WO2022193829A1 - 自移动设备、系统、模块及控制方法 - Google Patents

自移动设备、系统、模块及控制方法 Download PDF

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Publication number
WO2022193829A1
WO2022193829A1 PCT/CN2022/072796 CN2022072796W WO2022193829A1 WO 2022193829 A1 WO2022193829 A1 WO 2022193829A1 CN 2022072796 W CN2022072796 W CN 2022072796W WO 2022193829 A1 WO2022193829 A1 WO 2022193829A1
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WIPO (PCT)
Prior art keywords
functional module
main body
module
functional
workstation
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Application number
PCT/CN2022/072796
Other languages
English (en)
French (fr)
Inventor
吴永东
汤进举
陈巍
吕广亮
Original Assignee
科沃斯机器人股份有限公司
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Publication of WO2022193829A1 publication Critical patent/WO2022193829A1/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
    • A47L11/24—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
    • A47L11/02—Floor surfacing or polishing machines
    • 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
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/20—Floor surfacing or polishing machines combined with 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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing 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
    • 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
    • A47L11/4091—Storing or parking devices, arrangements therefor; Means allowing transport of the machine when it is not being used
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/022—Recharging of batteries
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/024—Emptying dust or waste liquid containers
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/026—Refilling cleaning liquid containers
    • 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
    • A47L2201/02—Docking stations; Docking operations
    • A47L2201/028—Refurbishing floor engaging tools, e.g. cleaning of beating brushes

Definitions

  • the present application relates to the technical field of artificial intelligence, and in particular, to a self-moving device, a system, a module and a control method.
  • cleaning robots have gradually entered people's daily life.
  • existing technologies include cleaning robots that integrate multiple functions. For example, they have both mopping and sweeping functions at the same time. All-in-one cleaning robot.
  • the other functions are redundant functions for the cleaning robot, and due to the limitation of the body size of the cleaning robot, each function cannot be sufficiently powerful.
  • the present application provides a self-moving device, system, module and control method that can solve or partially solve the above problems.
  • An embodiment of the present application provides a self-moving device, which includes: a device body that can be moved autonomously and a functional module that is used to perform specific tasks and can be combined with or separated from the device body. It includes one or more special-purpose units corresponding to the specific work tasks it achieves, and the equipment body includes a traveling mechanism arranged side by side and an installation cavity for arranging the functional module, and the installation cavity includes an installation cavity located between the traveling mechanisms. a first part and a second part located in front of or behind the travel mechanism.
  • a self-moving equipment system which includes: an equipment main body that can move autonomously, a plurality of functional modules for performing different specific tasks and which can be combined with or separated from the equipment main body , and a workstation for storing the plurality of functional modules; wherein, each functional module includes one or more special-purpose units corresponding to the specific task it realizes;
  • the equipment main body includes a traveling mechanism arranged side by side and a An installation cavity for a functional module, the installation cavity includes a first part located between the traveling mechanisms of the equipment body and a second part located in front of or behind the traveling mechanism; the equipment body can be combined with different functional modules to Form self-moving equipment for performing different specific job tasks.
  • Yet another embodiment of the present application provides a device body of a self-moving device, the device body includes a traveling mechanism, an installation cavity and a controller arranged side by side; the controller is configured to control the traveling mechanism to drive the The device body moves autonomously; the installation cavity includes a first part located between the travel mechanisms and a second part located in front of or behind the travel mechanism; the installation cavity is used when the device body is combined with the functional module , the functional modules combined with the main body of the device are arranged.
  • Yet another embodiment of the present application provides a functional module of a self-mobile device, the functional module is used to perform a specific task and can be combined with or separated from the device main body of the self-mobile device, and the functional module includes: One or more dedicated units corresponding to a specific job task.
  • Yet another embodiment of the present application provides a control method for a self-mobile device, the method includes: identifying a need to replace a first function module currently combined with a device body with a second function module; the first and second functions The module is used to perform the first and second specific tasks and can be combined with or separated from the main body of the device; the main body of the device is controlled to carry the first function module and move to the first function module in the workstation for accommodating the first function module. an area, and separated from the first functional module in the first area; moved to a second area in the workstation for accommodating the second functional module, and separated from the first functional module in the second area
  • the second functional modules are combined to form a self-moving device for performing a second specific work task.
  • users can create structured data they want and can be executed by IoT devices through a terminal device.
  • the object feature data and execution sequence data are all that is required, and the production of structured data can be completed without understanding the working principle and instruction code of the IoT device.
  • the production process is simple and the cost is low; and the terminal device converts the execution sequence data into
  • the IoT device can execute the state control instruction information, it provides structured data containing the state control instruction information to the IoT device, so that the IoT device can directly execute the corresponding operation according to the state control instruction in the structured data, so as to satisfy the user's requirements.
  • it also improves the custom expansion ability of structured data of IoT devices.
  • a device body that can move autonomously and has an installation cavity, and a plurality of functional modules that can perform different specific tasks and can be combined with or separated from the device body are provided.
  • the installation cavity of the main body of the device can be combined with different functional modules to realize self-mobile devices with different functions, so as to achieve the purpose of enriching and intelligent functions of the self-mobile devices; in addition, which functional module is required to be combined with which functional module , do not need to carry more redundant function modules, which is conducive to making the self-moving equipment lightweight, facilitating the improvement of work efficiency and saving battery power.
  • FIG. 1 is a schematic structural diagram of a self-mobile device system according to an embodiment of the present application
  • FIG. 2a is a schematic structural diagram of a device main body according to an embodiment of the application.
  • FIG. 2b is a schematic structural diagram of a functional module provided by an embodiment of the application.
  • 2c is a bottom view of a functional module provided by an embodiment of the present application.
  • 2d is a schematic diagram of a combined structure of a self-mobile device and a functional module provided by an embodiment of the present application;
  • FIG. 2e is a schematic diagram of another self-mobile device combining structure provided by an embodiment of the present application.
  • Fig. 2f is a schematic diagram of the position and shape of the magnetic buckle and the magnetic needle provided by the embodiment of the application;
  • 2g is a schematic diagram of the working principle of the magnetic buckle and the magnetic needle provided by the embodiment of the application;
  • 2h is a schematic diagram of the position and shape of the electromagnetic plug and the card slot provided by the embodiment of the application;
  • 2i is a flowchart of a method for controlling a self-mobile device provided by an embodiment of the application
  • FIG. 2j is a schematic structural diagram of another device main body provided by an embodiment of the present application.
  • 3a is a schematic structural diagram of a workstation storage function module provided by an embodiment of the present application.
  • FIG. 3b is a schematic diagram of a process of automatically replacing functional modules by a workstation according to an embodiment of the present application
  • 3c is a flowchart of another control method from a mobile device provided by an embodiment of the present application.
  • FIG. 3d is a schematic diagram of another process of automatically replacing functional modules by a workstation according to an embodiment of the present application.
  • 3e is a flowchart of another control method from a mobile device provided by an embodiment of the present application.
  • FIG. 3f is a schematic diagram of a process of automatically replacing functional modules by another workstation according to an embodiment of the present application.
  • FIG. 4a is a schematic structural diagram of an automatic alignment system provided by an embodiment of the present application.
  • Fig. 4b is a schematic diagram before the lifting mechanism according to the embodiment of the application drives the movable equipment main body to move vertically upward;
  • Fig. 4c is a schematic diagram of the lifting mechanism provided by the embodiment of the application after driving the movable device body to move vertically upwards;
  • FIG. 4d is a schematic diagram after the lifting mechanism provided by the embodiment of the application drives the movable equipment main body to horizontally displace;
  • 4e is a schematic diagram of the lifting mechanism provided by the embodiment of the application after the robot is driven to move vertically downward;
  • 4f is a schematic diagram of the first shielding portion moving into the gap of the optocoupler device provided by the embodiment of the application;
  • 4g is a schematic flowchart of a switching control method for performing functional module switching provided by an embodiment of the present application
  • 4h is a schematic flowchart of another switching control method for performing functional module switching provided by an embodiment of the present application.
  • FIG. 5a is a schematic structural diagram of a workstation according to an embodiment of the application.
  • FIG. 5b is a schematic structural diagram of another workstation provided by an embodiment of the application.
  • FIG. 5c is a top view of the internal structure of a workstation according to an embodiment of the present application.
  • FIG. 5d is a schematic diagram of the internal structure of a workstation according to an embodiment of the application.
  • FIG. 5e is a top view of the internal structure of the workstation corresponding to FIG. 5d according to an embodiment of the present application.
  • some basic functions of the self-moving device such as traveling, navigation, sensors, control, etc., are realized as an independent public module, called the device main body;
  • Various functions of different tasks can be realized on the equipment, such as sweeping, mopping, aromatherapy, waxing, washing, air purification, etc., as independent functional modules; and the main body of the equipment is allowed to work with any functional module according to the needs of the operation.
  • Combining together to form a self-moving device with certain functions; in addition, combining the device main body and different functional modules together can form a self-moving device with different functions.
  • different functional modules can be automatically and quickly switched according to application scenarios, which can achieve the purpose of enriching and intelligent functions of the mobile device; in addition, whichever functional modules are required, combine Which functional module does not need to carry more redundant functional modules, which is beneficial to lighten the weight of the self-mobile device, facilitates the improvement of work efficiency, and saves battery power.
  • the main body of the device can carry only one functional module at a time, without sharing the body space with other functional modules. Enough body space, its volume is not too limited, it is convenient to make each functional module more powerful, further optimize its performance, and enhance user experience. Of course, if the volume of the main body of the device is relatively large, multiple functional modules can also be carried at the same time.
  • an embodiment of the present application provides a self-moving device system.
  • the system includes: a workstation 10 , a plurality of functional modules 20 for performing different specific tasks, and a device body that can be moved autonomously 30. The following are respectively explained:
  • Device body 30 It includes, but is not limited to, a traveling mechanism, a controller, an installation cavity, and a sensor.
  • the traveling mechanism can be a drive wheel, a universal wheel, etc., and is mainly used to realize the autonomous movement of the device body 30;
  • the installation cavity is used to place the function module 20 combined with the device body 30 when the device body 30 is combined with the function module 20; control;
  • the device is equivalent to the brain of the device main body 30 (or self-mobile device), and can execute the computer instructions in the memory to control the traveling mechanism and the sensor to perform corresponding operations, and control the device main body 30 to realize corresponding functions and complete corresponding actions in a determined environment. Or execute the corresponding job task.
  • Sensors can include but are not limited to: LiDAR (such as LDS, /TOF, etc.), VSLAM, ultrasonic sensors, downward-looking sensors, structured light modules, AI modules, recharge guidance sensors, side-viewing sensors, mechanical strikers, etc.
  • the device main body 30 reflects the appearance of the self-moving device to a certain extent, and the shape of the self-moving device is also different according to the different implementation forms of the device main body 30 .
  • the outer contour shape of the device body may be an irregular shape or some regular shapes.
  • the shape of the outer contour of the main body of the device may be a regular shape such as a circle, an ellipse, a square, a triangle, a teardrop shape or a D-shape, or an irregular shape other than the regular shape.
  • the device is not limited to The appearance of the subject.
  • Functional module 20 a mechanical structure used to perform specific tasks and can be combined with or separated from the device main body 30 of the mobile device. Wherein, different functional modules 20 can perform different specific tasks, each functional module 20 includes at least one or more dedicated units corresponding to the specific tasks implemented by the functional modules 20, and the specific tasks implemented by different functional modules 20 and the specific tasks included Units will vary. Of course, the self-moving device formed by the combination of the device main body 30 and the functional module 20 will be different depending on the specific tasks implemented by the functional module 20 . In an optional embodiment, the functional module 20 may be a module capable of performing different cleaning tasks, and the device body 30 can be combined with these functional modules 20 to obtain a self-moving device with a cleaning function, which may be referred to as a cleaning robot for short. Not limited to this. The following is an example of the functional module 20 by taking the self-mobile device as an example of a cleaning robot:
  • Example 1 A functional module with a sweeping function, referred to as a sweeping module for short, is used to perform sweeping tasks, and includes dedicated units corresponding to sweeping tasks, including but not limited to: fan assembly, dust box, roller brush assembly, and side brush assembly. Further optionally, the sweeping module may also include: a control system for controlling the functional module, a communication module for communicating with the device body, and the like;
  • Example 2 A functional module with a mopping function, referred to as a mopping module for short, is used to perform mopping tasks, and the dedicated units corresponding to the mopping tasks may include but are not limited to: wiping components (such as rags, transmission mechanisms, etc. ), water supply components (such as including water pumps, pipelines, one-way valves, etc.) and water tanks. Further optionally, the mopping module may also include: a control system for controlling the functional module, a communication module for communicating with the device body, and the like;
  • Example 3 A functional module with aromatherapy function, referred to as aromatherapy module for short, is used to perform aromatherapy tasks, and the dedicated units corresponding to the aromatherapy tasks include but are not limited to: aromatherapy components and air supply components. Further optionally, the aromatherapy module may further include a control system for controlling the functional module, a communication module for communicating with the device body, and the like.
  • the functional modules 20 provided in the embodiments of the present application further include a floor scrubbing module with a floor scrubbing function, a sterilization module with a disinfection and sterilization function, an air purification module with an air purification function module, a humidification module with a Functional humidification module and waxing module with waxing function, etc.
  • Workstation 10 its main function is to store a plurality of functional modules 20 , and to assist the device main body 30 to be replaced among the functional modules 20 .
  • a plurality of functional modules 20 are stored in the workstation 10.
  • the device main body 30 can be automatically combined with the functional module 20 to be used in the workstation 10 to form a self-moving function with a certain function. equipment to perform corresponding tasks.
  • the structure of the workstation 10 shown in FIG. 1 is only a schematic structure, and the actual implementation structure is not limited thereto.
  • the plurality of functional modules 20 may be stored side by side in the workstation 10, or may be stored in other manners, which are not limited. No matter what storage method is used to store the functional module 20, the functional module 20 can be identified in but not limited to the following ways:
  • Method 1 Install a Hall sensor on the identification position in the workstation 10, install magnets with different polarities on different functional modules 20, and identify which functional module 20 is by identifying the polarity of the magnet; thus the magnet has two polarities , two different functional modules 20 can be identified in this way.
  • Method 2 Install a code scanning device on the identification position in the workstation 10, and set coding information (such as barcode or two-dimensional code) on each functional module 20.
  • the coding information on different functional modules 20 is different, so that the workstation 10 can pass Different functional modules 20 are identified by scanning the code, and this solution can identify more different functional modules 20 .
  • Mode 3 Using the principle of near field communication (NFC), the workstation 10 acts as a host to transmit radio frequency signals to read the device information of each functional module 20, and identify different functional modules 20 according to the read device information, wherein,
  • the device information of different functional modules 20 is different, for example, the device information of each functional module includes information such as unique device name, ID or serial number; in this way, as long as the functional module and the workstation 10 are within the range of near field communication with each other, more Multiple different functional modules.
  • Method 4 Using the mechanical principle, two or more optocouplers are set at the identification position of the workstation 10, and different functional modules 20 are made as a block in different places.
  • the baffles on the module will block the optocouplers at different positions.
  • the functional module corresponding to the blocked optocoupler can be determined. In this solution, more optocouplers can be set. , to identify more different functional modules 20 .
  • the Hall sensor, the code scanning device, and the optocoupler can report relevant information to the workstation 10, so that the workstation 10 can identify different functional modules according to the information.
  • the Hall sensor, the code scanning device, and the optocoupler can also report relevant information to the device main body 30, so that the device main body 30 can also identify different functional modules according to the information.
  • the workstation 10 may also provide the information of the recognized functional modules to the device main body 30 .
  • the device main body 30 can also use the NFC principle as the host to transmit radio frequency signals to read the device information of each functional module 20, and identify different functional modules 20 according to the read device information.
  • the workstation 10 can also provide some auxiliary functions for the device main body 30 and each functional module 20 .
  • an automatic recharging function is provided for the device body 30 and/or the function module 20 .
  • post-processing functions are provided for each functional module 20 .
  • the post-processing functions provided by the workstation 10 for the functional modules 20 will also be different.
  • the functional module 20 is a sweeping module
  • the workstation 10 can provide it with a central dust collection function, that is, help the sweeping module to clean the dust box and solve the problem of garbage collection, and can also provide the sweeping module with a rag cleaning function.
  • the workstation 10 can provide auxiliary functions such as cleaning a rag, recycling sewage, and adding water to a water tank for the mopping module. If the functional module 20 is an aromatherapy module or a sterilization module, the workstation 10 can provide auxiliary functions such as injecting aromatherapy materials and disinfectant for the aromatherapy module or the sterilization module.
  • the device main body 30 and each functional module 20 are independent of each other.
  • the device main body 30 will be combined with the functional module 20 to form an autonomous device with a certain function. Move the device, so that there are no overlapping redundant parts from the mobile device.
  • what method can be adopted to enable the device main body 30 to be firmly combined with the functional module 20 when the functional module 20 is required, and to be easily and quickly separated when the functional module 20 is not required is to be solved in the embodiment of the present application. one of the technical problems.
  • the embodiment of the present application proposes a device main body 30 that can move autonomously and has an installation cavity, and provides a functional module 20 adapted to the device main body 30 , and the installation cavity is a space between the device main body 30 and the functional module 20 . It provides a structural basis for the quick and easy combination and separation of the In the embodiment of the present application, the device main body 30 has an installation cavity for arranging the functional modules 20 combined with it, but the specific implementation structure of the device main body 30 and each functional module 20 is not limited. The structures of the device main body 30 and the functional module 20 are exemplarily described.
  • FIG. 2 a is a schematic structural diagram of the device main body 30
  • FIG. 2 j is another structural schematic diagram of the device main body 30
  • the device main body 30 shown in FIG. 2a has a D-shaped outline
  • the device main body 30 shown in FIG. 2j has a circular outline, but it is not limited to these two outlines. No matter what the outline of the device main body 30 is, the device main body 30 has the same or similar hardware implementation structure.
  • the device main body 30 includes: a traveling mechanism 31 , a controller 32 and an installation cavity arranged side by side 33.
  • the device body 30 has a bottom surface, the traveling mechanism 31 is located on the bottom surface, and the installation cavity 33 is recessed inwardly from the bottom surface of the device body 30 to accommodate the functional module 20 .
  • the installation cavity 33 includes a first part located between the traveling mechanisms 31 and a second part located in front of or behind the traveling mechanisms 31 .
  • the second part is located behind the traveling mechanism 31 as an example.
  • the first part and the second part of the mounting cavity 33 are combined to form a convex-shaped or convex-shaped cavity structure, but it is not limited thereto.
  • the size relationship between the first part and the second part of the installation cavity 33 is not limited.
  • the size of the first part in the first direction perpendicular to the travel direction is smaller than that of the second part in the direction perpendicular to the travel direction. or, the size of the first portion in the first direction perpendicular to the direction of travel is greater than the size of the second portion in the first direction perpendicular to the direction of travel.
  • the dimension of the second portion in the first direction perpendicular to the direction of travel is the largest dimension of the self-mobile device in the first direction perpendicular to the direction of travel.
  • the second part is located behind the first part, and the size of the first part in the first direction perpendicular to the traveling direction is smaller than the size of the second part in the first direction perpendicular to the traveling direction as an example Make an illustration.
  • FIG. 2 b is a schematic structural diagram of the functional module 20 .
  • the implementation structure of the functional module 20 can be adapted to the device body 30 .
  • the functional module 20 includes a first area and a second area.
  • the first area of the functional module 20 may be located in the installation cavity 33 of the device main body 30 .
  • the second area of the functional module 20 may be located in the second part of the installation cavity 33 of the device body 30 .
  • the first part/area and the second part/area are distinguished by means of a dotted straight line, which does not mean that the device body 30 and the functional module 20 are real This imaginary straight line exists.
  • the functional module 20 of the present embodiment includes one or more dedicated units corresponding to specific tasks implemented by the functional modules 20 .
  • one or more special-purpose units may be part of the special-purpose units or all of the special-purpose units required by the functional module 20 to realize a specific task.
  • the functional module 20 includes all dedicated units corresponding to the specific task that it implements.
  • the functional module 20 distinguishes the first area and the second area
  • some of the dedicated units may be arranged in the first area
  • some of the dedicated units may be arranged in the second area.
  • Different functional modules 20 contain different special-purpose units.
  • the special-purpose units include a fan assembly, a dust box, a roller brush assembly, and a side brush assembly, as shown in FIG. 2c.
  • Figure 2c is a bottom view of the sweeping module.
  • the roller brush assembly and the side brush assembly are arranged in the first area
  • the fan assembly and the dust box are arranged in the second area.
  • the roller brush assembly and side brush assembly on the module are located in the first part of the installation cavity 33 of the equipment body 30
  • the fan assembly and dust box on the sweeping module are located in the second part of the installation cavity 33 of the equipment body 30 .
  • the functional module 20 as a mopping module as an example, its dedicated unit includes a water supply component, a water tank and a wiping component, further optionally, the wiping component can be arranged in the first area of the functional module 20, and the water supply component and the water tank can be Disposed in the second area of the functional module 20, when the mopping module is combined with the device main body 30, the wiping component is located in the first part of the installation cavity 33 of the device main body 30, and the water supply component and the water tank are located in the installation cavity 33 of the device main body 30. in the second part.
  • the embodiment of the present application also does not limit the size relationship between the first area and the second area.
  • the size of the first region in the first direction alternatively, the size of the first region in the first direction perpendicular to the direction of travel is larger than the size of the second region in the first direction perpendicular to the direction of travel.
  • the size of the first region in the first direction perpendicular to the travel direction is smaller than the size of the second region in the first direction perpendicular to the travel direction as an example for illustration; An example in which the size of a region in the first direction perpendicular to the traveling direction is larger than the size of the second region in the first direction perpendicular to the traveling direction is illustrated.
  • the embodiments of the present application also provide a self-moving device, including a device body 30 that can be moved autonomously and a function for performing specific tasks that can be combined with or separated from the device body 30 module 20.
  • the device body 30 can be combined with one functional module 20 at the same time to obtain a self-moving device with one functional module; it can also be combined with multiple functional modules 20 at the same time to obtain a self-moving device with multiple functional modules.
  • the functional module 20 is a sweeping module
  • the self-moving device formed by the combination of the device main body 30 and the sweeping module is a sweeping robot
  • the functional module 20 is a mopping module
  • the device main body 30 and the sweeping module are combined to form a self-moving device.
  • the mobile device is a mopping robot
  • the functional module 20 is an aromatherapy module
  • the self-moving device formed by the combination of the device main body 30 and the sweeping module is an aromatherapy robot
  • the functional module 20 can also be Scrubbing module, disinfecting module and waxing module, etc.
  • the device main body 30 and different functional modules 20 Through the combination of the device main body 30 and different functional modules 20, it is possible to combine which functional module is needed according to the operation requirements, without carrying many redundant functional modules, which is beneficial to make the self-moving device lightweight and easy to improve. Work efficiency, save battery power, help optimize the performance of each functional module, and enhance user experience.
  • the direction of combining and separating the device main body 30 and the functional module 20 is not limited. According to different implementation structures of the device main body 30 and the functional module 20, the corresponding combining and separating directions are also different.
  • the functional module 20 can be separated from or combined with the device body 30 along the thickness direction of the device body 30, that is, Or, the functional module 20 is separated or combined with the device body 30 along the traveling direction of the device body 30 , that is, the function module 20 is combined or separated back and forth.
  • 2d and 2e are a schematic diagram of the combination or separation of the device main body 30 and a certain functional module 20 in the front and rear directions, wherein the rear is relative to the front, and the front is the direction in which the device main body 30 normally travels, that is, the travel direction, As shown in Figure 2e.
  • the functional module 20 combined with the device body 30 can also be located on the left or right of the device body 30 to form a left-right combination structure.
  • the combination direction between the functional module 20 and the device body 30 may be different, depending on the specific situation.
  • the device main body 30 and the functional module 20 may have other implementation forms, which are not limited to the implementation forms shown in FIGS. 2 a , 2 j and 2 b .
  • the manner of combining and separating the device main body 30 and the functional module 20 and the implementation form of the component structure combining the device main body 30 and the functional module 20 are not limited.
  • the device main body 30 can be combined and separated from the functional module 20 by electromagnetic force.
  • the device main body 30 can be provided with a first electromagnetic docking structure.
  • a second electromagnetic docking structure is correspondingly provided on the functional module 20 .
  • the first electromagnetic docking structure can cooperate with the second electromagnetic docking structure on the functional module 20 performing a specific task to realize the combination or separation of the device main body 30 and any functional module 20 .
  • the first electromagnetic docking structure is a magnetic clasp or a magnetic pin provided on the casing of the device main body 30
  • the second electromagnetic docking structure is a magnetic pin or a magnetic pin provided on the functional module 20 .
  • the first electromagnetic docking structure is a magnetic buckle
  • the second electromagnetic docking structure is a magnetic needle corresponding to the magnetic buckle
  • the first electromagnetic docking structure is a magnetic needle
  • the second electromagnetic docking structure is a magnetic buckle corresponding to the magnetic needle.
  • the magnetic needle and the magnetic buckle are buckled together to realize the combination of the device main body 30 and the functional module 20 ; under the action of electromagnetic force, the magnetic buckle releases the magnetic needle to separate the device main body 30 from the functional module 20 .
  • the first electromagnetic docking structure is an electromagnetic plug or a card slot provided on the casing of the device main body 30
  • the second electromagnetic docking structure is a card slot or electromagnetic plug provided on the functional module 20 .
  • the first electromagnetic docking structure is an electromagnetic pin
  • the second electromagnetic docking structure is a slot corresponding to the electromagnetic pin
  • the first electromagnetic docking structure is a slot
  • the second electromagnetic docking structure is a slot corresponding to the slot.
  • Electromagnetic latch is retracted into the card slot and fixed with the card slot, which can realize the combination of the device main body 30 and the function module 20; Separation of the main body 30 from the functional module 20 .
  • the functional module 20 is combined with the device main body 30 in the manner of magnetic needles and magnetic buckles, which can realize a top-bottom combined structure, or a front-back or left-right structure.
  • the functional module 20 is combined with the device main body 30 in the form of electromagnetic plugs and card slots, which can realize a top-bottom combination structure, and can also realize a front-rear or left-right structure.
  • FIG. 2f is a schematic structural diagram of the first electromagnetic docking structure and the second electromagnetic docking structure being combined in the form of a magnetic needle and a magnetic buckle.
