WO2022171144A1 - Procédé et appareil de commande de dispositif de nettoyage automatique, ainsi que support et dispositif électronique - Google Patents

Procédé et appareil de commande de dispositif de nettoyage automatique, ainsi que support et dispositif électronique Download PDF

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Publication number
WO2022171144A1
WO2022171144A1 PCT/CN2022/075726 CN2022075726W WO2022171144A1 WO 2022171144 A1 WO2022171144 A1 WO 2022171144A1 CN 2022075726 W CN2022075726 W CN 2022075726W WO 2022171144 A1 WO2022171144 A1 WO 2022171144A1
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WO
WIPO (PCT)
Prior art keywords
automatic cleaning
cleaning device
area
surface medium
edge
Prior art date
Application number
PCT/CN2022/075726
Other languages
English (en)
Chinese (zh)
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
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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 EP22752304.0A priority Critical patent/EP4292495A1/fr
Priority to US18/264,830 priority patent/US20240090735A1/en
Publication of WO2022171144A1 publication Critical patent/WO2022171144A1/fr

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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
    • A47L11/24—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
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/284—Floor-scrubbing machines, motor-driven having reciprocating tools
    • 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
    • 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
    • A47L11/4002—Installations of electric equipment
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • 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
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • 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
    • A47L11/4058—Movement of the tools or the like perpendicular to the cleaning surface for adjusting the height of the tool
    • 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
    • A47L11/40—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
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • 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
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4088—Supply pumps; Spraying devices; Supply conduits
    • 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
    • A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the present invention relates to the field of smart homes, and in particular, to an automatic cleaning device control method, an automatic cleaning device control device, a computer-readable storage medium, and an electronic device.
  • the purpose of the present invention is to provide an automatic cleaning equipment control method, automatic cleaning equipment control device, computer readable storage medium and electronic equipment, which can solve the technical problems in the prior art.
  • the present invention provides an automatic cleaning device control method for an automatic cleaning device including a surface medium sensor, including:
  • controlling the automatic cleaning device In response to determining that the automatic cleaning device is located within the second surface media area according to the second surface media area map and the current location of the automatic cleaning device, controlling the automatic cleaning device to disengage in a direction perpendicular to the edge of the second surface media area the second surface dielectric region.
  • controlling the automatic cleaning device to exit the second surface media region in a direction perpendicular to the edge of the second surface media region comprises:
  • the second surface medium map and the current position of the automatic cleaning device determine the edge of the second surface medium area that is perpendicular to the traveling direction of the automatic cleaning device when entering the second surface medium area, and control the automatic cleaning device to move along the same direction as the second surface medium area.
  • the vertical direction of the edge of the second surface dielectric region is reversed to be separated from the second surface dielectric region.
  • controlling the automatic cleaning device to exit the second surface media region in a direction perpendicular to the edge of the second surface media region comprises:
  • the automatic cleaning device is controlled to disengage from the second surface media area in a direction perpendicular to the nearest edge of the second surface media area.
  • the method further includes:
  • controlling the automatic cleaning device Before controlling the automatic cleaning device to detach from the second surface media area in a direction perpendicular to the edge of the nearest second surface media area, according to the walking direction of the automatic cleaning device and the nearest second surface media area an included angle of the edge, controlling the automatic cleaning device to rotate by a first angle, the first angle being related to the included angle;
  • the automatic cleaning device is controlled to disengage from the second surface media region in a forward travel or reverse reverse manner, wherein the forward travel and the reverse reverse are dependent on the rotational direction of the automatic cleaning device.
  • the method further includes:
  • the automatic cleaning device After the automatic cleaning device performs the reverse operation for a preset time, in response to the surface medium sensor still detecting the second surface medium area, the automatic cleaning device is controlled to rotate a second angle and then move away from the The second surface dielectric region.
  • the second angle is 180 degrees.
