Self-moving robot control method and self-moving robot

Abstract

The application provides a self-moving robot control method and a self-moving robot. The self-moving robot control method comprises the following steps: controlling the self-moving robot to move to a cleaning base; in the case that it is determined that the self-moving robot moves to a preset position of the cleaning base, the driving wheel of the self-moving robot is cleaned by the cleaning part of the cleaning base through controlling the wheel driving mode of the self-moving robot, so that the automatic cleaning of the driving wheel of the self-moving robot is realized, and the cleaning effect is good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent household appliances, in particular to a self-moving robot control method and a self-moving robot. BACKGROUND

[0002] With the continuous improvement of modern living standards, people's requirements for the quality of life are also getting higher and higher, especially in recent years, the appearance of self-moving robots can do a lot of cleaning work in a short time, which saves people a lot of time and frees people from tedious housework, so self-moving robots are becoming more and more popular.

[0003] When the self-moving robot is cleaning, the driving wheel will be stained with dust or other debris on the ground, which will cause the surface friction of the driving wheel to decrease, causing the self-moving robot to lose its obstacle-crossing ability or even slip and be unable to work normally, so the driving wheel needs to be cleaned every certain period of time.

[0004] In the prior art, the dust or debris stained on the driving wheel of the self-moving robot is mainly cleaned by manual cleaning, and the cleaning effect is unstable, which can easily cause the user to have a bad user experience. SUMMARY

[0005] Therefore, the embodiments of the present application provide a self-moving robot control method and a self-moving robot to solve the technical defects in the prior art.

[0006] The embodiments of the present application provide a self-moving robot control method, which comprises:

[0007] Controlling the self-moving robot to move towards a cleaning base;

[0008] In a case where it is determined that the self-moving robot moves to a preset position of the cleaning base, cleaning the driving wheel of the self-moving robot by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot.

[0009] Optionally, during the process of cleaning the driving wheel of the self-moving robot by the cleaning component of the cleaning base, the rotation speed of the driving wheel is controlled to be lower than the rotation speed of the self-moving robot in normal working condition.

[0010] Optionally, cleaning the driving wheel of the self-moving robot by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot comprises:

[0011] Controlling the driving wheel of the self-moving robot to reciprocate at the preset position to realize cleaning the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0012] Optionally, the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot.

[0013] The driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base through controlling the self-moving robot to travel to the cleaning base and keeping the driving wheel of the self-moving robot rotating at the preset position.

[0014] Optionally, the cleaning base is provided with an identification component.

[0015] During the process of controlling the self-moving robot to travel to the cleaning base, the cleaning task instruction is generated after the self-moving robot identifies the identification component.

[0016] Alternatively, during the process of controlling the self-moving robot to travel to the cleaning base, the self-moving robot travels at a reduced speed after identifying the identification component.

[0017] Optionally, the control method further comprises: controlling the self-moving robot to travel at a reduced speed to a preset position of the cleaning base based on the cleaning task instruction.

[0018] Optionally, the control method further comprises: controlling the bumper signal of the self-moving robot to be turned off after the cleaning task instruction is generated.

[0019] Optionally, the cleaning base is provided with a charging seat.

[0020] The method comprises: in response to a charging task instruction, controlling the self-moving robot to travel to the cleaning base, controlling the self-moving robot to pause the charging task in the case that the self-moving robot identifies the identification component, and generating the cleaning task instruction.

[0021] After the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base, the method further comprises: the self-moving robot resumes the charging task and controls the self-moving robot to dock with the charging seat.

[0022] Optionally, the cleaning base is provided with a charging seat.

[0023] The method comprises: in response to a charging task instruction, controlling the self-moving robot to travel to the cleaning base, and generating a cleaning task instruction in the case that the self-moving robot identifies the identification component and the charging task is completed.

[0024] Optionally, the self-moving robot is controlled to slow down and travel to the preset position of the cleaning base based on the cleaning task instruction, comprising:

[0025] The self-moving robot travels to the preset position of the cleaning base from the first speed to the second speed linearly, or directly from the first speed to the second speed.

[0026] Optionally, the cleaning base is provided with a protrusion, and an arc surface of the protrusion matches an arc of the driving wheel.

[0027] The method further comprises: controlling the self-moving robot to travel to abut against the cleaning base, and the driving wheel of the self-moving robot is fitted with the preset position and the protrusion and keeps self-rotation, so as to clean the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0028] Optionally, the identification component comprises two identification components arranged side by side; the method comprises:

[0029] In the case that the self-moving robot identifies the two identification components, the self-moving robot is controlled to pause the charging task and generate the cleaning task instruction;

[0030] In the case that the self-moving robot does not identify the two identification components, the self-moving robot retreats and re-plans a travel route, then travels based on the re-planned travel route, and continues to judge whether the two identification components are identified respectively.

[0031] Optionally, the identification component comprises two identification components arranged side by side; the method comprises:

[0032] In the case that the self-moving robot identifies the two identification components and the charging task is completed, the self-moving robot is controlled to generate the cleaning task instruction;

[0033] In the case that the self-moving robot does not identify the two identification components, the self-moving robot retreats and re-plans a travel route, then travels based on the re-planned travel route, and continues to judge whether the two identification components are identified respectively.

[0034] Embodiments of the present application disclose a self-moving robot, comprising: a mechanical body, a processor and a memory arranged in the mechanical body, and a driving wheel connected to the lower part of the mechanical body.

[0035] The memory stores computer instructions.

[0036] The processor is connected with the memory, and is used for executing computer instructions stored in the memory, so as to:

[0037] Controlling the self-moving robot to move to the cleaning base;

[0038] In a case that it is determined that the self-moving robot moves to the preset position of the cleaning base, the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot.

[0039] Optionally, the cleaning base is provided with an identification component.

[0040] The processor is used for: in the process of controlling the self-moving robot to move to the cleaning base, after the self-moving robot identifies the identification component, generating a cleaning task instruction, and controlling the self-moving robot to move to the preset position of the cleaning base at a reduced speed based on the cleaning task instruction.

[0041] Optionally, the cleaning base is provided with a protrusion, and an arc surface of the protrusion matches an arc of the driving wheel.

[0042] The processor is used for: controlling the self-moving robot to move to abut against the charging seat, and the driving wheel of the self-moving robot is fitted with the preset position and the protrusion and keeps self-rotation, so as to realize cleaning of the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0043] Optionally, the cleaning component comprises a cleaning element which is detachably connected to the arc surface of the protrusion and the preset position.

[0044] Optionally, the width of the protrusion is greater than or equal to the width of the driving wheel.

[0045] The self-moving robot control method and the self-moving robot provided by the application realize automatic cleaning of the driving wheel of the self-moving robot by controlling the self-moving robot to move to the cleaning base, and cleaning the driving wheel of the self-moving robot by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot in a case that it is determined that the self-moving robot moves to the preset position of the cleaning base, so that the cleaning effect is good.

[0046] Secondly, in a case that the self-moving robot identifies the identification component, the self-moving robot moves to the preset position of the cleaning base at a reduced speed, which is helpful for the self-moving robot to better detect the positioning signal, and is conducive to more accurate cleaning positioning of the driving wheel.

[0047] Moreover, the self-moving robot slows down when the recognition component is recognized, which can reduce the impact when the self-moving robot touches the cleaning base, protect the overall cleaning base, and prolong the service life of the cleaning base.

[0048] Moreover, the self-moving robot slows down, which can reduce the wear and tear of the cleaning component and the driving wheel, and improve the durability.

[0049] In addition, the self-moving robot slows down and performs driving wheel self-cleaning at the speed of the reduced speed operation, which can avoid the shaking of the self-moving robot caused by the self-rotation of the driving wheel during automatic cleaning, improve the stability during cleaning of the driving wheel, and improve the cleaning effect.

[0050] In addition, the self-moving robot slows down and performs driving wheel self-cleaning at the speed of the reduced speed operation, which can avoid the shaking of the self-moving robot caused by the self-rotation of the driving wheel during automatic cleaning, improve the stability during cleaning of the driving wheel, and improve the cleaning effect. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 is a structural schematic diagram of the cleaning base of the first embodiment of the present application;

[0052] Figure 2 is a structural schematic diagram of the cleaning base of the first embodiment of the present application;

[0053] Figure 3 is a structural schematic diagram of the cleaning base of the first embodiment of the present application;

[0054] Figure 4 is a schematic diagram of the cleaning base and the self-moving robot of the first embodiment of the present application;

[0055] Figure 5 is a flowchart of the self-moving robot control method of the second embodiment of the present application;

[0056] Figure 6 is a flowchart of the self-moving robot control method of the third embodiment of the present application;

[0057] Figure 7 is a structural schematic diagram of the self-moving robot of the fourth embodiment of the present application.