  • the first electromagnetic docking structure on the device main body 30 is fixed on the housing 34.
  • the magnetic buckle 35 on the upper and lower parts can move up and down under the action of electromagnetic force; in addition, the housing 34 is also provided with a suction hole 36 corresponding to each magnetic buckle 35.
  • the magnetic buckle 35 can be adsorbed and inserted into the corresponding suction hole 36 under the action of electromagnetic force. When the electromagnetic force disappears, the magnetic buckle 35 loses its upward attractive force, and the corresponding suction hole can be separated under the action of gravity. 36.
  • the diameter of one end is smaller than the diameter of the corresponding suction hole 36 , and can be inserted into the suction hole 36 ;
  • the surface of the functional module 20 refers to the surface facing the side of the device body 30 when combined with the device body 30 , and the surface corresponds to the suction hole 36 on the casing 34 of the device body 30 .
  • a magnetic needle 37 is provided at the position.
  • each magnetic needle 37 on the functional module 20 can be inserted into the corresponding magnetic buckle 35, and each magnetic buckle 35 can be inserted into the corresponding magnetic buckle 35.
  • the suction hole 36 of the device the combination of the functional module 20 and the device main body 30 is realized.
  • an electromagnetic force can be generated around the main body 30 of the device.
  • FIG. 2g is a schematic diagram of the process of combining and separating the magnetic buckle 35 and the magnetic needle 37.
  • a spring and a steel ball are arranged inside the magnetic buckle 35, and the steel ball is fixed at the bottom of the spring.
  • the steel ball compression spring inside the magnetic buckle 35 can be attracted to move upward, and the magnetic needle 37 is released to separate the device body 30 from the functional module 20 .
  • the number of the magnetic buckle 35 and the magnetic needle 37 is 3, but not limited to 3, and may also be 1, 2, 4, 5 or more, the number of The selection is based on being able to stably and firmly combine the device main body 30 and the functional module 20 together.
  • the three magnetic buckles 35 are evenly distributed on the housing 34, that is, the three directions (120°) of the housing 34 are provided with suction holes 36 and corresponding magnetic buckles 35; correspondingly, the three magnetic needles 37
  • the magnetic needles 37 are evenly distributed on the upper surface of the functional module 20 , that is, in three directions (120°) of the upper surface.
  • the embodiments of the present application do not limit the specifications and models of the magnetic needle 37 and the magnetic buckle 35, as long as they are compatible.
  • the magnetic buckle 35 may adopt the general 16*18mm specification
  • the magnetic needle 37 may adopt the general 11*16mm specification.
  • FIG. 2h is a schematic structural diagram of the first electromagnetic docking structure and the second electromagnetic docking structure being combined in the form of electromagnetic pins and card slots.
  • the first electromagnetic docking structure on the device main body 30 is disposed on the housing 34.
  • the electromagnetic plug 21 can shrink under the action of electromagnetic force. In the case of power failure, the electromagnetic force disappears, and the electromagnetic plug 21 will stretch and recover. into the original state.
  • the function module 20 is provided with a card slot 22 at a position corresponding to the electromagnetic plug 21 on the device body 30 .
  • the electromagnetic plug 21 is in a non-energized state.
  • the electromagnetic plug 21 can be extended and inserted into the corresponding card slot 22 on the functional module 20 to realize the combination of the functional module 20 and the device body 30;
  • the electromagnetic latch 21 shrinks and separates from the corresponding card slot 22 on the functional module 20 , thereby realizing the separation of the functional module 20 from the device main body 30 .
  • the number of electromagnetic plugs 21 and card slots 22 is not limited.
  • three are shown as an example. Of course, four can also be set according to the implementation of the device main body 30 and the functional module 20. , 5 or 6.
  • the electromagnetic latches 21 can be uniformly arranged on the device main body 30 , and correspondingly, the card slots 22 are uniformly arranged on the functional module 20 .
  • the three electromagnetic latches 21 are uniformly arranged at 120° relative to the center of the device main body 30 and the three card slots 22 relative to the center of the functional module 20 to ensure the uniformity of the force.
  • the embodiments of the present application do not limit the specifications and models of the electromagnetic plug 21.
  • an electromagnetic plug with a specification of 45.5*16*13 mm and a telescopic length of a stroke of 5 mm may be used.
  • each functional module 20 may be implemented in the same shape, size and outer contour. As shown in FIGS. 2 a to 2 h , the overall outer contour of each functional module 20 is adapted to the contour of the installation cavity 33 region of the device main body 30 , and has a higher height after being embedded in the installation cavity 33 region of the device main body 30 . fit.
  • a plurality of functional modules 20 are stored in the workstation 10 corresponding to the mobile device, and each functional module 20 can be stored in a designated area in the workstation 10 .
  • the functional module 20 currently carried by the device body 30 is referred to as the first functional module, for example, it may be a sweeping module, a mopping module, etc.
  • the functional module 20 that needs to be replaced by the device main body 30 is referred to as the second functional module.
  • the process of controlling the device main body 30 to switch from the first functional module to the second functional module may refer to the following method embodiments, which will not be repeated here.
  • FIG. 2i is a flowchart of a method for controlling a self-mobile device provided by an embodiment of the present application. As shown in FIG. 2i, the method includes:
  • the main body of the control device carries the first functional module and moves to a first area in the workstation for accommodating the first functional module, and is separated from the first functional module in the first area.
  • the first and second functional modules are used to perform the first and second specific tasks and can be combined with or separated from the main body of the device.
  • the self-mobile device can control the device body to carry the first functional module and move it to the first area in the workstation for accommodating the first functional module, and separated from the first functional module in the first area; further, the main body of the control device moves to the second area in the workstation for accommodating the second functional module, and is combined with the second functional module in the second area.
  • the main body of the device may be moved toward the workstation under the guidance of the workstation.
  • the target position can be determined by communicating and positioning the sensor on the device main body and the sensor in the workstation.
  • the device main body can send information to determine the replacement of the first functional module to the workstation, and the workstation is
  • the device body can be guided to move to the storage position of the first functional module in the workstation by means of laser or infrared rays.
  • the sensor that receives the information sent by the main body of the device may be a general sensor in the workstation, or may be a designated sensor corresponding to the first functional module, which is not limited herein.
  • data information can be continuously sent to the workstation, and the data information is information such as the distance and angle of the storage position of the device body and the first functional module in the workstation, so that the workstation can determine the current state of the device body. location.
  • the workstation detects that the device body moves to the storage position of the first functional module in the workstation, it is determined that the device body moves to the target position.
  • the device body can also monitor the current location in real time according to information such as the distance and angle from the storage location of the first functional module in the workstation during the movement to the workstation.
  • the device body monitors that it has moved to the first functional module in the workstation When it is at the storage position, the information of reaching the target position can be sent to the workstation, so that the workstation can determine that the main body of the device has moved to the target position. Further, when the device body moves to the target position, the combination and separation of the device body and the functional module can be controlled by electromagnetic force.
  • a general electromagnet is installed in the workstation, or a special electromagnet is installed at the position where each functional module is stored, then when the main body of the control device is separated from the first functional module under the action of electromagnetic force, the main body of the control device can be separated from the first functional module.
  • the main body of the control device After controlling the main body of the device to carry the first functional module to the position where the first functional module is stored in the workstation, notify the workstation to energize the general electromagnet in the workstation or the dedicated electromagnet corresponding to the first functional module to generate the main body of the device and the first functional module. Electromagnetic force required for module separation.
  • the main body of the control device when the main body of the control device is separated from the first functional module under the action of electromagnetic force, in the case where the first electromagnetic docking structure is an electromagnet, the main body of the control device can carry the first functional module and move to the workstation to store the first functional module. After a functional module is positioned, the first electromagnetic docking structure is energized to generate the electromagnetic force required to separate from the first functional module.
  • the specific details of the separation and combination of the device main body and the functional modules under the action of electromagnetic force can be found in the above-mentioned embodiments, which will not be repeated here.
  • the execution progress of the work task can be monitored during the process that the device body carries the first functional module to perform the work task, and when the work task is completed, it is determined that the first functional module currently combined with the device body needs to be replaced The second functional module required to perform the next task; or, during the process of carrying the first functional module on the main body of the device to perform the task, monitor the battery power of the first functional module, and in the case of insufficient battery power, determine the need for Replace the first functional module currently combined with the main body of the equipment with the second functional module required to perform the next task; or, in the process of carrying the first functional module to perform the task, monitor the current operating environment in real time, and monitor the current operating environment in the current task.
  • the environment is not suitable for using the first functional module, it is determined that the currently combined first functional module needs to be replaced with the second functional module required to perform the next task; wherein, the specific task implemented by the second functional module is the current The next job task of the job task.
  • the first functional module is the sweeping module.
  • the main body of the equipment can be moved to the area where the sweeping module is located in the workstation under the guidance of the workstation.
  • the sweeping module is separated from the main body of the device.
  • the main body of the equipment is moved to the area where the mopping module is located in the workstation.
  • the mopping module and the main body of the equipment are combined into a mopping robot. After the combination is successful, the mopping robot can be used. Perform mopping tasks on previously swept surfaces.
  • a spare functional module can also be stored in the workstation. If the main body of the device detects that the current first functional module is too low in power during the execution of the task, the remaining work cannot be completed. task, the device main body can be moved to the area of the first functional module in the workstation under the guidance of the workstation, and the first functional module can be separated from the device main body under the action of electromagnetic force. After the unloading of the first functional module is completed, the main body of the device is moved to the area where the standby first functional module is in the workstation, and the standby first functional module is also combined with the main body of the device under the action of electromagnetic force. After the combination is successful, Unfinished cleaning tasks can then be resumed.
  • the first functional module is a mopping module.
  • the sensor in the device body detects that the working environment to be cleaned is a carpet, and the mopping module cannot be used.
  • Move to the area where the mopping module is in the workstation under the guidance and separate the mopping module from the main body of the device under the action of electromagnetic force.
  • the main body of the equipment moves to the area where the sweeping module is in the workstation.
  • the sweeping module and the main body of the equipment are combined into a sweeping robot. After the combination is successful, the sweeping robot can return to the carpet. perform cleaning tasks.
  • the combination and separation of the device main body and the functional module are controlled under the action of electromagnetic force.
  • the way will also be different.
  • the generation and disappearance of electromagnetic force can be controlled to control the insertion and separation of the magnetic buckle and the magnetic needle, so as to realize the combination and separation of the device body and the functional module; for example,
  • the electromagnetic plug can be controlled to be energized and powered off to control the electromagnetic plug to be inserted or pulled out of the card slot, so as to realize the combination and separation of the device body and the functional module.
  • the above electromagnetic docking structure is used to realize the on-demand combination or separation between the device main body and the functional module, which is only an exemplary implementation manner of the docking structure, and is not limited thereto.
  • the main body of the device With the support of various docking structures, the main body of the device can be combined with different functional modules at any time and on demand, thereby obtaining a self-moving device with different functions.
  • the main body of the device when the main body of the device is replaced between different functional modules, it needs to be separated from the original functional module and combined with the new functional module according to the supported upper and lower combination structure or front and rear combination structure.
  • manual replacement can be adopted, or automatic replacement can be realized with the cooperation of the workstation.
  • the second functional module is located below or behind the main body of the device, so that the main body of the device can communicate with the second functional module by means of but not limited to the first electromagnetic docking structure and the second electromagnetic docking structure on the second functional module. combination between.
  • the workstation in addition to providing the function of storing the functional modules, can also support the automatic replacement of the device main body between different functional modules by means of the way of storing the functional modules.
  • the workstation 10 stores a plurality of functional modules 20 in a left-right arrangement. Specifically, a plurality of storage spaces are provided in the workstation 10 from left to right, and each storage space stores one functional module 20 .
  • the workstation 10 can also establish a corresponding relationship between the storage space and the functional modules 20 .
  • each storage space and each functional module 20 may be configured with unique identifiers respectively, and the corresponding relationship between the identifiers of the storage spaces and the identifiers of the functional modules 20 may be maintained.
  • the device main body 30 when the device main body 30 needs to be replaced from the currently combined first functional module to the second functional module, it can communicate with the workstation 10 to provide the workstation 10 with the identifier of the currently combined first functional module;
  • the corresponding relationship between the storage space of the first functional module and the functional module 20 determines the storage space where the first functional module is located; then, the workstation 10 can provide the location information of the storage space where the first functional module is located to the device main body 30, and the device main body 30 uses Its navigation system navigates to the location information, that is, the storage space where the first functional module is located; or, a signal transmitter is installed in the storage space of each functional module 20, and the signal transmitter is connected to the signal receiver on the device main body 30.
  • the workstation 10 can control the signal transmitter in the storage space where the first functional module is located to transmit a guiding signal, and the device main body 30 carries the first functional module back to the storage space where it is located under the guidance of the guiding signal; Under the control of the workstation 10 or the device main body 30, an electromagnetic field is generated in the surroundings (see above), and the first electromagnetic docking structure is separated from the second electromagnetic docking structure on the first functional module under the action of electromagnetic force, so that the device main body 30 and the second electromagnetic docking structure are separated. Separation of a functional module, so that the first functional module will be relocated in its own storage space to wait for the next use.
  • the device main body 30 can communicate with the workstation 10 to provide the identifier of the second functional module to be combined to the workstation 10; the workstation 10 determines the second functional module according to the maintained correspondence between the storage space and the functional module Then, the workstation 10 can provide the location information of the storage space where the second functional module is located to the device main body 30, and the device main body 30 uses its navigation system to navigate from the storage space where the first functional module is located to the location information. , that is, the storage space where the second functional module is located; or, the workstation 10 can control the signal transmitter in the storage space where the second functional module is located to transmit a guide signal, and the device main body 30 is stored from the location of the first functional module under the guidance of the guide signal. The space is moved to the storage space where the second functional module is located. Afterwards, the device main body 30 moves to the top or front of the second functional module according to the supported up-and-down joint structure or front-to-back joint structure. module combination.
  • each storage area in the workstation 10 is fixed with a bearing portion 11 of a slope structure, and the bearing portion 11 of the slope structure is located above the functional module.
  • the main body 30 can be located above the second functional module by means of the bearing portion 11 of the ramp structure.
  • the bearing portion 11 of the slope body structure is higher than the second functional module, and is a hollow structure to expose the second functional module, and the bearing portion 11 of the slope body structure is required to be able to carry the equipment main body 30, for example, it can be set
  • carrying structures such as a gripper, a tray, etc., so that the device main body 30 can be combined with the second functional module below.
  • the workstation 10 may include a turning mechanism 12 for storing different functional modules 20 for the device body 30 to be replaced.
  • the device main body 30 or the functional modules 20 can be flipped by means of the flip mechanism 12, and the device main body 30 and different functional modules 20 can be replaced by means of flipping, making full use of three-dimensional space resources and saving plane storage space.
  • the implementation manner and the inversion principle of the inversion mechanism 12 are not limited, which will be schematically described in the following embodiments.
  • the turning mechanism 12 can carry at least two functional modules 20 , and the at least two functional modules 20 are located on different bearing surfaces 13 of the turning mechanism 12 and occupy the same storage space.
  • the turning mechanism 12 includes two upper and lower bearing surfaces, and each bearing surface 13 can store a functional module 20 in a fixed manner.
  • the flip mechanism 12 can also have at least three bearing surfaces 13, for example, three bearing surfaces 13 or four bearing surfaces 13, each bearing surface 13 can be fixedly stored on a function module 20.
  • the included angle between adjacent bearing surfaces 13 can be the same, then the rotating platform is a regular platform; of course, the included angle between adjacent bearing surfaces 13 can also be different, then the rotating platform is an irregular platform platform.
  • the turning mechanism may not have a bearing surface, but may be provided with other structures such as a clamping portion or a clamping assembly that can support the self-moving device. No matter what kind of structure with a bearing function is used, the principle of automatic replacement of functional modules by the turning mechanism assisting the main body of the equipment is the same or similar. It should not be taken as a limitation on this application.
  • the workstation 10 is also provided with a carrying mechanism used in cooperation with the flipping mechanism 12.
  • the carrying mechanism can be any mechanical structure that can drive the main body of the device to move, such as the structure shown in FIG. 4a, But not limited to this.
  • a supporting portion is provided on the carrying mechanism, and the supporting portion of the carrying mechanism is located above the turning mechanism 12 and corresponds to the bearing surface 13 of the turning mechanism 12 facing the supporting portion, and the supporting portion is used for carrying Device body 30 .
  • the carrying mechanism is used to drive the device main body 30 to move after the device main body 30 is separated from the first functional module, so as to keep the device main body away from the flipping mechanism 12 and provide space for the flipping mechanism 12 to flip; wherein, between the device main body 30 and the first functional module After separation, the support portion can disengage the first functional module from the turning mechanism 12 .
  • the carrying mechanism can drive its supporting portion to move in a horizontal or vertical direction, and the moving direction is not limited. In an implementation manner, when the carrier mechanism drives the support portion to move upward, it will be away from the turning mechanism 12 , and when the carrier mechanism drives the support portion to move downward, it will approach the turning mechanism 12 .
  • the carrying mechanism can also drive the supporting portion to move leftward to make it away from the inversion mechanism 12 , and the carrying mechanism drives the supporting portion to move to the right to make it close to the inversion mechanism 12 .
  • the device body 30 can be automatically exchanged between different functional modules 20 . Assuming that the device body 30 is currently combined with the first functional module, due to operational requirements, such as using the first functional module to complete the current task or the battery power of the first functional module is insufficient, the first functional module needs to be replaced with a second functional module . In this case, the device main body 30 can carry the first functional module back to the workstation 10 .
  • the device main body 30 may have built-in location information of the workstation 10. Based on this, when it is necessary to return to the workstation 10, the device main body can use the navigation system to perform path planning based on the location information of the workstation 10, and plan a route from the current location to the workstation. The path where 10 is located, and follow the path back to workstation 10.
  • the workstation 10 may also be provided with a sensor for guiding the device main body 30 or returning from the mobile device to the workstation 10 , referred to as a recall sensor for short.
  • the loopback signal can be detected and directed back to the workstation 10 by the loopback signal.
  • the device main body 30 carries the first functional module and moves to the support part of the carrying mechanism, and the support part corresponds to an empty carrying surface 13 of the turning mechanism 12 , that is, no functional module 20 is placed on the carrying surface 13 and faces the support part; then , the device main body 30 is separated from the first functional module.
  • the first functional module can be separated to the bearing surface 13 of the inversion mechanism 12 currently facing the support part through the support part, and drives the device main body 30 away from the inversion mechanism 12 .
  • the carrying mechanism can drive the device body 30 to move upward at least to the first position, that is, it can move to the first position or to other positions higher than the first position, so as to keep the device body 30 away from the turning mechanism 12 , so that the Sufficient space is provided for the flipping mechanism 12 to be flipped successfully; wherein, the first position is a position above the flipping mechanism 12 , which is the lowest position required to ensure that the flipping mechanism 12 successfully completes flipping. It depends on the highest position that the turning mechanism 12 can reach.
  • the implementation structure of the support portion is not limited, and any self-moving device that can carry a combination of the device body 30 and the first functional module, and can also be used after the device body 30 is separated from the first functional module.
  • the implementation structure in which the first functional module is placed on the bearing surface 13 of the turning mechanism 12 currently facing the support portion is applicable to the embodiments of the present application. The following examples illustrate:
  • the support portion may adopt a hollow structure, and the size of the hollow portion is required to be larger than each functional module, so that after the device main body 30 is separated from the first functional module, the first functional module can be detached through the hollow portion until it is turned over.
  • the mechanism 12 now faces on the bearing surface 13 of the support.
  • the shape of the hollow portion can be adapted to the shape of each functional module.
  • a telescopic structure such as a telescopic bracket and a telescopic rod, may be provided on the inner side of the support portion, for carrying the device main body 30 .
  • the support part includes an outer frame body and a telescopic structure disposed inside the outer frame body, the telescopic structure can be retracted to form a hollow area in the ring body, so that the first functional module can pass through the hollow area Disengaged onto the bearing surface 13 of the turning mechanism 12 which is now facing the support.
  • the outer frame can be a round, oval, square, rectangular or irregular frame structure, as long as the hollow area formed in the frame after the retractable structure is retracted can be used for each functional module to be detached from the turning mechanism 12 .
  • the bearing surface 13 of the support part may be facing at present.
  • the flip mechanism 12 can be rotated, it can be rotated by 90°, it can be rotated by 180°, it can be rotated by 360°, and it can be rotated at any angle.
  • the rotation direction can be flipped back and forth, or flipped horizontally.
  • the functional modules 20 stored on each bearing surface 13 are also inverted.
  • a fixing device may be provided on the bearing surface 13 , and the fixing device is responsible for fixing the functional module 20 .
  • the fixing device may be a magnetic attraction structure, a snap structure, or a velcro structure or the like.
  • the second functional module to be combined with the device body 30 can be fixed on a certain bearing surface 13 of the turning mechanism 12 , and then the turning mechanism 12 rotates after the support portion drives the device body 30 to at least the first position.
  • the action is to turn the bearing surface 13 on which the second functional module is located to face the support portion, so as to provide conditions for the combination of the device main body 30 and the second functional module.
  • the support portion continues to drive the device main body 30 to descend to be close to the second functional module, so that the device main body 30 is combined with the second functional module.
  • the second functional module can be turned over to the bottom of the device main body 30, and the first electromagnetic docking structure on the device main body 30 and the second electromagnetic docking structure on the second functional module are in the electromagnetic attraction. combined under the action.
  • the carrying mechanism can also drive the device body to move in the horizontal direction, and move the device body 30 to the front of the second functional module.
  • the first electromagnetic docking structure on the device body 30 is connected to the second function.
  • the second electromagnetic docking structure on the module is combined under the action of electromagnetic attraction.
  • the workstation is further provided with a controller, and the carrying mechanism and the turning mechanism in the above process can perform corresponding actions under the control of the controller.
  • an embodiment of the present application provides a control method for a self-moving device.
  • the control method is applicable to the flipping mechanism of the structure shown in FIG. 3b, but is not limited to this, and is applicable to any flipping mechanism with a flipping function. .
  • the method includes:
  • the main body of the control device separates the first functional module carried by it to the turning mechanism in the workstation.
  • the main body of the control device is combined with the second functional module.
  • the main body of the device before controlling the inversion of the inversion mechanism, may also be moved to a position away from the inversion mechanism to provide space for the inversion of the inversion mechanism.
  • the inversion mechanism can be controlled to be inverted so that the second functional module on the inversion mechanism faces the device body, specifically, the installation cavity of the device body.
  • the installation cavity is a structure on the main body of the device for arranging the functional modules. The implementation structure and location of the installation cavity can be found in the above description, which will not be repeated here.
  • the device main body in the case that a carrying mechanism is provided in the workstation, after the device body is separated from the first functional module, the device main body can be moved to a position away from the turning mechanism through the carrying mechanism in the workstation; accordingly After the flipping mechanism is flipped, when the control device main body is combined with the second functional module, the device main body can be brought close to the flipping mechanism through the carrying mechanism until the device main body is combined with the second functional module on the flipping mechanism.
  • the workstation is provided with a carrying mechanism and a turning mechanism, a process of replacing the functional module by the main body of the equipment, as shown in Figure 3d, when the main body of the equipment needs to replace the first functional module with the second functional module, the main body of the equipment Carry the first functional module and move it to the support part of the carrying mechanism.
  • the main body of the control device separates the first functional module from the support part; An electromagnetic field is generated around, so that the main body of the device is separated from the first functional module under the action of electromagnetic force; after the first functional module is separated from the supporting part, it can be detached from the turning mechanism through the supporting part; after that, the carrying mechanism is controlled to pass through the supporting part Then, control the turning mechanism to turn over the second functional module to face the device body; then, control the carrying mechanism to drive the device body to move downward and approach the second functional module until the device The main body is combined with the second functional module on the turning mechanism.
  • the general electromagnet or the dedicated electromagnet corresponding to the first functional module can be powered off, so that the device body is combined with the second functional module.
  • the flip mechanism has two bearing surfaces A and B, and the second functional module is borne by the B bearing surface, and the first functional module is borne by the A bearing surface as an example for illustration.
  • FIG. 3d is only a schematic state diagram of the working process, and structural features of other functional components are not shown.
  • two functional modules are located on the upper and lower two bearing surfaces of the turning mechanism and are turned 180° for illustration as an example, but it is not limited to this.
  • the turning mechanism when the turning mechanism includes two upper and lower bearing surfaces, the turning mechanism can be controlled to turn 180° so that the second functional module on the second bearing surface thereof faces the device main body, as shown in FIG. 3d .
  • the turning mechanism includes at least three bearing surfaces
  • the second functional module that needs to be replaced in the main body of the device can be identified, and the second bearing surface where the second functional module is located can be determined;
  • the positional relationship of the first bearing surface and the number of bearing surfaces determine the angle to be turned over, and the turning angle of the turning mechanism is controlled to orient the second functional module on the second bearing surface toward the device body.
  • the workstation can be provided with at least one replacement area, the replacement areas are isolated from each other, and each replacement area is provided with the inversion mechanism and the carrying mechanism provided in the above-mentioned embodiment, through these inversion mechanisms and carrying mechanisms, each A replacement area can store more functional modules, which is beneficial to save the space of the workstation.
  • the replacement area may be in the shape of a cylinder, a cube or a cube, or an irregular shape.
  • the cavity shapes of these replacement areas may be the same or different; in addition, the cavity sizes of these replacement areas may be the same or different.
  • the inversion mechanism may also have other implementation structures and inversion principles.
  • the inversion mechanism may also have other implementation structures and inversion principles. For details, refer to the following embodiments.
  • the workstation includes at least a first position, a second position and a third position.
  • the first position is the position for separating the main body of the device from the first functional module currently carried, that is, the first functional module will be separated to the first position;
  • the second position corresponds to the third position, and the third position is placed with a
  • a second functional module needs to be combined with the device body
  • the second position is a position for placing the device body when the device body needs to be combined with the second functional module.
  • the workstation of this embodiment further includes a turning mechanism and a controller. The turning mechanism cooperates with the first, second and third positions in the workstation, and can be automatically exchanged among multiple functional modules in cooperation with the main body of the device.
  • the realization structure and the inversion principle of the inversion mechanism in this embodiment are different from the inversion mechanism in the previous embodiment, and the details are as follows:
  • the main body of the device can carry the first functional module back to the workstation; first, the main body of the device is controlled to separate the first functional module carried by it to the first position in the workstation; then, the main body of the device is controlled to invert the main body to the first position in the workstation.