  • the method further includes:
  • the automatic cleaning device After it is determined that the automatic cleaning device is separated from the second surface medium area, the automatic cleaning device is controlled to clean along the edge of the second surface medium area, and the map of the second surface medium area is reacquired to update the first surface medium area. Two surface media area maps.
  • the second surface media area map is established by controlling the automatic cleaning device to run to the edge of the second surface media area and then scan the boundaries of the second surface media area.
  • the present invention provides an automatic cleaning equipment control device, which is arranged in the automatic cleaning equipment including the surface medium sensor, including:
  • a position determination module configured to determine whether the automatic cleaning device is located in the second surface medium region in response to the surface medium sensor triggering a surface medium change signal when the automatic cleaning device cleans in the first surface medium region;
  • the navigation control module is configured to, in response to determining that the automatic cleaning device is located in the second surface medium area, control the automatic cleaning device along the second surface according to the second surface medium area map and the current position of the automatic cleaning device The vertical direction of the edge of the media area is away from the second surface media area.
  • the present invention provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the above-mentioned automatic cleaning device control method.
  • the present invention provides an electronic device, comprising:
  • a memory for storing executable instructions for the processor
  • the processor is configured to execute the above-mentioned automatic cleaning device control method by executing the executable instructions.
  • the method for controlling an automatic cleaning device in response to the acquisition of the surface medium change signal, based on determining that the automatic cleaning device has been located in the second surface medium region, it can be adjusted according to the first method.
  • the map of the second surface medium area and the current position of the automatic cleaning device control the automatic cleaning device to detach from the second surface medium area along the direction perpendicular to the edge of the second surface medium area, so as to help the automatic cleaning device to come out from the inside of the second surface medium area as soon as possible, And it can also reduce the occurrence of stuck and other situations, thereby improving the user experience.
  • FIG. 1 is a perspective view of an automatic cleaning device according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a bottom structure of an automatic cleaning device according to an embodiment of the present invention.
  • FIG. 3 is a perspective view of a side drive wheel assembly according to an embodiment of the present invention.
  • FIG. 4 is a front view of a side drive wheel assembly according to an embodiment of the present invention.
  • FIG. 5 is a perspective view of a dust box according to an embodiment of the present invention.
  • FIG. 6 is a perspective view of a fan according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of an open state of the dust box according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a combined state of a dust box and a fan according to an embodiment of the present invention.
  • FIG. 9 is an exploded view of an automatic cleaning device according to an embodiment of the present invention.
  • FIG. 10 is a structural diagram of a support platform for an automatic cleaning device according to an embodiment of the present invention.
  • FIG. 11 is a structural diagram of a vibration member of an automatic cleaning device according to an embodiment of the present invention.
  • 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 invention.
  • 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 invention.
  • FIG. 14 is a schematic diagram of a cleaning head driving mechanism based on a crank mechanism according to another embodiment of the present invention.
  • FIG. 15 is a schematic diagram of a raised state of an automatic cleaning device according to an embodiment of the present invention.
  • 16 is a schematic diagram of a sinking state of an automatic cleaning device according to an embodiment of the present invention.
  • 17 is a schematic diagram of a raised state of the four-link lifting structure according to an embodiment of the present invention.
  • FIG. 18 is a schematic diagram of the sinking state of the four-link lifting structure according to an embodiment of the present invention.
  • Fig. 19 shows an operation route diagram of an automatic cleaning device according to an embodiment of the present invention.
  • Fig. 20 shows a flowchart of a method for controlling an automatic cleaning device according to an embodiment of the present invention
  • FIG. 21 shows a waveform diagram of echoes received by the ultrasonic sensor from normal ground according to an embodiment of the present invention
  • Fig. 22 shows a waveform diagram of echoes received by the ultrasonic sensor from the carpet surface according to an embodiment of the present invention
  • FIG. 23 shows a schematic structural diagram of an initialization area after scanning the medium area of the second surface according to an embodiment of the present invention
  • Figure 24 shows a schematic structural diagram of a merged region obtained based on the initialization region shown in Figure 23;
  • Figure 25 shows a schematic structural diagram of a sub-region determined based on the merged region shown in Figure 24;
  • Fig. 26 shows a block diagram of an automatic cleaning device control device according to an embodiment of the present invention.