[0058] REFERENCE NUMERALS

[0059] 10 - base; 11 - cleaning area; 12 - protrusion; 13 - recognition component;

[0060] 14 - assembly area; 15 - support rib; 16 - stop structure;

[0061] 17 - signal sending unit; 18 - groove;

[0062] 2 - self-moving robot; 21 - downward looking sensor; 22 - drive wheel; 23 - strike plate. DETAILED DESCRIPTION

[0063] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without the specific details presented herein. Thus, the present application is not intended to be limited to the specific embodiments disclosed below, and one skilled in the art will understand that the present application can be practiced with other embodiments and modifications that are obvious to the skilled in the art.

[0064] The terminology used in this description of one or more embodiments shall include any and all variations of one or more equivalent terms as would be understood by one of ordinary skill in the art. The use of "and / or" when used in the context of a list of items, such as "and / or", means that the item(s) can be used either alone or in combination. The use of "and / or" in the context of a list of items, such as "and / or", means that the item(s) can be used either alone or in combination.

[0065] It is to be understood that the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. It is to be understood that the term "and / or" as used herein encompasses all possible combinations of particular items, for example, items, the item, or the items. It is to be understood that the term "includes" as used herein is open-ended and specifies the presence of stated features, integers, steps, components, or the like but does not preclude the presence or addition of one or more other features, integers, steps, components, or the like.

[0066] In view of the technical problem that the drive wheels of the self-moving robot in the prior art need to be cleaned manually and the cleaning effect is unstable, in the present application, a cleaning base, a self-moving robot control method and a self-moving robot are provided. The self-moving robot advances towards the cleaning base, and the cleaning component of the cleaning base is used to clean the drive wheels of the self-moving robot. In the following embodiments, each will be described in detail.

[0067] First, the self-moving robot involved in the present application is schematically explained. The self-moving robot mentioned in the present application can be various intelligent devices with cleaning function, for example, including a sweeping robot with sweeping and cleaning functions, a cleaning robot with only cleaning function, etc. The self-cleaning described in the present application refers to the cleaning task of the drive wheels of the self-moving robot.

[0068] In the present application, various shapes of the self-moving robot are not limited, such as an oval shape, a circular shape, a convex polygon, and the like, and the self-moving robot can implement the logic of the self-moving robot control method of the present application by installing software, an APP in a controller matched with the self-moving robot, or writing a program in a corresponding device inside the self-moving robot.

[0069] Secondly, the structure of the cleaning base involved in the present embodiment is described in detail.

[0070] Referring to Figures 1-4 The present embodiment discloses a cleaning base for cleaning the drive wheel 22 of the self-moving robot 2, mainly comprising: a cleaning component for realizing the function of cleaning the drive wheel 22; a signal sending unit 17 for sending a positioning signal to the self-moving robot 2, so that the self-moving robot 2 can automatically travel to the cleaning base.

[0071] Among them, Figure 1 And Figure 2 is a structural schematic diagram of the cleaning base without assembling the signal sending unit 17, Figure 3 is a structural schematic diagram of the cleaning base with assembling the signal sending unit 17, Figure 4 is a structural schematic diagram of the cleaning base for docking with the self-moving robot 2.

[0072] Specifically, referring to Figures 1-4 The cleaning base comprises a base 10, the base 10 is provided with a cleaning area 11, and the cleaning component is arranged on the cleaning area 11.

[0073] Optionally, the cleaning area 11 can be a specific area opened on the base 10. The cleaning area 11 is a planar area, which can make the drive wheel 22 of the self-moving robot 2 reciprocate in the cleaning area 11 to realize cleaning the drive wheel 22 of the self-moving robot 2 by the cleaning component of the cleaning base; or make the self-moving robot 2 travel to a preset position, such as controlling the self-moving robot 2 to travel to the cleaning area 11, or controlling the self-moving robot 2 to travel to a position abutting against the cleaning base, and the drive wheel 22 of the self-moving robot 2 keeps rotating in the cleaning area 11, to realize cleaning the drive wheel 22 of the self-moving robot 2 by the cleaning component of the cleaning base; or the self-moving robot reciprocates in combination with the drive wheel rotating, to realize cleaning the drive wheel 22 of the self-moving robot 2 by the cleaning component of the cleaning base.

[0074] Optionally, the cleaning component further comprises: a protrusion 12, and the curvature of the arc surface of the protrusion 12 matches the curvature of the drive wheel 22.

[0075] For the case that the cleaning part includes the protrusion 12, the driving wheel 22 is suitable for cleaning by the way of self-rotation instead of reciprocating motion.

[0076] In this embodiment, the protrusion 12 is arranged on the cleaning area 11, which helps to reduce the shaking of the self-cleaning robot 2 and ensure the cleaning of the driving wheel 22, thereby improving the cleaning effect.

[0077] In addition, the curvature of the arc surface of the protrusion 12 matches the curvature of the driving wheel 22, so that the driving wheel 22 is more evenly stressed during cleaning, and the wear of the driving wheel 22 caused by the cleaning element on the arc surface of the protrusion 12 is reduced.

[0078] Optionally, the cleaning part further includes a cleaning element, which can be various, such as a brush, a cleaning cloth, etc. In order to facilitate the replacement of the cleaning element, the cleaning element is preferably detachably connected to the cleaning area 11. For example, a female magic tape structure is first fixed on the cleaning area 11, and a male magic tape is arranged on the back of the cleaning element, so that the cleaning element can be easily detached and installed from the cleaning area 11, which is convenient for the user to clean or replace the cleaning element. When the driving wheel 22 rotates, it rubs against the cleaning element arranged on the cleaning area 11, and finally cleans the dust and dirt on the driving wheel 22.

[0079] The cleaning element is arranged on both the protrusion 12 and the cleaning area 11, which increases the contact area between the cleaning element and the driving wheel 22, so that the driving wheel 22 can clean a larger area in the same unit of time at the same speed, thereby improving the self-cleaning efficiency of the driving wheel 22.

[0080] The cleaning element can be assembled in various ways:

[0081] One is that the cleaning element is detachably connected to the cleaning area 11;

[0082] Another is that the cleaning element is detachably connected to the arc surface of the protrusion 12;

[0083] Another is that the cleaning element is detachably connected to the cleaning area 11 and the arc surface of the protrusion 12.

[0084] For the cleaning area 11, the width of the cleaning area 11 can be greater than the width of the driving wheel 22, and preferably the width of the cleaning area 11 is at least 3 times the width of the driving wheel 22, so as to leave enough margin and facilitate the stability of the driving wheel 22 during self-cleaning.

[0085] In addition, the width of the cleaning element is greater than or equal to the width of the driving wheel 22, so as to ensure the full contact between the driving wheel 22 and the cleaning element and ensure the cleaning effect of the driving wheel 22.

[0086] For the protrusion 12, the width of the protrusion 12 can be greater than or equal to the width of the driving wheel 22 to ensure that the driving wheel 22 always cooperates with the protrusion 12 during self-cleaning and has sufficient margin to facilitate the stable retention of the driving wheel 22 during self-cleaning. In addition, for the case where the arc surface of the protrusion 12 is connected with the cleaning element, the cleaning element also has a circular arc structure to match the arc surface of the protrusion 12 to achieve the matching of the cleaning element and the protrusion 12.

[0087] It should be noted that the cleaning element can completely cover the cleaning area 11 or partially cover the cleaning area 11, which can be set according to actual needs.

[0088] When designing, the radius R of the protrusion 12 is taken as R = R1 + T - a, where R1 is the radius of the driving wheel 22, T is the thickness of the cleaning element, and a is the compression amount of the cleaning element when the driving wheel 22 cooperates with the protrusion 12, thereby ensuring that the circular arc protrusion 12 cooperates with the shape of the driving wheel 22.

[0089] In addition, the distance between the centers of the protrusion 12 and the driving wheel 22 in the normal charging state is b = c + d, where c is the compression stroke of the striker 23 of the self-moving robot 2, and d is the distance from the striker 23 of the self-moving robot 2 to the charging seat in the normal charging state, which ensures the stable operation of the self-moving robot 2.

[0090] Optionally, for the case where the self-moving robot 2 has a left driving wheel 22 and a right driving wheel 22, the corresponding cleaning area 11 is set as a left cleaning area 11 and a right cleaning area 11; and the cleaning component is two, which are respectively arranged in the left cleaning area 11 and the right cleaning area 11.