  • the second position in the workstation wherein the second functional module is placed in the third position corresponding to the second position in the workstation; after that, one of the second functional module and the device body is controlled to approach the other until the device body and the first Combination of two functional modules.
  • the second functional module can be controlled to approach the device main body until the device main body is combined with the second functional module, at which time the third position will be free; or, the device main body can be controlled to approach the second functional module until the device main body and The second function module is combined, and the second position will be free at this time.
  • the inversion mechanism in this embodiment is at least used to invert the main body of the device to the second position.
  • the turning mechanism can also be controlled to turn the first functional module to an idle position in the second position and the third position, and the device body combined with the second functional module can be turned over. Flip to first position.
  • the idle position may be the second position or the third position.
  • the turning mechanism in this embodiment can also be used to turn the first functional module to the idle position among the second position and the third position, and can turn the device body combined with the second functional module to the first position.
  • the workstation includes at least one replacement area for storing different functional modules for replacement of the device body.
  • Each replacement area includes at least a first position, a second position and a third position.
  • each replacement area is provided with a turning mechanism, and the turning mechanism can be turned toward the second position.
  • the second position can be any position in the replacement area, used to carry the main body of the equipment;
  • the third position can be any other position in the replacement area that is different from the second position, used to store the functional modules to be combined;
  • a position is used to store the functional modules separated from the main body of the device.
  • the first position may be the bottom of the replacement area
  • the second position may be a position on the first side wall of the replacement area
  • the first side wall may be any side wall in the replacement area, which is not limited.
  • the third position may be a position on the second side wall of the replacement area, and the second side wall corresponds to the first side wall.
  • the replacement area where the second functional module is located is recorded as the target replacement area, and when the device body needs to replace the second functional module, the device body can be controlled to carry the first functional module and move to the location where the second functional module is located in the target replacement area, and control the main body of the equipment to separate the first functional module to the bottom of the target replacement area, that is, the first position; after that, the turning mechanism can be controlled to turn the main body of the device over to the first side wall of the target replacement area, that is, the first position.
  • the second position after that, one of the control device main body and the second functional module located on the second side wall (ie, the third position) approaches the other until the two are combined.
  • the workstation in this embodiment is further provided with a carrying mechanism, which can drive the equipment body or functional modules to move.
  • the carrying mechanism also includes a support portion for carrying the device main body or functional modules.
  • the structure of the carrying mechanism can be seen in Fig. 4a, but is not limited thereto.
  • the device body when the device body needs to replace the second functional module, the device body can be controlled to carry the first functional module to the target replacement area where the second functional module is located, and the device body can be controlled to replace the first functional module with the first functional module.
  • the module is separated to the support part of the carrying mechanism, which can disengage the first functional module to the bottom of the target replacement area, that is, the first position; after the equipment main body is separated from the first functional module, the carrying mechanism can be controlled to drive the equipment main body Specifically, the carrying mechanism can drive the device body to rise to a height corresponding to the second functional module under the control of the controller; after that, the turning mechanism can be controlled to turn the device body to the first position in the target replacement area at this height. on the side wall, that is, the second position; after that, one of the control device main body and the second functional module located on the second side wall approaches the other until the two are combined.
  • the device body can be fixed on the first side wall to prevent it from slipping down from the first side wall.
  • the fixing method is not limited.
  • a fixing device can be provided on the first side wall, and the fixing device can adopt a magnetic attraction method.
  • the second magnetic attraction pieces of the two parts cooperate with each other; or the fixing device can also adopt a buckle structure or a velcro structure.
  • Structure and toggle elastic buckle structure For the combination structure of the female buckle and the buckle, the buckle can be designed on the stop, the female buckle can be designed as a perforated structure, a sloping top structure under the female buckle, or the female buckle sealant can be used to strengthen the ribs.
  • a telescopic mechanism is provided on the first side wall or the second side wall, and accordingly, the main body of the equipment or the second functional module is fixed on the telescopic mechanism; The module approaches the other side.
  • the telescopic mechanism can be any one of a rolling shutter telescopic structure, a wave-type folding structure or a spring-type telescopic structure. After the device main body or the second functional module is fixed, the telescopic mechanism can drive the device main body or the second functional module to move outward through expansion and contraction.
  • the inversion mechanism includes a first inversion portion and a second inversion portion.
  • the first inversion part is arranged on the support part of the carrying mechanism, and is used to invert the main body of the equipment to the first side wall when the carrying mechanism drives the main body of the equipment to move up to a height corresponding to the second functional module.
  • the second inversion part is arranged on the first side wall or the second side wall. If the second inversion part is arranged on the first side wall, the main body of the device will be fixed on the second inversion part, and the second inversion part can be installed on the device.
  • the device main body and the second functional module are turned over to the first position together, so that the device main body can carry the second functional module to perform work tasks; if the second inversion part is arranged on the second side wall , the second functional module will be fixed on the second inversion part, and the second inversion part can invert the main body of the device and the second functional module together to the first position after the main body of the device is combined with the second functional module, so as to For the main body of the device to carry the second functional module to perform work tasks.
  • the positional relationship between the first inversion part and the first side wall is not limited.
  • the first inversion part is vertically arranged relative to the first side wall;
  • the bottom of the target replacement area is vertically set, but not limited thereto.
  • the workstation is further provided with a controller, and in the above process, both the carrying mechanism and the turning mechanism can perform corresponding actions under the control of the controller.
  • the embodiment of the present application provides a control method for a self-moving device.
  • the control method is applicable to, but not limited to, the inversion mechanism in the above embodiment, and is applicable to any inversion mechanism with inversion function. As shown in Figure 3e, the method includes:
  • the main body of the control device separates the first functional module carried by the device to a first position in the workstation.
  • the method further includes: turning the first functional module over to an idle position in the second position and the third position; combining the device body with the second functional module Flip to the first position; wherein the idle position is the second position or the third position.
  • controlling the device main body to detach the first functional module carried by it to the first position in the workstation includes: controlling the device main body to carry the first functional module and move it to the target replacement area where the second functional module in the workstation is located; The main body of the control device separates the first functional module to the bottom of the target replacement area, and the first position is the bottom of the target replacement area.
  • the above-mentioned second functional module is located on the second side wall of the target replacement area; based on this, turning the device body to the second position includes: raising the device body to a height corresponding to the second functional module, The device main body is turned over to the first side wall corresponding to the second side wall on the target replacement area in height, and the second position is the position on the first side wall.
  • the workstation is also provided with a carrying mechanism and a replacement area. Based on this, a process in which the main body of the equipment replaces the functional modules in the workstation, as shown in Figure 3f, when the main body of the device needs to replace the first functional module with the second functional module, The main body of the device carries the first functional module and moves to the support part of the carrying mechanism.
  • the main body of the device is controlled to separate the first functional module from the supporting part; for example, the general electromagnet or the special electromagnet corresponding to the first functional module can be energized , generates an electromagnetic field around, so that the main body of the device is separated from the first functional module under the action of electromagnetic force; after the first functional module is separated to the support part, it can be separated from the bottom of the target replacement area where the second functional module is located through the support part ; After that, control the carrying mechanism to drive the device body to rise to a height corresponding to the second functional module through the support part; then, at this height, control the first turning part on the support part to turn over toward the first side wall to turn the device body Turn over to the position corresponding to the specified height on the first side wall; after that, control the telescopic mechanism on the second side wall to extend outward to drive the second functional module to approach the main body of the device until the main body of the device is combined with the second functional module;
  • the telescopic mechanism is provided on the second side wall and the second inversion portion is provided on the first side wall as an example for illustration and description, but it is not limited to this.
  • a telescopic mechanism can also be provided on the first side wall, and a second inversion portion can be provided on the second side wall, so that the telescopic mechanism on the first side wall can be controlled to extend outward to drive the main body of the device toward the second functional module. approach until the device main body is combined with the second functional module; then, control the second turning portion on the second side wall to turn down to turn the device main body together with the second functional module to the bottom of the target replacement area.
  • 3f is only a state diagram of the working process, and the structural features of other functional components are not shown.
  • the first side wall and the second side wall are shown as an example in which the first side wall and the second side wall are opposite to each other, but it is not limited to this.
  • the workstation in another embodiment, shown in Figure 4a, includes a carrier mechanism 42 and a controller.
  • the controller is used to control the separation of the device body and the first function module after the device body carrying the first function module reaches the first position of the workstation, and control the second function module and the device body when the device body moves to the second position combine.
  • the carrying mechanism 42 is used to drive the device main body to move to the second position according to the first set path under the control of the controller.
  • first position and the second position in the present application are the corresponding positions of the first functional module and the second functional module, respectively.
  • the first position is located above the placement position of the first functional module, and the second position is located above the placement position of the second functional module.
  • the first position is located below the placement position of the first functional module, and the second position is located below the placement position of the second functional module.
  • the first set path is set according to the positional relationship between the first functional module and the second functional module, and the first set path is preferably designed to conform to the shortest path in the operation mode of the carrying mechanism.
  • the carrying mechanism drives the device body to move in at least one of the vertical direction and the horizontal direction until the second position.
  • the manner in which the carrying mechanism drives the device body to move to the second position includes but is not limited to the following moving manners:
  • Movement mode 1 the carrying mechanism drives the main body of the equipment to directly move to the second position in the left and right horizontal directions;
  • Movement mode 2 the carrying mechanism drives the main body of the equipment to directly move to the second position in the front and rear horizontal directions;
  • the carrier mechanism drives the equipment body to move to the third position in the vertical direction; continues to drive the equipment body to move to the fourth position in the horizontal direction, and the fourth position is vertically aligned with the second position; from the fourth position The main body of the device is driven to move to the second position in the vertical direction.
  • the device body is moved from the first position to the second position by one horizontal movement, which is limited by the structure of the device body and the first functional module. If the device body is completely separated from the device body after being unlocked, the device body can be moved by the above-mentioned moving methods of the first moving method and the second moving method. If the first functional module and the device main body are not completely separated after unlocking, it is necessary to move the device main body and the first functional module a certain distance in the moving direction of the first functional module, and then move in the direction of the second functional module. For the situation, please refer to the embodiment in the third movement mode.
  • the carrying mechanism 42 drives the equipment body to move vertically upward from the first position to the third position, and continues to drive the equipment body from the third position to move in the left and right horizontal directions to the third position.
  • the fourth position drives the device body to move vertically downward from the fourth position to the second position.
  • the carrying mechanism 42 drives the equipment body from the first position to move the equipment body vertically upward to the third position, continues to drive the equipment body from the third position to move to the fourth position in the front and rear horizontal directions, and drives the equipment body vertically from the fourth position. move down to the second position.
  • the self-mobile device needs to switch different functional modules, it can be done by using any of the switching methods provided above.
  • the movable device body is moved by the carrying mechanism to gradually approach the fixed second functional module until the two are assembled together.
  • the second functional module can also be moved to gradually approach the movable device body until the two are assembled together.
  • how to ensure the positional alignment of the movable device body and the second functional module is another technical problem to be solved in the embodiments of the present application.
  • the workstation in the embodiment of the present application is not only provided with a switching system for the device body to replace functional modules, but also mainly includes the above-mentioned carrying mechanism and/or turning mechanism, etc., which are used to realize automatic switching between the movable device body and different functional modules.
  • an automatic alignment system is also added, which is used to realize the automatic alignment of the movable equipment main body and the functional module to be switched during the switching process of the movable equipment main body and the functional module, eliminating manual intervention and solving assembly problems. Not in place and other problems, improve the alignment accuracy.
  • the workstation in addition to the carrying mechanism 42 and the controller, the workstation also includes a positioning device 41, and the positioning device 41 is used to move the equipment body in at least one of the vertical direction and the horizontal direction when the carrying mechanism 42 drives the equipment body to move in at least one direction.
  • the positioning device 41 can be used to measure Whether the moving device body moves in place in the direction of the positioning device, so as to realize the automatic alignment of the movable device body and the function module to be switched.
  • the set distance value is not limited in the embodiment of the present application, and the set distance value can be adjusted according to the actual situation.
  • the carrying mechanism 42 includes a support portion 425, which is used for, in the process of switching the movable device body from the currently assembled first functional module to the second functional module, in the controller's
  • the action of the lower support portion 425 is controlled to drive the movable device body to move in at least one direction, so as to combine the movable device body with the second functional module.
  • the at least one direction includes an up-down vertical direction, a front-rear horizontal direction, and a left-right horizontal direction.
  • the above at least one direction is affected by factors such as the structure of the workstation itself, the storage method of each functional module in the workstation, and the working principle of the automatic alignment system.
  • the to-be-aligned direction refers to the currently aligned direction of at least one direction.
  • the first functional module B1 of the mobile device is located above the movable device body A, and after the mobile device returns to the workstation , the mobile device is parked above the support portion 425, wherein the movable device body A is placed above the support portion 425, the first functional module extends below the support portion 425, and the first functional module and the second functional module are in The workstation is placed horizontally from left to right.
  • the process of switching the movable device body A from the currently assembled first functional module B1 to the second functional module B2 is: after the movable device body A and the first functional module B1 are unlocked, the carrying mechanism 42 drives the movable device The main body moves upward (see Figure 4b) until the first functional module B1 is in a disengaged state from the movable device body A (see Figure 4c); the carrying mechanism 42 drives the movable device body A to move horizontally to the right until the movable device body A is moved horizontally to the right. The device main body A is moved to the top of the second functional module B2 (see FIG. 4d); the carrying mechanism 42 drives the movable device main body A to move downward until the movable device main body A moves to the second functional module B2. The whole combining process (see Fig. 4e); the movable device body A is locked with the second functional module B2 to form a new self-moving device.
  • the first functional module B1 of the self-mobile device is located above the movable device body A, and after the self-mobile device returns to the workstation, the self-mobile device is parked above the support portion 425 , wherein the movable device body A rests on the top of the support portion 425 , the first functional module B1 extends below the support portion 425 , and the first functional module B1 and the second functional module B2 are placed horizontally in the workstation.
  • the process of switching the movable device body A from the currently assembled first functional module B1 to the second functional module B2 is: after the movable device body A and the first functional module B1 are unlocked, the carrying mechanism 42 drives the movable device The main body A moves upward (see Figure 4b) until the first functional module B1 is in a disengaged state from the movable device body A (see Figure 4c); the carrying mechanism 42 drives the movable device body A to move backward until the movable device body A is moved backwards. The device body A is moved to the top of the second functional module B2 (see FIG.
  • the carrying mechanism 42 drives the movable device body A to move downward until the movable device body A moves to the second functional module B2 to contact and cooperate to complete the whole process. Alignment process (see FIG. 4e ); the movable device body A is locked with the second functional module B2 to form a new self-moving device.
  • the first functional module of the self-moving device is located above the movable device body. After the self-moving device returns to the workstation, the movable device main body is placed inside the workstation, and the first functional module is connected to the first functional module. The two function modules are placed horizontally before and after the workstation.
  • the process of switching the movable device body from the currently assembled first functional module to the second functional module is: after the movable device body and the first functional module are unlocked, the lifting mechanism drives the movable device body to move down until The first functional module is in a disengaged state from the movable main body of the equipment; the lifting mechanism drives the first functional module to move to the right until the first functional module moves above its corresponding storage position; the lifting mechanism drives the first functional module to move downward to move the first functional module downward.
  • the first functional module moves to its storage position; the lifting mechanism moves upward and then moves to the right above the second functional module, the lifting mechanism moves down to contact and cooperate with the second functional module, and the lifting mechanism drives the second functional module to move upward.
  • the lifting mechanism drives the second functional module to move up and contact and cooperate with the movable equipment main body to complete the whole alignment process; the movable equipment main body is locked with the second functional module to form New self-mobile device.
  • the first driving motor 421 and the driving member driven by the first driving motor 421 can be provided.
  • the driving member is a horizontal displacement screw 422 arranged in a horizontal direction
  • the support portion 425 is connected to one end of the horizontal displacement screw 422
  • the first driving motor 421 drives the horizontal displacement screw 422 to rotate in the forward or reverse direction
  • the support portion 425 correspondingly moves horizontally along the rotation direction of the horizontal displacement screw 422, thereby driving the movable device body placed on the support portion 425 to move horizontally.
  • the driving member can move in the horizontal direction of a telescopic rod
  • the support portion 425 is threadedly connected to one end of the telescopic rod
  • the first drive motor 421 drives the telescopic rod to perform horizontal telescopic movement
  • the support portion 425 performs corresponding The ground moves horizontally, thereby driving the movable device body placed on the support portion 425 to move horizontally.
  • a second driving motor 423 and a driving member driven by the second driving motor 423 can be provided.
  • the driving member is a vertical displacement screw 424 arranged in a vertical direction
  • the support portion 425 is threadedly connected to one end of the vertical displacement screw 424
  • the second driving motor 423 drives the vertical displacement screw 424 to rotate forwardly or reversely to support the vertical displacement screw 424.
  • the part 425 rotates up or down along the vertical displacement screw 424, thereby driving the movable device body placed on the support part 425 to move up and down.
  • the drive member can move in the vertical direction of the telescopic rod
  • the support part 425 is threadedly connected to one end of the telescopic rod
  • the second drive motor 423 drives the telescopic rod to perform vertical telescopic movement
  • the support part 425 correspondingly Rotate up or down, thereby driving the movable device body placed on the support portion 425 to move up and down.
  • FIG. 4a is a schematic structural diagram of a carrying mechanism 42 provided by an exemplary embodiment of the present application.
  • the carrier mechanism 42 includes a lift mechanism and a translation mechanism.
  • the translation mechanism includes a first drive motor 421 and a horizontal displacement screw 422; the lift mechanism includes a second drive motor 423 and a vertical displacement screw 424; the horizontal displacement screw 422 is connected to the first drive motor 421, and the first drive motor 421 drives the horizontal
  • the displacement screw 422 rotates; the vertical displacement screw 424 is connected with the second driving motor 423, and the second driving motor 423 drives the vertical displacement screw 424 to rotate; the second driving motor 423 is screwed on the horizontal displacement screw 422; the support part 425 is screwed
  • the lower end of the screw 424 is vertically displaced.
  • the first driving motor 421 drives the horizontal displacement screw 422.
  • the second driving motor 423 and the vertical displacement screw 424 of the carrier mechanism 42 in the embodiment of the present application are installed on the horizontal displacement screw 422.
  • the horizontal displacement screw 422 rotates, it drives the vertical displacement screw
  • the supporting parts 425 connected by 424 move horizontally together, the design of the carrying mechanism 42 is reasonable, the structure is simple and compact, the space is small, and the volume of the workstation is reduced.
  • the moving direction of the movable device body will be different.
  • the movable device body needs to move horizontally and vertically, the world coordinate system can be used as an example.
  • the movable device body can move in the directions of the three coordinate axes of the world coordinate system to achieve horizontal and vertical movement; When moving horizontally, it can be divided into front and rear horizontal movement and left and right horizontal movement.
  • positioning means may be provided in at least one horizontal movement direction, the positioning means may locate the moving position of the movable device body in the corresponding horizontal movement direction, and of course, it may also be in another horizontal movement direction.
  • a positioning device is arranged in the moving direction, and the positioning device can locate the moving position of the movable device main body in another horizontal moving direction.
  • the movable device body also needs to move up and down, that is, move along the vertical direction, and a positioning device can also be provided in the vertical direction to locate the moving position of the movable device body in the vertical direction.
  • the installation position of the positioning device in the workstation will be different, which is not limited.
  • the positioning device those skilled in the art can easily think of the installation position of the positioning device without any creative effort.
  • the positioning device 41 is used to position the device body in at least one direction when the carrier mechanism drives the device body to move in at least one of the vertical direction and the horizontal direction.
  • the moved position information is reported to the controller, and the controller controls the carrying mechanism 42 according to the position information.
  • the positioning device 41 includes at least one of a vertical optocoupler device and a horizontal optocoupler device; the vertical optocoupler device includes a transmitting optocoupler and a receiving optocoupler that are oppositely arranged in the horizontal direction, and are used for positioning the main body of the device in the vertical direction.
  • the position information moved to in the direction; the horizontal optocoupler device includes the transmitting optocoupler and the receiving optocoupler oppositely arranged in the vertical direction, and is used to locate the position information to which the main body of the device moves in the horizontal direction.
  • Each group of optocoupler devices includes a transmitting optocoupler and a receiving optocoupler, and the transmitting optocoupler and the receiving optocoupler are disposed opposite to each other with a gap 410 left.
  • the present application utilizes an optocoupler device to locate the moving position of the movable device body in at least one direction, thereby improving the positioning accuracy of the automatic alignment system.
  • the embodiments of the present application do not limit the implementation structure of the positioning device, and any device with a position detection function is applicable to the embodiments of the present application.
  • the carrying mechanism is provided with a shielding part adapted to at least one optocoupler device, and the shielding part moves together with the main body of the equipment, and is used to move between the transmitting optocoupler and the receiving optocoupler in the optocoupler device adapted to it.
  • the controller determines the installation position of the optocoupler device that receives the detection signal reported by the corresponding optocoupler device, and determines that the main body of the device moves to at least one direction. location information.
  • the vertical optocoupler device of the carrying mechanism 42 includes: a first vertical optocoupler device corresponding to the third position, a second vertical optocoupler device corresponding to the fifth position, and a third vertical optocoupler device corresponding to the second position
  • the vertical optocoupler device; the fifth position is located between the first, second and third positions in the vertical direction
  • the horizontal optocoupler device includes: a first horizontal optocoupler device corresponding to the fourth position and a first horizontal optocoupler device corresponding to the sixth position
  • the second horizontal optocoupler device; the sixth position is located between the third position and the fourth position in the horizontal direction.
  • the second vertical optocoupler device and the second horizontal optocoupler device are used to detect the deceleration signal that the carrier mechanism starts to decelerate.
  • the second vertical optocoupler device and the second horizontal optocoupler device can be added to effectively buffer.
  • the impact force of the carrier 42 It is obvious that the present application does not limit the quantity and position of the second vertical optocoupler devices, which can be adjusted according to the actual situation.
  • the controller controls the carrying mechanism to start according to the detection signal reported by the second vertical optocoupler device during the process that the device body moves vertically upward to the third position. Slow down the movement, and control the carrying mechanism to stop moving according to the detection signal reported by the first vertical optocoupler device.
  • the controller controls the carrier according to the detection signal reported by the second horizontal optocoupler device during the process of moving the device body to the fourth position in the horizontal direction.
  • the mechanism starts to decelerate and moves, and according to the detection signal reported by the first horizontal optocoupler device, the carrying mechanism is controlled to stop moving.
  • the controller controls the carrying mechanism according to the detection signal reported by the second vertical optocoupler device during the process that the device body moves vertically downward to the second position. Start to decelerate and move, and control the carrying mechanism to stop moving according to the detection signal reported by the third vertical optocoupler device.
  • the controller controls the carrying mechanism to stop moving when receiving the detection signal reported by the first vertical optocoupler device, the third vertical optocoupler device or the first horizontal optocoupler device; or After receiving the detection signal reported by the first vertical optocoupler device, the third vertical optocoupler device or the first horizontal optocoupler device, delay a specified time, and control the carrying mechanism to stop moving.
  • the controller controls the carrying mechanism to decelerate and move.
  • a first shielding portion 4251 protruding outward is provided on the support portion 425 of the carrying mechanism 42 in the workstation, and a second shielding portion is provided on the second driving motor 423 in the lifting mechanism 4261, the first shielding portion 4251 and the second shielding portion 4261 can be raised sheets.
  • the setting position of the first shielding portion 4251 on the support portion 425 and the setting position of the second shielding portion 4261 on the second driving motor 423 are the same as
  • the installation positions of the optocouplers correspond to each other, that is, when the support portion 425 moves to the horizontal plane where the optocouplers are located, the raised shielding portion can block the optocouplers, thereby blocking the communication between the optocouplers.
  • the positioning device 41 is combined with the first shielding portion 4251 protruding on the support portion and the second shielding portion 4261 of the motor reduction gear box to realize the automatic alignment system of the present application.
  • the carrying mechanism 42 has a support portion 425, the support portion 425 is used to carry the movable equipment body, and the support portion 425 is provided with a first shielding portion 4251;
  • a shielding portion 4251 moves up and down to the gap 410 between the transmitting optocoupler and the receiving optocoupler in the corresponding group of optocoupler devices driven by the carrier mechanism 42, the optocoupler device is triggered to generate a detection signal and report to the controller
  • the controller determines the moving position of the movable device main body or the second functional module in the vertical direction to the optocoupler device reporting the detection signal according to the installation position of the optocoupler device reporting the detection signal.
  • first shielding portions 4251 are respectively protruded from the two outer side walls of the support portion 425 .
  • the implementation form of the first shielding portion 4251 is not limited in this embodiment of the present application.
  • the structure of the first shielding portion 4251 is preferably a sheet-like structure that fits with the gap between the optical couplers.
  • the number of the first shielding parts 4251 can be adaptively adjusted according to the number of optocouplers and the actual situation.
  • the carrying mechanism 42 further includes a motor reduction gear box 426 , and the second drive motor 423 is arranged in the motor reduction gear box 426 , and two shielding portions 4261 are provided on the second drive motor 423 .
  • the first horizontal optocoupler device is triggered to generate a detection signal and Report to the controller; the controller determines the moving position of the movable equipment body in the horizontal direction with the optocoupler device reporting the detection signal according to the installation position of the optocoupler device reporting the detection signal.
  • a pair of optocoupler components in the present application includes a set of optocouplers for detecting the stop position of the movable device body and a set of optocouplers for detecting the deceleration of the movable device body; adding a set of optocouplers for detecting the movable device body or A group of optocouplers that decelerates the first functional module decelerates before the movable main body or the first functional module reaches the stop position, so as to buffer the impact force of the carrying mechanism 42 and improve the running stability of the carrying mechanism 42 .
  • two sets of optocouplers are set close to each other in the set position to prevent premature deceleration due to the large distance.
  • the embodiments of the present application do not limit the distance between the two groups of optocouplers, which can be set according to actual conditions.
  • the function of a pair of optocouplers is not fixed.
  • the main body of the movable device is in the current movement direction.
  • the function of the first group of optocouplers is to send a control signal to the controller for deceleration.
  • the function is to send a control signal to the controller to stop the action.
  • the automatic alignment system according to the embodiment of the present application may only be provided with a set of optocouplers for detecting the movement of the movable main body or the first function module being stopped.