  • FIG. 27 shows a schematic block diagram of an electronic device according to an embodiment of the present invention.
  • first, second, third, etc. may be used to describe . . . in the embodiments of the present invention, these . . . should not be limited to these terms. These terms are only used to distinguish ...
  • the first... may also be referred to as the second..., and similarly, the second... may also be referred to as the first... without departing from the scope of the embodiments of the present invention.
  • the words “if”, “if” as used herein may be interpreted as “at” or “when” or “in response to determining” or “in response to detecting”.
  • the phrases “if determined” or “if detected (the stated condition or event)” can be interpreted as “when determined” or “in response to determining” or “when detected (the stated condition or event),” depending on the context )” or “in response to detection (a stated condition or event)”.
  • 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.
  • 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, a laser ranging device (LDS).
  • LDS laser ranging device
  • the various components in the perception system 120 can operate independently or together to more accurately achieve the intended function.
  • 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 below of the fuselage.
  • 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 first driving wheel 4212, which is connected with The motor output shaft is connected, the first driving wheel 4212 is an asymmetric structure; the vibration member 4213 is arranged on the opposite side of the driving platform 421 from the motor 4211, and is connected with the first driving wheel 4212 , the reciprocating motion is realized under the asymmetrical rotation of the first driving wheel 4212 .
  • 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 first driving wheel 4212 .
  • the motor 4211 can directly drive the first driving wheel 4212 to perform a rotary motion, or indirectly drive the first 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 first 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 first 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 first driving wheel 4212, and the vibration buffer device 4215 drives the vibration member 4213 along the driving
  • the surface of the platform 421 reciprocates, the vibration member 4213 reciprocates along the surface of the supporting 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 water 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;
  • the automatic cleaning device 100 is working on the ground, the The preset reciprocating cycle 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 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 first driving wheel 4212 , a vibrating member 4213 , a cleaning substrate 4221 , a first chute 4222 and a second chute 4223 .
  • the first chute 4222 and the second chute 4223 are opened on the support platform 422 . Both ends of the cleaning substrate 4221 include a first slider 525 and a second slider 528, respectively.
  • the first sliding block 525 and the second sliding block 528 are respectively a protrusion at both ends of the cleaning substrate 4221 .
  • the first sliding block 525 is inserted into the first sliding groove 4222 and can slide along the first sliding groove 4222 ; the second sliding block 528 is inserted into the second sliding groove 4223 and can slide along the second sliding groove 4223 .
  • the first chute 4222 and the second chute 4223 are on the same line. In some embodiments, the first chute 4222 and the second chute 4223 are not on the same line.
  • the first chute 4222 and the second chute 4223 extend in the same direction. In some embodiments, the extending direction of the first sliding groove 4222 and the second sliding groove 4223 is the same as that of the cleaning substrate 4221 . In some embodiments, the extending direction of the first sliding groove 4222 and the second sliding groove 4223 is different from the extending direction of the cleaning substrate 4221 . In some embodiments, the extending directions of the first sliding groove 4222 and the second sliding groove 4223 are different. For example, as shown in FIG. 12 , the extension direction of the first chute 4222 is the same as the extension direction of the cleaning substrate 4221 , and the extension direction of the second chute 4223 and the extension direction of the first 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 and the first driving wheel 4212 are connected by a first pivot shaft 516
  • the sliding end 514 and the cleaning substrate 4221 are connected by a second pivot shaft 518 .