[0091] Optionally, referring to Figure 4 , the cleaning base is further provided with an identification component 13 for identification by the self-moving robot 2, and in the case where the self-moving robot 2 identifies the identification component 13, the self-moving robot 2 performs a cleaning task; and in the case where the self-moving robot 2 does not identify the identification component 13, the self-moving robot 2 performs a charging task. Specifically, the downward-looking sensor 21 of the self-moving robot 2 controls the self-moving robot 2 to slow down and travel to the case where the self-moving robot 2 is in contact with the signal sending unit 17 and the driving wheel 22 cooperates with the cleaning component in the case of identifying the identification component 13.

[0092] Further, according to actual needs, the sensing direction of the downward-looking sensor 21 of the self-moving robot 2 can be perpendicular to the ground, and the charging task is paused and a cleaning task instruction is triggered in the case where the self-moving robot 2 walks to the case where the downward-looking sensor is aligned with the identification component 13.

[0093] The sensing direction of the downward looking sensor 21 of the self-moving robot 2 can also be set to be obliquely downward, so that the self-moving robot 2 does not need to walk to the position where the downward looking sensor 21 is aligned with the identification component 13, but only needs to be obliquely aligned with the identification component 13, thereby allowing the self-moving robot 2 to switch to the cleaning task when approaching the base 10 of the cleaning base or just walking onto the base 10, increasing the walking path of the self-moving robot 2 in the cleaning task, and facilitating the control of the self-moving robot 2 in the task.

[0094] Specifically, the identification component 13 is two, and the two identification components 13 are arranged side by side on the base 10, and the two identification components 13 are respectively located on the side away from the signal sending unit 17 of the two cleaning components, so that the self-moving robot 2 can identify the identification component 13 before running to the cleaning area 11 and contacting the cleaning component, thereby triggering the self-moving robot 2 to switch from the charging task to the cleaning task.

[0095] Specifically, the identification component 13 of the cleaning base can be a region on the base 10 of the cleaning base, which is set as a region with a color different from that of the base 10, and preferably a color with a large color difference, for example, the color of the base 10 is black, and the region is set as a white region, for example, the color of the base 10 is white, and the region is set as a black region, so as to facilitate the identification of the identification component 13 by the downward looking sensor 21 of the self-moving robot 2. Correspondingly, the downward looking sensor 21 can be an infrared sensor, which distinguishes the base 10 and the identification component 13 by the strength of the received light signal.

[0096] Specifically, the identification component 13 of the cleaning base can be an element pasted on the base 10, such as a reflective sheet, and the color of the element should be different from that of the base 10 to facilitate the identification by the downward looking sensor 21 of the self-moving robot 2.

[0097] Specifically, the identification component 13 of the cleaning base can be a magnetic strip or a magnetic sheet. Correspondingly, the Hall sensor 21 of the self-moving robot 2 is set as an identification sensor, so that the Hall sensor 21 pauses the charging task and triggers the generation of a cleaning task instruction when it senses the magnetic field strength of the magnetic strip 13.

[0098] Specifically, the identification component 13 of the cleaning base can be a high-brightness region, and a lamp component is arranged in the region to make the brightness of the identification component 13 higher than that of the surrounding area. Correspondingly, the downward looking sensor 21 of the self-moving robot 2 is set as an infrared sensor, so that the sensor pauses the charging task and triggers the generation of a cleaning task instruction when it senses the light of the identification component 13.

[0099] Optionally, the signal sending unit 17 is a charging base, and the cleaning base is further provided with an assembly area 14, and the periphery of the assembly area 14 is further provided with a support rib 15 structure and a limiting structure 16, so as to ensure that the charging base is assembled in place and reliably.

[0100] Optionally, the assembly area 14 is further provided with a groove 18, and a universal wheel is further connected to the lower end of the self-moving robot 2, so as to facilitate the turning of the self-moving robot 2 during movement; when charging is docked, the universal wheel is clamped in the groove 18, so as to prevent the self-moving robot 2 from being displaced by external force during charging.

[0101] The cleaning base disclosed in the embodiment sends a positioning signal to the self-moving robot 2 through the signal sending unit 17, so that the self-moving robot 2 travels to the cleaning area 11, and the dust and dirt on the driving wheel 22 are cleaned through the friction between the driving wheel 22 and the cleaning component during the rotation of the driving wheel 22, so that the cleaning effect can be improved.

[0102] Secondly, the setting of the protrusion 12 in the cleaning area 11 helps to reduce the shaking of the self-cleaning of the sweeping self-moving robot 2, ensures the sufficient cleaning of the driving wheel 22, and thus improves the cleaning effect.

[0103] Moreover, the cleaning elements are arranged on the protrusion 12 and the cleaning area 11, the contact area of the cleaning elements and the driving wheel 22 is increased, the area cleaned by the driving wheel 22 per unit time is larger at the same rotating speed, and the self-cleaning efficiency of the driving wheel 22 is improved.

[0104] In addition, the curvature of the arc surface of the protrusion 12 is matched with the curvature of the driving wheel 22, so that the driving wheel 22 is more uniformly stressed during cleaning, and the wear of the driving wheel 22 by the cleaning elements at the arc surface of the protrusion 12 is reduced.

[0105] In addition, the width of the protrusion 12 is greater than or equal to the width of the driving wheel 22, so as to ensure that the driving wheel 22 is always matched with the protrusion 12 during self-cleaning, and there is sufficient allowance, which is beneficial to the stability of the driving wheel 22 during self-cleaning.

[0106] In addition, the signal sending unit 17 is set as a charging base, so that the integration of the charging function and the self-cleaning function is realized, the protrusion 12 forms effective reverse support for the driving wheel 22 which rotates during self-cleaning, the pressure when the striker plate 23 of the self-moving robot 2 touches the charging base is reduced, and thus the structure of the charging base and the self-moving robot 2 is protected.

[0107] Embodiment two of the application discloses a self-moving robot control method, referring to Figure 5 , comprising:

[0108] 501, control the self-moving robot to travel to the cleaning base.

[0109] Specifically, the control mode can be various, such as generating a corresponding travel instruction according to a physical button or a virtual button arranged on the self-moving robot, or generating a corresponding travel instruction according to a button on a remote controller matched with the self-moving robot, or generating a corresponding travel instruction according to a control button of the cleaning base, so as to control the self-moving robot to travel to the cleaning base; or when the built-in battery of the self-moving robot is lower than a threshold, the self-moving robot automatically returns to the cleaning base to charge.

[0110] Specifically, the self-moving robot travels to the cleaning base in response to the travel instruction and according to the positioning signal sent by the cleaning base.

[0111] The travel instruction is triggered independently or triggered according to a charging task.

[0112] In one use scenario, the travel instruction is generated through a control button arranged on the mechanical body of the self-moving robot. The control button can be a physical button or a virtual button displayed on a touch display screen. Based on this, the user can generate the travel instruction by operating the control button to trigger the self-moving robot to travel to the cleaning base.

[0113] In another specific use scenario, the travel instruction is generated through a remote controller matched with the self-moving robot. Based on this, the user can install a control software of the self-moving robot on a terminal device such as a mobile phone or a computer, and issue various control instructions such as the travel instruction to the self-moving robot through the user's operation on the terminal device installed with the control software.

[0114] In yet another specific use scenario, the travel instruction is generated according to a pre-defined program execution logic. In this scenario, for example, the self-moving robot performs a charging task, and in the process of performing the charging task, an identification component is arranged on the base of the cleaning base, and after the self-moving robot identifies the identification component, the execution of the charging task is paused and the cleaning task is performed, and then the charging task is re-executed after the cleaning task is completed. In this scenario, the execution logic of the self-moving robot, such as the logic of performing the charging task-cleaning task-charging task, is pre-defined before the self-moving robot is started.

[0115] Among them, for the cleaning base that only performs the cleaning task, the positioning signal sent by the cleaning base is a cleaning positioning signal; for the cleaning base that performs the charging task and the cleaning task, the charging base and the cleaning component are integrated, and the positioning signal sent by the cleaning base can be a charging positioning signal emitted by the charging base.

[0116] After receiving the positioning signal sent by the cleaning base, the self-moving robot plans a travel route according to the positioning signal, and then travels to the cleaning base according to the positioning signal. Optionally, during the travel, the self-moving robot also re-plans the route according to the actual situation, such as encountering obstacles, etc.

[0117] For this positioning signal, the cleaning base can send it at intervals or continuously.

[0118] 502. In a case where it is determined that the self-moving robot travels to the preset position of the cleaning base, the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot.

[0119] The preset position can be various, such as controlling the self-moving robot to travel at a reduced speed to a cleaning area, or controlling the self-moving robot to travel at a reduced speed to a position abutting against the cleaning base.