  • the workstation includes a replacement area for the device body to replace the functional modules;
  • the replacement area includes an entrance and exit and a hollow cavity formed by a side wall, and the first and second functional modules are located in the hollow cavity;
  • the replacement A first vertical optocoupler device, a second vertical optocoupler device and a third vertical optocoupler device are arranged on the left and right sidewalls of the area in order from top to bottom; and/or the upper sidewalls of the replacement area are sequentially arranged from left to right
  • a first horizontal optocoupler device and a second horizontal optocoupler device are provided.
  • the automatic alignment system is provided with two sets of optocoupler devices on the left and right sidewalls of the replacement area respectively, and four sets of optocoupler devices are provided on the upper sidewall of the replacement area.
  • the two sets of optocouplers under the sidewalls of the replacement area are used to locate the contact position of the equipment body;
  • the two sets of optocouplers above the sidewalls of the replacement area are used to locate the functional module and the movable The disengagement position of the device body;
  • two sets of optocouplers on the side of the upper side wall of the replacement area are used to position the left and right movement of the functional module and the movable device body to the upper position of the movable device body or functional module to be switched.
  • the adjacent two groups of optocoupler devices include a group of optocouplers for detecting the stop position of the movable device body or functional module and a group of optocouplers for detecting the deceleration of the movable device body or functional module.
  • the support portion 425 is in a hollow ring-mounted structure, the middle portion of the support portion 425 is provided with a receiving through hole 4250, and the two sides of the side wall of the through hole 4250 are protruded with support bumps 4252, which are returned from the mobile device.
  • the movable main body of the device rests on the supporting protrusion 4252 , and the functional module extends from the accommodating through hole 4250 to the bottom of the supporting portion 425 .
  • a support bump 4252 is respectively provided on both sides of the through hole 4250.
  • the shape and quantity of the support bumps 4252 are not limited in this embodiment of the present application.
  • the support bumps 4252 include but are not limited to the following types: rectangular, fan-shaped , semicircles and triangles. The number of the support bumps 4252 can also be adjusted according to the actual situation.
  • the self-mobile device When the self-mobile device needs to switch from the first functional module to the second functional module, the self-mobile device returns to the space where the workstation is located, enters the work area where the first functional module is located, and parks the self-mobile device above the support portion 425, wherein the The moving device body rests above the support portion 425 , and the first functional module extends below the support portion 425 .
  • the carrying mechanism 42 drives the movable device body to move upward (see FIG. 4b ) until the first shielding portion 4251 on one side of the support portion 425 extends into the vertical direction.
  • the second vertical optocoupler device When there is a gap 410 in the second vertical optocoupler device, the second vertical optocoupler device reports a detection signal to the controller, and the controller controls the lifting mechanism to decelerate after receiving the detection signal;
  • the shielding portion 4251 extends into the gap 410 in the first vertical optocoupler device arranged in the vertical direction, the first vertical optocoupler device reports a detection signal to the controller, and the controller controls the carrying mechanism 42 to stop moving after receiving the detection signal.
  • the carrying mechanism 42 drives the movable device body to move horizontally to the right side until the second shielding portion 4261 provided on the second driving motor 423 extends
  • the second horizontal optocoupler device reports a detection signal to the controller, and the controller controls the carrying mechanism 42 to decelerate after receiving the detection signal
  • the shielding portion 4261 extends into the gap 410 in the first horizontal optocoupler device set in the horizontal direction
  • the first horizontal optocoupler device reports a detection signal to the controller, and the controller controls the carrying mechanism 42 to stop moving after receiving the detection signal.
  • the carrying mechanism 42 drives the movable device body to move downward, when the first shielding portion 4251 on the other side of the supporting portion 425 extends into the gap in the second vertical optocoupler device arranged in the vertical direction
  • the second vertical optocoupler device reports a detection signal to the controller, and the controller controls the carrying mechanism to decelerate after receiving the detection signal.
  • the third vertical group optocoupler device reports a detection signal to the controller, and the controller controls the carrying mechanism 42 to stop moving after receiving the detection signal (see FIG.
  • the movable device body is locked with the second functional module to form a new self-moving device.
  • the carrying mechanism 42 drives the movement of the main body of the equipment to be combined with the second functional module.
  • the carrying mechanism 42 can also move the first functional module from its first position to the second position according to the first set path, and then drive the second functional module to move to the first position according to the second set path and The device body is combined.
  • FIG. 4g is a schematic flowchart of a control method for switching functional modules provided by an exemplary embodiment of the present application. As shown in Figure 4g, the method includes:
  • the above-mentioned moving the device body to the second position according to the first set path includes: moving the device body in at least one of a vertical direction and a horizontal direction to the second position.
  • moving the device body in at least one of the vertical direction and the horizontal direction to the second position includes: moving the device body in the vertical direction to a third position; moving the device body in the horizontal direction to the second position.
  • a fourth position, the fourth position is vertically aligned with the second position; the device body is moved vertically to the second position from the fourth position.
  • the above-mentioned moving the device body to the third position in the vertical direction includes: starting from the first position, moving the device body vertically upward to the third position; correspondingly, starting from the fourth position, moving the device body vertically upwards.
  • Moving in the direction to the second position includes: starting from the fourth position, moving the device body vertically downward to the second position.
  • moving the device body to the fourth position in the horizontal direction includes:
  • the device body is moved to the fourth position in the front-rear horizontal direction.
  • the device body is moved vertically upward to a third position, including:
  • the second vertical optocoupler device corresponds to the fifth position
  • the first vertical optocoupler device corresponds to the third position
  • the fifth position is located between the first position and the third position.
  • moving the device body to the fourth position in the horizontal direction includes: starting from the third position to control the device body to move in the horizontal direction; during the movement, according to the detection signal reported by the second horizontal optocoupler device , the main body of the control device starts to decelerate and moves, and according to the detection signal reported by the first horizontal optocoupler device, the main body of the control device stops moving;
  • the first horizontal optocoupler device corresponds to the fourth position
  • the second horizontal optocoupler device corresponds to the sixth position
  • the sixth position is located between the third position and the fourth position in the horizontal direction.
  • the method further includes: moving the second functional module to the second position according to the second set path.
  • FIG. 4h is a schematic flowchart of another control method for switching functional modules provided by an exemplary embodiment of the present application. As shown in Figure 4h, the method includes:
  • Application Scenario 1 The sweeping robot starts from the workstation to perform the sweeping operation. After the sweeping operation of the sweeping robot is completed, according to the preset cleaning sequence, the sweeping robot needs to perform the next mopping operation; the sweeping robot stops the operation and drives to the bathroom where the workstation is located. . After arriving in the bathroom, it is guided to move to the replacement area of the sweeping module by the recharge guide assembly set in the replacement area of the sweeping module in the workstation, and the self-moving device is parked above the support portion 425, wherein the movable device main body is placed on the floor. Above the support portion 425 , the first functional module extends below the support portion 425 .
  • the switching step of switching from the sweeping module to the mopping module is performed from the mobile device.
  • the carrying mechanism 42 drives the movable device body to move upward (see FIG. 4b ) until the support portion 425 is a
  • the second vertical group optocoupler device reports a detection signal to the controller, and the controller controls the control after receiving the detection signal.
  • the carrying mechanism decelerates; when the first shielding part 4251 on one side of the support part 425 extends into the gap 410 in the first vertical optocoupler device set in the vertical direction, the first vertical optocoupler device reports a detection signal to the controller , after receiving the detection signal, the controller controls the carrying mechanism 42 to stop moving (see Figure 4c), so that the movable equipment body is completely separated from the sweeping module; the carrying mechanism 42 drives the movable equipment main body to move horizontally to the right until When the second shielding portion 4261 provided on the second driving motor 423 extends into the gap 410 in the second horizontal optocoupler device arranged in the horizontal direction, the first group of optocoupler devices reports a detection signal to the controller, and the controller receives the detection signal.
  • the carrying mechanism After the detection signal, the carrying mechanism is controlled to decelerate; when the second shielding portion 4261 extends into the gap 410 in the first horizontal optocoupler device set in the horizontal direction, the first horizontal optocoupler device reports the detection signal to the controller, and controls the After receiving the detection signal, the device controls the carrying mechanism 42 to stop moving (see Figure 4d); the carrying mechanism 42 drives the movable device body to move downward, when the first shielding part 4251 on the other side of the supporting part 425 protrudes into the vertical direction When the gap 410 in the second vertical optocoupler device is set in the direction, the second vertical optocoupler device reports a detection signal to the controller, and the controller controls the lifting mechanism to decelerate after receiving the detection signal.
  • the third vertical optocoupler device reports a detection signal to the controller, and the controller controls the carrier after receiving the detection signal.
  • the movement of the mechanism 42 is stopped (see FIG. 4e ), and the alignment process of the movable device body and the mopping module is completed (see FIG. 4e ).
  • the movable device body is locked with the mopping module to form a mopping robot.
  • the mopping robot starts mopping from the workstation.
  • Application scenario 2 The mopping robot starts from the workstation to perform the mopping operation. After the mopping robot completes the mopping operation, the mopping robot stops the operation and drives to the bathroom where the workstation is located. After arriving in the bathroom, the work station is guided to move to the accommodating cavity of the mopping module by the recharge guide assembly set in the accommodating cavity of the mopping module in the workstation. In the accommodating cavity of the mopping module, the workstation automatically cleans the mopping module. , for example, cleaning the mopping cloth and adding clean water to the mopping module; the mopping robot receives the instruction sent by the terminal device to perform the aromatherapy operation, and the mopping robot needs to perform the switching step of switching from the mopping module to the aromatherapy module.
  • the carrying mechanism drives the movable device body to move upward until the first shielding part on one side of the support part extends into the gap in the second vertical optocoupler device set in the vertical direction,
  • the second vertical optocoupler device reports a detection signal to the controller, and the controller controls the carrying mechanism to decelerate after receiving the detection signal;
  • the first vertical optocoupler device reports a detection signal to the controller, and the controller controls the carrying mechanism to stop moving after receiving the detection signal, so that the movable main body of the equipment is completely separated from the mopping module;
  • the carrying mechanism Drive the movable device body to move horizontally to the left to the position where the aromatherapy module is stored, until the second shielding part set on the motor reduction gear box extends into the gap in the second horizontal optocoupler period set in the horizontal direction, the first The second horizontal optocoupler device reports a detection signal to the controller, and the controller controls the carrying mechanism to decelerate after receiving the detection
  • the third vertical optocoupler device reports a detection signal to the controller, and the controller receives the detection signal.
  • the carrying mechanism is controlled to stop moving, and the alignment process of the movable device main body and the aromatherapy module is completed (see FIG. 4e ).
  • the movable main body of the device is locked with the aromatherapy module to form an aromatherapy robot.
  • the aromatherapy robot starts from the workstation to perform aromatherapy operations.
  • the device main body of the self-moving device can be assembled with various functional modules to form a cleaning device with a specific function, and according to the cleaning instructions, it can perform work tasks in a designated area.
  • these functional modules may also involve operations such as cleaning or adding water, detergent, aromatherapy, etc.
  • a replacement area is set in the workstation of the embodiment of the present application, which is used for the device main body of the mobile device to be replaced between multiple functional modules, and the replacement area is Auxiliary mechanisms are further provided in the device, and these auxiliary mechanisms can provide auxiliary services for the function modules adapted to the device body during the process of replacing the function module with the device body or after the device body replaces the function module.
  • the auxiliary mechanism includes at least one of the following: a cleaning assembly, a dust collecting assembly, a charging assembly and a recharging guide assembly.
  • Cleaning components are used to provide cleaning services for corresponding functional modules; dust collection components provide dust collection services for sweeping modules; liquid recovery buckets provide sewage recovery services for mopping modules; liquid injection buckets provide liquid injection services for corresponding functional modules;
  • the charging component can provide charging services for multiple functional modules, and the recharging guidance component can provide recharging guidance services for multiple functional modules. Depending on the functional module, the auxiliary mechanism will be different.
  • the corresponding auxiliary mechanism includes at least one of the following: a charging component, a first cleaning component, and a recharging guide component;
  • the corresponding auxiliary mechanism includes at least one of the following: a charging assembly and a recharging guide assembly;
  • the corresponding auxiliary mechanism includes at least one of the following: a charging component, a recharging guide component, a dust collecting component, and a second cleaning component;
  • the corresponding auxiliary mechanism includes at least one of the following: a charging assembly and a recharging guide assembly.
  • the workstation 50 includes at least one replacement area 511, which is used to replace the device main body of the mobile device among a plurality of functional modules.
  • the overall layout of the replacement area 511 in this embodiment of the present application may adopt, but is not limited to, the following two layouts:
  • Layout mode 1 in order to increase the service capability of the workstation, multiple replacement areas are set; the multiple replacement areas are arranged horizontally, and at least some of the multiple replacement areas are provided with auxiliary functions adapted to the corresponding functional modules. mechanism.
  • the second layout is to reduce the overall volume of the workstation.
  • One replacement area is set; an auxiliary mechanism is arranged in one replacement area, and the auxiliary mechanism can provide auxiliary services for at least two or more functional modules among the multiple functional modules.
  • the volume of the workstation is reduced and the service capability of the workstation is improved by integrating an auxiliary mechanism that provides services for a plurality of functional modules in one replacement area.
  • two replacement areas 511 are arranged side by side at the lower part of the workstation 50, and the interior of the two replacement areas 511 are respectively provided with auxiliary mechanisms.
  • the two replacement areas 511 correspond to the sweeping module and the mopping module, respectively.
  • the auxiliary mechanisms in the replacement area 511 of the sweeping module include: the second cleaning assembly 518, the dust collecting assembly 514 and the charging assembly 515; the replacement area 511 of the mopping module
  • the internal auxiliary mechanism includes: a first cleaning assembly (not shown in the figure) and a charging assembly 515 .
  • the number of the replacement areas 511 may be three, four, etc., and the embodiment of the present application does not limit the number and structure of the replacement areas 511 and the layout of the auxiliary mechanisms, the number and structure of the replacement areas 511 and The layout of auxiliary agencies can be adjusted according to the actual situation.
  • a replacement area 521 is arranged at the lower part of the workstation 52, and an auxiliary mechanism is arranged in the replacement area 521.
  • the auxiliary mechanism can provide auxiliary services for the mopping module and the sweeping module.
  • the auxiliary mechanism It includes a dust collecting assembly 524, a first cleaning assembly 526 and a charging assembly (not shown in the figure), wherein the dust collecting assembly 524 is located on the inlet side of the workstation 52, the first cleaning assembly 526 is located on the bottom side of the workstation 52, and the charging The components are arranged on the bottom wall of the workstation 52 .
  • the embodiment of the present application does not limit the layout of the auxiliary mechanism, and the layout of the auxiliary mechanism can be adjusted according to the actual situation.
  • the workstation further includes a storage area and a liquid storage area.
  • the storage area is used to store at least part of the functional modules in the plurality of functional modules, for example, used to store idle functional modules; the storage area is arranged above or below the replacement area, and is located below the liquid storage area; One or more areas can be set, and when there are multiple storage areas, the multiple storage areas are arranged horizontally or vertically.
  • FIG. 5a there are two storage areas 516, and the two storage areas 516 are arranged horizontally.
  • the storage area 516 is located above the replacement area 511 and below the liquid storage area 517; as shown in FIG. 5b, the storage area 516 is Two, two storage areas 516 are arranged laterally, and the storage areas 516 are located below the replacement area 511 and below the liquid storage area 517 .
  • FIG. 5d there are two storage areas 526 and one replacement area 521 .
  • the two storage areas 526 are arranged longitudinally.
  • the storage area 526 is located above the replacement area 521 and below the liquid storage area 527 .
  • the liquid storage area is located above the replacement area and the storage area.
  • the liquid storage area is used to store liquid recovery buckets and liquid injection buckets, and there are one or more liquid injection buckets; the liquid recovery bucket and multiple liquid injection buckets are placed side by side in the liquid storage area.
  • the liquid injection buckets include but are not limited to the following: clean water buckets, aromatherapy liquid buckets, and care solution buckets.
  • the workstation also includes a cover plate movably connected to the top of the workstation, and the cover plate is used to cover the liquid storage area.
  • the cover plate When in use, the cover plate is opened, and the liquid recovery bucket and the liquid injection bucket stored in the storage area can be taken out to replace the liquid recovery bucket and the liquid injection bucket.
  • different functional modules may require corresponding liquid injection buckets to perform work tasks.
  • a plurality of liquid injection barrels are arranged on the workstation of the present application, and different liquid injection barrels store different liquids for providing liquid injection services for different functional modules.
  • the liquid injection barrel will be different.
  • the multiple liquid injection buckets include a clean water bucket for providing an injection service for the mopping module.
  • the liquids contained in the clean water bucket include but are not limited to the following: clean water, mixed solution of clean water and disinfectant, and mixed solution of clean water and cleaning agent.
  • the plurality of liquid injection buckets include aromatherapy liquid barrels, which are used to provide aromatherapy liquid injection services for the aromatherapy modules.
  • the aromatherapy liquid barrel is used to hold the aromatherapy liquid.
  • the multiple liquid injection buckets include a care solution bucket, which is used to provide a care solution injection service for the ground care module.
  • the nursing solution bucket is used to hold the nursing solution bucket.
  • the embodiments of the present application do not limit the positions, shapes, and quantities of the plurality of liquid injection
  • the layout of the liquid injection barrels can be adjusted according to the actual situation.
  • multiple liquid injection buckets can be arranged on the upper, lower and one side of the workstation; the layout between the multiple liquid injection buckets can be arranged side by side, up and down, and in a matrix arrangement; the shape and number of the multiple liquid injection buckets It can be adjusted in combination with the remaining volume of the workstation and the corresponding functional modules.
  • the liquid injection bucket 512 and the liquid recovery bucket 513 are respectively provided in the liquid storage area 517 , respectively on both sides of the upper part of the workstation 50 .
  • the workstation further includes a controller
  • the plurality of functional modules include a sweeping module and a mopping module
  • the auxiliary mechanism includes at least one of the following: a first cleaning component for providing a mopping cloth cleaning service for the mopping module , a second cleaning component for providing a rag cleaning service for the sweeping module, and a dust collecting component for providing a dust collecting service for the sweeping module.
  • a charging assembly, a recharging guide assembly and a first cleaning assembly are provided in the working area corresponding to the mopping module.
  • the controller controls the first cleaning component to clean the rag of the mopping module, and controls the clean water bucket to inject clean water into the water tank of the mopping module.
  • the first cleaning component includes a water outlet and a sewage tank, and the sewage tank is communicated with the liquid recovery bucket; the water outlet is arranged on the upper side wall or the bottom side wall of the replacement area, and the water outlet sprays clean water after cleaning the rag of the mopping module. The sump is recycled into the liquid recovery drum.
  • the water outlet hole and the water injection hole providing injection service for the mopping module are two different through holes.
  • the embodiments of the present application do not limit the shapes, numbers and positions of water outlet holes, sewage tanks and water injection holes.
  • the shapes, numbers and positions of water outlet holes, sewage tanks and water injection holes can be adjusted according to actual conditions.
  • the replacement area corresponding to the sweeping module is provided with a charging assembly, a dust collecting assembly, a recharging guide assembly and a second cleaning assembly, wherein the dust collecting assembly is used to provide a dust collecting service for the sweeping module, and the first The second cleaning component is used to provide the cleaning service of the mop to the sweeping module.
  • the dust collection assembly is arranged outside the storage area and in an area that can be docked with the dust collection port of the sweeping module, and the controller activates the dust collection assembly when the movable equipment body carries the sweeping module and returns to the corresponding replacement area. The objects in the dust box in the sweeping module are sucked into the dust collection bucket in the dust collection assembly under the action of negative pressure.
  • the second cleaning assembly is at least one set of brushes, and the at least one set of brushes is disposed on the storage area at a position corresponding to the wiper of the sweeping module; or, at least one set of brushes is disposed in the path area when the sweeping module enters the storage area.
  • the dust collecting component and the second cleaning component cooperate to complete the cleaning work of the sweeping module, improve the degree of automation, and improve the user experience.
  • Application scenario 1 The mopping robot performs mopping operations at home.
  • the detection device of the mopping robot detects that the rag of the mopping module needs to be cleaned or after mopping the floor for a certain period of time
  • the mopping robot stops the operation and drives to the living room where the workstation is located. .
  • the controller controls the operation of the first cleaning component.
  • the water outlet sprays clean water, and controls the cleaning components to clean the mop.
  • the sewage generated in the cleaning process is recovered into the liquid recovery bucket through the water outlet of the sewage tank and the water pump; at the same time, the controller controls the clean water bucket to mop the floor through the water injection hole. Fill the water tank of the module with clean water.
  • the cleaning time for example, 10 minutes
  • the mopping robot gets off the workstation and moves to the target position to continue the mopping task.
  • the sweeping robot performs sweeping operations at home.
  • the detection device of the sweeping robot detects that the dust box or rag of the sweeping module needs to be cleaned, or after sweeping for a certain period of time
  • the sweeping robot stops the operation and drives to the living room where the workstation is located. After arriving in the living room, it is guided and moved to the replacement area of the sweeping module by the recharge guide component set in the accommodating cavity of the corresponding sweeping module in the workstation.
  • the dust-collecting fan in the dust-collecting assembly, and the objects (dust and garbage) in the dust box in the sweeping module are sucked into the dust-collecting bucket in the dust-collecting assembly under the action of negative pressure.
  • the second cleaning component of the controller rotates to clean the objects (dust and garbage) on the rag.
  • the cleaning time for example, 5 minutes
  • the sweeping robot gets off the workstation, moves to the target position, and continues to perform the sweeping task.
  • Application Scenario 3 The mopping robot performs mopping operations at home.
  • the mopping robot detects that its power is insufficient, the mopping robot stops the operation and drives to the living room where the workstation is located. After arriving in the living room, it is guided to move to the replacement area of the mopping module by the recharging guide component set in the corresponding replacement area in the workstation. After the mopping robot returns to the replacement area of the mopping module, the controller controls the charging component to be the mopping module. The module is charged. When the mopping module is charged, the mopping robot gets off the workstation and moves to the target position to continue the mopping task.
  • the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions
  • the apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include non-persistent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory in the form of, for example, read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
  • RAM random access memory
  • ROM read only memory
  • flash RAM flash memory
  • Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology.
