与出风口完全隔离，经过过滤后的空气通过出风口155进入风机156。
典型的，尘盒152的吸尘口154位于机器前方，出风口155位于尘盒152侧方，风机156的吸风口与尘盒的出风口相对接。
尘盒152的前面板可以打开，用于清理尘盒152内的垃圾。
所述滤网153与尘盒152的盒体为可拆卸连接，方便滤网拆卸和清洗。
如图9-图11所示，本发明提供的湿式清洁模组400，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述湿式清洁模组400包括：清洁头410、驱动单元 420，其中，清洁头410用于清洁所述操作面的至少一部分，驱动单元420用于驱动所述清洁头410沿着目标面往复运动的，所述目标面为所述操作面的一部分。所述清洁头410沿待清洁表面做往复运动，清洁头410与待清洁表面的接触面表面设有清洁布或清洁板，通过往复运动与待清洁表面产生高频摩擦，从而去除待清洁表面上的污渍。往复运动可以是沿操作面内任意一个或多个方向的反复运动，也可以是垂直于操作面的震动，对此不做严格限制。
如图9所示，所述驱动单元420包括：驱动平台421，连接于所述移动平台100底面，用于提供驱动力；支撑平台422，可拆卸的连接于所述驱动平台421，用于支撑所述清洁头410，且可以在驱动平台421的驱动下实现升降。
清洁模组150与移动平台100间设有升降模组，用于使清洁模组150更好的与待清洁表面接触，或者针对不同材质的待清洁表面采用不同的清洁策略。
所述干式清洁模组151可以通过被动式升降模组与所述移动平台100相连接，当清洁设备遇到障碍时，干式清洁模组151可以通过升降模组更便捷的越过障碍。
所述湿式清洁模组400可以通过主动式升降模组与所述移动平台100相连接，当湿式清洁模组400暂时不参与工作，或者遇到无法采用湿式清洁模组400进行清洁的待清洁表面时，通过主动式升降模组将湿式清洁模组400升起，与待清洁表面分离，从而实现清洁手段的变化。
如图10-图11所示，所述驱动平台421包括：电机4211，设置于所述驱动平台421的靠近所述移动平台100一侧，通过电机输出轴输出动力；驱动轮4212，与所述电机输出轴连接，所述驱动轮4212为非对称结构；震动件4213，设置于所述驱动平台421的与所述电机4211相反的一侧，与所述驱动轮4212连接，在所述驱动轮4212非对称的转动下实现往复运动。
驱动平台421可以进一步包括驱动轮和齿轮机构。齿轮机构235可以连接电机4211和驱动轮4212。电机4211可以直接带动驱动轮4212做回转运动，也可以通过齿轮机构间接带动驱动轮4212做回转运动。本领域普通技术人员可以理解，齿轮机构可以为一个齿轮，也可以是多个齿轮组成的齿轮组。
电机4211通过动力传送装置将动力同时传递给清洁头410、驱动平台421、支撑平台422、送水机构、水箱等。能源系统160为电机4211提供动力和能源，并由控制系统130进行整体控制。所述动力传送装置可以是齿轮传动、链传动、带传动，也可以是蜗轮蜗杆等等。
电机4211包括正向输出模式和反向输出模式，正向输出模式时电机4211正向旋转，反向输出模式时电机4211反向旋转，电机4211的正向输出模式中，电机4211通过动力传送装置能同时带动湿式清洁组件400中的清洁头410、送水机构同步运动。
进一步的，所述驱动平台421还包括：连接杆4214，沿所述驱动平台421边缘延伸，连接所述驱动轮4212与所述震动件4213，使所述震动件4213延伸至预设位置，其中，所 述震动件4213延伸方向与所述连接杆4214垂直。
电机4211通过动力传送装置与驱动轮4212、震动件4213、连接杆4214及震动缓冲装置4215连接。当湿式清洁组件400启动时，电机4211启动工作开始正转，电机4211通过驱动轮4212带动连接杆4214沿着驱动平台421表面做往复运动，同时震动缓冲装置4215带动震动件4213沿着驱动平台421表面做往复运动，震动件4213带着清洁基板4221沿着支撑平台422表面做往复运动，清洁基板4221带着活动区域412沿着待清洁表面做往复运动。此时，清水泵使清水从清水箱流出，并通过出水装置4217将清水洒在清洁头410上，清洁头410则通过往复运动清洁待清洁表面。
自动清洁设备的清洁强度/效率也可以根据自动清洁设备的工作环境自动动态调整。比如自动清洁设备可以根据感知系统120检测待清洁表面的物理信息实现动态调整。例如，感知系统120可以检测待清洁表面的平整度、待清洁表面的材质、是否有油污和灰尘，等等信息，并将这些信息传给自动清洁设备的控制系统130。相应地，控制系统130可以指挥自动清洁设备根据自动清洁设备的工作环境自动动态调整电机的转速及动力传送装置的传动比，因而调整所述清洁头410往复运动的预设往复周期。
例如，当自动清洁设备在平坦的地面上工作时，所述预设往复周期可以自动动态调整地较长、水泵的水量可以自动动态调整地较小；当自动清洁设备在不太平坦的地面上工作时，所述预设往复周期可以自动动态调整地较短、水泵的水量可以自动动态调整地较大。这是因为，相对于不太平坦的地面，平面的地面较容易清洁，因此清洁不平坦地面需要清洁头410更快的往复运动(即更高的频率)和更大的水量。