[0120] The cleaning component includes a cleaning element, such as a brush, a cleaning cloth, etc., to achieve cleaning of the driving wheel. Considering the replaceability of the cleaning element, a female magic tape structure is first fixed at the cleaning area of the preset position, and a male magic tape is arranged on the back of the cleaning element, so that the cleaning element can be conveniently detached and installed from the cleaning area, facilitating the user to clean or replace the cleaning element. When the driving wheel rotates, it rubs against the cleaning element arranged in the cleaning area, finally cleaning the dust and dirt on the driving wheel.

[0121] Specifically, the condition for determining whether the self-moving robot travels to the preset position can be various, such as by installing a sensor on the self-moving robot to identify the cleaning element at the preset position, and determining that the self-moving robot travels to the preset position when the sensor receives a feedback signal; such as by the front end of the self-moving robot receiving a touch signal, then determining that the self-moving robot travels to the preset position; such as by setting an identification component before the preset position, and determining that the self-moving robot travels to the cleaning base when the self-moving robot passes through the sensor to identify the identification component, and then determining that the self-moving robot travels to the preset position according to the distance between the identification component and the preset position and the number of rotations of the driving wheel. Alternatively, in a case where the self-moving robot passes through the sensor to identify the identification component, the self-moving robot has arrived at a certain local position of the preset position.

[0122] Optionally, in a specific use scenario, step 502 includes: reciprocating the driving wheel of the self-moving robot at the preset position to clean the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0123] Specifically, the driving wheel of the self-moving robot reciprocates at the preset position, and the length of the cleaning component arranged at the preset position is greater than the circumferential length of the driving wheel, so that the driving wheel can rotate at least one round at the preset position to realize the cleaning of the dust or dirt on the surface of the driving wheel by the cleaning component.

[0124] In addition, the driving wheel of the self-moving robot reciprocates at the preset position multiple times to improve the cleaning effect.

[0125] For the control mode of each reciprocation, the self-moving robot can have multiple modes, for example, by monitoring the number of rotations of the driving wheel, for example, controlling the driving wheel to rotate forward for one round and then rotate backward for one round, and then repeating the cycle; in addition, it can also be realized by time control, for example, controlling the self-moving robot to move forward at the current speed for 2 seconds, and then move backward at the same speed for 2 seconds, and then repeat the cycle; further, the speed of the self-moving robot moving forward and backward can also be adjusted to be different, for example, the speed of moving forward is v1, and the speed of moving backward is v2, v1 is twice v2. For other control modes, the present embodiment will not be enumerated one by one.

[0126] In addition to controlling the self-moving robot to reciprocate to realize the cleaning of the driving wheel by the cleaning component, in a specific use scenario, step 502 comprises: controlling the self-moving robot to move to abut against the cleaning base, and the driving wheel of the self-moving robot keeps rotating at the cleaning area, to realize the cleaning of the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0127] In this way, the self-moving robot does not need to reciprocate, but keeps moving forward until the front end of the self-moving robot touches the cleaning base, and the driving force of the driving motor of the self-moving robot to the driving wheel is kept to make the driving wheel continue to rotate at the original position to realize cleaning.

[0128] The time of the driving wheel rotating at the original position can be set according to actual needs, and is preferably set to 20-30 seconds, which reduces the wear of the driving wheel while ensuring the cleaning efficiency.

[0129] In addition, the width of the cleaning area can also be set to be greater than or equal to the width of the driving wheel, to ensure that the driving wheel always moves in the cleaning area during self-cleaning, and there is enough margin, which is beneficial to the stability of the driving wheel during self-cleaning.

[0130] Preferably, the cleaning area can be provided with a protrusion, and the curvature of the arc surface of the protrusion matches the curvature of the driving wheel, so that the driving wheel is more uniform in stress during cleaning, and the wear of the cleaning element at the arc surface of the protrusion to the driving wheel is reduced.

[0131] Further, the convex arc surface can also be provided with a cleaning element, so that the contact area between the driving wheel and the cleaning element is increased during the self-rotation of the driving wheel, so that the driving wheel can clean a larger area per unit time at the same speed, and the self-cleaning efficiency of the driving wheel is improved.

[0132] In addition, the width of the convex part can be greater than or equal to the width of the driving wheel, so that the driving wheel is always matched with the convex part during self-cleaning, and there is enough margin to help the driving wheel to keep stable during self-cleaning.

[0133] The self-moving robot control method provided in the embodiment can realize automatic cleaning of the driving wheel of the self-moving robot by controlling the self-moving robot to move towards the cleaning base and cleaning the driving wheel of the self-moving robot by the cleaning part of the cleaning base through the wheel driving mode of the self-moving robot when it is determined that the self-moving robot moves to the preset position of the cleaning base, so that the cleaning effect is good.

[0134] As can be seen from the embodiment, the trigger of the self-moving robot control method needs to be realized by the cleaning task instruction. As described above, the cleaning task instruction can be directly and independently generated, or indirectly triggered by other tasks, such as the charging task. In the process of executing the charging task by the self-moving robot, the self-moving robot detects other external components to trigger the generation of the cleaning task instruction, and controls the self-moving robot to execute the cleaning task. Accordingly, the cleaning base for cleaning the self-moving robot needs to have both charging and cleaning functions.

[0135] The fourth embodiment discloses a self-moving robot control method for cleaning task in charging task, wherein the cleaning base is provided with a charging seat and an identification component.

[0136] Firstly, the working states of the self-moving robot for executing the charging task and the cleaning task need to be described respectively. The self-moving robot is provided with a bumper on the side, and the bumper generates a bumper signal when the distance between the bumper and the obstacle is less than a threshold value (or the bumper hits the obstacle).

[0137] In the process of executing the charging task by the self-moving robot, the bumper signal is kept on, and a moving route is planned until the charging element of the self-moving robot and the charging element of the charging seat are connected.

[0138] In one case, the self-moving robot needs to touch the charging base and continue to rotate the drive wheel to achieve cleaning of the drive wheel during the cleaning task. In this case, the self-moving robot needs to execute the following cleaning task logic: turn off the bumper signal to make the self-moving robot touch the charging base, continue to rotate the drive wheel to achieve cleaning, and in the case that the cleaning time reaches a threshold, control the self-moving robot to retreat, restore the bumper signal, and make the self-moving robot perform a charging task, receive a positioning signal, and perform a charging docking with the charging base.

[0139] In another case, the self-moving robot cleans the drive wheel through reciprocating motion, and in this case, the bumper signal does not need to be turned off. In this case, the self-moving robot needs to execute the following cleaning task logic: control the self-moving robot to advance a preset distance at a preset position, control the self-moving robot to retreat a preset distance at the preset position, repeat the foregoing steps until a time threshold is reached, and control the self-moving robot to perform a charging task again, receive a positioning signal, and perform a charging docking with the charging base.

[0140] Specifically, as shown in Figure 6 the self-moving robot control method includes steps 601-604:

[0141] 601. Control the self-moving robot to advance to a cleaning base.

[0142] Specifically, there are various control methods, such as generating a corresponding cleaning task instruction according to a physical button or a virtual button provided on the self-moving robot, or a button on a remote controller matched with the self-moving robot, or a control button of the cleaning base, to control the self-moving robot to advance to the cleaning base.

[0143] For specific control methods, refer to the detailed explanations of the foregoing embodiments, which will not be repeated here.

[0144] 602. During the control of the self-moving robot to advance to the cleaning base, a cleaning task instruction is generated after the self-moving robot recognizes the recognition component.

[0145] Specifically, in one use scenario, the cleaning base is provided with a charging base, and the cleaning task instruction is generated during the execution of a charging task by the self-moving robot. Step 602 includes: in response to the charging task instruction, controlling the self-moving robot to advance to the cleaning base, and in the case that the self-moving robot recognizes the recognition component, controlling the self-moving robot to pause the execution of the charging task and generate the cleaning task instruction.

[0146] Specifically, in another use scenario, the cleaning base is provided with a charging base, and the cleaning task instruction is triggered to be generated after the self-moving robot completes the charging task. Step 602 comprises: in response to the charging task instruction, controlling the self-moving robot to move to the cleaning base, and generating the cleaning task instruction in the case that the self-moving robot identifies the identification component and the charging task is completed.

[0147] In addition, a downward-looking sensor can be arranged below the self-moving robot to trigger the generation of the cleaning task instruction in the case that the identification component is detected.