  • Information may be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本申请实施例提供一种自移动设备、系统、模块及控制方法。在本申请实施例中，提供一种可自主移动且具有安装腔的设备主体，以及多个可执行不同特定作业任务且能够与设备主体结合或分离的功能模块，在使用同一设备主体的基础上，可以根据应用需求借助于设备主体的安装腔结合不同功能模块，实现具有不同功能的自移动设备，达到自移动设备功能丰富化、智能化的目的；另外，需要哪个功能模块就结合哪个功能模块，不用携带较多冗余功能模块，有利于使自移动设备轻量化，便于提高作业效率，节约电池电量。

Description

自移动设备、系统、模块及控制方法
交叉引用
本申请引用于2021年03月15日递交的名称为“自移动设备、系统、模块及控制方法”的第2021102760682号中国专利申请和2021年03月23日递交的名称为“自移动设备、系统、模块及控制方法”的第2021103094918号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及人工智能技术领域，尤其涉及一种自移动设备、系统、模块及控制方法。
背景技术
随着人工智能技术的发展，清洁机器人逐渐进入人们的日常生活，为了丰富清洁机器人的功能，现有技术中包含集多种功能于一体的清洁机器人，例如，同时兼具拖地功能和扫地功能于一体的清洁机器人。
然而，在使用其中一种功能的过程中，其他功能对于该清洁机器人而言即为冗余功能，并且，由于清洁机器人的机身大小的限制，也无法做到每种功能都足够强大。
发明内容
本申请提供一种能解决或部分解决上述问题的自移动设备、系统、模块及控制方法。
本申请的一个实施例，提供了一种自移动设备，该设备包括：可自主移 动的设备主体和用于执行特定作业任务并可与所述设备主体结合或分离的功能模块，所述功能模块包括与其实现的特定作业任务对应的一个或多个专用单元，所述设备主体包括并排设置的行进机构和用于安置所述功能模块的安装腔，所述安装腔包括位于所述行进机构之间的第一部分和位于所述行进机构前方或后方的第二部分。
本申请的又一实施例，提供了一种自移动设备系统，该系统包括：可自主移动的设备主体、多个用于执行不同特定作业任务且可与所述设备主体结合或分离的功能模块，以及用于存放所述多个功能模块的工作站；其中，每个功能模块包括与其实现的特定作业任务对应的一个或多个专用单元；所述设备主体包括并排设置的行进机构和用于安置功能模块的安装腔，所述安装腔包括位于所述设备主体的行进机构之间的第一部分和位于所述行进机构前方或后方的第二部分；所述设备主体可与不同功能模块结合，以形成用于执行不同特定作业任务的自移动设备。本申请的又一实施例，提供了一种自移动设备的设备主体，该设备主体包括并排设置的行进机构、安装腔和控制器；所述控制器，用于控制所述行进机构带动所述设备主体自主移动；所述安装腔包括位于所述行进机构之间的第一部分和位于所述行进机构前方或后方的第二部分；所述安装腔用于在所述设备主体与功能模块结合时，安置与所述设备主体结合的功能模块。
本申请的又一实施例，提供了一种自移动设备的功能模块，所述功能模块用于执行特定作业任务并可与自移动设备的设备主体结合或分离，所述功能模块包括：与其实现的特定作业任务对应的一个或多个专用单元。
本申请的又一实施例，提供了一种自移动设备的控制方法，该方法包括：识别需要将设备主体当前结合的第一功能模块更换为第二功能模块；所述第一、第二功能模块用于执行第一、第二特定作业任务且可与所述设备主体结合或分离；控制所述设备主体携带所述第一功能模块移动至工作站中用于容纳所述第一功能模块的第一区域，并在所述第一区域内与所述第一功能模块分离；移动至所述工作站中用于容纳所述第二功能模块的第二区域，在所述 第二区域内与所述第二功能模块结合，以形成用于执行第二特定作业任务的自移动设备。
本申请实施例提供的一个技术方案中，用户可通过终端设备制作自己想要且可被物联网设备执行的结构化数据，对用户来说，只需通过终端设备提供的数据生成界面提供自己熟悉的对象特征数据和执行顺序数据即可，可在不理解物联网设备工作原理和指令代码的条件下完成结构化数据的制作，制作过程简单、成本低；而终端设备通过将执行顺序数据转换成物联网设备可执行的状态控制指令信息后，向物联网设备提供包含状态控制指令信息的结构化数据，使得物联网设备能够直接按照结构化数据中的状态控制指令执行对应的操作，满足用户的烹饪需求，与此同时还提升了物联网设备的结构化数据自定义扩展能力。
在本申请实施例中，提供一种可自主移动且具有安装腔的设备主体，以及多个可执行不同特定作业任务且能够与设备主体结合或分离的功能模块，在使用同一设备主体的基础上，可以根据应用需求借助于设备主体的安装腔结合不同功能模块，实现具有不同功能的自移动设备，达到自移动设备功能丰富化、智能化的目的；另外，需要哪个功能模块就结合哪个功能模块，不用携带较多冗余功能模块，有利于使自移动设备轻量化，便于提高作业效率，节约电池电量。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，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为本申请实施例提供的一种自移动设备系统的结构示意图；
图2a为本申请实施例提供的一种设备主体的结构示意图；
图2b为本申请实施例提供的一种功能模块的结构示意图；
图2c为本申请实施例提供的一种功能模块的仰视图；
图2d为本申请实施例提供的自移动设备与功能模块结合结构的示意图；
图2e为本申请实施例提供的另一种自移动设备结合结构的示意图；
图2f为本申请实施例提供的磁扣和磁针的位置、形态示意图；
图2g为本申请实施例提供的磁扣和磁针工作原理的示意图；
图2h为本申请实施例提供的电磁插销和卡槽的位置、形态示意图；
图2i为本申请实施例提供的一种自移动设备控制方法的流程图；
图2j为本申请实施例提供的另一种设备主体的结构示意图；
图3a为本申请实施例提供的工作站存放功能模块的结构示意图；
图3b为本申请实施例提供的工作站自动更换功能模块的过程示意图；
图3c为本申请实施例提供的另一自移动设备的控制方法的流程图；
图3d为本申请实施例提供的另一种工作站自动更换功能模块的过程示意图；
图3e为本申请实施例提供的另一种自移动设备的控制方法的流程图；
图3f为本申请实施例提供的另一种工作站自动更换功能模块的过程示意图；
图4a为本申请实施例提供的一种自动对准系统的结构示意图；
图4b为本申请实施例提供的升降机构带动可移动的设备主体垂直向上位移前的示意图；
图4c为本申请实施例提供的升降机构带动可移动的设备主体垂直向上位移后的示意图；
图4d为本申请实施例提供的升降机构带动可移动的设备主体水平位移后的示意图；
图4e为本申请实施例提供的升降机构带动机器人垂直向下位移后的示意图；
图4f为本申请实施例提供的第一遮挡部移动至光耦器件的间隙中的示意 图；
图4g为本申请实施例提供的一种进行功能模块切换的切换控制方法的流程示意图；
图4h为本申请实施例提供的另一种进行功能模块切换的切换控制方法的流程示意图；
图5a为本申请实施例提供的一种工作站的结构示意图；
图5b为本申请实施例提供的另一种工作站的结构示意图；
图5c为本申请实施例提供的一种工作站的内部结构俯视图；
图5d为本申请实施例提供的一种工作站的内部结构示意图；
图5e为本申请实施例提供的与图5d对应的工作站的内部结构俯视图。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
针对目前清洁机器人所面临的问题，在本申请实施例中，将自移动设备的一些基础功能，例如行进、导航、传感器、控制等实现为一个独立的公共模块，称为设备主体；将自移动设备上可实现不同作业任务的各种功能，例如扫地、拖地、香薰、打蜡、洗地、空气净化等分别实现为独立的功能模块；而且允许设备主体根据作业需求，与任何一个功能模块结合在一起形成具有某种功能的自移动设备；另外，设备主体和不同功能模块结合在一起可形成具有不同功能的自移动设备。
在本申请实施例中，在使用同一设备主体的基础上，可以根据应用场景自动、快速切换不同功能模块，可以达到自移动设备功能丰富化、智能化的 目的；另外，需要哪个功能模块就结合哪个功能模块，不用携带较多冗余功能模块，有利于使自移动设备轻量化，便于提高作业效率，节约电池电量。再者，设备主体可以做到每次只携带一个功能模块，无需与其它功能模块分享机身空间，相比于多个功能模块集成在一起的方案，本申请实施例中每个功能模块可以占据足够的机身空间，其体积不用太过于受限，便于将各个功能模块做的更加强大，使其性能进一步优化，增强用户体验。当然，如果设备主体的体积较大，也可以同时携带多个功能模块。
基于上述，本申请实施例提供了一种自移动设备系统，如图1所示，该系统包括：工作站10，多个用于执行不同特定作业任务的功能模块20，以及可自主移动的设备主体30。下面分别进行说明：
设备主体30：其包含但不限于：行进机构、控制器、安装腔以及传感器。行进机构可以是驱动轮、万向轮等，主要用于实现设备主体30的自主移动；安装腔用于在设备主体30与功能模块20结合时，安置与设备主体30结合的功能模块20；控制器相当于设备主体30(或者说自移动设备)的大脑，可执行存储器中的计算机指令，以控制行进机构和传感器执行相应操作，控制设备主体30在确定的环境中实现相应功能、完成相应动作或执行对应的作业任务。传感器可以包括但不限于：激光雷达(如LDS、/TOF等)、VSLAM、超声波传感器、下视传感器、结构光模组、AI模块、回充引导传感器、侧视传感器、机械撞板等。
在本申请实施例中，设备主体30在一定程度上体现了自移动设备的外观形态，根据设备主体30实现形态的不同，自移动设备的形状也会有所不同。以设备主体的外轮廓形状为例，设备主体的外轮廓形状可以是不规则形状，也可以是一些规则形状。例如，设备主体的外轮廓形状可以是圆形、椭圆形、方形、三角形、水滴形或D字型等规则形状，也可以是除规则形状之外的不规则形状，在此，并不限定设备主体的外观形态。
功能模块20：用于执行特定作业任务并可与自移动设备的设备主体30结合或分离的机械结构。其中，不同功能模块20可执行不同特定作业任务，每 个功能模块20至少包括与其实现的特定作业任务对应的一个或多个专用单元，且不同功能模块20所实现的特定作业任务以及包含的专用单元会有所不同。当然，根据功能模块20所实现的特定作业任务的不同，设备主体30与功能模块20结合后所形成的自移动设备也会有所不同。在一种可选实施例中，功能模块20可以是能够执行不同清洁任务的模块，则设备主体30与这些功能模块20结合可得到具有清洁功能的自移动设备，可以简称为清洁机器人，但并不限于此。下面以自移动设备实现为清洁机器人为例，对功能模块20进行举例说明：
示例一：具有扫地功能的功能模块，简称为扫地模块，用于执行扫地任务，其包含与扫地任务对应的专用单元可以包括但不限于：风机组件、尘盒、滚刷组件以及边刷组件。进一步可选地，扫地模块还可以包括：用于对该功能模块进行控制的控制系统和与设备主体进行通信的通信模块等；
示例二：具有拖地功能的功能模块，简称为拖地模块，用于执行拖地任务，其包含的与拖地任务对应的专用单元可以包括但不限于：擦拭组件(如抹布、传动机构等)、供水组件(如包括水泵、管路、单向阀等)和水箱。进一步可选地，该拖地模块还可以包括：用于对该功能模块进行控制的控制系统和与设备主体进行通信的通信模块等；
示例三：具有香薰功能的功能模块，简称为香薰模块，用于执行香薰任务，其包含的与香薰任务对应的专用单元包括但不限于：香薰组件和供风组件。进一步可选地，该香薰模块还可以包括用于对该功能模块进行控制的控制系统和与设备主体进行通信的通信模块等。
除上述列举的功能模块之外，本申请实施例提供的功能模块20还包括具有洗地功能的洗地模块，具有消毒杀菌功能的消杀模块，具有空气净化功能模块的空气净化模块、具有加湿功能的加湿模块以及具有打蜡功能的打蜡模块，等等。
工作站10：其主要功能是存放多个功能模块20，并辅助设备主体30在各功能模块20之间进行更换。平时，多个功能模块20存放在工作站10中， 当需要使用某个功能模块20时，设备主体30可在工作站10中自动和需要使用的功能模块20完成结合，形成具有某种功能的自移动设备，去执行相应作业任务。需要说明的是，图1中所示工作站10的结构仅为示意性结构，实际实现结构并不限于此。另外，多个功能模块20在工作站10中可以采用并排存放的方式，也可以采用其它存放方式，对此不做限定。无论采用何种存放方式对功能模块20进行存放，可以采用但不限于以下几种方式来识别功能模块20：
方式1：在工作站10中的识别位置上安装霍尔传感器，在不同功能模块20上装不同极性的磁铁，通过识别磁铁的极性来识别功能模块20是哪个；由此磁铁具有两个极性，该方式可以识别出两个不同的功能模块20。
方式2：在工作站10中的识别位置上安装扫码设备，在每个功能模块20上设置编码信息(如条形码或者二维码)，不同功能模块20上的编码信息不同，这样工作站10可以通过扫码方式来识别不同功能模块20，该方案可以识别处更多不同功能模块20。
方式3：使用近场通信(NFC)的原理，工作站10作为主机，对外发射射频信号去读取各功能模块20的设备信息，根据所读取的设备信息对不同功能模块20进行识别，其中，不同功能模块20的设备信息不同，例如每个功能模块的设备信息包括唯一设备名称、ID或编号等信息；这种方式只需功能模块与工作站10彼此在近场通信范围内，可以识别出更多不同功能模块。
方式4：使用机械原理，在工作站10的识别位置设置两个或多个光耦，不同功能模块20在不同的地方做一个挡片，当设备主体30携带不同功能模块20进入工作站时，不同功能模块上的挡片会遮挡不同位置上的光耦，通过光耦设置位置与功能模块之间的对应关系，可以确定被遮挡光耦对应的功能模块是哪个，该方案可以通过设置较多光耦，识别更多不同功能模块20。
在此说明，在上述方式1、2和4中，霍尔传感器、扫码设备、光耦可以将有关信息上报给工作站10，这样工作站10可根据这些信息识别出不同功能模块。除此之外，霍尔传感器、扫码设备、光耦也可以将有关信息上报给设 备主体30，这样设备主体30也可以根据这些信息识别出不同功能模块。当然，工作站10在识别出不同功能模块的情况下，工作站10也可以将所识别到的功能模块的信息提供给设备主体30。在上述方式3中，设备主体30也可以采用NFC原理，作为主机对外发射射频信号去读取各功能模块20的设备信息，根据所读取的设备信息对不同功能模块20进行识别。
除上述存放功能模块20的作用之外，工作站10还可以针对设备主体30和各功能模块20提供一些辅助功能。例如，为设备主体30和/或功能模块20提供自动回充功能。又例如，为各功能模块20提供后处理功能。其中，根据功能模块20的不同，工作站10为功能模块20所提供的后处理功能也会有所不同。例如，若功能模块20为扫地模块，则工作站10可以为其提供中央集尘功能，即帮助扫地模块清理集尘盒，解决垃圾收集问题，还可以为扫地模块提供抹布清洗功能。若功能模块20为拖地模块，则工作站10可以为拖地模块提供抹布清洗、污水回收、水箱加水等辅助功能。若功能模块20是香薰模块或消杀模块，则工作站10可以为香薰模块或消杀模块提供注入香薰料、消毒液等辅助功能。
在本申请实施例中，设备主体30和各功能模块20是相互独立的，在需要使用某个功能模块20时，设备主体30才会与该功能模块20结合在一起形成具有某种功能的自移动设备，从而做到自移动设备无重叠冗余零部件。其中，采用何种方式能够让设备主体30在需要功能模块20时能与该功能模块20牢固结合在一起，在不需要使用时又能方便、快速地使两者分离是本申请实施例有待解决的技术问题之一。
基于此，本申请实施例提出了一种可自主移动且具有安装腔的设备主体30，并提供一种与设备主体30适配的功能模块20，该安装腔为设备主体30与功能模块20之间进行快速、方便地结合和分离提供了结构基础。在本申请实施例中，设备主体30具有安装腔，用于安置与其结合的功能模块20，但并不限定设备主体30和各功能模块20的具体实现结构，下面结合附图对本申请实施例中设备主体30和功能模块20的结构进行示例性说明。
图2a为设备主体30的结构示意图，图2j为设备主体30的另一种结构示意图。其中，图2a所示设备主体30为D字型轮廓，图2j所示设备主体30为圆形轮廓，但不限于这两种外形轮廓。无论设备主体30的外形轮廓是哪种，设备主体30具有相同或相似的硬件实现结构，如图2a或图2j所示，设备主体30包括：并排设置的行进机构31、控制器32和安装腔33。进一步可选地，设备主体30具有底面，行进机构31位于底面上，安装腔33自设备主体30的底面向内凹陷形成，以用于容纳功能模块20。其中，安装腔33包括位于行进机构31之间的第一部分和位于行进机构31前方或后方的第二部分。在图2a或图2j中，以第二部分位于行进机构31后方为例进行图示。在一可选实施例中，安装腔33的第一部分和第二部分结合起来形成一种凸字型或类似凸字型的腔体结构，但并不限于此。
在本申请实施例中，不限定安装腔33的第一部分与第二部分的大小关系，可选地，第一部分在垂直于行进方向的第一方向上的尺寸小于第二部分在垂直于行进方向的第一方向上的尺寸；或者，第一部分在垂直于行进方向的第一方向上的尺寸大于第二部分在垂直于行进方向的第一方向上的尺寸。可选地，第二部分在垂直于行进方向的第一方向上的尺寸是自移动设备在垂直于行进方向的第一方向上的最大尺寸。在图2a或图2j中，以第二部分位于第一部分后方，且第一部分在垂直于行进方向的第一方向上的尺寸小于第二部分在垂直于行进方向的第一方向上的尺寸为例进行图示。
图2b为功能模块20的结构示意图，如图2b所示，为了将功能模块20与设备主体30结合，功能模块20的实现结构可与设备主体30相适应。可选地，如图2b所示，功能模块20包括第一区域和第二区域，当功能模块20与设备主体30结合时，功能模块20的第一区域可位于设备主体30的安装腔33的第一部分中，功能模块20的第二区域可位于设备主体30的安装腔33的第二部分中。需要说明的是，在图2a、图2j和图2b中，采用虚直线的方式对第一部分/区域和第二部分/区域进行的区分，这并不代表在设备主体30和功能模块20上真实存在该虚直线。
另外，本实施例的功能模块20包含与其实现的特定作业任务对应的一个或多个专用单元。其中，一个或多个专用单元可以是功能模块20实现特定作业任务所需的部分专用单元，或全部专用单元。在一可选实施例中，功能模块20包含与其实现的特定作业任务对应的全部专用单元。
进一步可选地，在功能模块20区分第一区域和第二区域的情况下，其中，部分专用单元可设置于第一区域，部分专用单元可设置于第二区域。不同功能模块20包含的专用单元不同，以扫地模块为例，其专用单元包括风机组件、尘盒、滚刷组件以及边刷组件，如图2c所示。其中，图2c为扫地模块的仰视图。进一步可选地，如图2c所示，滚刷组件和边刷组件设置于第一区域中，风机组件和尘盒设置于第二区域中基于此，在扫地模块与设备主体30结合时，扫地模块上的滚刷组件和边刷组件位于设备主体30的安装腔33的第一部分中，扫地模块上的风机组件和尘盒位于设备主体30的安装腔33的第二部分中。同理，以功能模块20为拖地模块为例，其专用单元包括供水组件、水箱和擦拭组件，进一步可选地，擦拭组件可设置于功能模块20的第一区域中，供水组件和水箱可设置于功能模块20的第二区域中，当拖地模块与设备主体30结合时，擦拭组件位于设备主体30的安装腔33的第一部分中，供水组件和水箱位于设备主体30的安装腔33的第二部分中。
进一步可选地，本申请实施例也不限定第一区域和第二区域的大小关系，可选地，第一区域在垂直于行进方向的第一方向上的尺寸小于第二区域在垂直于行进方向的第一方向上的尺寸；或者，第一区域在垂直于行进方向的第一方向上的尺寸大于第二区域在垂直于行进方向的第一方向上的尺寸。在图2b中，以第一区域在垂直于行进方向的第一方向上的尺寸小于第二区域在垂直于行进方向的第一方向上的尺寸为例进行图示；在图2c中，以第一区域在垂直于行进方向的第一方向上的尺寸大于第二区域在垂直于行进方向的第一方向上的尺寸为例进行图示。
除上述设备主体30和功能模块20之外，本申请实施例还提供一种自移动设备，包括可自主移动的设备主体30和用于执行特定作业任务并可与设备 主体30结合或分离的功能模块20。其中，设备主体30可以同时与一个功能模块20结合，得到带有一个功能模块的自移动设备；也可以同时与多个功能模块20结合，从而得到带有多个功能模块的自移动设备。
例如，若功能模块20是扫地模块，则设备主体30与扫地模块结合后形成的自移动设备即为扫地机器人；若功能模块20是拖地模块，则设备主体30与扫地模块结合后形成的自移动设备即为拖地机器人；若功能模块20是香薰模块，则设备主体30与扫地模块结合后形成的自移动设备即为香薰机器人；除上述列举的功能模块之外，功能模块20还可以是洗地模块、消杀模块以及打蜡模块，等等。通过设备主体30与不同功能模块20的结合，可实现根据作业需求，在需要哪个功能模块时就结合哪个功能模块，不用携带较多冗余功能模块，有利于使自移动设备轻量化，便于提高作业效率，节约电池电量，有助于各个功能模块的性能优化，增强用户体验。
在本申请实施例中，并不限定设备主体30与功能模块20结合与分离的方向，根据设备主体30和功能模块20的实现结构不同，对应的结合与分离的方向也会不同。可选地，在采用图2a、图2j和图2b所示结构的设备主体30和功能模块20的基础上，功能模块20可沿着设备主体30的厚度方向与设备主体30分离或结合，即上下结合或分离；或者，功能模块20沿着设备主体30的行进方向与设备主体30分离或结合，即前后结合或分离。图2d和图2e为设备主体30与某个功能模块20以前后方向进行结合或分离的一种示意图，其中，后方相对前方而言，前方是设备主体30正常行进时的方向，即行进方向，如图2e所示。
需要说明的是，除上述上下结合结构和前后结合结构之外，与设备主体30结合在一起的功能模块20还可以位于设备主体30的左方或右方，从而形成左右结合结构。在本申请实施例中，根据设备主体30的形态以及自移动设备的工作方式不同，功能模块20与设备主体30之间的结合方向可以不同，可视具体情况而定。在采用前后、左右安装方式时，设备主体30和功能模块20可以有其它实现形态，并不限于图2a、图2j和图2b所示实现形态。
在本申请实施例中，并不限定设备主体30与功能模块20结合与分离的方式，以及将设备主体30与功能模块20结合在一起的组件结构的实现形态。可选地，设备主体30可与功能模块20以电磁力的方式进行结合与分离，在以电磁力进行结合与分离的情况下，设备主体30上可设有第一电磁对接结构，相应地，功能模块20上对应设有第二电磁对接结构。第一电磁对接结构可在电磁力的作用下，配合执行特定作业任务的功能模块20上的第二电磁对接结构，实现设备主体30与任一功能模块20的结合或分离。在一可选实施例中，第一电磁对接结构为设置在设备主体30的壳体上磁扣或磁针，则第二电磁对接结构为设置在功能模块20上的磁针或磁扣。当第一电磁对接结构为磁扣时，第二电磁对接结构为与磁扣对应的磁针；相应地，当第一电磁对接结构为磁针时，第二电磁对接结构为与磁针对应的磁扣。其中，磁针与磁扣插扣在一起，实现设备主体30与功能模块20的结合；在电磁力作用下，磁扣松开磁针，可实现设备主体30与功能模块20的分离。
在另一可选实施例中，第一电磁对接结构为设置在设备主体30的壳体上的电磁插销或卡槽，则第二电磁对接结构为设置在功能模块20上的卡槽或电磁插销。当第一电磁对接结构为电磁插销时，第二电磁对接结构为与电磁插销对应的卡槽；相应地，当第一电磁对接结构为卡槽时，第二电磁对接结构为与卡槽对应的电磁插销。其中，电磁插销伸缩至卡槽中，与卡槽固定在一起，可实现设备主体30与功能模块20的结合；在电磁力作用下，电磁插销收缩分离卡槽，与卡槽分离，可实现设备主体30与功能模块20的分离。
在此说明，第一电磁对接结构与第二电磁对接结构的实现形态和功能模块20与设备主体30的结合方式之间没有必然关系。例如，功能模块20与设备主体30以磁针和磁扣方式进行结合，可以实现上下结合结构，也可以实现前后或左右结构。又例如，功能模块20与设备主体30以电磁插销和卡槽方式进行结合，可以实现上下结合结构，也可以实现前后或左右结构，具体可视设备主体30的形态以及自移动设备的工作方式而定。下面以功能模块20与图2a所示设备主体30结合在一起形成上下结构为例，对第一电磁对接结 构与第二电磁对接结构的结合和分离过程进行说明。
图2f为第一电磁对接结构与第二电磁对接结构以磁针和磁扣的方式进行结合的结构示意图，如图2f所示，设备主体30上的第一电磁对接结构为固设于壳体34上的磁扣35，且磁扣35可在电磁力的作用下上下活动；另外，壳体34上还设有与每个磁扣35对应的吸孔36，在有电磁力作用的情况下，磁扣35可在电磁力的作用下被吸附并插入到对应的吸孔36中，在电磁力消失的情况下，磁扣35失去向上的吸引力，在重力的作用下可分离对应的吸孔36。可选地，为了保证磁扣35在磁力的吸引下不会从吸孔36中分离到壳体34的外面，如图2f所示，磁扣35为上细下粗的柱体结构，较细一端的直径小于对应吸孔36的直径，可插入吸孔36；较粗一端的直径大于对应吸孔36的直径，可防止整个磁扣从吸孔36中脱出。
相应地，功能模块20的表面上，这里的表面是指与设备主体30进行结合时朝向设备主体30一侧的表面，在该表面上与设备主体30的壳体34上的吸孔36对应的位置设有磁针37，当功能模块20嵌入到设备主体30的安装腔33内，功能模块20上的每个磁针37可插入到对应的磁扣35中，并使每个磁扣35插入到对应的吸孔36中，实现功能模块20与设备主体30的结合。当需要更换功能模块20的情况下，可在设备主体30周围产生电磁力，在电磁力的吸附下，磁扣35向上移动，进入吸孔36内，直至每个磁针37从磁扣35中分离，实现设备主体30与功能模块20的分离。图2g为磁扣35与磁针37结合与分离的过程示意图，如图2g所示，在磁扣35内部设有弹簧和钢珠，钢珠固定在弹簧的底部，当磁针37在插入磁扣35内部时，可被固定在弹簧和固定在弹簧底部的钢珠固定，使设备主体30与功能模块20结合。进一步，当磁扣35外部存在电磁铁并产生电磁力的情况下，可吸引磁扣35内部的钢珠压缩弹簧向上移动，并释放磁针37，使设备主体30与功能模块20分离。
