A control method for a self-moving device, the self-moving device, and a self-moving equipment

Abstract

An embodiment of the present invention provides a control method for a self - moving device, a self - moving device, and a self - moving equipment. The self - moving device includes a main body and a detachable part. The method includes: receiving a control instruction, and controlling the self - moving device and / or the detachable part to clean a first area according to the control instruction, wherein the detachable part is detachably connected to a first connecting part on the main body through a second connecting part; determining whether a first detection signal is received; if so, changing the connection state between the first connecting part and the second connecting part, and controlling the main body to clean a second area. Changing the connection state between the first connecting part and the second connecting part includes any one of the following: controlling the first connecting part and the second connecting part to be detached. Controlling the first connecting part to drive the second connecting part away from the cleaning surface. The technical solution provided by the embodiment of the present invention realizes the automatic conversion of different working modes of the self - moving device, makes the cleaning process more intelligent and comprehensive, and solves the applicability problem for different cleaning surfaces.

Description

[0001] This application is a divisional application of Chinese Patent Application No. 202010071752.2, titled "Control Method and Self-Mobile Device of a Self-Mobile Device", filed on January 21, 2020. Technical Field

[0002] The present invention relates to the field of intelligent robot control, and in particular, to a control method of a self-mobile device, a self-mobile device, and a self-mobile equipment. Background Art

[0003] With the development of technology, various movable intelligent devices have entered people's lives to facilitate people's lives, such as cleaning robots. Existing cleaning robots can automatically clean the ground and have various functions, such as cleaning robots with wet mops for mopping the floor. Summary of the Invention

[0004] In view of the above problems, the present invention is proposed to provide a control method of a self-mobile device and a self-mobile device that solve the above problems, which can change the connection state between the first connecting member and the second connecting member to realize the automatic conversion of different working modes of the self-mobile device.

[0005] In an embodiment of the present invention, a control method of a self-mobile device is provided. The self-mobile device includes a main body and a detachable member. The method includes:

[0006] Receiving a control instruction, and controlling the self-mobile device to clean a first area according to the control instruction, wherein the detachable member is detachably connected to a first connecting member on the main body through a second connecting member;

[0007] Judging whether a first detection signal is received;

[0008] If so, changing the connection state between the first connecting member and the second connecting member according to the first detection signal, and controlling the main body to clean a second area.

[0009] Optionally, before receiving the control instruction, it further includes:

[0010] Pre-dividing the area to be cleaned into a first area and a second area;

[0011] Wherein, the first area includes the floor area

[0012] The second area includes the carpet area.

[0013] Optionally, before receiving the control instruction, it further includes:

[0014] Pre-dividing the area to be cleaned into a first area and a second area;

[0015] Among them, the first region includes a passable region;

[0016] The second region includes an area that needs to pass over an obstacle.

[0017] Optionally, the first detection signal includes that the cleaning of the first region is completed.

[0018] Optionally, changing the connection state between the first connecting member and the second connecting member includes: controlling the separation of the first connecting member and the second connecting member; where

[0019] The first connecting member is an electromagnet, and the second connecting member is a permanent magnet. Controlling the separation of the first connecting member and the second connecting member includes:

[0020] Controlling the electromagnet to be energized so that the electromagnet generates a magnetic pole with the same magnetism as the contact end of the permanent magnet, and the permanent magnet is separated from the electromagnet; or

[0021] The first connecting member is an electromagnet, and the second connecting member is made of a magnetically conductive material. Controlling the separation of the first connecting member and the second connecting member includes:

[0022] Controlling the electromagnet to be powered off so that the magnetism of the electromagnet disappears, and the electromagnet is separated from the second connecting member.

[0023] Optionally, controlling the separation of the first connecting member and the second connecting member includes:

[0024] After controlling the main body to move to a specified position, separating the detachable member to the specified position.