  • the rotation center of the first 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 first 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 first sliding block 525 for cleaning the substrate 4221 performs a reciprocating linear motion along the first sliding groove 4222 ;
  • the second sliding block 528 performs a reciprocating linear motion along the second sliding groove 4223 .
  • the moving speed of the moving platform 210 is V0
  • 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 A target direction and a component parallel to 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 first driving wheel 4212, a second driving wheel 4212', and a cleaning substrate 4221.
  • the cleaning substrate 4221 has two ends.
  • the first end and the first drive wheel 4212 are connected by a first pivot 624; the second end and the second drive wheel 4212' are connected by a second pivot 626.
  • the rotation center of the first driving wheel 4212 is point O
  • the pivot center of the first 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 rotation center of the second driving wheel 4212' is the point O'
  • the pivot center of the second 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.
  • the first driving wheel 4212, the second driving wheel 4212' and the cleaning substrate 4221 may form a double crank mechanism (or a parallelogram mechanism) in which the cleaning substrate 4221 serves as a coupling lever, the first driving wheel 4212 and the second driving wheel 4212 ' Acts 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 first driving wheel 4212 , a cleaning substrate 4221 and a first chute 4222 .
  • the first 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 first drive wheel 4212 through a pivot shaft 4228 .
  • the pivot center of the first 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.
  • the sliding end 4226 includes a third sliding block 4225 .
  • the third sliding block 4225 is a protrusion on the sliding end 4226 .
  • the third sliding block 4225 is inserted into the first sliding groove 4222 and can slide along the first sliding groove 4222 . Therefore, the first driving wheel 4221, the cleaning substrate 4221, the third sliding block 4225 and the first sliding groove 4222 constitute a crank-slider mechanism.
  • the rotary end 4227 of the cleaning substrate 4221 performs a circular rotary motion following the point A; and the third sliding block 4225 slides in the first chute 4222 to perform a reciprocating linear motion.
  • the cleaning substrate 4221 starts to reciprocate.
  • the direction of the first chute 4222 is approximately perpendicular to the target direction of the moving speed of the mobile platform, therefore, the linear movement of the sliding end 4226 includes a component perpendicular to the target direction, and the circular rotation of the rotary end 4227 The motion includes components both 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 first 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, which 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 outlet of the water tank flows to the water outlet device 4217, and can be evenly coated on the surface to be cleaned through 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 automatic cleaning equipment, one pass through a certain area can achieve multiple
  • the cleaning effect is greatly enhanced, 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 beams 50114 and the second longitudinal beams 50115 and the tail ends of the first longitudinal beams 50114 and the second longitudinal beams 50115 are respectively connected to the mobile platform 100 by bolts, so as to provide 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, which is connected to the drive unit 420, such as a gear winding connected to the motor output shaft, and realizes telescopic movement under the rotation of the motor.
  • the cable bracket terminal 50132 is connected to the first bracket 5011, and the motor makes the second ends of the first connecting rod 50121 and the second connecting rod 50122 rise or sink through the cable 42194.
  • the first bracket 5011 further includes: a third chute 50112 extending along the surface of the cross beam 50111; Used for receiving and snapping the cable bracket terminal 50132, the cable 42194 is connected to the first ends of the first connecting rod 50121 and the second connecting rod 50122 through the third chute 50112 and the locking hole 50113 , the third chute 50112 can limit the movement direction of the cable and ensure the stability of the module lifting, and the width of the third 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 latter is fixedly connected to the second bracket 5021 and the wet cleaning module 400 .
  • the first connecting end 501 When the first connecting end 501 is rotated under the driving of the motor 4211, 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, such as lifting the wet cleaning module on the carpet surface and placing it on the floor / Floor tiles and other surfaces, put the wet cleaning module down for cleaning, so as to achieve a more comprehensive cleaning effect.
  • the automatic cleaning equipment usually turns and rotates as needed during the cleaning process.
  • the automatic cleaning equipment 2000 shown in Figure 19 is likely to turn around if it encounters an obstacle during the cleaning process.