又例如，当自动清洁设备在桌面上工作时，所述预设往复周期可以自动动态调整地较长、水泵的水量可以自动动态调整地较小；当自动清洁设备100在地面工作时，所述预设往复周期可以自动动态调整地较短、水泵的水量可以自动动态调整地较大。这是因为，相对于地面，桌面的灰尘、油污较少，构成桌面的材质也较容易清洁，因此需要清洁头410进行较少次数的往复运动、水泵提供相对较少的水量就能将桌面清理干净。
所述支撑平台422包括：清洁基板4221，可自由活动的设置于所述支撑平台422，所述清洁基板4221在所述震动件4213的震动下做往复运动。可选的，所述清洁基板4221包括：装配缺口(未图示)，设置于与所述震动件4213接触的位置，当所述支撑平台422连接于所述驱动平台421上时，所述震动件4213装配于所述装配缺口，使得清洁基板4221可以随着震动件4213同步往复运动。
图12示出了根据本申请多个实施例的另一种基于曲柄滑块机构的清洁头驱动机构800。驱动机构800可以应用在驱动平台421上。驱动机构800包括驱动轮4212、震动件4213、清洁基板4221、滑槽4222(第一滑槽)和滑槽4223(第二滑槽)。
滑槽4222、4223开在支撑平台422上。清洁基板4221的两端分别包括滑块525(第一滑块)和滑块528(第二滑块)。滑块525、528分别为在清洁基板4221两端的一个凸起。滑块525插入在滑槽4222内并且可以沿着滑槽4222滑动；滑块4223插入在滑槽4223 内，并且可以沿着滑槽4223滑动。在一些实施例中，滑槽4222同滑槽4223在同一直线上。在一些实施例中，滑槽4222和滑槽4223不在同一直线上。在一些实施例中，滑槽4222同滑槽4223沿着同一方向延伸。在一些实施例中，滑槽4222同滑槽4223的延伸方向同清洁基板4221的延伸方向相同。在一些实施例中，滑槽4222同滑槽4223的延伸方向同清洁基板4221的延伸方向不同。在一些实施例中，滑槽4222同滑槽4223的延伸方向不同。比如，图12所示，滑槽4222的延伸方向同清洁基板4221的延伸方向相同，而滑槽4223的延伸方向同滑槽4222的延伸方向呈一定角度。
震动件4213包括回转端512和滑动端514。回转端512同驱动轮4212通过第一枢轴516连接，滑动端514同清洁基板4221通过第二枢轴518连接。
驱动轮4212的回转中心为O点，第一枢轴516的枢转中心为A点。O点和A点不重合，他们之间的距离为预设距离d。
当驱动轮4212转动时，A点随之做圆形回转运动。相应地，回转端512跟着A点做圆形回转运动；滑动端514则通过第二枢轴518带动清洁基板4221做滑动运动。相应地，清洁基板4221的滑块525沿着滑槽4222做往复直线运动；滑块528沿着滑槽4223做往复线性运动。在图4中，移动平台210的移动速度为V0，移动方向为目标方向。根据一些实施例，当滑槽4223和滑槽4222分别近似垂直于移动平台210的移动速度V0的方向时，清洁基板4221的整体位移大体上垂直于所述目标方向。根据另一些实施例，当滑槽4223和滑槽4222中的任意一个滑槽同所述目标方向呈90度以外的其他角度时，清洁基板4221的整体位移同时包括垂直于所述目标方向和平行于所述目标方向的分量。
进一步的，包括震动缓冲装置4215，设置于所述连接杆4214上，用于减轻特定方向上的震动，本实施例中，用于减轻自动清洁设备目标方向垂直的移动分量方向上的震动。
图13示出了根据本申请多个实施例的另一种基于双曲柄机构的清洁头驱动机构600。驱动机构600可以应用在驱动平台421上。驱动机构600包括驱动轮4212(第一驱动轮)、驱动轮4212’(第二驱动轮)、和清洁基板4221。
清洁基板4221有两端。第一端同驱动轮4212通过枢轴624(第一枢轴)连接；第二端同驱动轮4212’通过枢轴626(第二枢轴)连接。驱动轮4212的回转中心为O点，枢轴624的枢转中心为A点。O点和A点不重合，他们之间的距离为预设距离d。驱动轮236的回转中心为O’点，枢轴626的枢转中心为A’点。O’点和A’点不重合，他们之间的距离为预设距离d。在一些实施例中，A点、A’点、O点和O’点位于同一平面上。因此，驱动轮4212、驱动轮4212’和清洁基板4221可形成双曲轴机构(或平行四边形机构)，其中清洁基板4221用作耦合杆，驱动轮4212和4212’充当两个曲柄。
进一步的，包括震动缓冲装置4215，设置于所述连接杆4214上，用于减轻特定方向上的震动，本实施例中，用于减轻自动清洁设备目标方向垂直的移动分量方向上的震动。
图14示出了根据本申请多个实施例的一种基于曲柄滑块机构的驱动机构700。驱动机构700可以应用在驱动平台421上。所述驱动机构700包括驱动轮4212、清洁基板4221 和滑槽4222。
滑槽4222开在支撑平台422上。清洁基板4221包括回转端4227和滑动端4226。回转端4227通过枢轴4228连接在驱动轮4212上。其中，驱动轮4212的回转中心为O点，回转端枢轴4228枢转中心为A点。O点和A点不重合，他们之间的距离为预设距离d。滑动端4226包括滑块4225。滑块4225为在滑动端4226上的一个凸起。滑块4225插入在滑槽4222内并且可以沿着滑槽4222滑动。因此，驱动轮4221、清洁基板4221和滑块4225和滑槽4222组成曲柄滑块机构。