[0025] Optionally, controlling the separation of the first connecting member and the second connecting member includes:

[0026] Receiving a separation instruction, where the separation instruction contains a separation position;

[0027] Judging whether the separation position meets the separation conditions;

[0028] If it meets the separation conditions, then according to the separation instruction, controlling the main body to move to the separation position and then separating the detachable member to the separation position.

[0029] Optionally, after separating the detachable member, it further includes:

[0030] Sending the position where the detachable member is located after separation to a prompting unit so that the prompting unit can prompt the position where the detachable member is located.

[0031] Optionally, changing the working mode of the second connecting member includes: controlling the first connecting member to drive the second connecting member away from the cleaning surface; wherein,

[0032] The first connecting member is a telescopic arm, and the second connecting member is detachably connected to the telescopic arm.

[0033] Optionally, after cleaning the second area, it further includes:

[0034] Determine whether a second detection signal is received;

[0035] If so, end the operation according to the second detection signal.

[0036] Correspondingly, an embodiment of the present invention further provides a self - moving device, including:

[0037] A main body, on which a first connecting member is provided;

[0038] A detachable member, on which a second connecting member detachably connected to the first connecting member is provided;

[0039] The main body is further provided with a detection unit and a control unit, and the control unit is respectively coupled to the first connecting member and the detection unit;

[0040] The control unit is configured to receive a control instruction, control the self - moving device to clean a first area according to the control instruction; determine whether a first detection signal sent by the detection unit is received; if so, change the connection state between the first connecting member and the second connecting member according to the first detection signal, and control the main body to clean a second area.

[0041] Optionally, changing the connection state between the first connecting member and the second connecting member includes: controlling the first connecting member to disengage from the second connecting member; wherein,

[0042] The first connecting member includes a coil and an iron core;

[0043] The coil is wound around the outer periphery of the side of the iron core, and a part of the iron core extends out of the coil;

[0044] The coil is coupled to the control unit, and the control unit controls the coil to be powered on or off according to the detection signal of the detection unit.

[0045] Optionally, the second connecting member is a permanent magnet;

[0046] When the coil is powered off, the permanent magnet can be magnetically connected to the iron core;

[0047] When the coil is energized, the coil causes the iron core to generate a magnetic pole with the same magnetism as the contact end of the permanent magnet, and the permanent magnet can be separated from the iron core.

[0048] Optionally, the second connecting member is made of a magnetic conductive material;

[0049] When the coil is energized, the coil causes the iron core to generate magnetism, and the iron core can be magnetically connected to the second connecting member;

[0050] When the coil is de-energized, the magnetism of the iron core disappears, and the iron core is separated from the second connection.

[0051] Optionally, a moving unit is provided on the main body;

[0052] The moving unit is coupled to the control unit;

[0053] The control unit is further configured to control the movement of the moving unit according to the first detection signal, so that after the moving unit drives the main body to move to a specified position, the control unit controls the first connecting member to separate the detachable member to the specified position.

[0054] Optionally, the control unit is further configured to receive a detachment instruction, and the detachment instruction includes a detachment position;

[0055] Determine whether the detachment position meets the detachment conditions;

[0056] If the detachment condition is met, according to the detachment instruction, control the movement of the moving unit, so that after the moving unit drives the main body to move to the detachment position, the detachable member is detached to the detachment position.

[0057] Optionally, a prompting unit is further provided on the main body;

[0058] The prompting unit is coupled to the control unit, and is configured to receive the position where the detachable member is located after detachment sent by the control unit and give a prompt.

[0059] Optionally, changing the connection state between the first connecting member and the second connecting member includes the first connecting member driving the second connecting member away from the cleaning surface; wherein,

[0060] The first connecting member is a telescopic arm, and the second connecting member is detachably connected to the telescopic arm.

[0061] In addition, optionally, the first connecting member is located at the bottom of the main body;

[0062] The detachable member includes a rag holder.

[0063] Accordingly, an embodiment of the present invention further provides a control method for a self - moving device. The self - moving device includes a main body and a detachable member. The detachable member can be detachably connected to a first connecting member on the main body through a second connecting member. The method includes:

[0064] Receiving a control instruction, and controlling the main body to clean a first area and a second area according to the control instruction;

[0065] Judging whether a third detection signal is received;

[0066] If so, changing the connection state between the first connecting member and the second connecting member according to the third detection signal, and controlling the self - moving device to clean the first area.