  • the automatic cleaning device 2000 may come up on the carpet 2001 during the rotation process.
  • the dry cleaning module 151 and the wet cleaning module 400 are simultaneously installed in the automatic cleaning device 2000, the dry cleaning module 151 is located at the front end of the traveling direction to clean the ground; and the wet cleaning module 400 is located at At the rear end of the traveling direction, after the dry cleaning module 151 is cleaned, the ground can be mopped and cleaned.
  • the wet cleaning module 400 generally cannot be used for cleaning carpets and the like. Therefore, if the automatic cleaning device 2000 goes up to the carpet 2001 while the wet cleaning module 400 is working, it is easy to wet the carpet, and may be trapped on the carpet 2001, causing trouble to customers.
  • an exemplary embodiment of the present disclosure provides an automatic cleaning device control method.
  • FIG. 20 a flowchart of the automatic cleaning device control method provided by the exemplary embodiment of the present disclosure is shown.
  • the automatic cleaning device control method mainly includes For use in automated cleaning equipment including a surface media sensor, the following steps may be included:
  • Step S2110 when the automatic cleaning device cleans in the first surface medium area, in response to the surface medium sensor triggering the surface medium change signal, determine whether the automatic cleaning device is located in the second surface medium area;
  • Step S2120 when it is determined that the automatic cleaning device is located in the second surface medium area, control the automatic cleaning device to disengage along the direction perpendicular to the edge of the second surface medium area according to the second surface medium area map and the current position of the automatic cleaning device The second surface dielectric region.
  • the automatic cleaning device in response to the acquisition of the surface medium change signal, in the case that it is determined that the automatic cleaning device has been located in the second surface medium area, the automatic cleaning device can be automatically cleaned according to the second surface medium area map and automatic The current position of the cleaning device, which controls the automatic cleaning device to detach from the second surface media area in a direction perpendicular to the edge of the second surface media area, thereby helping the automatic cleaning device to get out of the second surface media area as soon as possible, and can also reduce jamming And so on, so as to improve the user experience.
  • the above-mentioned automatic cleaning equipment control method is applicable to the automatic cleaning equipment in the non-carpet cleaning mode or the wet cleaning module on mode.
  • the automatic cleaning equipment cannot be used on the carpet, that is, only cleaning Mode of the first surface dielectric region. Therefore, when the automatic cleaning device is trapped by the carpet, the automatic cleaning device control method provided by the exemplary embodiment of the present disclosure can control the automatic cleaning device to get out of the trap as soon as possible, so as to reduce the probability of the automatic cleaning device being trapped by the carpet.
  • 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
  • the automatic cleaning device 2000 When the automatic cleaning device 2000 is turned around to clean the first surface medium area 2002 (such as the ground) along the wall, the automatic cleaning device 2000 can easily go up to the second surface medium area 2001 (such as the carpet) shown in the figure, at this time, it can be The automatic cleaning device 2000 is controlled to come out of the second surface medium area 2001 by the automatic cleaning device control method provided by the exemplary embodiment of the present disclosure.
  • the automatic cleaning device 2000 cleans the first surface medium area 2002 , if the surface medium sensor triggers a surface medium change signal, it means that the surface medium sensor on the automatic cleaning device 2000 detects the second surface medium area 2001 . At this time, it needs to be determined whether the automatic cleaning device 2000 is located in the second surface medium area 2001 .
  • determining whether the automatic cleaning device 2000 is located within the second surface medium area 2001 may include: detecting whether the location where the surface medium sensor is located is already within the second surface medium area 2001; if the surface medium sensor is located If the location is already in the second surface medium area 2001 , it is determined that the automatic cleaning device 2000 has entered the second surface medium area 2001 , or at least a part of the automatic cleaning device 2000 has entered the second surface medium area 2001 .