当驱动轮4212转动时，A点做圆形回转运动。相应地，清洁基板4221的回转端4227跟着A点做圆形回转运动；而滑块4225则跟着在滑槽4222中滑动，做往复线性运动。其结果是清洁基板4221开始做往复运动。根据一些实施例，滑槽4222近似垂直于移动平台的移动速度所述目标方向的方向，因此，滑动端4226的线性移动包括垂直于所述目标方向的分量，回转端4227的圆形回转运动同时包括垂直于所述目标方向和平行于所述目标方向的分量。
在图14中，移动平台的移动速度为V0，移动方向为目标方向；而滑槽4222近似垂直于目标方向。此时，清洁基板4221整体上做的往复运动既有同自动清洁设备目标方向平行的移动分量，又有同自动清洁设备目标方向垂直的移动分量。
进一步的，包括震动缓冲装置4215，设置于所述连接杆4214上，用于减轻特定方向上的震动，本实施例中，用于减轻自动清洁设备目标方向垂直的移动分量方向上的震动。
进一步的，所述支撑平台422还包括：弹性拆卸按钮4229，设置于所述支撑平台422的至少一侧，用于使所述支撑平台422可拆卸的连接于所述驱动平台421的卡爪4216。至少一个装配区域4224，设置于所述支撑平台422，用于装配所述清洁头410。装配区域4224可以为具有粘结层的粘结材料形成。
如图9所示，所述清洁头410包括：活动区域412，与所述清洁基板4221连接，在所述清洁基板4221的驱动下沿着所述清洁表面往复运动。活动区域412设置于清洁头410大致中央位置。所述活动区域412与所述清洁基板4221连接的一侧设置有粘结层，所述活动区域412与所述清洁基板4221通过所述粘结层连接。
可选的，所述清洁头410还包括：固定区域411，通过所述至少一个装配区域4224连接于所述支撑平台422底部，所述固定区域411随着所述支撑平台422的移动清洁所述操作面的至少一部分。
进一步的，所述清洁头410还包括：柔性连接部413，设置于所述固定区域411和所述活动区域412之间，用于连接所述固定区域411和所述活动区域412。所述清洁头410还包括：滑动卡扣414，沿所述清洁头410边缘延伸，可拆卸的安装于所述支撑平台422的卡接位置4225。
如图9所示，清洁头410可以用有一定弹性的材料制成，清洁头410通过粘贴层固定于支撑平台422的表面，从而实现往复运动。在清洁头410工作时，清洁头410始终接触 待清洁表面。
所述送水机构包括出水装置4217，出水装置4217可以与水箱(未图示)的清洁液出口即清水箱的出液口直接或间接连接，其中，所述清洁液可以经水箱的所述清洁液出口流向出水装置4217，并可以通过出水装置均匀地涂在所述待清洁表面上。出水装置上可以设有连接件(图中未示出)，出水装置通过所述连接件与水箱的清洁液出口连接。出水装置上设有分配口，分配口可以是连续的开口，也可以由若干断开的小开口组合而成，分配口处可以设有若干喷嘴。所述清洁液经水箱的所述清洁液出口和出水装置的所述连接件流向分配口，经所述分配口均匀地涂在所述操作面上。
送水机构还可以包括清水泵4219和/或清水泵管4218，清水泵4219与水箱的清洁液出口可以直接连通，也可以通过清水泵管4218连通。
清水泵4219可以同出水装置的所述连接件连接，并且可以被配置为从水箱中抽取所述清洁液至出水装置。清水泵可为齿轮泵、叶片泵、柱塞泵、蠕动泵等等。
送水机构通过清水泵4219和清水泵管4218将清水箱中的清洁液抽出，并运送到出水装置，所述出水装置4217可以为喷头、滴水孔、浸润布等，并将水均匀散布在清洁头上，从而湿润清洁头与待清洁表面。湿润后的待清洁表面上的污渍能够更容易的被清洁干净。在湿式清洁组件400中，清水泵的功率/流量可以调整。
上述在湿式清洁模组中，通过增加驱动单元、震动区域，使清洁头可以往复运动，从而可以在待清洁表面进行反复清洁，使得在清洁机器人运动轨迹中，一次通过某一区域可以实现多次清洁，从而大大增强了清洁效果，特别是对于污渍比较多的区域，清洁效果明显。
根据本发明的具体实施方式，本发明提供一种可升降自动清洁设备，包括：移动平台100，被配置为在操作面上自动移动；湿式清洁模组400，通过四连杆升降结构500活动连接于所述移动平台100上，被配置为采用湿式清洁方式清洁所述操作面的至少一部分；其中，所述四连杆升降结构500为平行四边形结构，用于使所述湿式清洁模组400在上升状态和下沉状态间切换，所述上升状态为所述湿式清洁模组400离开所述操作面，如图15所示；所述下沉状态为所述湿式清洁模组400贴合所述操作面，如图16所示。
如图17-图18所示，所述四连杆升降结构500包括：第一连接端501，用于提供主动力使所述湿式清洁模组400在上升状态和下沉状态间切换；第二连接端502，与所述第一连接端501相对设置，在所述主动力作用下旋转。第一连接端501和第二连接端502分别位于湿式清洁模组400的两侧，通过稳定的提供升降力使湿式清洁模组400上升或下降。
具体的，所述第一连接端501包括第一支架5011，固定连接于所述移动平台100底部；第一支架5011大致为“几”字形结构，第一支架5011包括：横梁50111、第一纵梁50114和第二纵梁50115，第一纵梁50114和第二纵梁50115的尾端分别通过螺栓固定连接于移动平台100和湿式清洁模组400，提供湿式清洁模组400升降时的支撑力。
所述第一连接端501还包括第一连接杆对5012，第一连接杆对5012一端可转动地连 接于所述第一支架5011，另一端可转动地连接于所述湿式清洁模组400。所述第一连接杆对5012可以为镂空结构，可减轻升降端的整体重量。