[0148] Optionally, the identification component of the cleaning base can be arranged as a region on the base of the cleaning base, and the region is arranged as a color region different from the color of the base, preferably a color with a large color difference. For example, if the color of the base is black, the region is arranged as a white region; or if the color of the base is white, the region is arranged as a black region, so as to facilitate the downward-looking sensor of the self-moving robot to identify the identification component. Correspondingly, the downward-looking sensor can be an infrared sensor, which distinguishes the base and the identification component by the strength of the received light signal.

[0149] Optionally, the identification component of the cleaning base can be an element such as a reflective sheet, which is pasted to the base. The color of the element should be different from the color of the base, so as to facilitate the downward-looking sensor of the self-moving robot to identify the identification component.

[0150] Optionally, the identification component of the cleaning base can be arranged as a highlight region, and a lamp assembly is arranged in the region to make the brightness of the identification component higher than the surrounding. Correspondingly, the downward-looking sensor of the self-moving robot is arranged as an infrared sensor, so that the sensor pauses the execution of the charging task and triggers the generation of the cleaning task instruction in the case that the light of the identification component is sensed.

[0151] Further, according to actual needs, the sensing direction of the downward-looking sensor of the self-moving robot can be perpendicular to the ground, and the self-moving robot pauses the execution of the charging task and triggers the generation of the cleaning task instruction in the case that the downward-looking sensor of the self-moving robot is aligned with the identification component.

[0152] The sensing direction of the downward-looking sensor of the self-moving robot can also be obliquely downward, so that the self-moving robot does not need to be aligned with the identification component, but only needs to be obliquely aligned with the identification component, thereby allowing the self-moving robot to switch to the cleaning task when approaching the base of the cleaning base or just moving onto the base, increasing the walking path of the self-moving robot in the execution of the cleaning task, and being beneficial to the control of the self-moving robot in the execution of the task.

[0153] In a specific use scenario, the recognition component can be one, and correspondingly, the downward-looking sensor of the self-moving robot comprises one. Specifically, step 602 comprises steps S6021-S6022 as follows:

[0154] S6021, in the case where the self-moving robot recognizes the recognition component, the self-moving robot is controlled to pause the charging task and generate the cleaning task instruction.

[0155] S6022, in the case where the self-moving robot does not recognize the recognition component, the self-moving robot retreats and re-plans the travel route, then travels based on the re-planned travel route, and continues to determine whether the recognition component is recognized.

[0156] For this case, the self-moving robot can have deviated from the cleaning base during travel, resulting in that the downward-looking sensor does not recognize the recognition component, and thus the self-moving robot needs to retreat and re-plan the travel route based on the current position and the target position of the self-moving robot.

[0157] In another specific use scenario, the recognition component can be two, and the two recognition components are arranged side by side. Correspondingly, the downward-looking sensor of the self-moving robot comprises two, which are respectively located on the left and right sides of the lower part of the self-moving robot; the cleaning area is two, which are respectively arranged on the left and right sides of the cleaning base to clean the left and right drive wheels of the self-moving robot.

[0158] Specifically, step 602 comprises steps S6023-S6024 as follows:

[0159] S6023, in the case where the self-moving robot recognizes the two recognition components, the self-moving robot is controlled to pause the charging task and generate the cleaning task instruction;

[0160] S6024, in the case where the self-moving robot does not recognize the two recognition components, the self-moving robot retreats and re-plans the travel route, then travels based on the re-planned travel route, and continues to determine whether the two recognition components are recognized.

[0161] For this case, the self-moving robot can have deviated from the cleaning base during travel, resulting in that only one side of the sensor recognizes the recognition component, or neither of the two sensors recognizes the recognition component, and thus the self-moving robot needs to retreat and re-plan the travel route based on the current position and the target position of the self-moving robot.

[0162] In another specific use scenario, the recognition component can be two, and the two recognition components are arranged side by side. The self-moving robot executes the cleaning task instruction after completing the charging task.

[0163] Specifically, step 602 comprises steps S6025-S6026 as follows:

[0164] S6025, in the case that the self-moving robot identifies two identification components and the charging task is completed, the self-moving robot is controlled to generate the cleaning task instruction.

[0165] S6026, in the case that the self-moving robot does not identify two identification components, the self-moving robot retreats and re-plans a travel route, then travels based on the re-planned travel route, and continues to determine whether two identification components are identified respectively.

[0166] 603, the self-moving robot is controlled to travel at a reduced speed to a preset position of the cleaning base based on the cleaning task instruction.

[0167] The preset position can be various, for example, the self-moving robot is controlled to travel at a reduced speed to a cleaning area, or the self-moving robot is controlled to travel at a reduced speed to a position abutting against the cleaning base.

[0168] Specifically, the reduced speed mode can be various, for example, the self-moving robot travels from a first speed to a second speed linearly and decreases to the cleaning area of the cleaning base, or the self-moving robot directly decreases from the first speed to the second speed and travels to the cleaning area of the cleaning base.

[0169] In addition, for the case that the cleaning task instruction is generated in the process that the self-moving robot performs the charging task, the self-moving robot performs the cleaning task and then performs the charging task, and the method further comprises: after the cleaning task instruction is generated, the self-moving robot is controlled to close the baffle signal, so that the self-moving robot can abut against the charging seat arranged on the cleaning base, the driving wheel of the self-moving robot is in contact with the cleaning area and keeps self-rotation, so as to clean the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0170] Further, the cleaning base is provided with a protrusion, and the arc surface of the protrusion matches the arc of the driving wheel; the method comprises: the self-moving robot is controlled to abut against the cleaning base, and the driving wheel of the self-moving robot is in contact with the cleaning area and the protrusion and keeps self-rotation, so as to clean the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0171] In the embodiment, in the case that the self-moving robot identifies the identification component, the self-moving robot travels at a reduced speed to the cleaning area of the cleaning base, which helps the self-moving robot to better detect the positioning signal, and is conducive to the cleaning positioning of the driving wheel being more accurate.

[0172] Secondly, the self-moving robot can reduce the impact when the self-moving robot touches the cleaning base, protect the cleaning base, and prolong the service life of the cleaning base.

[0173] Thirdly, the self-moving robot can reduce the wear and tear of the cleaning component and the driving wheel, and prolong the service life.

[0174] In addition, the self-moving robot can reduce the shaking of the self-moving robot caused by the self-rotation of the driving wheel, improve the stability during the cleaning of the driving wheel, and improve the cleaning effect.

[0175] In addition, the self-moving robot can reduce the shaking of the self-moving robot caused by the self-rotation of the driving wheel, improve the stability during the cleaning of the driving wheel, and improve the cleaning effect.

[0176] 604、In a case where it is determined that the self-moving robot travels to the preset position of the cleaning base, the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base through control of the wheel movement mode of the self-moving robot.

[0177] The cleaning component can include a cleaning element, such as a brush, a cleaning cloth, etc., to clean the driving wheel. Considering the replaceability of the cleaning material, a female magic tape structure is fixed at the cleaning area, and a male magic tape is arranged on the back of the cleaning element, so that the cleaning element can be easily disassembled and installed from the cleaning area, which is convenient for users to clean or replace the cleaning material. When the driving wheel rotates, the driving wheel rubs against the cleaning element arranged at the cleaning area, and finally the dust and dirt on the driving wheel are cleaned.

[0178] Optionally, in a specific use scenario, step 604 includes: reciprocating the driving wheel of the self-moving robot at the preset position to clean the driving wheel of the self-moving robot by the cleaning component of the cleaning base through control.

[0179] In addition to controlling the self-moving robot to reciprocate to clean the driving wheel by the cleaning component, in another specific use scenario, step 604 includes: controlling the self-moving robot to travel to touch the cleaning base, and the driving wheel of the self-moving robot is kept at a preset position to rotate, to clean the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0180] For a detailed explanation of the wheel movement mode of the self-moving robot, please refer to the foregoing embodiments, and this embodiment will not be described again.

[0181] Optionally, for the use scenario that the self-moving robot performs the cleaning task and then continues to perform the charging task, after the driving wheel of the self-moving robot is cleaned, the self-moving robot resumes performing the charging task and is docked with the charging base by control.

[0182] In this embodiment, there are various methods for judging whether the driving wheel is cleaned, for example, judging by time, judging whether the cleaning time of the driving wheel is greater than a set cleaning time threshold to determine whether the driving wheel is cleaned; for example, judging by counting the number of revolutions of the driving wheel, judging whether the number of revolutions of the driving wheel is greater than a set number of revolution threshold to determine whether the driving wheel is cleaned.