在图2f所示实施例中，磁扣35和磁针37的数量为3个，但并不限于3个，也可以是1个、2个、4个、5个或更多个，该数量的选择以能够稳定、牢固地将设备主体30与功能模块20结合在一起为基准。进一步可选地，3个 磁扣35均匀分布在壳体34上，即壳体34的3个方向(120°)上设置有吸孔36以及对应的磁扣35；相应地，3个磁针37均匀分布在功能模块20的上表面上，即该上表面的3个方向(120°)上设置有磁针37。
本申请实施例对磁针37和磁扣35的规格、型号等不做限定，只要两者适配即可。例如，磁扣35可以采用通用的16*18mm规格，磁针37可以采用通用的11*16mm规格。
图2h为第一电磁对接结构与第二电磁对接结构以电磁插销和卡槽的方式进行结合的结构示意图，如图2h所示，设备主体30上的第一电磁对接结构为设置在壳体34上可伸缩的电磁插销21，在设备主体30向电磁插销21通电的情况下，电磁插销21可在电磁力的作用下收缩，在断电的情况下，电磁力消失，电磁插销21将伸展恢复成原状。
相应地，功能模块20上与设备主体30上的电磁插销21对应的位置处设有卡槽22。在设备主体30与功能模块20结合时，电磁插销21处于未通电状态，此时电磁插销21伸展可插入功能模块20上对应的卡槽22中，实现功能模块20与设备主体30的结合；在通电的情况下，电磁插销21收缩，与功能模块20上对应的卡槽22分离，实现功能模块20与设备主体30的分离。
在上述实施例中，并不限定电磁插销21和卡槽22的个数，图2h中以3个为例进行图示，当然，根据设备主体30与功能模块20的实现形态也可以设置4个、5个或6个。进一步，为了保障功能模块20与设备主体30结合后的稳定性和牢固性，电磁插销21可均匀的设置在设备主体30上，相应地，卡槽22也均匀的设置在功能模块20上。如图2h所示，3个电磁插销21相对于设备主体30中心以及3个卡槽22相对于功能模块20中心均呈120°均匀设置，以保证受力的均匀性。
本申请实施例对电磁插销21的规格、型号等不做限定，例如，可以采用规格为45.5*16*13mm，伸缩长度为5mm行程的电磁插销。
在此说明，上述实施例列举了功能模块20的实现形态，但并不限于此，在保证功能模块20能够嵌入到设备主体30的安装腔33区域内，且第一电磁 对接结构与第二电磁对接结构能够准确衔接的情况下，不同的功能模块20可以根据各自的功能需求实现不同的形态。可选地，为了保证设备主体30与不同功能模块20在结合时的通用性，可将每种功能模块20实现为同样的形状、大小以及外轮廓。如图2a-图2h所示，每个功能模块20的整体外轮廓与设备主体30的安装腔33区域的轮廓相适配，在嵌入到设备主体30的安装腔33区域内后具有较高的贴合度。
在本申请实施例中，多个功能模块20存放于自移动设备对应的工作站10中，且每个功能模块20可存放于工作站10中的指定区域。为便于描述和区分，将设备主体30当前携带的功能模块20称为第一功能模块，例如可以是扫地模块、拖地模块等，将设备主体30需要更换的功能模块20称为第二功能模块。其中，控制设备主体30从第一功能模块切换为第二功能模块的过程，可参见下述方法实施例，在此不再赘述。
本申请实施例提供的自移动设备控制方法，其中，自移动设备包括设备主体当前结合的第一功能模块。图2i为本申请实施例提供的自移动设备控制方法的流程图，如图2i所示，方法包括：
21i、识别需要将设备主体当前结合的第一功能模块更换为第二功能模块。
22i、控制设备主体携带第一功能模块移动至工作站中用于容纳第一功能模块的第一区域，并在第一区域内与第一功能模块分离。
23i、移动至工作站中用于容纳第二功能模块的第二区域，在第二区域内与第二功能模块结合，以形成用于执行第二特定作业任务的自移动设备。
其中，第一、第二功能模块用于执行第一、第二特定作业任务且可与设备主体结合或分离。自移动设备在识别到需要将设备主体当前结合的第一功能模块更换为第二功能模块时，可控制设备主体携带第一功能模块移动至工作站中用于容纳第一功能模块的第一区域，并在第一区域内与第一功能模块分离；进一步，控制设备主体移动至工作站中用于容纳第二功能模块的第二区域，并在第二区域内与第二功能模块结合。
在确定更换第一功能模块的情况下，设备主体可在工作站的引导下向工 作站移动。可选地，设备主体向工作站移动时可通过设备主体上的传感器与工作站中的传感器进行通信和定位来确定目标位置，例如，设备主体可向工作站发送确定更换第一功能模块的信息，工作站在接收到设备主体发送的信息的情况下，可通过激光或红外线等方式引导设备主体向第一功能模块在工作站中的存放位置移动。其中，接收设备主体发送信息的传感器可以是工作站中的通用传感器，也可以是第一功能模块对应的指定传感器，在此不做限定。
进一步，在设备主体向工作站移动的过程中，可持续向工作站发送数据信息，该数据信息为设备主体与第一功能模块在工作站中存放位置的距离和角度等信息，以供工作站确定设备主体当前所在位置。当工作站监测到设备主体移动至第一功能模块在工作站中的存放位置处时，确定设备主体移动至目标位置。或者，设备主体在向工作站移动过程中也可根据与第一功能模块在工作站中存放位置的距离和角度等信息实时监测当前所在位置，当设备主体监测到已经移动至第一功能模块在工作站中的存放位置处时，可向工作站发送达到目标位置的信息，以供工作站确定设备主体移动至目标位置。进一步，在设备主体移动至目标位置的情况下，则可通过电磁力控制设备主体与功能模块的结合和分离。
在本申请实施例中，工作站内安装有通用电磁体，或者在存放每个功能模块的位置安装有专用电磁体，则在电磁力的作用下控制设备主体与第一功能模块分离时，可在控制设备主体携带第一功能模块移动至工作站中存放第一功能模块的位置后，通知工作站给工作站内的通用电磁体或第一功能模块对应的专用电磁体通电，以产生设备主体与第一功能模块分离所需的电磁力。可选地，在电磁力的作用下控制设备主体与第一功能模块分离时，可在第一电磁对接结构为电磁体的情况下，在控制设备主体携带第一功能模块移动至工作站中存放第一功能模块的位置后，给第一电磁对接结构通电以产生与第一功能模块分离所需的电磁力。关于设备主体与功能模块在电磁力的作用下进行分离和结合的具体细节可参见上述实施例，在此不做重复赘述。
在本申请实施例中，在设备主体携带第一功能模块执行作业任务过程中可监控作业任务的执行进度，并在作业任务完成的情况下，确定需要将设备主体当前结合的第一功能模块更换为执行下一作业任务所需的第二功能模块；或者，在设备主体携带第一功能模块执行作业任务过程中，监控第一功能模块的电池电量，并在电池电量不足的情况下，确定需要将设备主体当前结合的第一功能模块更换为执行下一作业任务所需的第二功能模块；或者，在携带第一功能模块执行作业任务过程中，实时监控当前的作业环境，并在当前作业环境不适合使用第一功能模块的情况下，确定需要将当前结合的第一功能模块更换为执行下一作业任务所需的第二功能模块；其中，第二功能模块实现的特定作业任务为当前作业任务的下一作业任务。
例如，第一功能模块为扫地模块，当清扫任务结束后需要对已经清扫过的地面进行拖地，则设备主体可在工作站的引导下先移动至扫地模块在工作站中的区域，在电磁力的作用下使扫地模块分离设备主体。完成扫地模块的卸载后，设备主体再移动至拖地模块在工作站中的区域，同样在电磁力的作用下将拖地模块与设备主体结合成拖地机器人，结合成功后，拖地机器人即可在之前清扫过的作业表面执行拖地任务。
又例如，在功能模块本身可充电的情况下，工作站中也可存放备用功能模块，若设备主体在执行作业任务过程中，若检测到当前第一功能模块的电量过低，无法完成剩余的作业任务，则设备主体可在工作站的引导下先移动至第一功能模块在工作站中的区域，在电磁力的作用下使第一功能模块分离设备主体。完成第一功能模块的卸载后，设备主体再移动至备用的第一功能模块在工作站中的区域，同样在电磁力的作用下将备用的第一功能模块与设备主体进行结合，结合成功后，即可继续执行未完成的清洁任务。
又例如，第一功能模块为拖地模块，当设备主体从地板向地毯移动时，设备主体中的传感器检测到即将清洁的作业环境为地毯，不能使用拖地模块，则设备主体可在工作站的引导下先移动至拖地模块在工作站中的区域，在电磁力的作用下使拖地模块分离设备主体。完成拖地模块的卸载后，设备主体 再移动至扫地模块在工作站中的区域，同样在电磁力的作用下将扫地模块与设备主体结合成扫地机器人，结合成功后，扫地机器人即可回到地毯处执行清扫任务。
在本实施例中，根据设备主体上的第一电磁对接结构和第二功能模块上的第二电磁对接结构的实现形态的不同，在电磁力的作用下控制设备主体与功能模块结合和分离的方式也会有所不同。例如，设备主体与功能模块以磁扣和磁针的方式结合，则可控制电磁力的产生和消失来控制磁扣和磁针的插入和分离，以实现设备主体与功能模块的结合和分离；例如，设备主体与功能模块电磁插销和卡槽的方式结合，则可控制给电磁插销通电和断电来控制电磁插销插入或拔出卡槽，以实现设备主体与功能模块的结合和分离。
采用上述电磁对接结构实现设备主体与功能模块之间的按需结合或分离，仅为对接结构的一种示例性实现方式，并不限于此。在各种对接结构的支持下，设备主体可以随时、按需与不同功能模块进行结合，从而得到具有不同功能的自移动设备。其中，设备主体在不同功能模块之间进行更换时，需与原来的功能模块分离，并按照所支持的上下结合结构或前后结合结构，与新的功能模块结合。在更换方式上，可以采用人工更换方式，也可以在工作站的配合下实现自动更换。
关于人工更换方式：
在设备主体与之前结合的第一功能模块分离之后，人工选中待更换的第二功能模块，并按照设备主体与功能模块所支持的上下结合结构或前后结合结构，通过搬动设备主体和/或第二功能模块，使第二功能模块位于设备主体的下方或后方，以供设备主体借助但不限于第一电磁对接结构以及第二功能模块上的第二电磁对接结构实现与第二功能模块之间的结合。
工作站配合下的自动更换方式：
本申请实施例中，工作站除了提供功能模块的存放功能之外，借助于对功能模块的存放方式，还可以支持设备主体在不同功能模块之间进行自动更 换。
在一可选实施例中，如图3a所示，工作站10采用左右排列的方式对多个功能模块20进行存放。具体地，工作站10中从左到右设置多个存放空间，每个存放空间中存放一个功能模块20。工作站10还可以建立存放空间与功能模块20之间的对应关系。例如，可以分别为各存放空间和各功能模块20配置唯一标识，维护存放空间的标识与功能模块20的标识之间的对应关系。这样，当设备主体30需要从当前结合的第一功能模块更换为第二功能模块时，可以与工作站10进行通信，将当前结合的第一功能模块的标识提供给工作站10；工作站10根据所维护的存放空间与功能模块20之间的对应关系，确定第一功能模块所在的存放空间；然后，工作站10可以将第一功能模块所在的存放空间的位置信息提供给设备主体30，设备主体30利用其导航系统导航至该位置信息处，即第一功能模块所在的存放空间；或者，在每个功能模块20的存放空间中安装有信号发射器，该信号发射器与设备主体30上的信号接收器相适配；工作站10可以控制第一功能模块所在存放空间中的信号发射器发射引导信号，设备主体30在该引导信号的引导下携带第一功能模块回到其所在存放空间；之后，在工作站10或设备主体30的控制下在周围产生电磁场(可参见前文)，第一电磁对接结构在电磁力的作用下与第一功能模块上的第二电磁对接结构分离，实现设备主体30与第一功能模块的分离，这样第一功能模块就会重新位于自己的存放空间中，以等待下一次使用。
同理，设备主体30可以与工作站10进行通信，将待结合的第二功能模块的标识提供给工作站10；工作站10根据所维护的存放空间与功能模块之间的对应关系，确定第二功能模块所在的存放空间；然后，工作站10可以将第二功能模块所在的存放空间的位置信息提供给设备主体30，设备主体30利用其导航系统从第一功能模块所在存放空间中导航至该位置信息处，即第二功能模块所在的存放空间；或者，工作站10可以控制第二功能模块所在存放空间中的信号发射器发射引导信号，设备主体30在该引导信号的引导下从第一功能模块所在存放空间中移动至第二功能模块所在存放空间中。之后，设备 主体30按照所支持的上下结合结构或前后结合结构移动至第二功能模块的上方或前方，借助于第一电磁对接结构和第二功能模块上的第二电磁对接结构与第二功能模块结合。
可选地，如果采用上下结合结构，则如图3a所示，工作站10中每个存放区域中固设有坡体结构的承载部11，该坡体结构的承载部11位于功能模块上方，设备主体30可以借助于坡体结构的承载部11位于第二功能模块的上方。其中，该坡体结构的承载部11的承载部高于第二功能模块，且为镂空结构可露出第二功能模块，且要求该坡体结构的承载部11能够承载设备主体30，例如可以设有抓手、托盘等承载结构，以便于设备主体30可以与下方的第二功能模块结合。
在另一可选实施例中，工作站10为了节约存放空间，如图3b所示，工作站10可包括翻转机构12，用于存放不同功能模块20供设备主体30进行更换。可选地，可借助于翻转机构12对设备主体30或功能模块20进行翻转，采用翻转方式实现设备主体30与不同功能模块20的更换，充分利用立体空间资源，达到节约平面存放空间的方式。在本申请实施例中，并不限定翻转机构12的实现方式和翻转原理，下面实施例中将进行示意性说明。
在一可选实施例中，如图3b所示，翻转机构12可承载至少两个功能模块20，至少两个功能模块20位于翻转机构12的不同承载面13上，占用同一存放空间。可选地，如图3b所示，翻转机构12包括上下两个承载面，每个承载面13可固定存放一个功能模块20。翻转机构12除了采用图3b所示实现结构之外，还可以具有至少三个承载面13，例如可以是三个承载面13或四个承载面13，每个承载面13上可以固定存放一个功能模块20。其中，相邻承载面13之间的夹角可以相同，则该旋转平台为一规则的平台；当然，相邻承载面13之间的夹角也可以不相同，则该旋转平台为一不规则的平台。当然，只要存放空间在水平或垂直两个方向上做的足够大，无论是具有几个承载面13的翻转机构12，其每个承载面13上也可以同时固定放置两个或两个以上 的功能模块20。需要说明的是，翻转机构也可以不具有承载面，而是设有夹持部或夹持组件等其他可以承载自移动设备的结构。无论是何种哪种具有承载功能的结构，翻转机构借助于该结构辅助设备主体自动更换功能模块的原理相同或相似，故在本申请下述实施例中，以承载面为例进行说明，但不应作为对本申请的限制。
除了该翻转机构12之外，工作站10中还设有与该翻转机构12配合使用的运载机构，该运载机构可以是任何能够带动设备主体移动的机械结构，例如可以是图4a所示的结构，但不限于此。在一可选实施例中，运载机构上设置有一支撑部，运载机构的支撑部位于翻转机构12上方，且与翻转机构12上朝向该支撑部的承载面13相对应，该支撑部用于承载设备主体30。运载机构用于在设备主体30与第一功能模块分离后带动设备主体30移动，以使设备主体远离翻转机构12，为翻转机构12进行翻转提供空间；其中，在设备主体30与第一功能模块分离之后，支撑部可将第一功能模块脱离至翻转机构12上。进一步，运载机构可带动其支撑部在水平或垂直方向上移动，移动方向不做限定。在一种实现方式中，运载机构带动支撑部向上运动时，会远离翻转机构12，运载机构带动支撑部向下运动时，会靠近翻转机构12。当然，运载机构也可以带动支撑部向左运动，使之远离翻转机构12，而运载机构带动支撑部向右运动，使之靠近翻转机构12。
借助于上述运载机构和翻转机构12，设备主体30可在不同功能模块20之间自动更换。假设设备主体30当前结合有第一功能模块，因为作业需求，如使用第一功能模块完成了当前作业任务，或者第一功能模块的电池电量不足，需要将第一功能模块更换为第二功能模块。该种情况下，设备主体30可携带第一功能模块回到工作站10中。
可选地，设备主体30可以内置工作站10的位置信息，基于此，在需要回到工作站10时，设备主体可利用导航系统，基于工作站10的位置信息进行路径规划，规划出从当前位置到工作站10所在位置的路径，沿着该路径回到工作站10。或者，工作站10上也可以设置引导设备主体30或自移动设备 重回工作站10的传感器，简称为回引传感器，该回引传感器持续发射回引信号，在需要回到工作站10时，设备主体30可探测该回引信号，在该回引信号的引导下回到工作站10。
设备主体30携带第一功能模块移动到运载机构的支撑部上，该支撑部对应翻转机构12的一个空闲承载面13，即该承载面13上未放置任何功能模块20，且朝向支撑部；之后，设备主体30与第一功能模块分离，关于分离的示例性方式可参见前述实施例，但并不限于此。在设备主体30与第一功能模块分离之后，第一功能模块经支撑部可分离至翻转机构12当前朝向支撑部的承载面13上，并带动设备主体30远离翻转机构12。可选地，运载机构可带动设备主体30至少向上移动至第一位置，即可以移动至第一位置，也可以移动至高于第一位置的其它位置，从而使设备主体30远离翻转机构12，为翻转机构12成功翻转提供足够空间；其中，第一位置是翻转机构12上方的一个位置，是保证翻转机构12成功完成翻转所需的最低位置，该位置可根据翻转机构12的实现结构和旋转过程中该翻转机构12可达到的最高位置而定。
在本申请实施例中，并不限定支撑部的实现结构，凡是既可以承载由设备主体30和第一功能模块结合成的自移动设备，又能够在设备主体30与第一功能模块分离之后将第一功能模块放置于翻转机构12当前朝向支撑部的承载面13上的实现结构均适用于本申请实施例。下面举例说明：
在一种实现结构中，支撑部可以采用中空结构，中空部分的大小以大于各功能模块为要求，以便于设备主体30与第一功能模块分离之后第一功能模块能够通过该中空部分脱离至翻转机构12当前朝向支撑部的承载面13上。可选地，中空部分的形状可以与各功能模块的形状相适配。进一步可选地，支撑部的内侧可设置伸缩结构，例如伸缩支架，伸缩杆，用于承载设备主体30。
在另一种实现结构中，支撑部包括外框体和设置于外框体内侧的伸缩结构，该伸缩结构可以缩回，以在圈体内形成中空区域，使第一功能模块能够通过该中空区域脱离至翻转机构12当前朝向支撑部的承载面13上。其中， 外框体可以是圆形、椭圆形、正方形、长方形或不规则形状的框体结构，只要该伸缩结构缩回之后在该框体内形成的中空区域可供各功能模块脱离至翻转机构12当前朝向支撑部的承载面13上即可。
在本实施例中，翻转机构12可以旋转，其可以做90°旋转，也可以做180°旋转，还可以做360°旋转，也可以做任意角度的旋转。在旋转时，旋转方向可以是前后翻转，也可以是水平翻转。另外，随着翻转机构12的旋转，存放于各承载面13上的功能模块20也会跟着翻转。为了防止功能模块20在旋转过程中从承载面13上掉落，承载面13上可设置固定装置，该固定装置负责将功能模块20固定住。该固定装置可以是磁吸结构，也可以是卡扣结构，或者粘扣结构等。基于此，可将设备主体30需要结合的第二功能模块固定到翻转机构12的某个承载面13上，之后，翻转机构12在支撑部带动设备主体30至少上升到第一位置后，执行旋转动作以将第二功能模块所在承载面13翻转至朝向支撑部，为设备主体30与第二功能模块的结合提供条件。
进一步，支撑部继续带动设备主体30下降至靠近第二功能模块，以使设备主体30与第二功能模块结合。可选地，若采用上下结合结构，则可将第二功能模块翻转至设备主体30下方，设备主体30上的第一电磁对接结构与第二功能模块上的第二电磁对接结构在电磁吸力的作用下结合。可选地，若采用前后结合结构，则运载机构还可以带动设备主体在水平方向上移动，将设备主体30移动至第二功能模块前方，设备主体30上的第一电磁对接结构与第二功能模块上的第二电磁对接结构在电磁吸力的作用下结合。
在本实施例中，工作站中还设有控制器，在上述过程中的运载机构、翻转机构都可以在控制器的控制下执行相应动作。结合上述图3b所示工作站，本申请实施例提供一种自移动设备的控制方法，该控制方法适用于图3b所示结构的翻转机构，但不限于此，适用于任何具有翻转功能的翻转机构。如图3c所示，该方法包括：
31c、控制设备主体将其携带的第一功能模块分离至工作站中的翻转机构上。
32c、控制翻转机构翻转，以使翻转机构上的第二功能模块朝向设备主体。
33c、控制设备主体与第二功能模块结合。
在本申请可选实施例中，在控制翻转机构翻转之前，还可以将设备主体移动至远离翻转机构的位置，为翻转机构进行翻转提供空间。在将设备主体移动至远离翻转机构的位置之后，可控制翻转机构翻转，以将翻转机构上的第二功能模块朝向设备主体，具体可朝向设备主体的安装腔。其中，安装腔是设备主体上用于安置功能模块的结构，关于安装腔的实现结构、位置等相关描述可参见上文，在此不再赘述。在控制翻转机构翻转后，将设备主体靠近翻转机构，直至设备主体与翻转机构上的第二功能模块结合。
在一可选实施例中，在工作站中设有运载机构的情况下，在设备主体与第一功能模块分离之后，可以通过工作站中的运载机构将设备主体移动至远离翻转机构的位置；相应地，在翻转机构翻转后，控制设备主体与第二功能模块结合时，可通过运载机构将设备主体靠近翻转机构，直至设备主体与翻转机构上的第二功能模块结合。
进一步，在工作站中设有运载机构和翻转机构的情况下，一种设备主体更换功能模块的过程，如图3d所示，在设备主体需要更换第一功能模块为第二功能模块时，设备主体携带第一功能模块移动至运载机构的支撑部上，此时控制设备主体将第一功能模块分离至支撑部上；例如，可给通用电磁体或第一功能模块对应的专用电磁体通电，在周围产生电磁场，以使设备主体在电磁力作用下与第一功能模块分离；第一功能模块被分离至支撑部上之后，可经该支撑部脱离至翻转机构上；之后，控制运载机构通过支撑部带动设备主体至少向上移动至第一位置；接着，控制翻转机构翻转，以将其上第二功能模块朝向设备主体；之后，控制运载机构带动设备主体向下移动靠近第二功能模块，直至设备主体与翻转机构上的第二功能模块结合。可选地，可以给通用电磁体或第一功能模块对应的专用电磁体断电，以使设备主体与第二功能模块结合。在图3d中，以翻转机构具有A和B两个承载面，且第二功能模块由B承载面承载，第一功能模块由A承载面承载为例进行图示。
需要说明的是，图3d中仅为工作过程的状态示意图，并未示出其他功能组件的结构特征。另外，在图3d中，以两个功能模块位于翻转机构的上下两个承载面上以180°翻转为例进行图示，但并不限于此。
进一步可选地，在翻转机构包括上下两个承载面的情况下，可以控制翻转机构翻转180°，以将其第二承载面上的第二功能模块朝向设备主体，如图3d所示。
或者
进一步可选地，在翻转机构包括至少三个承载面的情况下，可以识别出设备主体需要更换的第二功能模块，并确定第二功能模块所在的第二承载面；根据第二承载面与第一承载面的位置关系和承载面的数量确定待翻转的角度，控制翻转机构翻转角度，以将第二承载面上的第二功能模块朝向设备主体。
进一步可选地，工作站可以设置至少一个更换区，各更换区之间彼此隔离，在每个更换区中均设置上述实施例中提供的翻转机构和运载机构，通过这些翻转机构和运载机构，每个更换区可以存放更多功能模块，有利于节约工作站的空间。其中，更换区可以是柱体状的，也可以是立方体或正方体状的，还可以是不规则形状的。在更换区为多个的情况下，这些更换区的腔体形状可以相同，也可以不相同；另外，这些更换区的腔体大小可以相同，也可以不相同。
需要说明的是，翻转机构除了上述实施例提供的实现结构和翻转原理之外，还可以具有其他实现结构和翻转原理，具体可参见下述实施例。
在本申请另一可选实施例中，工作站至少包括第一位置、第二位置和第三位置。其中，第一位置是供设备主体与其当前携带的第一功能模块进行分离的位置，即第一功能模块会被分离至第一位置；第二位置与第三位置对应，第三位置上放置有需要与设备主体结合的第二功能模块，第二位置是在设备主体需要与第二功能模块结合时用于放置设备主体的位置。进一步，本实施例的工作站还包括翻转机构和控制器。翻转机构配合工作站中的第一、第二 和第三位置，可配合设备主体在多个功能模块之间自动进行更换。本实施例中翻转机构的实现结构和翻转原理与前述实施例中的翻转机构不同，具体如下：
以设备主体当前结合第一功能模块为例，因为作业需求，例如使用第一功能模块完成了当前作业任务，或者第一功能模块的电池电量不足，需要将第一功能模块更换为第二功能模块。在该种情况下，设备主体可携带第一功能模块回到工作站中；首先，控制设备主体将其携带的第一功能模块分离至工作站中第一位置；接着，控制翻转机构将设备主体翻转至工作站中的第二位置，其中，工作站中与第二位置对应的第三位置放置有第二功能模块；之后，控制第二功能模块和设备主体中的一方向另一方靠近，直至设备主体与第二功能模块结合。其中，可以控制第二功能模块向设备主体靠近，直至设备主体与第二功能模块结合，此时第三位置将空闲出来；或者，也可以控制设备主体向第二功能模块靠近，直至设备主体与第二功能模块结合，此时第二位置将空闲出来。本实施例中的翻转机构至少用于将设备主体向第二位置翻转。
进一步可选地，在设备主体与第二功能模块结合之后，还可控制翻转机构将第一功能模块翻转至第二位置和第三位置中的空闲位置，并将结合第二功能模块的设备主体翻转至第一位置。可选地，空闲位置可以为第二位置或第三位置。本实施例中的翻转机构还可用于将第一功能模块向第二位置和第三位置中的空闲位置翻转，并可将结合第二功能模块的设备主体向第一位置翻转。
在一可选实施例中，工作站包括至少一个更换区，用于存放不同功能模块供设备主体更换。每个更换区中至少包括第一位置、第二位置和第三位置，另外，每个更换区内设有翻转机构，该翻转机构可朝向第二位置进行翻转。第二位置可以是更换区中的任一位置，用于承载设备主体；第三位置可以是更换区内与第二位置不同的其它任何位置，用于存放待结合的功能模块；更换区的第一位置用于存放设备主体分离下来的功能模块。进一步可选地，第 一位置可以是更换区的底部，第二位置可以是更换区的第一侧壁上的位置，第一侧壁可以是更换区中任一侧壁，对此不做限定；相应地，第三位置可以是更换区的第二侧壁上的位置，第二侧壁与第一侧壁对应。
在本申请实施例中，将第二功能模块所在更换区记为目标更换区，在设备主体需要更换第二功能模块的情况下，可控制设备主体携带第一功能模块移动至第二功能模块所在的目标更换区内，并控制设备主体将第一功能模块分离至目标更换区的底部，即第一位置；之后，可控制翻转机构将设备主体翻转至目标更换区的第一侧壁上，即第二位置；之后，控制设备主体和位于第二侧壁(即第三位置)上的第二功能模块中的一方向另一方靠近，直至两者结合为止。