  • the existing commonly used surface medium sensors mainly include infrared sensor identification devices, ultrasonic sensor identification devices, etc.
  • Different sensor identification devices can detect whether the position of the surface medium sensor of the automatic cleaning equipment is already in the second surface medium area.
  • the specific method may be different.
  • This exemplary embodiment uses an ultrasonic sensor identification device as an example to describe how to specifically detect whether the location of the surface medium sensor is already within the second surface medium area:
  • the ultrasonic sensor identification device is used to transmit ultrasonic signals to the ground and receive echo signals reflected from the ground. Because the waveform of the ultrasonic echo signal on the normal ground is different from the waveform of the ultrasonic echo signal on the surface of the second surface medium area such as the carpet, as shown in Figure 21 and Figure 22. 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.
  • detecting whether the location of the surface medium sensor is already within the second surface medium region includes: controlling the surface medium sensor to vertically transmit ultrasonic signals to the current surface, and receiving an actual echo signal reflected by the current surface; determining Whether the actual echo signal is different from the echo signal of the first surface medium region, if there is a difference, it is determined that the position of the surface medium sensor is already within the second surface medium region.
  • 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 that the difficulty of identifying the second surface medium region can be reduced, and the automatic cleaning device can improve the identification of the second surface medium region. Accuracy and precision of surface media areas.
  • the automatic cleaning device when it is determined that the automatic cleaning device is located in the second surface medium area, the automatic cleaning device can be controlled to move along with the second surface medium area map and the current position of the automatic cleaning device according to the second surface medium area map.
  • the vertical direction of the edge of the surface dielectric region is separated from the second surface dielectric region.
  • the automatic cleaning device scans the space where the first surface medium area is located, such as a room, to obtain a room map; surface medium area, a second surface medium area map is created.
  • the method for establishing the map of the second surface medium area specifically includes: controlling the automatic cleaning device to run to the edge of the second surface medium area, and then scanning the boundary of the second surface medium area.
  • the initialization area 2400 is shown, and the initialization area 2400 is recorded in the automatic cleaning equipment.
  • the boundary coordinates of the initialization area may be merged, for example, adjacent boundary coordinates may be merged into one coordinate to obtain a merged area 2500 that is smoother than the boundary of the initialization area as shown in FIG. 24, so as to establish the second surface a media area map, and storing the second surface media area map in the automatic cleaning device.
  • the exemplary embodiment of the present disclosure further includes, as shown in FIG. 25 , splitting the merged area 2500 according to a preset shape to form a plurality of sub-areas 2601 and 2602 , and storing the plurality of sub-areas 2601 and 2602 in the automatic cleaning In the equipment, in the subsequent cleaning process, local sub-areas can be cleaned as needed.
  • the preset shape may be a square, a circle, or other shapes such as a rhombus.
  • the sub-region 2601 determined according to the preset shape is a square region, and the sub-region 2602 is a circular region.
  • the exemplary embodiment of the present disclosure does not specifically limit the specific preset shape.
  • the first position perpendicular to the traveling direction D1 of the automatic cleaning device 2000 when it enters the second surface medium area 2001 can be determined in combination with the current position of the automatic cleaning device 2000 .
  • the edge of the second surface medium area is controlled, and the automatic cleaning device 2000 is controlled to move backward along the direction D2 perpendicular to the edge of the second surface medium area, that is, the direction opposite to the traveling direction D1 when entering the second surface medium area. , in order to reduce other operations such as rotation, and improve the success rate and efficiency of getting out of trouble.
  • the edge of the second surface medium area closest to the automatic cleaning device 2000 is determined;
  • the vertical direction D3 of the edge is separated from the second surface medium area 2000 to help the automatic cleaning device 2000 to be separated from the second surface medium area 2000 as soon as possible with the shortest distance.