可选的，所述第一连接杆对5012包括平行设置的第一连接杆50121和第二连接杆50122，所述第一连接杆50121和第二连接杆50122的第一端通过活动螺柱可转动地连接于所述第一纵梁50114，所述第一连接杆50121和第二连接杆50122的第二端通过活动螺柱可转动地连接于所述湿式清洁模组400。例如，第一连接杆50121和第二连接杆50122的两端分别开有直径大于活动螺柱直径的通孔，使得活动螺柱可以在该通孔内自由转动，活动螺柱穿过该通孔后固定连接于第一纵梁50114。当电机50131通过拉索向第二端提供拉力时，所述第一连接杆50121和第二连接杆50122的第一端同时绕第一端的活动螺柱旋转，第二端在拉索的拉力下上升，使湿式清洁模组400升起。当电机4211通过拉索向第二端释放拉力时，所述第一连接杆50121和第二连接杆50122的第一端同时绕第一端的活动螺柱反向旋转，第二端在重力作用下下降，使湿式清洁模组400下沉。
所述升降结构500还包括拉索42194，用于提供提拉动力，使所述第一连接杆对5012在预设角度内转动。所述拉索42194包括：拉索电机端子50131和拉索支架端子50132。
拉索电机端子50131，与所述驱动单元420相连接，例如与电机输出轴连接的齿轮缠绕连接，在电机的转动下实现伸缩运动；拉索支架端子50132与所述第一支架5011相连接，所述电机通过所述拉索42194使所述第一连接杆50121和第二连接杆50122的第二端上升或下沉。
可选的，所述第一支架5011还包括：滑槽50112，沿所述横梁50111表面延伸，以及，卡孔50113，贯穿所述横梁50111设置于所述滑槽50112延伸末端，用于收纳并卡扣所述拉索支架端子50132，所述拉索42194通过所述滑槽50112及卡孔50113与所述第一连接杆50121和第二连接杆50122的第二端连接，滑槽50112能够限制拉索的移动方向，保证模组升降的稳定性，滑槽的宽度与拉索的粗细匹配为宜。
如图17所示，所述第二连接端502包括：第二支架5021，固定连接于所述移动平台100底部；第二连接杆对5022，一端可转动地连接于所述第二支架5021，另一端可转动地连接于所述湿式清洁模组400；所述第二连接杆对5022随着所述第一连接杆对5012的转动而转动。所述第二连接杆对5022可以为镂空结构，可减轻升降端的整体重量。
具体的，所述第二连接杆对5022包括平行设置的第三连接杆50221和第四连接杆50222，所述第三连接杆50221和第四连接杆50222的第一端通过活动螺柱可转动地连接于所述第二支架5021，所述第三连接杆50221和第四连接杆50222的第二端通过活动螺柱可转动地连接于所述湿式清洁模组400。例如，第三连接杆50221和第四连接杆50222的两端分别开有直径大于活动螺柱直径的通孔，使得活动螺柱可以在该通孔内自由转动，活动螺柱穿过该通孔后固定连接于第二支架5021。当第一连接端501在电机50131的驱动下转动时，所述第三连接杆50221和第四连接杆50222的第一端同时绕第一端的活动螺柱旋转，所述第三连接杆50221和第四连接杆50222的第二端同时绕第二端的活动螺柱旋 转，使湿式清洁模组400升起。当第一连接端501释放拉力时，所述第三连接杆50221和第四连接杆50222的同时绕活动螺柱反向旋转，在重力作用下下降，使湿式清洁模组400下沉。
通过设置于湿式清洁模组和移动平台之间的四连杆升降结构，能够使湿式清洁模组相对于移动平台升降，在执行拖地任务的时候，将湿式清洁模组降下使湿式清洁模组与地面接触，当执行完毕拖地任务的时候，将湿式清洁模组升起使湿式清洁模组与地面分离，避免清洁设备在被清洁面上自由移动时由于清洁模组的存在而增大阻力。
配合表面介质传感器等能够检测待清洁表面的表面类型的传感器，升降模组能够将湿式清洁模组根据不同的待清洁表面进行清洁操作，如在地毯表面将湿式清洁模组抬升，并在地板/地砖等表面将湿式清洁模组放下进行清洁，从而实现更为全面的清洁效果。
随着扫地机器人的发展，现有的扫地机器人已经发展为干式清洁和湿式清洁相结合的清洁机器人。如图2所示的清洁机器人2000中同时安装有干式清洁模组151和湿式清洁模组400，在清扫过程中，干式清洁模组151位于行走方向的前端，以对地面进行清扫；而湿式清洁模组400则位于行走方向的后端，在干式清洁模组151清扫完后，可以对地面进行拖洗清洁。但湿式清洁模组400通常不能用于地毯的清洁。
在实际应用中，为了避免湿式清洁模组400将地毯打湿，通常在清洁机器人2000上面设置有湿式清洁模组升降机构。以在清洁机器人2000的表面介质传感器103识别到地毯时，可以将湿式清洁模组抬升，以便于清洁机器人2000从地毯上通过时，湿式清洁模组不会接触到地毯。在检测到清洁机器人离开地毯时，可以再次将湿式清洁模组400降下，以对地面进行拖洗清洁。
然而，由于清洁机器人2000高度的限制，湿式清洁模组400可升降的范围非常有限，通常只有1mm左右。对于长绒毛的地毯，或者垫子、衣物等，即使将湿式清洁模组400抬起也很难避免将上述物品打湿，甚至出现清洁机器人2000卡死而无法运动的现象。
另外，清洁机器人2000在完成清扫调转方向，或遇到障碍物调转方向时，也很容易遇到由其他多个障碍物围成的窄缝，此时，清洁机器人2000也极易卡死而无法脱困。
基于此，本公开示例性实施方式提供了一种清洁机器人脱困方法，现参考图19和图20对上述情况进行说明。