进一步可选地，考虑到目标更换区的侧壁具有一定高度，为了便于将设备主体翻转至侧壁上相应位置，本实施例的工作站还设置有运载机构，可带动设备主体或功能模块移动。该运载机构也包括支撑部，用于承载设备主体或功能模块。关于运载机构的结构可参见图4a所示，但不限于此。在运载机构的基础上，在设备主体需要更换第二功能模块的情况下，可控制设备主体携带第一功能模块移动至第二功能模块所在的目标更换区内，并控制设备主体将第一功能模块分离至运载机构的支撑部上，该支撑部可将第一功能模块脱离至目标更换区的底部，即第一位置；在设备主体与第一功能模块分离后，可控制运载机构带动设备主体移动，具体地，该运载机构可在控制器的控制下带动设备主体上升至与第二功能模块对应的高度；之后，可控制翻转机构在该高度上将设备主体翻转至目标更换区的第一侧壁上，即第二位置；之后，控制设备主体和位于第二侧壁上的第二功能模块中的一方向另一方靠近，直至两者结合为止。
可选地，可将设备主体固定在第一侧壁上，以防止从第一侧壁上滑落下去。关于固定方式不做限定，例如第一侧壁上可以设置固定装置，该固定装置可以采用磁吸方式，具体实现为设置于第一侧壁上的第一磁吸件，与设置于功能模块上的第二磁吸件相互配合；或者该固定装置也可以采用卡扣结构 或者粘扣结构，粘扣结构包括但不限于：母扣与卡扣结合结构、弹力卡扣结构、活动推勾卡扣结构以及拨动弹力卡扣结构。对于母扣与卡扣结合结构，可将卡扣设计在止口上，母扣可设计为穿孔结构、母扣下方走斜顶结构或者母扣封胶做筋位加强等。
进一步可选地，第一侧壁或第二侧壁上设有伸缩机构，相应地，设备主体或第二功能模块被固定在伸缩机构上；伸缩机构向外伸缩可带动设备主体或第二功能模块向另一方靠近。伸缩机构可以是卷帘伸缩结构、波浪式折叠结构或者是弹簧式伸缩结构中的任一种。伸缩机构可以在设备主体或第二功能模块被固定后，通过伸缩带动设备主体或第二功能模块向外移动。
在一可选实施例中，翻转机构包括第一翻转部和第二翻转部。其中，第一翻转部设置于运载机构的支撑部上，用于在运载机构带动设备主体向上移动至与第二功能模块对应的高度时将设备主体翻转至第一侧壁上。第二翻转部设置于第一侧壁或第二侧壁上，若第二翻转部设置于第一侧壁上，则设备主体会被固定在第二翻转部上，第二翻转部可在设备主体与第二功能模块结合后，将设备主体和第二功能模块一并翻转至第一位置，以供设备主体携带第二功能模块去执行作业任务；若第二翻转部设置于第二侧壁上，则第二功能模块会被固定在第二翻转部上，第二翻转部可在设备主体与第二功能模块结合后，将设备主体和第二功能模块一并翻转至第一位置，以供设备主体携带第二功能模块去执行作业任务。
在本实施例中，并不限定第一翻转部与第一侧壁之间的位置关系，可选地，第一翻转部相对于第一侧壁垂直设置；相应地，第二翻转部相对于目标更换区的底部垂直设置，但不限于此。
在本实施例中，工作站中还设有控制器，在上述过程中，运载机构、翻转机构都可以在控制器的控制下执行相应动作。结合上述实施例提供的工作站，本申请实施例提供一种自移动设备的控制方法，该控制方法适用于上述实施例中的翻转机构，但不限于此，适用于任何具有翻转功能的翻转机构。如图3e所示，该方法包括：
31e、控制设备主体将其携带的第一功能模块分离至工作站中第一位置。
32e、将设备主体翻转至第二位置，与第二位置对应的第三位置放置有第二功能模块。
33e、控制第二功能模块和设备主体中的一方向另一方靠近，直至设备主体与第二功能模块结合。
在一可选实施例中，在设备主体与第二功能模块结合之后，还包括：将第一功能模块翻转至第二位置和第三位置中的空闲位置；将结合第二功能模块的设备主体翻转至第一位置；其中，空闲位置为第二位置或第三位置。
进一步可选地，控制设备主体将其携带的第一功能模块脱离至工作站中的第一位置，包括：控制设备主体携带第一功能模块移动至工作站中第二功能模块所在的目标更换区内；控制设备主体将第一功能模块分离至目标更换区的底部，第一位置为目标更换区的底部。
进一步可选地，上述第二功能模块位于目标更换区的第二侧壁上；基于此，将设备主体翻转至第二位置，包括：将设备主体上升至与第二功能模块对应的高度，在高度上将设备主体翻转至目标更换区上与第二侧壁对应的第一侧壁上，第二位置为第一侧壁上的位置。
关于上述方法实施例的详细描述可参见前述实施例，在此不再赘述。
进一步，工作站还设置有运载机构和更换区，基于此，一种设备主体在工作站中更换功能模块的过程，如图3f所示，在设备主体需要更换第一功能模块为第二功能模块时，设备主体携带第一功能模块移动至运载机构的支撑部上，此时控制设备主体将第一功能模块分离至支撑部上；例如，可给通用电磁体或第一功能模块对应的专用电磁体通电，在周围产生电磁场，以使设备主体在电磁力作用下与第一功能模块分离；第一功能模块被分离至支撑部上之后，可经该支撑部脱离第二功能模块所在目标更换区的底部；之后，控制运载机构通过支撑部带动设备主体上升到与第二功能模块对应的高度；接着，在该高度上，控制支撑部上的第一翻转部朝向第一侧壁翻转，以将设备主体翻转至第一侧壁上对应指定高度的位置；之后，控制第二侧壁上的伸缩 机构向外伸展，以带动第二功能模块向设备主体靠近，直至设备主体与第二功能模块结合；可选地，可以给通用电磁体或第一功能模块对应的专用电磁体断电，以使设备主体与第二功能模块结合；接着，控制第一侧壁上的第二翻转部向下翻转，以将具有设备主体连同第二功能模块翻转至目标更换区的底部。可选地，如图3f所示，还可以将第一功能模块翻转至第二侧壁上，为设备主体再次更换第一功能模块提供便利和条件。
在图3f所示实施例中，以第二侧壁上设置伸缩机构，第一侧壁上设置第二翻转部为例进行图示和说明，但并不限于此。例如，也可以是在第一侧壁上设置伸缩机构，第二侧壁上设置第二翻转部，这样可以控制第一侧壁上的伸缩机构向外伸展，以带动设备主体向第二功能模块靠近，直至设备主体与第二功能模块结合；然后，控制第二侧壁上的第二翻转部向下翻转，以将具有设备主体连同第二功能模块一并翻转至目标更换区的底部。图3f中仅为工作过程的状态示意图，并未示出其他功能组件的结构特征。另外，在图3f中，以第一侧壁和第二侧壁相对设置为例进行图示，但并不限于此。
在工作站的另一实施例中，如图4a所示，该工作站包括运载机构42和控制器。控制器，用于在携带第一功能模块的设备主体到达工作站的第一位置后，控制设备主体和第一功能模块分离，并在设备主体移动至第二位置时控制第二功能模块与设备主体结合。运载机构42，用于在控制器的控制下，带动设备主体按照第一设定路径移动至第二位置。
需要说明的是，本申请第一位置和第二位置分别是第一功能模块和第二功能模块的对应的位置。可选地，第一位置位于第一功能模块放置位置的上方，第二位置位于第二功能模块放置位置的上方。或者，第一位置位于第一功能模块放置位置的下方，第二位置位于第二功能模块放置位置的下方。第一设定路径根据第一功能模块和第二功能模块位置关系设定，第一设定路径优选设计为符合运载机构的动作模式下的最短路径。其中，运载机构带动设备主体可以在垂直方向和水平方向中的至少一个方向上移动直至第二位置。 运载机构带动设备主体移动至第二位置的方式包括但不限于以下几种移动方式：
移动方式一，运载机构带动设备主体在左右水平方向直接移动至第二位置；
移动方式二，运载机构带动设备主体在前后水平方向直接移动至第二位置；
移动方式三，运载机构带动设备主体在垂直方向上移动至第三位置；继续带动设备主体在水平方向上移动至第四位置，第四位置在垂直方向上与第二位置对齐；自第四位置带动设备主体在垂直方向上移动至第二位置。
在上述移动方式一和上述移动方式二中，通过一次水平方向的移动，将设备主体从第一位置移动至第二位置，受限于设备主体与第一功能模块的结构，若第一功能模块和设备主体在解锁后即处于完全脱离状态，则可通过上述移动方式一和上述移动方式二的移动方式对设备主体进行移动。若第一功能模块和设备主体在解锁后未处于完全脱离状态，则需要在使设备主体和第一功能模块的移动方向上移动一定距离后，再向第二功能模块所在的方向移动，这种情形可参见移动方式三中的实施例。
在上移动方式三中，参见图4b-图4e，运载机构42带动设备主体自第一位置带动设备主体垂直向上移动至第三位置，自第三位置继续带动设备主体在左右水平方向上移动至第四位置，自第四位置带动设备主体垂直向下移动至第二位置。或者运载机构42带动设备主体自第一位置带动设备主体垂直向上移动至第三位置，自第三位置继续带动设备主体在前后水平方向上移动至第四位置，自第四位置带动设备主体垂直向下移动至第二位置。
当自移动设备需要切换不同功能模块时，可以采用上述提供的任一种切换方式完成。在上述切换过程中，可移动的设备主体与第一功能模块脱离之后，通过运载机构对可移动的设备主体进行移动，使之逐渐靠近固定不动的第二功能模块直至两者组装在一起，但并不限于此。例如，也可以通过移动第二功能模块，使之逐渐靠近可移动的设备主体直至两者组装在一起。其中， 无论是移动可移动的设备主体还是移动第二功能模块，有可能会因为制造公差导致的零部件不一致性，以及装配过程中的累积公差导致两者之间在位置对准上存在一定的偏差。在组装过程中，如何保证可移动的设备主体与第二功能模块的位置对准是本申请实施例有待解决的又一技术问题。
针对上述问题，本申请实施例的工作站中不仅设有供设备主体更换功能模块的切换系统，主要包括上述运载机构和/或翻转机构等，用于实现可移动的设备主体与不同功能模块的自动切换，还增加了一种自动对准系统，用于在可移动的设备主体与功能模块进行切换的过程中实现可移动的设备主体与待切换功能模块的自动对准，消除人工干预，解决装配不到位等问题，提高对准精度。
如图4a所示，该工作站除了运载机构42和控制器之外，还包括定位装置41，定位装置41用于在运载机构42带动设备主体在垂直方向和水平方向中的至少一个方向上移动时，定位设备主体在至少一个方向上移动到的位置信息；其中，运载机构42，该定位装置41的安装位置与对准位置具有一定关系，可选地，该定位装置41的安装位置可以是其所在方向上的对准位置，或者，该定位装置41的安装位置也可以是其所在方向上的对准位置±设定距离值，因此，在切换过程中，借助于该定位装置41可衡量可移动的设备主体在定位装置所在方向上是否运动到位，以便实现可移动的设备主体与待切换功能模块的自动对准。需要说明的是，本申请实施例对设定距离值不作限定，设定距离值可以根据实际情况作出调整。
在本实施例中，如图4a所示，运载机构42包括支撑部425，用于在可移动的设备主体从当前组装的第一功能模块切换为第二功能模块的过程中，在控制器的控制下支撑部425动作带动可移动的设备主体在至少一个方向上移动，以将可移动的设备主体与第二功能模块结合。
需要说明的是，上述至少一个方向包括上下垂直方向、前后水平方向和左右水平方向。其中，上述至少一个方向，受工作站的自身结构、各功能模块在工作站中的存放方式以及自动对准系统的工作原理等因素影响。待对准 方向指的是至少一个方向中的当前进行对准的方向。
在一可选实施例中，结合图4a、图4b、图4c、图4d和图4e，自移动设备的第一功能模块B1位于可移动的设备主体A的上方，自移动设备回到工作站后，自移动设备停放至支撑部425的上方，其中，可移动的设备主体A搁置于支撑部425的上方，第一功能模块伸入支撑部425的下方，第一功能模块与第二功能模块在工作站内左右水平放置。可移动的设备主体A从当前组装的第一功能模块B1切换至第二功能模块B2的过程为：在可移动的设备主体A与第一功能模块B1解锁后，运载机构42带动可移动的设备主体向上移动(参见图4b)，直至第一功能模块B1与可移动的设备主体A处于脱离状态(参见图4c)；运载机构42带动可移动的设备主体A向右侧水平移动，直至可移动的设备主体A移至第二功能模块B2的上方(参见图4d)；运载机构42带动可移动的设备主体A向下移动，直至可移动的设备主体A移至第二功能模块B2接触配合完成整个结合过程(参见图4e)；可移动的设备主体A与第二功能模块B2进行锁合，形成新的自移动设备。
在另一可选实施例中，结合图4a，自移动设备的第一功能模块B1位于可移动的设备主体A的上方，自移动设备回到工作站后，自移动设备停放至支撑部425的上方，其中，可移动的设备主体A搁置于支撑部425的上方，第一功能模块B1伸入支撑部425的下方，第一功能模块B1与第二功能模块B2在工作站内前后水平放置。可移动的设备主体A从当前组装的第一功能模块B1切换至第二功能B2模块的过程为：在可移动的设备主体A与第一功能模块B1解锁后，运载机构42带动可移动的设备主体A向上移动(参见图4b)，直至第一功能模块B1与可移动的设备主体A处于脱离状态(参见图4c)；运载机构42带动可移动的设备主体A向后移动，直至可移动的设备主体A移至第二功能模块B2的上方(参见图4d)；运载机构42带动可移动的设备主体A向下移动，直至可移动的设备主体A移至第二功能模块B2接触配合完成整个对准过程(参见图4e)；可移动的设备主体A与第二功能模块B2进行锁合，形成新的自移动设备。
在另一可选实施例中，自移动设备的第一功能模块位于可移动的设备主体的上方，自移动设备回到工作站后，可移动的设备主体搁置于工作站内部，第一功能模块与第二功能模块在工作站内前后水平放置。可移动的设备主体从当前组装的第一功能模块切换至第二功能模块的过程为：在可移动的设备主体与第一功能模块解锁后，升降机构带动可移动的设备主体向下移动，直至第一功能模块与可移动的设备主体处于脱离状态；升降机构带动第一功能模块向右移动，直至第一功能模块移动至其相应的存放位置上方；升降机构带动第一功能模块向下移动将第一功能模块移动至其存放位置；升降机构向上移动后向右移动至第二功能模块的上方，升降机构向下移动至与第二功能模块接触配合，升降机构带动第二功能模块向上移动后向左移动至可移动的设备主体的下方，升降机构带动第二功能模块向上移动与可移动的设备主体接触配合完成整个对准过程；可移动的设备主体与第二功能模块进行锁合，形成新的自移动设备。
在上述实施例中，若可移动的设备主体需要在水平方向上动作，则可以通过设置第一驱动电机421和被第一驱动电机421驱动的驱动件。一种可选的方式为，驱动件为水平方向设置的水平位移螺杆422，支撑部425连接于水平位移螺杆422的一端，第一驱动电机421驱动水平位移螺杆422正向或者逆向转动，支撑部425沿水平位移螺杆422的转动方向相应地水平移动，进而带动支撑部425上放置的可移动的设备主体水平移动。另一种可选的方式为，驱动件可沿水平方向动作的伸缩杆，支撑部425螺纹固定连接于伸缩杆的一端，第一驱动电机421驱动伸缩杆进行水平伸缩动作，支撑部425进行相应地水平移动，进而带动支撑部425上放置的可移动的设备主体水平移动。
若可移动的设备主体还需要在上下垂直方向动作，则可以通过设置第二驱动电机423和被第二驱动电机423驱动的驱动件。一种可选的方式为，驱动件为垂直方向设置的垂直位移螺杆424，支撑部425螺纹连接于垂直位移螺杆424的一端，第二驱动电机423驱动垂直位移螺杆424正向或者逆向转动，支撑部425沿垂直位移螺杆424向上或者向下转动，进而带动支撑部425上 放置的可移动的设备主体上下移动。另一种可选的方式为，驱动件可沿垂直方向动作的伸缩杆，支撑部425螺纹固定连接于伸缩杆的一端，第二驱动电机423驱动伸缩杆进行垂直伸缩动作，支撑部425相应进行向上或者向下转动，进而带动支撑部425上放置的可移动的设备主体上下移动。
图4a为本申请示例性实施例提供的一种运载机构42的结构示意图。运载机构42包括升降机构和平移机构。其中，平移机构包括第一驱动电机421和水平位移螺杆422；升降机构包括第二驱动电机423和垂直位移螺杆424；水平位移螺杆422，与第一驱动电机421连接，第一驱动电机421驱动水平位移螺杆422转动；垂直位移螺杆424，与第二驱动电机423连接，第二驱动电机423驱动垂直位移螺杆424转动；第二驱动电机423，螺纹连接于水平位移螺杆422上；支撑部425螺纹连接于垂直位移螺杆424的下端。第一驱动电机421驱动水平位移螺杆422，本申请实施例的运载机构42的第二驱动电机423和垂直位移螺杆424安装于水平位移螺杆422上，水平位移螺杆422转动时，带动与垂直位移螺杆424连接的支撑部425一起水平移动，运载机构42的设计合理，结构简单紧凑，占用空间小，减小工作站的体积。
需要说明的是，受工作站的自身结构、各功能模块在工作站中的存放方式以及自动对准系统的工作原理等因素影响，可移动的设备主体的运动方向会有所不同。如果可移动的设备主体需要水平移动和垂直移动，可以以世界坐标系为例，可移动的设备主体可以在世界坐标系的三个坐标轴所在方向上移动，以实现水平移动和垂直移动；在水平移动时，又可以分为前后水平移动和左右水平移动。如果水平移动方向与对准有关，则可以在至少一个水平移动方向上设置定位装置，该定位装置可定位可移动的设备主体在相应水平移动方向上的移动位置，当然，也可以在另一个水平移动方向上设置定位装置，该定位装置可定位可移动的设备主体在另一个水平移动方向上的移动位置。
在切换过程中，可移动的设备主体还需要上下移动，即沿着垂直方向移动，则还可以在垂直方向上设置定位装置，用于定位可移动的设备主体在垂 直方向上的移动位置。
进一步说明，受工作站的实现结构、各功能模块在工作站中的存放方式以及切换系统的工作原理等因素影响，定位装置在工作站中的安装位置会有所不同，对此不做限定，其中，根据上述对定位装置的功能描述，本领域技术人员可以在不付出任何创造性劳动的情况下很容易想到定位装置的安装位置。
在本实施例中，如图4a、图4f所示，定位装置41，用于在运载机构带动设备主体在垂直方向和水平方向中的至少一个方向上移动时，定位设备主体在至少一个方向上移动到的位置信息并上报至控制器，控制器根据位置信息对运载机构42进行控制。可选地，定位装置41包括垂直光耦器件和水平光耦器件中的至少一种；垂直光耦器件包括在水平方向上相对设置的发射光耦和接收光耦，用于定位设备主体在垂直方向上移动到的位置信息；水平光耦器件包括在垂直方向上相对设置的发射光耦和接收光耦，用于定位设备主体在水平方向上移动到的位置信息。每组光耦器件包括发射光耦和接收光耦，发射光耦和接收光耦相对设置，且留有间隙410。本申请利用光耦器件进行定位可移动的设备主体在至少一个方向上的移动位置，提高自动对准系统的定位精度。另外，本申请实施例也不限定定位装置的实现结构，凡是具有位置检测功能的装置均适用于本申请实施例。
进一步，运载机构上设有与至少一种光耦器件适配的遮挡部，遮挡部与设备主体一同移动，用于在移动至与其适配的光耦器件中发射光耦和接收光耦之间时，触发与其适配的光耦器件生成检测信号并上报给控制器；控制器在接收到对应的光耦器件上报检测信号的光耦器件的安装位置，确定设备主体在至少一个方向上移动到的位置信息。
如图4a所示，运载机构42的垂直光耦器件包括：与第三位置对应的第一垂直光耦器件、与第五位置对应的第二垂直光耦器件以及与第二位置对应的第三垂直光耦器件；第五位置在垂直方向上位于第一、第二位置和第三位置之间；水平光耦器件包括：与第四位置对应的第一水平光耦器件以及与第 六位置对应的第二水平光耦器件；第六位置在水平方向上位于第三位置和第四位置之间。需要说明的是，第二垂直光耦器件和第二水平光耦器件是为了检测得到运载机构开始减速的减速信号，本申请通过增设第二垂直光耦器件和第二水平光耦器件可有效缓冲运载机构42的撞击力。显而易见的是，本申请对第二垂直光耦器件的数量和位置不作限定，可以根据实际情况作出调整。
若在靠近第三位置的第五位置设置第二垂直光耦器件，则控制器在设备主体垂直向上移动至第三位置过程中，根据第二垂直光耦器件上报的检测信号，控制运载机构开始减速移动，并根据第一垂直光耦器件上报的检测信号，控制运载机构停止移动。
若在靠近第四位置的第六位置设置第二水平光耦器件，则控制器在设备主体在水平方向上移动至第四位置过程中，根据第二水平光耦器件上报的检测信号，控制运载机构开始减速移动，并根据第一水平光耦器件上报的检测信号，控制运载机构停止移动。
若在靠近第二位置的第六位置设置第二水平光耦器件，则控制器在设备主体垂直向下移动至第二位置过程中，根据第二垂直光耦器件上报的检测信号，控制运载机构开始减速移动，并根据第三垂直光耦器件上报的检测信号，控制运载机构停止移动。
在上述实施例中，控制器在接收到所述第一垂直光耦器件、第三垂直光耦器件或所述第一水平光耦器件上报的检测信号时，控制所述运载机构停止移动；或者在接收到所述第一垂直光耦器件、第三垂直光耦器件或所述第一水平光耦器件上报的检测信号后延迟指定时间，控制所述运载机构停止移动。控制器在接收到第二垂直光耦器件和第二水平光耦器件上报的检测信号时，控制所述运载机构减速移动。
进一步，如图4a和4b所示，在工作站中运载机构42的支撑部425上设有向外凸出的第一遮挡部4251以及在升降机构中的第二驱动电机423上设置第二遮挡部4261，该第一遮挡部4251和第二遮挡部4261可以是凸起薄片，第一遮挡部4251在支撑部425上的设置位置、第二遮挡部4261在第二驱动 电机423上的设置位置与光耦的设置位置相对应，即当支撑部425移动到光耦所在水平面时，凸起的遮挡部可以遮挡光耦，从而阻断光耦之间的通信。其中，上述定位装置41与支撑部上凸起的第一遮挡部4251以及电机减速齿轮箱的第二遮挡部4261组合在一起可实现为本申请的自动对准系统。
在上述实施例中，如图4a、图4f所示，运载机构42具有支撑部425，支撑部425用于承载可移动的设备主体，且支撑部425上设有第一遮挡部4251；当第一遮挡部4251在运载机构42的带动下上下移动至相应一组光耦器件中的发射光耦和接收光耦之间的间隙410中时，触发该光耦器件生成检测信号并上报给控制器；控制器根据上报检测信号的光耦器件的安装位置，确定可移动的设备主体或第二功能模块在与上报检测信号的光耦器件垂直方向上的移动位置。可选地，支撑部425的两侧外侧壁分别凸出设有第一遮挡部4251。其中，本申请实施例对第一遮挡部4251的实现形式不作限定。第一遮挡部4251的结构优选为与光耦之间的间隙配合的片状结构。第一遮挡部4251的数量可以根据光耦的数量以及实际情况进行适应性调整。
如图4b所示，运载机构42还包括电机减速齿轮箱426，且第二驱动电机423设于电机减速齿轮箱426内，第二驱动电机423上设有二遮挡部4261。当第二遮挡部4261在升降机构的带动下水平移动至第一水平光耦器件中的发射光耦和接收光耦之间的间隙410中时，触发该第一水平光耦器件生成检测信号并上报给控制器；控制器根据上报检测信号的光耦器件的安装位置，确定可移动的设备主体在与上报检测信号的光耦器件水平方向上的移动位置。
需要说明的是，本申请的一对光耦组件包括检测可移动的设备主体停止位置的一组光耦以及检测可移动的设备主体进行减速的一组光耦；增设检测可移动的设备主体或第一功能模块进行减速的一组光耦，在可移动的设备主体或第一功能模块到达停止位置前进行减速，缓冲运载机构42的撞击力，提高运载机构42运行的稳定性。为了提高运载机构42进行自动校准的效率，两组光耦在设置位置上靠近设置，以防止距离过大过早进行减速。本申请实施例对两组光耦之间的距离不作限定，可根据实际情况设定。当然一对光耦 的功能也并非固定不变，可移动的设备主体在当前的运动方向上，第一组光耦的作用为向控制器发送进行减速动作的控制信号，第二组光耦的作用为向控制器发送停止动作的控制信号。显而易见，本申请实施例自动对准系统可以仅设置检测可移动的设备主体或第一功能模块停止动作的一组光耦。
在本实施例中，工作站包括更换区，用于供设备主体更换功能模块；更换区包括出入口和由侧壁形成的中空腔体，第一、第二功能模块位于中空腔体中；其中，更换区的左右两个侧壁上自上而下依次设置有第一垂直光耦器件、第二垂直光耦器件和第三垂直光耦器件；和/或更换区的上侧壁自左向右依次设置有第一水平光耦器件和第二水平光耦器件。如图4a所示，本申请实施例自动对准系统在更换区的左右两侧侧壁上分别设有两组光耦器件，在更换区的上侧壁设有四组光耦器件。其中，更换区的两侧侧壁的下方的两组光耦器件用于定位设备主体的接触位置；更换区的两侧侧壁的上方的两组光耦器件用于定位功能模块与可移动的设备主体的脱离位置；更换区的上侧壁一侧的两组光耦器件，用于定位功能模块与可移动的设备主体的左右移动至待切换的可移动的设备主体或者功能模块的上方位置。相邻两组光耦器件都包括检测可移动的设备主体或功能模块停止位置的一组光耦以及检测可移动的设备主体或功能模块进行减速的一组光耦。
进一步，如图4a所示，支撑部425呈中空环装结构，支撑部425的中部设有容纳通孔4250，通孔4250的侧壁两侧凸出设有支撑凸块4252，自移动设备回到工作站后，可移动的设备主体搁置于该支撑凸块4252上，而功能模块从容纳通孔4250伸入支撑部425的下方。图4a中在通孔4250的两侧分别设有一块支撑凸块4252，本申请实施例对支撑凸块4252的形状和数量不作限定，支撑凸块4252包括但不限于以下几种：长方形、扇形、半圆形以及三角形。支撑凸块4252的数量也可以根据实际情况作出调整。
以下结合图4a、图4b、图4c、图4d和图4e，说明本申请实施例自动对准系统的工作原理。需要说明的是，以下说明仅为自动对准系统的一种实施 例，并不构成对本申请自动对准系统的限定。
自移动设备需要从第一功能模块切换至第二功能模块时，自移动设备回到工作站所在空间，进入第一功能模块所在工作区内，自移动设备停放至支撑部425的上方，其中，可移动的设备主体搁置于支撑部425的上方，第一功能模块伸入支撑部425的下方。当可移动的设备主体与第一功能模块解锁后，运载机构42带动可移动的设备主体向上移动(参见图4b)，直至支撑部425一侧的第一遮挡部4251伸入在垂直方向上设置的第二垂直光耦器件中的间隙410时，第二垂直光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制升降机构减速运动；当支撑部425的一侧的第一遮挡部4251伸入在垂直方向上设置的第一垂直光耦器件中的间隙410时，第一垂直光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构42停止运动(参见图4c)，以使可移动的设备主体与第功能模块完全脱离；运载机构42带动可移动的设备主体向右侧水平移动，直至第二驱动电机423上设置的第二遮挡部4261伸入在水平方向上设置的第二水平光耦器件中的间隙410时，第二水平光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构42减速运动；当第二遮挡部4261伸入在水平方向上设置的第一水平光耦器件中的间隙410时，第一水平光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构42停止运动(参见图4d)；运载机构42带动可移动的设备主体向下移动，当支撑部425的另一侧的第一遮挡部4251伸入在垂直方向上设置的第二垂直光耦器件中的间隙410时，第二垂直光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构减速运动，当支撑部425的另一侧的第一遮挡部4251伸入在垂直方向上设置的第三垂直光耦器件中的间隙410时，第三垂直组光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构42停止运动(参见图4e)，完成整个对准过程(参见图4e)，可移动的设备主体与第二功能模块进行锁合，形成新的自移动设备。