  • the automatic cleaning device 2000 when the automatic cleaning device 2000 is controlled to be separated from the second surface medium area 2000 along the direction D3 perpendicular to the edge of the nearest second surface medium area, it is necessary to control the automatic cleaning device 2000 to rotate the first preset angle to control the The automatic cleaning apparatus 2000 is disengaged from the second surface medium area 2000 in a forward travel or reverse reverse manner.
  • the first preset angle can be determined according to the angle between the walking direction of the automatic cleaning device and the edge of the nearest second surface medium area. For example, if the angle is 90 degrees, the first preset angle is 90 degrees. Spend.
  • the automatic cleaning device 2000 may be controlled to rotate clockwise by the first preset angle, or the automatic cleaning device 2000 may be controlled to rotate counterclockwise by the first preset angle, and the rotating Depending on the direction, it will ultimately be determined whether the automatic cleaning device 2000 is separated from the second surface medium area 2000 in a forward-running manner or in a reverse-reverse manner.
  • the exemplary embodiments of the present disclosure are not particularly limited thereto.
  • the automatic cleaning device after the automatic cleaning device performs the reverse operation for a preset time, if the surface medium sensor still detects the second surface medium area 2000, it means that the reverse operation speed of the automatic cleaning device is too slow.
  • the automatic cleaning device 2000 is rotated by the second preset angle, it is positively separated from the second surface medium area.
  • the second preset angle here is 180 degrees.
  • the preset time may be 1 minute, 2 minutes, 3 minutes, 4 minutes, 5 minutes and so on.
  • the automatic cleaning device may be controlled to clean along the edge of the second surface medium area, and after cleaning along the edge of the second surface medium area, Other areas of the first surface media area are cleaned, and during cleaning along the edges of the second surface media area, the second surface media area map is rescanned and drawn to update the second surface media area map.
  • the travel of the automatic cleaning device detachment can be determined according to the second surface medium area map and the current position of the automatic cleaning device direction, so that the automatic cleaning equipment can be separated from the second surface medium area in the fastest way, and the rolling pressure of the automatic cleaning equipment on the second surface medium area can also be reduced.
  • the automatic cleaning device 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 automatic cleaning equipment with dry cleaning modules and wet cleaning modules, but also for sweeping robots with only dry cleaning modules or mopping with only wet cleaning modules.
  • the robot may also be other intelligent robots that have an autonomous walking mechanism and need to recognize the shape of the ground, which is not limited in the exemplary embodiment of the present disclosure.
  • an automatic cleaning device control device is also provided, which is provided in an automatic cleaning device including a surface medium sensor.
  • the automatic cleaning device control device 2700 may include: a position A determination module 2701, and a navigation control module 2702, wherein:
  • the location determination module 2701 is configured to determine whether the automatic cleaning device is located in the second surface medium region if the surface medium sensor triggers a surface medium change signal when the automatic cleaning device cleans in the first surface medium region ;
  • the navigation control module 2702 is configured to control the automatic cleaning device to move along with the automatic cleaning device according to the second surface media area map and the current position of the automatic cleaning device when it is determined that the automatic cleaning device is located in the second surface medium area.
  • the direction perpendicular to the edge of the second surface dielectric region is away from the second surface dielectric region.
  • 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. 27 An electronic device 2800 according to this embodiment of the present invention is described below with reference to FIG. 27 .
  • the electronic device 2800 shown in FIG. 27 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 2800 takes the form of a general purpose computing device.
  • Components of the electronic device 2800 may include, but are not limited to: the above-mentioned at least one processing unit 2810 , the above-mentioned at least one storage unit 2820 , a bus 2830 connecting different system components (including the storage unit 2820 and the processing unit 2810 ), and a display unit 2840 .
  • the storage unit 2820 stores program codes, which can be executed by the processing unit 2810, so that the processing unit 2810 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 2810 may perform step S2110 as shown in FIG. 20 , when the automatic cleaning device cleans in the first surface medium area, if the surface medium sensor triggers a surface medium change signal, determine whether the automatic cleaning device is located in the first surface medium area.