如图19所示，在清洁机器人2000沿墙清扫没有地毯的地面，或者是清扫距离地毯较远的墙角地面时，清洁机器人2000通过侧边距离传感器可以感知机身与墙面之间的距离，并保持机身与墙面距离恒定且沿着墙面边缘前进，并通过清洁机器人2000前侧边刷157将墙面边缘的灰尘扫至机身的主刷内，并且还可以选择通过湿式清洁模组400对地面进行拖洗清洁。清洁机器人2000在完成沿墙清扫的任务后，会自动调转方向继续对地面进行清扫，正如图19所示。
然而，在清洁机器人2000沿墙清扫遇到其它墙等障碍物而调转方向时，检测到地毯301的情况下，即出现如图20所示的地毯301和墙302之间存在窄缝303的情况时。由 于清洁机器人2000在进入窄缝303的时候，表面介质传感器103位于墙302的一侧，也就是说，表面介质传感器103并没有检测到地毯301，此时的表面介质传感器103并没有触发。而在遇见障碍或完成沿墙清扫后，清洁机器人2000转向返回时，表面介质传感器103被触发，如果窄缝303的宽度不足以供清洁机器人2000转向时，清洁机器人2000会卡死在里面而无法出来，给用户带来麻烦。
基于上述情况，参照图21，示出了本公开示例性实施方式提供的清洁机器人脱困方法的流程图，该清洁机器人脱困方法可以包括以下步骤：
步骤S2210、在清洁机器人于第一表面介质区域内清扫时，记录已清洁路径并生成区域地图；
步骤S2220、当清洁机器人遇到障碍并调转方向时，响应于表面介质传感器的表面介质改变信号，检测到第二表面介质区域的情况下，检测清洁机器人的已清洁路径是否为沿墙路径；
步骤S2230、如果清洁机器人的已清洁路径为沿墙路径，则控制清洁机器人进入特殊脱困模式。
本公开示例性实施方式提供的清洁机器人脱困方法，在清洁机器人沿墙体附近的第一表面介质区域清扫遇到障碍物，准备调转方向时，表面介质传感器被触发，检测到表面介质发生改变，从而识别到了地毯等第二表面介质区域的情况下，可以先确定清洁机器人的已清洁路径是否为沿墙路径，如果清洁机器人的已清洁路径是沿墙路径，则进入特殊脱困模式，从而帮助清洁机器人脱困。其中的沿墙路径指的是清洁机器人沿墙清扫时的与墙的表面平行的路径。
本公开示例性实施方式提供的清洁机器人脱困方法，提供了一种在清洁机器人完成沿墙清扫后，调转方向时如何脱困的方法，从而避免了清洁机器人卡死的情况发生，提高了清洁机器人自动脱困的能力，降低了清洁机器人的故障率，从而提升了用户体验。
需要说明的是，上述清洁机器人脱困方法适用于清洁机器人处于不清洁地毯模式或湿式清洁模组开启的模式下，在这两种模式下，清洁机器人是不可以上地毯的，即仅清洁第一表面介质区域的模式。因此，在遇到被地毯等第二表面介质区域困住的时候，通过本公开示例性实施方式提供的清洁机器人脱困方法，可以控制清洁机器人在不上地毯的情况下脱困，以降低清洁机器人被地毯困住的概率。
另外，此处的第一表面介质为木质地板、地毯、瓷砖、水泥表面等地板表面介质中的一种或多种；第二表面介质为与第一表面介质不同的木质地板、地毯、瓷砖、水泥表面等地板表面介质中的一种或多种；
在本公开示例性实施方式中，在清洁机器人对第一表面介质区域进行清扫的过程中，需要对已清洁路径进行记录，并生成区域地图，以便于在清洁机器人遇到障碍物或者被困时，通过之前所生成的区域地图来确定脱困的方案，达到更好脱困的目的。
具体的，参照图22所示，根据清洁机器人所记录的已清洁路径以及区域地图，可以 进入步骤S2301，确定清洁机器人在调转方向检测到第二表面介质区域时，进入判断条件1，其中，判断条件1为判断清洁机器人已清洁路径是否为沿墙路径；如果是，即清洁机器人的已清洁路径是沿墙路径，则执行步骤S2302，控制清洁机器人进入特殊脱困模式；如果否，即清洁机器人的已清洁路径不是沿墙路径，则执行步骤S2303，进入判断条件2，其中，判断条件2为基于已生成的区域地图判断清洁机器人的后方是否为已清洁的第一表面介质区域；如果否，则执行步骤S2302，控制清洁机器人进入特殊脱困模式；如果是，则执行步骤S2304，控制清洁机器人直接沿已清洁的第一表面介质区域行走，以避开第二表面介质区域，简称步骤S2304为沿已清洁的第一表面介质区域行走。
在本公开示例性实施方式中，特殊脱困模式包括：控制清洁机器人根据沿墙路径、已清洁路径或已清洁的第一表面介质区域择一选择后退；其中，如果清洁机器人的已清洁路径为沿墙路径，则控制清洁机器人沿沿墙路径后退；如果清洁机器人的已清洁路径不为沿墙路径，且清洁机器人后方不为已清洁的第一表面介质区域，则控制清洁机器人沿已清洁路径后退，以便于其尽快避开第二表面介质区域而脱困。
在实际应用中，当后退的距离达到预设距离时，控制清洁机器人原地旋转，在清洁机器人原地旋转的过程中，若响应于表面介质传感器的表面介质改变信号，检测到第二表面介质区域，则说明清洁机器人还未避开第二表面介质区域，即还未脱困，此时则控制清洁机器人继续后退，直到表面介质传感器检测不到表面介质改变信号时，才确定该清洁机器人脱困。
在本公开示例性实施方式中，后退的预设距离可以是至少二分之一机身长度，一般在后退机身二分之一长度后，可以确保清洁机器人在旋转过程中，避开之前的检测范围。在实际应用中，预设距离还可以是其他大于机身二分之一长度的距离，本示例性实施方式对此不作特殊。
在实际应用中，清洁机器人原地旋转的角度也可以在15-90度之间，且也可以以递进的方式增加原地旋转的角度，即如果清洁机器人原地旋转15度时，检测不到第二表面介质区域，则控制清洁机器人再旋转15度或其他角度，直到旋转到90度依然检测不到表面介质改变信号时，才确定清洁机器人已经避开了第二表面介质区域。