以上实施例以运载机构42带动设备主体动作与第二功能模块进行结合。 实际上，运载机构42也能将第一功能模块按照第一设定路径从其所在的第一位置移动至第二位置，然后带动第二功能模块按照第二设定路径移动至第一位置与设备主体结合。关于具体的实现方式可参见前述运载机构42移动设备主体的实施例，在此不再赘述。
在本实施例中，运载机构可以在控制器的控制下执行相应动作。图4g为本申请示例性实施例提供的一种进行功能模块切换的控制方法的流程示意图。如图4g所示，该方法包括：
41g、当携带第一功能模块的设备主体到达工作站的第一位置后，控制设备主体和第一功能模块分离；
42g、将设备主体按照第一设定路径移动至第二位置；
43g、在第二位置处将第二功能模块与所述设备主体结合。
在一可选选实施例中，上述将设备主体按照第一设定路径移动至第二位置，包括：将设备主体在垂直方向和水平方向中的至少一个方向上移动直至第二位置。
进一步可选地，将设备主体在垂直方向和水平方向中的至少一个方向上移动直至第二位置，包括：将设备主体在垂直方向上移动至第三位置；将设备主体在水平方向上移动至第四位置，第四位置在垂直方向上与第二位置对齐；自第四位置开始将设备主体在垂直方向上移动至第二位置。
进一步可选地，上述将设备主体在垂直方向上移动至第三位置，包括：自第一位置开始将设备主体垂直向上移动至第三位置；相应地，自第四位置开始将设备主体在垂直方向上移动至第二位置，包括：自第四位置开始将设备主体垂直向下移动至第二位置。
进一步可选地，将设备主体在水平方向上移动至第四位置，包括：
自第三位置开始将设备主体在左右水平方向上移动直至第四位置；
或者，
自第三位置开始将设备主体在前后水平方向上移动至第四位置。
进一步可选地，自第一位置开始将设备主体垂直向上移动至第三位置， 包括：
自第一位置开始控制设备主体垂直向上移动；在垂直向上移动过程中，根据第二垂直光耦器件上报的检测信号，控制设备主体减速移动，并根据第一垂直光耦器件上报的检测信号，控制设备主体停止移动；
其中，第二垂直光耦器件对应于第五位置，第一垂直光耦器件对应于第三位置，第五位置位于第一位置和第三位置之间。
进一步可选地，将设备主体在水平方向上移动至第四位置，包括：自第三位置开始控制设备主体在水平方向上移动；在移动过程中，根据第二水平光耦器件上报的检测信号，控制设备主体开始减速移动，并根据第一水平光耦器件上报的检测信号，控制设备主体停止移动；
其中，第一水平光耦器件对应第四位置，第二水平光耦器件对应第六位置，第六位置在水平方向上位于第三位置和第四位置之间。
进一步可选地，该方法还包括：将第二功能模块按照第二设定路径移动至第二位置。
关于上述功能模块切换的切换控制方法的实现方式可参见前述自移动设备的工作站实施例中的相应内容的描述，在此不再赘述。
在本实施例中，图4h为本申请示例性实施例提供的另一种进行功能模块切换的控制方法的流程示意图。如图4h所示，该方法包括：
41h，当携带第一功能模块的设备主体到达工作站的第一位置后，控制设备主体和第一功能模块分离；
42h，将第一功能模块按照第一设定路径移动至第二位置，并将第二功能模块按照第二设定路径移动至第一位置；
43h，在第一位置处将第二功能模块与设备主体结合。
下面结合具体应用场景，对本实施例提供的自动对准系统的工作过程作出说明：
应用场景一：扫地机器人从工作站位置出发执行扫地作业，在扫地机器 人扫地作业完成后，根据预设的清洁顺序，扫地机器人接下来需要进行拖地作业；扫地机器人停止作业并行驶至工作站所在的卫生间。到达卫生间后，通过工作站中的扫地模块的更换区内设置的回充引导组件引导移动至扫地模块的更换区中，自移动设备停放至支撑部425的上方，其中，可移动的设备主体搁置于支撑部425的上方，第一功能模块伸入支撑部425的下方。自移动设备执行从扫地模块切换至拖地模块的切换步骤，当可移动的设备主体与扫地模块解锁后，运载机构42带动可移动的设备主体向上移动(参见图4b)，直至支撑部425一侧的第一遮挡部4251伸入在垂直方向上设置的第二垂直光耦器件中的间隙410时，第二垂直组光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构减速运动；当支撑部425的一侧的第一遮挡部4251伸入在垂直方向上设置的第一垂直光耦器件中的间隙410时，第一垂直光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构42停止运动(参见图4c)，以使可移动的设备主体与扫地模块完全脱离；运载机构42带动可移动的设备主体向右侧水平移动，直至第二驱动电机423上设置的第二遮挡部4261伸入在水平方向上设置的第二水平光耦器件中的间隙410时，第一组光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构减速运动；当第二遮挡部4261伸入在水平方向上设置的第一水平光耦器件中的间隙410时，第一水平光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构42停止运动(参见图4d)；运载机构42带动可移动的设备主体向下移动，当支撑部425的另一侧的第一遮挡部4251伸入在垂直方向上设置的第二垂直光耦器件中的间隙410时，第二垂直光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制升降机构减速运动，当支撑部425的另一侧的第一遮挡部4251伸入在垂直方向上设置的第三垂直光耦器件中的间隙410时，第三垂直光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构42停止运动(参见图4e)，完成可移动的设备主体与拖地模块的对准过程(参见图4e)。可移动的设备主体与拖地模块进行锁合，形成拖地机器人。拖地机器人从工作站出发 进行拖地作业。
应用场景二：拖地机器人从工作站位置出发执行拖地作业，在拖地机器人拖地作业完成后，拖地机器人停止作业并行驶至工作站所在的卫生间。到达卫生间后，通过工作站中的拖地模块的容纳腔内设置的回充引导组件引导移动至拖地模块的容纳腔中，在拖地模块的容纳腔中，工作站对拖地模块自动进行清洁工作，例如，清洗拖布和向拖地模块添加清水等；拖地机器人接收到终端设备发送的进行香薰作业的指令，拖地机器人需要进行执行从拖地模块切换至香薰模块的切换步骤，当可移动的设备主体与拖地模块解锁后，运载机构带动可移动的设备主体向上移动，直至支撑部一侧的第一遮挡部伸入在垂直方向上设置的第二垂直光耦器件中的间隙时，第二垂直光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构减速运动；当支撑部的一侧的第一遮挡部伸入在垂直方向上设置的第一垂直光耦器件中的间隙时，第一垂直光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构停止运动，以使可移动的设备主体与拖地模块完全脱离；运载机构带动可移动的设备主体向存放香薰模块的位置进行左侧水平移动，直至电机减速齿轮箱上设置的第二遮挡部伸入在水平方向上设置的第二水平光耦期间中的间隙时，第二水平光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构减速运动；当第二遮挡部伸入在水平方向上设置的第一水平光耦器件中的间隙时，第一水平光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构停止运动；运载机构带动可移动的设备主体向下移动，当支撑部的另一侧的第一遮挡部伸入在垂直方向上设置的第二垂直光耦器件中的间隙时，第二垂直光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构减速运动，当支撑部的另一侧的第一遮挡部伸入在垂直方向上设置的与香薰模块对应的第三垂直光耦器件中的间隙时，第三垂直光耦器件向控制器上报检测信号，控制器接收到该检测信号后控制运载机构停止运动，完成可移动的设备主体与香薰模块的对准过程(参见图4e)。可移动的设备主体与香薰模块进行锁合，形成香薰 机器人。香薰机器人从工作站出发进行香薰作业。
在上述基础上，自移动设备的设备主体可以和各个功能模块组装成某种特定功能的清洁设备，并根据清洁指令，到指定区域中执行作业任务。根据功能模块的不同，这些功能模块也会涉及清洁或添加水、清洁剂、香薰剂等操作。为了进一步，实现自动化，将用户从手工操作中解放出来，在本申请实施例的工作站中设置更换区，用于供自移动设备的设备主体在多个功能模块之间进行更换，且在更换区中进一步设置有辅助机构，这些辅助机构可在设备主体更换功能模块过程中或者在设备主体更换功能模块之后，为与之适配的功能模块提供辅助服务。可选地，辅助机构包括以下至少一种：清洁组件、集尘组件、充电组件和回充引导组件。清洁组件，用于为相应的功能模块提供清洁服务；集尘组件为扫地模块提供集尘服务；液体回收桶为拖地模块提供污水回收服务；液体注入桶为相应的功能模块提供液体注入服务；充电组件可以为多个功能模块提供充电服务，回充引导组件可以为多个功能模块提供回充引导服务。根据功能模块的不同，辅助机构会有所区别。
例如，对于拖地模块，对应的辅助机构至少包括以下至少一种：充电组件、第一清洁组件和回充引导组件；
例如，对于香薰模块，对应的辅助机构至少包括以下至少一种：充电组件和回充引导组件；
例如，对于扫地模块，对应的辅助机构至少包括以下至少一种：充电组件、回充引导组件、集尘组件和第二清洁组件；
再例如，对于地面护理模块，对应的辅助机构至少包括以下至少一种：充电组件和回充引导组件。
结合图5a和图5b，在本实施例中，工作站50包括至少一个更换区511，用于供自移动设备的设备主体在多个功能模块之间进行更换。本申请实施例在更换区511的整体布局可以采用但不限于下述两种布局方式：
布局方式一，为了增加工作站的服务能力，更换区设为多个；多个更换 区之间横向排列，多个更换区中的至少部分更换区中分别设有与对应的功能模块适配的辅助机构。通过在多个更换区中设置相应功能模块的辅助机构，实现功能模块在工作站内执行相应操作的隔离，提高工作站的服务效率，进行提高自移动设备的工作效率。
布局方式二，为了减小工作站的整体的体积。更换区设为一个；一个更换区中设有辅助机构，辅助机构能够为多个功能模块中的至少两个以上功能模块提供辅助服务。通过在一个更换区中集成为多个功能模块提供服务的辅助机构，减小工作站的体积，提高工作站的服务能力。
在上述布局方式一中，如图5a、图5b、图5c所示，工作站50的下部并排设置两个更换区511，两个更换区511的内部分别设有辅助机构。例如，两个更换区511分别对应扫地模块和拖地模块，扫地模块的更换区511内的辅助机构包括：第二清洁组件518、集尘组件514和充电组件515；拖地模块的更换区511内的辅助机构包括：第一清洁组件(图中未示出)和充电组件515。需要说明的是，更换区511的数量可以为三个，四个等更多个，本申请实施例并不限定更换区511的数量与结构以及辅助机构的布局，更换区511的数量与结构以及辅助机构的布局可以根据实际情况作出调整。
在上述布局方式二中，如图5d所示，工作站52的下部设置有一个更换区521，一个更换区521中设有辅助机构，辅助机构能够为拖地模块和扫地模块提供辅助服务，辅助机构包括集尘组件524，第一清洗组件526和充电组件(图中未示出)，其中，集尘组件524位于工作站52的入口一侧，第一清洗组件526位于工作站52的底部一侧，充电组件设置于工作站52的底壁上。需要说明的是，本申请实施例并不限定辅助机构的布局，辅助机构的布局可以根据实际情况作出调整。
在上述实施例中，工作站还包括存储区和液体存放区。
其中，存储区用于存放所述多个功能模块中的至少部分功能模块，例如，用于存放闲置的功能模块；存储区设置于更换区的上方或者下方，且位于液体存放区的下方；存储区可以设置为一个或多个，在存储区为多个时，多个 存储区之间横向排列或纵向排列。如图5a所示，存储区516为两个，两个存储区516横向排列，存储区516位于更换区511的上方，且位于液体存放区517的下方；如图5b所示，存储区516为两个，两个存储区516横向排列，存储区516位于更换区511的下方，且位于液体存放区517的下方。如图5d所示，存储区526为两个，更换区521为一个，两个存储区526纵向排列，存储区526位于更换区521的上方，且位于液体存放区527的下方。
液体存放区位于更换区和存储区的上方液体存放区用于存放液体回收桶和液体注入桶，液体注入桶为一个或者多个；液体回收桶和多个液体注入桶并排放置于液体存放区内。需要说明的是，液体注入桶包括但不限于以下几种：清水桶、香薰液桶和护理液桶。
进一步，工作站还包括活动连接于工作站顶部的盖板，盖板用于遮盖液体存放区。使用时，打开盖板，可以取出存放区中存放的液体回收桶和液体注入桶，以对液体回收桶和液体注入桶进行更换。
在上述实施例中，不同的功能模块，可能需要相应的液体注入桶以进行作业任务。本申请的工作站上设置多个液体注入桶，不同液体注入桶存放不同液体，用于为不同功能模块提供液体注入服务。此外根据功能模块的不同，液体注入桶会有所区别。
例如，若多个功能模块包括扫地模块，则多个液体注入桶包括清水桶，用于为拖地模块提供注入服务。清水桶中盛放的液体包括但不限于以下几种：清水、清水与消毒液混合溶液和清水与清洗剂混合溶液。
例如，若多个功能模块包括香薰模块，则多个液体注入桶包括香薰液桶，用于为香薰模块提供香薰液注入服务。香薰液桶中用于盛放香薰液。
又例如，若多个功能模块包括地面护理模块，则多个液体注入桶包括护理液桶，用于为地面护理模块提供护理液注入服务。护理液桶中用于盛放护理液桶。
在上述实施例中，本申请实施例并不限定多个液体注入桶的位置、形状、数量以及多个液体注入桶之间的布局方式，多个液体注入桶的位置、形状、 数量以及多个液体注入桶之间的布局方式可以根据实际情况作出调整。例如，多个液体注入桶能够设置于工作站的上部、下部以及一侧；多个液体注入桶之间的布局方式可以为依次并排排列，上下排列以及矩阵排列；多个液体注入桶的形状和数量可以结合工作站的剩余体积空间以及相应的功能模块作出调整。可选地，如图5a和图5b所示，液体注入桶512和液体回收桶513分别设于液体存放区517内，分别位于工作站50的上部的两侧。
在一可选实施例中，工作站中还包括控制器，多个功能模块包括扫地模块和拖地模块，辅助机构包括以下至少一种：用于为拖地模块提供拖布清洗服务的第一清洁组件、用于扫地模块提供抹布清洁服务的第二清洁组件、用于为扫地模块提供集尘服务的集尘组件。
可选地，对于拖地模块，拖地模块对应的工作区内设有充电组件、回充引导组件以及第一清洁组件。在可移动的设备主体携带拖地模块回到对应更换区的情况下，控制器控制第一清洁组件清洗拖地模块的抹布，并控制清水桶向拖地模块的水箱内注入清水。进一步，第一清洁组件包括出水孔和污水槽，污水槽与液体回收桶连通；出水孔设于更换区的上侧壁或者底部侧壁，出水孔喷出清水在清洗拖地模块的抹布后经污水槽被回收至液体回收桶中。需要说明的是，该出水孔和为拖地模块提供注入服务的注水孔为两个不同的通孔。本申请实施例对出水孔、污水槽和注水孔的形状，数量以及位置不作限定，出水孔、污水槽和注水孔的形状，数量以及位置可以根据实际情况作出调整。
可选地，对于扫地模块，扫地模块对应的更换区内设有充电组件、集尘组件、回充引导组件以及第二清洁组件，其中，集尘组件用于为扫地模块提供集尘服务，第二清洁组件用于为扫地模块提供抹布清洁服务。进一步，集尘组件设置于存放区之外且能与扫地模块的集尘口对接的区域内，控制器在可移动的设备主体携带扫地模块回到对应更换区的情况下，启动集尘组件中的集尘风机，扫地模块中尘盒里面的物体在负压的作用下被吸入集尘组件中的集尘桶中。第二清洁组件为至少一组毛刷，至少一组毛刷设在存放区上对 应扫地模块的抹布的位置上；或者，至少一组毛刷设置在扫地模块进入存放区时的途径区域内。集尘组件和第二清洁组件配合完成扫地模块的清洁工作，提高自动化程度，提升用户体验。
下面结合具体应用场景，对本实施例提供的工作站的工作模式进行说明。
应用场景一，拖地机器人在家中执行拖地作业，拖地机器人的检测装置检测到拖地模块的抹布需要清洗时或者拖地达到一定时长后，拖地机器人停止作业并行驶至工作站所在的客厅。到达客厅后，通过工作站中的相应更换区内设置的回充引导组件引导移动至拖地模块的更换区中，拖地机器人回到拖地模块的更换区后，控制器控制第一清洁组件的出水孔喷出清水，并控制清洁部件对拖布进行清洗，清洗过程中产生的污水经污水槽的出水口、抽水泵回收至液体回收桶中；同时，控制器控制清水桶通过注水孔向拖地模块的水箱内注入清水。当清洗时长(比如10分钟)达到后，拖地机器人从工作站上下来，并行进至目标位置，继续执行拖地任务。
应用场景二，扫地机器人在家中执行扫地作业，扫地机器人的检测装置检测到扫地模块的尘盒或者抹布需要清洁时，或者扫地达到一定时长后，扫地机器人停止作业并行驶至工作站所在的客厅。到达客厅后，通过工作站中的相应扫地模块的容纳腔内设置的回充引导组件引导移动至扫地模块的更换区中，扫地机器人回到扫地模块的容纳腔后，在控制器的控制下启动集尘组件中的集尘风机，扫地模块中尘盒里面的物体(灰尘以及垃圾杂物)在负压的作用下被吸入集尘组件中的集尘桶中。同时控制器第二清洁组件转动，清洁抹布上的物体(灰尘以及垃圾杂物)。当清洁时长(比如5分钟)达到后，扫地机器人从工作站上下来，并行进至目标位置，继续执行扫地任务。
应用场景三，拖地机器人在家中执行拖地作业，拖地机器人检测到自身电量不足时，拖地机器人停止作业并行驶至工作站所在的客厅。到达客厅后，通过工作站中的相应更换区内设置的回充引导组件引导移动至拖地模块的更换区中，拖地机器人回到拖地模块的更换区后，控制器控制充电组件为拖地模块进行充电。当拖地模块充电完成后，拖地机器人从工作站上下来，并行 进至目标位置，继续执行拖地任务。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash  RAM)。内存是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (25)

  1. 一种自移动设备，其特征在于，包括：可自主移动的设备主体和用于执行特定作业任务并可与所述设备主体结合或分离的功能模块，所述功能模块包括与其实现的特定作业任务对应的一个或多个专用单元，所述设备主体包括并排设置的行进机构和用于安置所述功能模块的安装腔，所述安装腔包括位于所述行进机构之间的第一部分和位于所述行进机构前方或后方的第二部分。
  2. 根据权利要求1所述的设备，其特征在于，所述第一部分在垂直于行进方向的第一方向上的尺寸小于所述第二部分在垂直于行进方向的第一方向上的尺寸。
  3. 根据权利要求1所述的设备，其特征在于，所述第一部分在垂直于行进方向的第一方向上的尺寸大于所述第二部分在垂直于行进方向的第一方向上的尺寸。
  4. 根据权利要求1所述的设备，其特征在于，所述功能模块包含与其实现的特定作业任务对应的全部专用单元。
  5. 根据权利要求4所述的设备，其特征在于，所述功能模块为扫地模块、拖地模块中的任意一个，若功能模块是扫地模块，则专用单元包括：滚刷组件、边刷组件、风机组件、尘盒；若功能模块是拖地模块，则专用单元包括：供水组件、水箱、擦拭组件。
  6. 根据权利要求5所述的设备，其特征在于，若功能模块是扫地模块，所述滚刷组件和边刷组件位于所述安装腔的第一部分中，所述风机组件和尘盒位于所述安装腔的第二部分中；若功能模块是拖地模块，所述擦拭组件位于所述安装腔的第一部分中，所述供水组件和水箱位于所述安装腔的第二部分中。
  7. 根据权利要求1所述的设备，其特征在于，所述设备主体上设有第一电磁对接结构，所述功能模块上对应设有第二电磁对接结构；
    在所述第一电磁对接结构和所述第二电磁对接结构的配合下，所述设备主体与所述功能模块实现结合或分离。
  8. 根据权利要求7所述的设备，其特征在于，所述第一电磁对接结构包括设置在所述设备主体的壳体上磁扣或磁针；所述第二电磁对接结构包括设置在所述功能模块上的磁针或磁扣；
    或者，
    所述第一电磁对接结构包括设置在所述设备主体的壳体上的电磁插销或卡槽；所述第二电磁对接结构包括设置在所述功能模块上的卡槽或电磁插销。
  9. 根据权利要求1所述的设备，其特征在于，所述第二部分在垂直于行进方向的第一方向上的尺寸是所述自移动设备在垂直于行进方向的第一方向上的最大尺寸。
  10. 根据权利要求1所述的设备，其特征在于，所述设备主体具有底面，所述行进机构位于所述底面，所述安装腔自所述设备主体的底面向内凹陷形成。
  11. 根据权利要求10所述的设备，其特征在于，所述功能模块沿着所述设备主体的厚度方向与所述设备主体分离或结合，或所述功能模块沿着所述设备主体的行进方向与所述设备主体分离或结合。
  12. 一种自移动设备系统，其特征在于，包括：可自主移动的设备主体、多个用于执行不同特定作业任务且可与所述设备主体结合或分离的功能模块，以及用于存放所述多个功能模块的工作站；
    其中，每个功能模块包括与其实现的特定作业任务对应的一个或多个专用单元；所述设备主体包括并排设置的行进机构和用于安置功能模块的安装腔，所述安装腔包括位于所述设备主体的行进机构之间的第一部分和位于所述行进机构前方或后方的第二部分；所述设备主体可与不同功能模 块结合，以形成用于执行不同特定作业任务的自移动设备。
  13. 一种自移动设备的设备主体，其特征在于，所述设备主体包括并排设置的行进机构、安装腔和控制器；所述控制器，用于控制所述行进机构带动所述设备主体自主移动；所述安装腔包括位于所述行进机构之间的第一部分和位于所述行进机构前方或后方的第二部分；所述安装腔用于在所述设备主体与功能模块结合时，安置与所述设备主体结合的功能模块。
  14. 根据权利要求13所述的设备主体，其特征在于，所述第一部分在垂直于行进方向的第一方向上的尺寸小于所述第二部分在垂直于行进方向的第一方向上的尺寸。
  15. 根据权利要求13所述的设备主体，其特征在于，所述第一部分在垂直于行进方向的第一方向上的尺寸大于所述第二部分在垂直于行进方向的第一方向上的尺寸。
  16. 根据权利要求13所述的设备主体，其特征在于，所述第二部分在垂直于行进方向的第一方向上的尺寸是所述自移动设备在垂直于行进方向的第一方向上的最大尺寸。
  17. 根据权利要求13所述的设备主体，其特征在于，所述设备主体具有底面，所述行进机构位于所述底面，所述安装腔自所述设备主体的底面向内凹陷形成。
  18. 根据权利要求13-17任一项所述的设备主体，其特征在于，所述控制器还用于：
    识别需要将所述设备主体当前结合的第一功能模块更换为第二功能模块；
    控制所述设备主体携带所述第一功能模块移动至工作站中用于容纳所述第一功能模块的第一区域，并在所述第一区域内与所述第一功能模块分离；
    控制所述设备主体移动至所述工作站中用于容纳所述第二功能模块的第二区域，并在所述第二区域内与所述第二功能模块结合。
  19. 根据权利要求18所述的设备主体，其特征在于，所述控制器具体用于：
    在所述设备主体携带所述第一功能模块执行当前作业任务过程中，监控当前作业任务的执行进度；在当前作业任务完成的情况下，确定需要更换为第二功能模块；
    或者
    在所述设备主体携带第一能模块执行当前作业任务过程中，监控第一功能模块的电池电量；在所述电池电量不足的情况下，确定需要更换为第二功能模块；
    其中，所述第二功能模块实现的特定作业任务为当前作业任务的下一作业任务。
  20. 一种自移动设备的功能模块，其特征在于，所述功能模块用于执行特定作业任务并可与自移动设备的设备主体结合或分离，所述功能模块包括：与其实现的特定作业任务对应的一个或多个专用单元。
  21. 根据权利要求20所述的功能模块，其特征在于，所述功能模块包括第一区域和第二区域，部分专用单元设置于第一区域，部分专用单元设置于第二区域；且在所述功能模块与所述设备主体结合时，所述第一区域位于所述设备主体上安装腔的第一部分中，所述第二区域位于所述安装腔的第二部分。
  22. 根据权利要求20所述的功能模块，其特征在于，所述功能模块包含与其实现的特定作业任务对应的全部专用单元。
  23. 根据权利要求21所述的功能模块，其特征在于，所述功能模块为扫地模块，则专用单元包括：滚刷组件、边刷组件、风机组件、尘盒；
    或者
    所述功能模块为拖地模块，则专用单元包括：供水组件、水箱、擦拭组件。
  24. 根据权利要求23所述的功能模块，其特征在于，若功能模块是扫地模块，所述滚刷组件和边刷组件设置于所述第一区域中，所述风机组件和尘盒设置于第二区域中；若功能模块是拖地模块，所述擦拭组件设置于第一区域中，所述供水组件和水箱设置于第二区域中。
  25. 一种自移动设备的控制方法，其特征在于，包括：
    识别需要将设备主体当前结合的第一功能模块更换为第二功能模块；所述第一、第二功能模块用于执行第一、第二特定作业任务且可与所述设备主体结合或分离；
    控制所述设备主体携带所述第一功能模块移动至工作站中用于容纳所述第一功能模块的第一区域，并在所述第一区域内与所述第一功能模块分离；
    移动至所述工作站中用于容纳所述第二功能模块的第二区域，在所述第二区域内与所述第二功能模块结合，以形成用于执行第二特定作业任务的自移动设备。
PCT/CN2022/072796 2021-03-15 2022-01-19 自移动设备、系统、模块及控制方法 WO2022193829A1 (zh)

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