[0183] Specifically, for the case that the self-moving robot rotates the driving wheel by touching the charging base, after the self-moving robot resumes performing the charging task, the self-moving robot needs to retreat and advance again until the self-moving robot is docked with the charging base. In actual use, the self-moving robot retreats a certain distance to facilitate the self-moving robot to be docked with the charging base again, and the distance of the self-moving robot retreat is not too large, for example, the self-moving robot retreats 2-5 centimeters. Then the self-moving robot resumes the bumper signal and continues to advance until the self-moving robot is docked with the charging base. In this process, the charging element of the self-moving robot is docked with the charging element of the charging base, and the bumper of the self-moving robot will not touch the charging base again.

[0184] Specifically, for the case that the self-moving robot reciprocates at a preset position, after the driving wheel of the self-moving robot is cleaned, the self-moving robot resumes the bumper signal and can retreat a certain distance and then advance again or directly advance without retreating to achieve the docking of the self-moving robot with the charging base by control.

[0185] The self-moving robot control method provided in the application realizes the cleaning task in the process of responding to the charging task instruction, which not only realizes the automatic cleaning of the driving wheel of the self-moving robot with good cleaning effect, but also realizes the sequential execution of the charging task and the cleaning task.

[0186] Specific example 1

[0187] In an embodiment, the cleaning logic performed by the self-moving robot is as follows: controlling the self-moving robot to travel - traveling to the cleaning area of the cleaning base to reciprocate and clean.

[0188] The specific flow of the self-moving robot control method is as follows:

[0189] S11, controlling the self-moving robot to travel to the cleaning base.

[0190] Specifically, the traveling instruction can be generated by a control button provided on the mechanical body of the self-moving robot, or by a remote controller used in conjunction with the self-moving robot, or according to a pre-defined program execution logic. For specific details, refer to the foregoing embodiments, which will not be repeated here.

[0191] S12, during the control of the self-moving robot to travel towards the cleaning base, generating a cleaning task instruction after the self-moving robot recognizes the recognition component.

[0192] S13, controlling the self-moving robot to travel at a reduced speed to a preset position of the cleaning base based on the cleaning task instruction.

[0193] The preset position can be various, for example, controlling the self-moving robot to travel at a reduced speed to a cleaning area; or for example, controlling the self-moving robot to travel at a reduced speed to a position abutting against the cleaning base.

[0194] Specifically, the self-moving robot travels from the first speed to the second speed linearly to the cleaning area of the cleaning base; or the self-moving robot directly reduces from the first speed to the second speed to travel to the cleaning area of the cleaning base.

[0195] S14, in the case where the self-moving robot travels to the preset position of the cleaning base, controlling the drive wheel of the self-moving robot to reciprocate in the cleaning area of the preset position, so as to realize the cleaning of the drive wheel of the self-moving robot by the cleaning component of the cleaning base.

[0196] Specifically, the cleaning component can include a cleaning element, such as a detachable cleaning cloth or a brush structure. The cleaning area can be set to have a width greater than the width of the drive wheel, and preferably the width of the cleaning area is at least 3 times the width of the drive wheel, so as to leave enough margin to facilitate the stable retention of the drive wheel during the self-cleaning process.

[0197] Specifically, the drive wheel of the self-moving robot reciprocates in the cleaning area, and the length of the cleaning element of the cleaning area needs to be greater than the circumferential length of the drive wheel, so that the drive wheel can rotate at least one round in the cleaning area, so as to realize the cleaning of the dust or dirt on the surface of the drive wheel by the cleaning element.

[0198] Specific example 2

[0199] In an embodiment, the cleaning logic executed by the self-moving robot is as follows: controlling the self-moving robot to travel - traveling to the limit component of the cleaning base touched by the self-moving robot - continuing to keep the drive wheel at the preset position to rotate in place for cleaning.

[0200] The specific flow of the self-moving robot control method is as follows:

[0201] S21, control the self-moving robot to move towards the cleaning base.

[0202] Specifically, the moving instruction can be generated by a control button provided on the mechanical body of the self-moving robot, or by a remote controller used in conjunction with the self-moving robot, or according to a pre-defined program execution logic. For specific details, refer to the foregoing embodiments, which will not be repeated here.

[0203] S22, in the case where the self-moving robot identifies the identification component, the self-moving robot moves at a reduced speed to the preset position of the cleaning base.

[0204] The preset position can be various, for example, the self-moving robot is controlled to move at a reduced speed to the cleaning area; or for example, the self-moving robot is controlled to move at a reduced speed to a position abutting against the cleaning base.

[0205] Specifically, the self-moving robot linearly decreases from the first speed to the second speed to move to the cleaning area of the cleaning base; or the self-moving robot directly reduces from the first speed to the second speed to move to the cleaning area of the cleaning base.

[0206] S23, in the case where the self-moving robot moves to the preset position of the cleaning base, the self-moving robot is controlled to move to touch the cleaning base, and the driving wheel of the self-moving robot keeps rotating at the preset position, so as to realize cleaning of the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0207] In this way, the self-moving robot no longer needs to move back and forth, but keeps moving forward until the front end of the self-moving robot touches the cleaning base, and the driving force of the driving motor of the self-moving robot to the driving wheel is kept, so that the driving wheel continues to rotate in place to realize cleaning.

[0208] In addition, the preset position can be provided with a protrusion, and the curvature of the arc surface of the protrusion matches the curvature of the driving wheel, so that the driving wheel is more uniformly stressed during cleaning, reducing the wear of the driving wheel by the cleaning element at the arc surface of the protrusion.

[0209] Further, the arc surface of the protrusion can also be provided with a cleaning element, so that the contact area between the cleaning element and the driving wheel is increased during the rotation of the driving wheel in place, so that the driving wheel has a larger cleaning area per unit time at the same rotation speed, improving the self-cleaning efficiency of the driving wheel.

[0210] Specific example 3

[0211] In an embodiment, the cleaning logic performed by the self-moving robot is as follows: receiving a charging task instruction, performing the charging task - controlling the self-moving robot to travel - triggering the generation of a cleaning task instruction, traveling to a preset position of the cleaning base reciprocating movement for cleaning - after the cleaning task is completed, resuming the charging task.

[0212] The specific flow of the self-moving robot control method is as follows:

[0213] S31, in response to the charging task instruction, the self-moving robot travels to the cleaning base according to the positioning signal.

[0214] S32, determine whether the self-moving robot recognizes two recognition components, if yes, execute step S33, if no, execute step S34.

[0215] S33, in the case that the self-moving robot recognizes two recognition components, control the self-moving robot to suspend the charging task, and generate the cleaning task instruction.

[0216] S34, in the case that the self-moving robot does not recognize two recognition components, the self-moving robot retreats and re-plans a travel route, then travels based on the re-planned travel route, and continues to execute step S32.

[0217] S35, control the self-moving robot to travel at a reduced speed to a preset position of the cleaning base based on the cleaning task instruction.

[0218] The preset position can be various, for example, controlling the self-moving robot to travel at a reduced speed to a cleaning area; or for example, controlling the self-moving robot to travel at a reduced speed to a position abutting against the cleaning base.

[0219] Specifically, the self-moving robot travels from the first speed to the second speed linearly to the cleaning area of the cleaning base; or the self-moving robot directly reduces from the first speed to the second speed to travel to the cleaning area of the cleaning base.

[0220] S36, in the case that the self-moving robot travels to the cleaning area of the cleaning base, control the drive wheel of the self-moving robot to reciprocate in the cleaning area to realize cleaning the drive wheel of the self-moving robot with the cleaning component.

[0221] Specifically, the cleaning component can include a cleaning element, for example, a detachable cleaning cloth or a brush structure. The cleaning area can be set to have a width greater than the width of the drive wheel, and preferably the width of the cleaning area is at least 3 times the width of the drive wheel, so as to leave enough margin to facilitate the stability of the drive wheel during self-cleaning.

[0222] Specifically, the driving wheel of the self-moving robot reciprocates in the cleaning area, and the length of the cleaning element arranged in the cleaning area needs to be greater than the circumferential length of the driving wheel, so that the driving wheel can rotate at least one round in the cleaning area to realize the cleaning of the dust or dirt on the surface of the driving wheel by the cleaning element.

[0223] S37, the self-moving robot resumes the charging task and controls the self-moving robot to dock with the charging seat.

[0224] Specific example 4

[0225] In an embodiment, the cleaning logic performed by the self-moving robot is as follows: receiving a charging task instruction, performing a charging task, triggering generation of a cleaning task instruction, moving to the position where the self-moving robot touches the limiting part of the cleaning base, continuing to keep the driving wheel self-rotating in the preset position for cleaning, and after the cleaning task is completed, resuming the charging task.

[0226] The specific flow of the self-moving robot control method is as follows:

[0227] S41, in response to the charging task instruction, the self-moving robot moves to the cleaning base according to the positioning signal.