再参照图22所示，在清洁机器人执行步骤S2302，控制清洁机器人进入特殊脱困模式之后，需要执行步骤S2305，进入判断条件3，即判断表面介质传感器是否能检测得到表面介质改变信号；如果是，即能检测得到表面介质改变信号，则继续执行步骤S2302，特殊脱困模式；如果否，即表面介质传感器检测不到表面介质改变信号，则执行步骤S2306，控制清洁机器人退出特殊脱困模式，简称退出。
本公开示例性实施方式提供的清洁机器人脱困方法，通过控制清洁机器人进入特殊脱困模式，以控制清洁机器人沿已记录的沿墙路径、已清洁路径或已清洁的第一表面介质区域择一选择后退，从而避免了清洁机器人随意后退带来的又一次被困的情况发生，提高了清洁机器人脱困的成功率。
需要说明的是，控制清洁机器人沿已记录的沿墙路径、已清洁路径或已清洁的第一表面介质区域择一选择后退的过程中，可以根据沿墙路径、已清洁路径、已清洁的第一表面介质区域的顺序选择后退的方式，从而达到选择最优路径后退的目的。
现有常用的表面介质传感器主要有红外传感器、超声波传感器等不同的传感器识别装置，检测清洁机器人的表面介质传感器所在的位置是否已经发生表面介质改变的具体方法可能不同。本示例性实施方式以超声波传感器为例对表面介质传感器如何触发表面介质改变信号的方法进行说明：
在实际应用中，超声波传感器用于向地面等第一表面介质区域发射超声波信号并接收第一表面介质区域反射的回波信号时，由于第一表面介质区域表面的超声波回波信号的波形与第二表面介质区域表面的超声波回波信号的波形存在偏差，如图23和图24所示。因此可以根据回波信号的不同来区分第一表面介质区域表面和第二表面介质区域表面。第二表面介质区域表面是指地面表面铺设的第二表面介质区域的表面。其中，回波信号的波形和波峰数都可以用来表征信号。
本公开示例性实施方式中，检测清洁机器人的表面介质传感器触发表面介质改变信号的过程具体包括：控制表面介质传感器向当前表面垂直发射超声波信号，并接收当前表面反射的实际回波信号；判断实际回波信号是否区别于第一表面介质区域表面的回波信号，若有区别，则确定表面介质传感器所在的位置已经在第二表面介质区域内，即已经发生了表面介质改变，此时，表面介质传感器会触发表面介质改变信号。
在实际应用中，超声波传感器在接收到电信号后，会将电信号转换成超声波信号向下发射至介质区域表面，上述超声波信号经介质区域表面反射被超声波传感器接收并转换成电信号。而具体判断实际回波信号与第一表面介质区域表面的回波信号的区别可以包括：判断实际回波信号中的波峰数量是否小于第一表面介质区域表面的回波信号中的波峰数量，若实际回波信号中的波峰数量小于第一表面介质区域表面的回波信号中的波峰数量，则识别当前地面为第二表面介质区域表面。具体地，对于不同的区域，可以将实际回波信号与当前区域对应的第一表面介质区域表面的回波信号进行单独对比，提高第二表面介质区域识别的准确度。
本示例性实施方式，通过以第一表面介质区域表面的回波信号为基准来判断第二表面介质区域回波信号，从而可以降低第二表面介质区域识别的难度，提高清洁机器人识别第二表面介质区域的准确度和精确度。
本公开示例性实施方式中，在特殊脱困模式后退的过程中，可以控制清洁机器人采用正向后退的方式，也可以采用反向后退的方式。本示例性实施方式中，为了避免清洁机器人继续做出误判而报警，采用反向后退的方式以确保清洁机器人迅速脱困。此处的初始位置可以是清洁机器人开始进行沿墙清扫的位置，本示例性实施方式对此不作限定。
其中，确定清洁机器人是否脱离了第二表面介质区域，主要根据清洁机器人的表面介质传感器是否触发表面介质改变信号来确定，在实际回波信号与第一表面介质区域表面的 回波信号相同时，则确定清洁机器人已经脱离了第二表面介质区域。此处不再赘述。
在实际应用中，清洁机器人还包括帮助实现整体运行的其他功能，本示例性实施方式对此不做赘述。
需要说明的是，上述方法不仅用于具有干式清洁装置和湿式清洁模组的清洁机器人，还可用于只具有干式清洁装置的扫地机器人、或仅具有湿式清洁模组的拖地机器人，还可以是具有自主行走机构、且需要识别地面形态的其它智能机器人等，本公开示例性实施方式对此不作限定。
需要说明的是，尽管在附图中以特定顺序描述了本公开中方法的各个步骤，但是，这并非要求或者暗示必须按照该特定顺序来执行这些步骤，或是必须执行全部所示的步骤才能实现期望的结果。附加的或备选的，可以省略某些步骤，将多个步骤合并为一个步骤执行，以及/或者将一个步骤分解为多个步骤执行等。
在本公开的示例性实施例中，还提供了一种清洁机器人脱困装置，设置于包括表面介质传感器的清洁机器人，如图25所示，所述清洁机器人脱困装置2600可以包括：信息记录模块2601、路径检测模块2602以及控制模块2603，其中：
信息记录模块2601，用于在所述清洁机器人于第一表面介质区域内清扫，记录已清洁路径并生成区域地图；
路径检测模块2602，用于当所述清洁机器人遇到障碍并调转方向时，响应于所述表面介质传感器的表面介质改变信号，检测到第二表面介质区域的情况下，检测所述清洁机器人的所述已清洁路径是否为沿墙路径；
控制模块2603，用于如果所述清洁机器人的所述已清洁路径为沿墙路径，则控制所述清洁机器人进入特殊脱困模式。