  • Step S2120 when it is determined that the automatic cleaning device is located in the second surface medium area, according to the second surface medium area map and the current position of the automatic cleaning device, control the automatic cleaning device along the The vertical direction of the edge of the media area is away from the second surface media area.
  • the storage unit 2820 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 28201 and/or a cache storage unit 28202, and may further include a read only storage unit (ROM) 28203.
  • RAM random access storage unit
  • ROM read only storage unit
  • the storage unit 2820 may also include a program/utility 28204 having a set (at least one) of program modules 28205 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 2830 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 2800 may also communicate with one or more external devices 2870 (eg, keyboards, pointing devices, Bluetooth devices, etc.), with one or more devices that enable a user to interact with the electronic device 2800, and/or with Any device (eg, router, modem, etc.) that enables the electronic device 2800 to communicate with one or more other computing devices. Such communication may occur through input/output (I/O) interface 2850. Also, the electronic device 2800 can 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 2860 . As shown, network adapter 2860 communicates with other modules of electronic device 2800 via bus 2830. It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with electronic device 2800, 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 on which a program product capable of implementing the above-described 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 for implementing the above method according to an embodiment of the present invention may adopt a portable compact disc read only memory (CD-ROM) and include program codes, and may run on a terminal device, such as a personal computer.
  • CD-ROM 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

Landscapes

  • Electric Vacuum Cleaner (AREA)
  • Cleaning In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de commande de dispositif de nettoyage automatique, un appareil de commande de dispositif de nettoyage automatique, un support de stockage lisible par ordinateur et un dispositif électronique (2800). Le procédé de commande consiste : lorsqu'un dispositif de nettoyage automatique (2000) effectue un nettoyage dans une zone de premier revêtement de surface (2002), en réponse au fait qu'un détecteur de revêtement de surface déclenche un signal de changement de revêtement de surface, à déterminer si le dispositif de nettoyage automatique (2000) se situe dans une zone de second revêtement de surface (2001) (S2110) ; et en réponse à la détermination du fait que le dispositif de nettoyage automatique (2000) se situe dans la zone de second revêtement de surface (2001), en fonction d'une carte de la zone de second revêtement de surface (2001) et de la position actuelle du dispositif de nettoyage automatique (2000), à commander au dispositif de nettoyage automatique (2000) de dévier de la zone de second revêtement de surface dans une direction perpendiculaire à un bord de la zone de second revêtement de surface (2001) (S2120). Un dispositif de nettoyage automatique (2000) peut être aidé de sorte qu'il sort de l'intérieur de la zone de second revêtement de surface (2001) dès que possible.
PCT/CN2022/075726 2021-02-10 2022-02-09 Procédé et appareil de commande de dispositif de nettoyage automatique, ainsi que support et dispositif électronique WO2022171144A1 (fr)

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EP22752304.0A EP4292495A1 (fr) 2021-02-10 2022-02-09 Procédé et appareil de commande de dispositif de nettoyage automatique, ainsi que support et dispositif électronique
US18/264,830 US20240090735A1 (en) 2021-02-10 2022-02-09 Automatic cleaning device control method and apparatus, and medium and electronic device

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CN202110184809.4A CN112790672B (zh) 2021-02-10 2021-02-10 自动清洁设备控制方法及装置、介质及电子设备
CN202110184809.4 2021-02-10

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US11612295B2 (en) 2021-01-04 2023-03-28 Beijing Roborock Technology Co., Ltd. Autonomous cleaning device
CN115089056A (zh) * 2021-02-10 2022-09-23 北京石头创新科技有限公司 自动清洁设备控制方法及装置、介质及电子设备

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US20240090735A1 (en) 2024-03-21
CN115089056A (zh) 2022-09-23
CN112790672B (zh) 2022-08-26
CN112790672A (zh) 2021-05-14

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