[0228] S42, the self-moving robot determines whether two identification parts are identified, if yes, step S33 is performed, and if no, step S34 is performed.

[0229] S43, in the case where the self-moving robot identifies two identification parts, the self-moving robot suspends the charging task and triggers generation of a cleaning task instruction.

[0230] S44, in the case where the self-moving robot does not identify two identification parts, the self-moving robot retreats and re-plans a moving route, then moves based on the re-planned moving route, and continues to perform step S42.

[0231] S45, in the case where the self-moving robot identifies an identification part, the self-moving robot slows down and moves to the preset position of the cleaning base.

[0232] The preset position has various forms, for example, controlling the self-moving robot to slow down and move to the cleaning area; or for example, controlling the self-moving robot to slow down and move to the position where the self-moving robot abuts against the cleaning base.

[0233] Specifically, the self-moving robot linearly decreases from the first speed to the second speed and moves to the cleaning area of the cleaning base; or the self-moving robot directly decreases from the first speed to the second speed and moves to the cleaning area of the cleaning base.

[0234] S46, in the case of determining that the self-moving robot travels to the cleaning area of the cleaning base, the self-moving robot is controlled to travel to abut against the cleaning base, and the driving wheel of the self-moving robot is kept to rotate by itself in the cleaning area, so as to realize cleaning of the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0235] Specifically, the cleaning component can include a cleaning element, which can be a detachable cleaning cloth or a brush structure. The cleaning area can be arranged to have a width greater than that of the driving wheel, and preferably the width of the cleaning area is at least 3 times the width of the driving wheel, so as to leave a sufficient margin to facilitate the driving wheel to keep stable during the self-cleaning process.

[0236] In this way, the self-moving robot no longer needs to reciprocate, but keeps moving forward until the front end of the self-moving robot abuts against the cleaning base, and the driving force of the driving motor of the self-moving robot to the driving wheel is kept to make the driving wheel continue to rotate by itself to realize cleaning.

[0237] In addition, the cleaning area can be provided with a protrusion, and the curvature of the arc surface of the protrusion matches the curvature of the driving wheel, so that the driving wheel is more uniformly stressed during cleaning, reducing the wear of the driving wheel by the cleaning element at the arc surface of the protrusion.

[0238] Further, the arc surface of the protrusion can also be provided with a cleaning element, so that the contact area between the cleaning element and the driving wheel is increased during the self-rotation of the driving wheel, so that the driving wheel has a larger cleaning area per unit time at the same rotation speed, improving the self-cleaning efficiency of the driving wheel.

[0239] S47, the self-moving robot resumes to perform the charging task, and controls the self-moving robot to dock with the charging base.

[0240] Embodiment four of the present application also provides a self-moving robot, referring to Figure 7 , comprising a mechanical body 70, and a driving wheel connected below the mechanical body 70. The mechanical body 70 is provided with at least one processor 701 and at least one memory 702 storing computer instructions.

[0241] The memory 702 is configured to store a program supporting the self-moving robot to perform the control method in the foregoing embodiments, and the processor 701 is configured to execute the program stored in the memory.

[0242] In addition to the one or more processors 701 and the one or more memories 702, the mechanical body 70 is also provided with some basic components of the self-moving robot, such as a driving assembly, a cleaning assembly, a camera, a sensor assembly, a power supply assembly, and the like. Optionally, the driving assembly can include a driving wheel, a driving motor, a universal wheel, and the like. Optionally, the cleaning assembly can include a cleaning motor, a floor brush, a dust-raising brush, a dust suction fan, and the like. The basic components included in different self-moving robots and the configurations of the basic components can be different, and the examples listed in the embodiments of the present application are only partial examples.

[0243] It is worth noting that the one or more processors 701 and the one or more memories 702 can be arranged inside the mechanical body or on the surface of the mechanical body 70.

[0244] The mechanical body 70 is an execution mechanism on which the self-moving robot relies to complete a task, and can perform an operation designated by the processor in a determined environment. The mechanical body 70 to some extent embodies the appearance form of the self-moving robot. In the embodiments, the appearance form of the self-moving robot is not limited, for example, it can be circular, oval, triangular, convex polygon, and the like.

[0245] The one or more memories 702 are mainly used to store computer instructions that can be executed by the one or more processors 701, so that the one or more processors 701 can control the mechanical body 700 of the self-moving robot to perform a cleaning task. In addition to storing computer instructions, the one or more memories 702 can also be configured to store other various data to support operations on the self-moving robot. Examples of these data include instructions for any application program or method used to operate on the self-moving robot, map data of the environment / scene where the self-moving robot is located, information of an area to be cleaned, cleaning time, and the like.

[0246] The one or more memories 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0247] The one or more processors 701 can be regarded as a control system of the self-moving robot, and can be used to execute computer instructions stored in the one or more memories 702 to control the self-moving robot to perform a cleaning task.

[0248] The at least one processor 701 is configured to execute computer instructions to implement the following method:

[0249] The self-moving robot is controlled to move towards the cleaning base;

[0250] In a case where it is determined that the self-moving robot moves to the preset position of the cleaning base, the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot.

[0251] The movement instruction can be generated independently or according to a charging task.

[0252] In one use scenario, the movement instruction is generated by a control button arranged on a mechanical body of the self-moving robot; in another specific use scenario, the movement instruction is generated by a remote controller used in conjunction with the self-moving robot; and in still another specific use scenario, the movement instruction is generated according to a pre-defined program execution logic.

[0253] For the cleaning base that performs the charging task and the cleaning task, the charging base and the cleaning component are integrated, and the positioning signal sent by the cleaning base can be a charging positioning signal sent by the charging base.

[0254] After receiving the positioning signal sent by the cleaning base, the self-moving robot plans a movement route according to the positioning signal, and then moves towards the cleaning base according to the positioning signal. Optionally, during the movement, the self-moving robot can also re-plan the route according to actual conditions, such as encountering an obstacle.

[0255] The cleaning base can send the positioning signal at intervals or continuously.

[0256] Specifically, the condition for determining whether the self-moving robot moves to the preset position can be various, such as by installing a sensor on the self-moving robot to identify the cleaning component at the preset position, and determining that the self-moving robot moves to the preset position when the sensor receives a feedback signal; such as by a front end bumper of the self-moving robot receiving a touch signal, then determining that the self-moving robot moves to the preset position; such as by setting an identification component before the preset position, and determining that the self-moving robot moves to the cleaning base when the self-moving robot passes through the sensor and the identification component is identified, and then determining that the self-moving robot moves to the preset position according to the distance between the identification component and the preset position and the number of rotations of the driving wheel.

[0257] Optionally, the processor is configured to control the rotation speed of the driving wheel to be lower than the rotation speed of the self-moving robot in normal operation during the cleaning of the driving wheel of the self-moving robot by the cleaning component of the cleaning base.

[0258] Optionally, the processor is configured to control the drive wheel of the self-moving robot to reciprocate at the preset position to realize cleaning of the drive wheel of the self-moving robot by the cleaning component of the cleaning base.

[0259] Optionally, the processor is configured to control the self-moving robot to travel to abut against the cleaning base, and the drive wheel of the self-moving robot to rotate at the preset position to realize cleaning of the drive wheel of the self-moving robot by the cleaning component of the cleaning base.

[0260] Optionally, the cleaning base is provided with an identification component; and the processor is configured to generate a cleaning task instruction after the self-moving robot identifies the identification component during the process of controlling the self-moving robot to travel to the cleaning base.

[0261] Optionally, the processor is further configured to control the self-moving robot to travel at a reduced speed to a preset position of the cleaning base based on the cleaning task instruction.

[0262] Optionally, the processor is further configured to control the self-moving robot to turn off a bumper signal after the cleaning task instruction is generated.

[0263] Optionally, the cleaning base is provided with a charging seat; and the processor is further configured to control the self-moving robot to travel to the cleaning base in response to a charging task instruction, and to generate the cleaning task instruction in the case that the self-moving robot identifies the identification component and the charging task is completed.

[0264] After cleaning of the drive wheel of the self-moving robot by the cleaning component of the cleaning base is completed, the processor is further configured to resume the charging task and control the self-moving robot to dock with the charging seat.

[0265] Optionally, the cleaning base is provided with a charging seat; and the processor is further configured to control the self-moving robot to travel to the cleaning base in response to a charging task instruction, and to generate the cleaning task instruction in the case that the self-moving robot identifies the identification component and the charging task is completed.

[0266] Optionally, the processor is further configured to control the self-moving robot to travel to the preset position of the cleaning base at a first speed linearly decreasing to a second speed, or to directly reduce the speed from the first speed to the second speed.