上述中各清洁机器人脱困装置模块的具体细节已经在对应的清洁机器人脱困方法中进行了详细的描述，因此此处不再赘述。
应当注意，尽管在上文详细描述中提及了用于执行的设备的若干模块或者单元，但是这种划分并非强制性的。实际上，根据本公开的实施方式，上文描述的两个或更多模块或者单元的特征和功能可以在一个模块或者单元中具体化。反之，上文描述的一个模块或者单元的特征和功能可以进一步划分为由多个模块或者单元来具体化。
在本公开的示例性实施例中，还提供了一种能够实现上述方法的电子设备。
所属技术领域的技术人员能够理解，本发明的各个方面可以实现为系统、方法或程序产品。因此，本发明的各个方面可以具体实现为以下形式，即：完全的硬件实施方式、完全的软件实施方式(包括固件、微代码等)，或硬件和软件方面结合的实施方式，这里可以统称为“电路”、“模块”或“系统”。
下面参照图26来描述根据本发明的这种实施方式的电子设备2700。图26显示的电子设备2700仅仅是一个示例，不应对本发明实施例的功能和使用范围带来任何限制。
如图26所示，电子设备2700以通用计算设备的形式表现。电子设备2700的组件可 以包括但不限于：上述至少一个处理单元2710、上述至少一个存储单元2720、连接不同系统组件(包括存储单元2720和处理单元2710)的总线2730、显示单元2740。
其中，所述存储单元2720存储有程序代码，所述程序代码可以被所述处理单元2710执行，使得所述处理单元2710执行本说明书上述“示例性方法”部分中描述的根据本发明各种示例性实施方式的步骤。例如，所述处理单元2710可以执行如图21中所示的步骤S2210、在清洁机器人于第一表面介质区域内清扫，记录已清洁路径并生成区域地图；步骤S2220、当清洁机器人遇到障碍并调转方向时，响应于表面介质传感器的表面介质改变信号，检测到第二表面介质区域的情况下，检测清洁机器人的已清洁路径是否为沿墙路径；步骤S2230、如果清洁机器人的已清洁路径为沿墙路径，则控制清洁机器人进入特殊脱困模式。
存储单元2720可以包括易失性存储单元形式的可读介质，例如随机存取存储单元(RAM)27201和/或高速缓存存储单元27202，还可以进一步包括只读存储单元(ROM)27203。
存储单元2720还可以包括具有一组(至少一个)程序模块27205的程序/实用工具27204，这样的程序模块27205包括但不限于：操作系统、一个或者多个应用程序、其它程序模块以及程序数据，这些示例中的每一个或某种组合中可能包括网络环境的实现。
总线2730可以为表示几类总线结构中的一种或多种，包括存储单元总线或者存储单元控制器、外围总线、图形加速端口、处理单元或者使用多种总线结构中的任意总线结构的局域总线。
电子设备2700也可以与一个或多个外部设备2770(例如键盘、指向设备、蓝牙设备等)通信，还可与一个或者多个使得用户能与该电子设备2700交互的设备通信，和/或与使得该电子设备2700能与一个或多个其它计算设备进行通信的任何设备(例如路由器、调制解调器等等)通信。这种通信可以通过输入/输出(I/O)接口2750进行。并且，电子设备2700还可以通过网络适配器2760与一个或者多个网络(例如局域网(LAN)，广域网(WAN)和/或公共网络，例如因特网)通信。如图所示，网络适配器2760通过总线2730与电子设备2700的其它模块通信。应当明白，尽管图中未示出，可以结合电子设备2700使用其它硬件和/或软件模块，包括但不限于：微代码、设备驱动器、冗余处理单元、外部磁盘驱动阵列、RAID系统、磁带驱动器以及数据备份存储系统等。
通过以上的实施方式的描述，本领域的技术人员易于理解，这里描述的示例实施方式可以通过软件实现，也可以通过软件结合必要的硬件的方式来实现。因此，根据本公开实施方式的技术方案可以以软件产品的形式体现出来，该软件产品可以存储在一个非易失性存储介质(可以是CD-ROM，U盘，移动硬盘等)中或网络上，包括若干指令以使得一台计算设备(可以是个人计算机、服务器、终端装置、或者网络设备等)执行根据本公开实施方式的方法。
在本公开的示例性实施例中，还提供了一种计算机可读存储介质，其上存储有能够实 现本说明书上述方法的程序产品。在一些可能的实施方式中，本发明的各个方面还可以实现为一种程序产品的形式，其包括程序代码，当所述程序产品在终端设备上运行时，所述程序代码用于使所述终端设备执行本说明书上述“示例性方法”部分中描述的根据本发明各种示例性实施方式的步骤。
参考图27所示，描述了根据本发明的实施方式的用于实现上述方法的程序产品2800，其可以采用便携式紧凑盘只读存储器(CD-ROM)并包括程序代码，并可以在终端设备，例如个人电脑上运行。然而，本发明的程序产品不限于此，在本文件中，可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
所述程序产品可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以为但不限于电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。
计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了可读程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。可读信号介质还可以是可读存储介质以外的任何可读介质，该可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于无线、有线、光缆、RF等等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言的任意组合来编写用于执行本发明操作的程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、C++等，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。在涉及远程计算设备的情形中，远程计算设备可以通过任意种类的网络，包括局域网(LAN)或广域网(WAN)，连接到用户计算设备，或者，可以连接到外部计算设备(例如利用因特网服务提供商来通过因特网连接)。
此外，上述附图仅是根据本发明示例性实施例的方法所包括的处理的示意性说明，而不是限制目的。易于理解，上述附图所示的处理并不表明或限制这些处理的时间顺序。另外，也易于理解，这些处理可以是例如在多个模块中同步或异步执行的。
本领域技术人员在考虑说明书及实践这里公开的公开后，将容易想到本公开的其他实施例。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适 应性变化遵循本公开的一般性远离并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限定。

Claims (11)

  1. 一种清洁机器人脱困方法，用于包括表面介质传感器的清洁机器人，其特征在于，包括：
    在所述清洁机器人于第一表面介质区域内清扫时，记录已清洁路径并生成区域地图；
    当所述清洁机器人遇到障碍并调转方向时，响应于所述表面介质传感器触发的表面介质改变信号，检测到第二表面介质区域的情况下，检测所述清洁机器人的所述已清洁路径是否为沿墙路径；
    如果所述清洁机器人的所述已清洁路径为沿墙路径，则控制所述清洁机器人进入特殊脱困模式。
  2. 根据权利要求1所述的清洁机器人脱困方法，其特征在于，所述方法还包括：
    如果所述清洁机器人的所述已清洁路径不为沿墙路径，则基于已生成的所述区域地图判断所述清洁机器人的后方是否为已清洁的第一表面介质区域；
    如果所述清洁机器人后方不为所述已清洁的第一表面介质区域，则进入特殊脱困模式。
  3. 根据权利要求1或2所述的清洁机器人脱困方法，其特征在于，所述特殊脱困模式包括：
    控制所述清洁机器人根据所述沿墙路径、所述已清洁路径或所述已清洁的第一表面介质区域择一选择后退；
    所述后退的距离达到至少二分之一机身长度后原地旋转；
    若响应于所述表面介质传感器触发的表面介质改变信号，检测到第二表面介质区域，则控制所述清洁机器人继续后退，直到所述表面介质传感器检测不到所述表面介质改变信号。
  4. 根据权利要求3所述的清洁机器人脱困方法，其特征在于，当所述表面介质传感器检测不到所述表面介质改变信号时，所述方法还包括：
    控制所述清洁机器人退出所述特殊脱困模式。
  5. 根据权利要求1-4中任一项所述的清洁机器人脱困方法，其特征在于，所述沿墙路径为所述清洁机器人沿墙清扫时的与墙的表面平行的路径。
  6. 根据权利要求3或4所述的清洁机器人脱困方法，其特征在于，所述清洁机器人的原地旋转角度为15-90度。
  7. 根据权利要求1-6中任一项所述的清洁机器人脱困方法，其特征在于，所 述表面介质传感器触发的表面介质改变信号包括：
    控制所述表面介质传感器向当前表面垂直发射信号，并接收所述当前表面反射的实际回波信号；
    判断所述实际回波信号是否区别于所述第一表面介质区域的回波信号，若有区别，则确定所述表面介质传感器所在的位置已经在所述第二表面介质区域内；
    其中，所述表面介质传感器为超声波传感器。
  8. 根据权利要求1-7中任一项所述的清洁机器人脱困方法，其特征在于，所述方法用于所述清洁机器人处于仅清洁所述第一表面介质区域的模式。
  9. 一种清洁机器人脱困装置，设置于包括表面介质传感器的清洁机器人，其特征在于，包括：
    信息记录模块，用于在所述清洁机器人于第一表面介质区域内清扫时，记录已清洁路径并生成区域地图；
    路径检测模块，用于当所述清洁机器人遇到障碍并调转方向时，响应于所述表面介质传感器的表面介质改变信号，检测到第二表面介质区域的情况下，检测所述清洁机器人的所述已清洁路径是否为沿墙路径；
    控制模块，用于如果所述清洁机器人的所述已清洁路径为沿墙路径，则控制所述清洁机器人进入特殊脱困模式。
  10. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1-8任一项所述的清洁机器人脱困方法。
  11. 一种电子设备，其特征在于，包括：
    处理器；以及
    存储器，用于存储所述处理器的可执行指令；
    其中，所述处理器配置为经由执行所述可执行指令来执行权利要求1-8任一项所述的清洁机器人脱困方法。
PCT/CN2021/099241 2021-02-10 2021-06-09 清洁机器人脱困方法及装置、介质及电子设备 WO2022170715A1 (zh)

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