[0267] Optionally, the cleaning base is provided with a protrusion, and an arc surface of the protrusion matches an arc of the drive wheel.

[0268] The processor is further configured to control the self-moving robot to travel to the cleaning base, and the drive wheel of the self-moving robot is fitted with the preset position and the protrusion and keeps self-rotation to realize cleaning of the drive wheel of the self-moving robot by the cleaning component of the cleaning base.

[0269] Optionally, the recognition component includes two recognition components arranged side by side; and the processor is further configured to:

[0270] In a case where the self-moving robot recognizes the two recognition components, the processor is configured to control the self-moving robot to pause the charging task and generate the cleaning task instruction.

[0271] In a case where the self-moving robot does not recognize the two recognition components, the self-moving robot is configured to retreat and re-plan a travel route, then travel based on the re-planned travel route, and continue to determine whether the two recognition components are recognized respectively.

[0272] Optionally, the recognition component includes two recognition components arranged side by side; and the processor is further configured to:

[0273] In a case where the self-moving robot recognizes the two recognition components and the charging task is completed, the processor is configured to control the self-moving robot to generate the cleaning task instruction.

[0274] In a case where the self-moving robot does not recognize the two recognition components, the self-moving robot is configured to retreat and re-plan a travel route, then travel based on the re-planned travel route, and continue to determine whether the two recognition components are recognized respectively.

[0275] The self-moving robot provided by the embodiment can realize automatic cleaning of the drive wheel of the self-moving robot by controlling the self-moving robot to travel to the preset position of the cleaning base, and cleaning the drive wheel of the self-moving robot by the cleaning component of the cleaning base through the wheel driving mode of the self-moving robot, so that the cleaning effect is good.

[0276] Secondly, in a case where the self-moving robot recognizes the recognition component, the self-moving robot travels to the preset position of the cleaning base at a reduced speed, which helps the self-moving robot to better detect the positioning signal, and is conducive to more accurate cleaning positioning of the drive wheel.

[0277] Moreover, in a case where the self-moving robot recognizes the recognition component, the self-moving robot travels at a reduced speed, which can reduce the impact when the self-moving robot contacts the cleaning base, protects the overall cleaning base, and improves the service life of the cleaning base.

[0278] The self-moving robot slows down to reduce the wear of the cleaning component and the driving wheel, and improve the durability.

[0279] In addition, the self-moving robot slows down to reduce the wear of the cleaning component and the driving wheel, and improve the durability.

[0280] In addition, the self-moving robot slows down to reduce the wear of the cleaning component and the driving wheel, and improve the durability.

[0281] The above is a schematic scheme of the self-moving robot of the embodiment. It should be noted that the technical scheme of the self-moving robot belongs to the same concept as the technical scheme of the self-moving robot control method described above, and the details of the technical scheme of the self-moving robot that are not described in detail can be referred to the description of the technical scheme of the self-moving robot control method.

[0282] It should be noted that, for the foregoing method embodiments, in order to facilitate description, they are all expressed as a combination of a series of actions, but those skilled in the art should know that the present application is not limited by the action sequence described, because according to the present application, certain steps can be performed in other sequences or at the same time. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0283] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0284] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The alternative embodiments do not describe all the details and do not limit the application to the specific embodiments described. Obviously, according to the content of the specification, many modifications and changes can be made. The selected and specific description of these embodiments is to better explain the principles and practical application of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is limited by the claims and their entire scope and equivalents.​​​​​​

Claims

1. A self-moving robot control method characterized by comprising: The method comprises: controlling the self-moving robot to move towards the cleaning base; in a case where it is determined that the self-moving robot moves to a preset position of the cleaning base, cleaning the drive wheel of the self-moving robot by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot; wherein cleaning the drive wheel of the self-moving robot by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot comprises: by controlling the self-moving robot to move to abut against the cleaning base, and the drive wheel of the self-moving robot keeps self-rotation at the preset position, to realize cleaning the drive wheel of the self-moving robot by the cleaning component of the cleaning base.

2. The method of claim 1, wherein, In the process of cleaning the drive wheel of the self-moving robot by the cleaning component of the cleaning base, the rotation speed of the drive wheel is controlled to be lower than the rotation speed in normal working of the self-moving robot.

3. The method of claim 1, wherein, The cleaning base is provided with an identification component; in the process of controlling the self-moving robot to move towards the cleaning base, after the self-moving robot identifies the identification component, a cleaning task instruction is generated.

4. The method of claim 3, wherein, The control method further comprises: based on the cleaning task instruction, controlling the self-moving robot to move at a reduced speed to the preset position of the cleaning base.

5. The method of claim 3, wherein, The control method further comprises: after the cleaning task instruction is generated, controlling to close the bumper plate signal of the self-moving robot.

6. The method of claim 3, wherein, The cleaning base is provided with a charging seat; The method comprises: in response to a charging task instruction, controlling the self-moving robot to move towards the cleaning base, in a case where the self-moving robot identifies the identification component, controlling the self-moving robot to pause the execution of the charging task, and generating the cleaning task instruction; after the cleaning of the drive wheel of the self-moving robot by the cleaning component of the cleaning base is completed, the method further comprises: the self-moving robot resumes the execution of the charging task, and controls the self-moving robot to dock with the charging seat.

7. The method of claim 3, wherein, The cleaning base is provided with a charging seat; The method comprises: in response to a charging task instruction, controlling the self-moving robot to move towards the cleaning base, in a case where the self-moving robot identifies the identification component and the charging task is completed, generating a cleaning task instruction.

8. The method of claim 4, wherein, Based on the cleaning task instruction, controlling the self-moving robot to move at a reduced speed to the preset position of the cleaning base comprises: the self-moving robot moves to the preset position of the cleaning base from a first speed to a second speed linearly and decreasingly; or the self-moving robot directly reduces from a first speed to a second speed to move to the preset position of the cleaning base.

9. The method of claim 1, wherein, The cleaning base is provided with a protrusion, and the arc surface of the protrusion matches the arc of the drive wheel; The method further comprises: controlling the self-moving robot to move to abut against the cleaning base, and the drive wheel of the self-moving robot keeps self-rotation and fits the preset position and the protrusion, to realize cleaning the drive wheel of the self-moving robot by the cleaning component of the cleaning base.

10. The method of claim 3, wherein, The identification component includes two identification components arranged side by side. The method includes: In the case that the self-moving robot identifies the two identification components, the self-moving robot is controlled to pause the charging task and generate the cleaning task instruction. In the case that the self-moving robot does not identify the two identification components, the self-moving robot retreats and re-plans the travel route, then travels based on the re-planned travel route, and continues to determine whether the two identification components are identified respectively.

11. The method of claim 6, wherein, The identification component includes two identification components arranged side by side. The method includes: In the case that the self-moving robot identifies the two identification components and the charging task is completed, the self-moving robot is controlled to generate the cleaning task instruction. In the case that the self-moving robot does not identify the two identification components, the self-moving robot retreats and re-plans the travel route, then travels based on the re-planned travel route, and continues to determine whether the two identification components are identified respectively.

12. A self-moving robot, characterized by, It includes: A mechanical body and a processor and a memory arranged in the mechanical body, the lower part of the mechanical body is connected with a driving wheel; The memory stores computer instructions; The processor is connected with the memory, and is used for executing the computer instructions stored in the memory, so as to: Control the self-moving robot to travel to the cleaning base; In the case that the self-moving robot travels to the preset position of the cleaning base, the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot. In the case that the self-moving robot travels to the preset position of the cleaning base, the driving wheel of the self-moving robot is cleaned by the cleaning component of the cleaning base through controlling the wheel movement mode of the self-moving robot. The cleaning base is provided with an identification component; 13. The self-moving robot of claim 12, wherein, The processor is used for: in the process of controlling the self-moving robot to travel to the cleaning base, after the self-moving robot identifies the identification component, generating a cleaning task instruction, and controlling the self-moving robot to travel to the preset position of the cleaning base at a reduced speed based on the cleaning task instruction. The cleaning base is provided with a protrusion, and the curvature of the arc surface of the protrusion matches the curvature of the driving wheel; 14. The self-moving robot of claim 13, wherein, The processor is used for: controlling the self-moving robot to travel to the charging seat arranged on the cleaning base, and the driving wheel of the self-moving robot matches the preset position and the protrusion and keeps rotating, so as to clean the driving wheel of the self-moving robot by the cleaning component of the cleaning base. The cleaning component includes a cleaning element which is detachably connected to the arc surface of the protrusion.

15. The self-moving robot of claim 14, wherein, The width of the protrusion is greater than or equal to the width of the driving wheel.

16. The self-moving robot of claim 14, wherein, ​

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