[0067] Optionally, the third detection signal includes that both the first area and the second area are cleaned.

[0068] Optionally, changing the connection state between the first connecting member and the second connecting member includes: controlling the first connecting member and the second connecting member to be connected; wherein,

[0069] The first connecting member is an electromagnet, and the second connecting member is a permanent magnet. Controlling the first connecting member and the second connecting member to be connected includes:

[0070] Controlling the electromagnet to be powered off, so that the magnetic pole of the contact end of the electromagnet that is the same as that of the permanent magnet disappears, and the permanent magnet is connected to the electromagnet; or

[0071] Controlling the electromagnet to be powered on, so that the electromagnet generates a magnetic pole opposite to the magnetic pole of the contact end of the permanent magnet, and the permanent magnet is connected to the electromagnet; or

[0072] The first connecting member is an electromagnet, and the second connecting member is made of a magnetically conductive material. Controlling the first connecting member and the second connecting member to be connected includes:

[0073] Controlling the electromagnet to be powered on, so that the electromagnet generates magnetism, and the electromagnet is connected to the second connecting member.

[0074] Optionally, changing the connection state between the first connecting member and the second connecting member includes:

[0075] After controlling the main body to move to a specified position, controlling the first connecting member and the second connecting member to be connected.

[0076] Optionally, changing the connection state between the first connecting member and the second connecting member includes:

[0077] Receiving a connection instruction, and the connection instruction includes a connection position;

[0078] After controlling the main body to move to the connection position according to the connection instruction, control the first connecting member and the second connecting member to be connected.

[0079] Optionally, changing the connection state between the first connecting member and the second connecting member includes: controlling the first connecting member to drive the second connecting member closer to the cleaning surface; wherein,

[0080] The first connecting member is a telescopic arm, and the second connecting member is detachably connected to the telescopic arm.

[0081] Correspondingly, an embodiment of the present invention further provides a self - moving device, including:

[0082] A main body, on which a first connecting member is provided;

[0083] A detachable member, on which a second connecting member that can be detachably connected to the first connecting member is provided;

[0084] The main body is further provided with a detection unit and a control unit, and the control unit is respectively coupled to the first connecting member and the detection unit;

[0085] The control unit is configured to receive a control instruction, control the main body to clean a first area and a second area according to the control instruction; determine whether a third detection signal is received; if so, change the connection state between the first connecting member and the second connecting member according to the third detection signal, and control the self - moving device to clean the first area.

[0086] The technical solution provided by the embodiment of the present invention can change the connection state between the first connecting member and the second connecting member according to the detection signal, so as to realize the automatic conversion of different working modes of the self - moving device, make the cleaning process more intelligent, comprehensive and reasonably planned, and solve the applicability problem of the self - moving device for different cleaning surfaces. Description of the Drawings

[0087] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0088] Figure 1 It is a flowchart of the control method of the self - moving device provided by the embodiment of the present invention;

[0089] Figure 2Schematic diagram of the structure of the self - moving device provided by an embodiment of the present invention, connection state of the first connecting member and the second connecting member;

[0090] Figure 3 Schematic diagram of the structure of the self - moving device provided by an embodiment of the present invention, disengaged state of the first connecting member and the second connecting member;

[0091] Figure 4 Schematic diagram of the structure of the self - moving device provided by an embodiment of the present invention, disengaged state of the first connecting member and the second connecting member by external force;

[0092] Figure 5 Another schematic diagram of the structure of the self - moving device provided by an embodiment of the present invention;

[0093] Figure 6 Flow chart of another control method of the self - moving device provided by an embodiment of the present invention;

[0094] Figure 7 Schematic diagram of a working process of the self - moving device provided by an embodiment of the present invention;

[0095] Figure 8 Another schematic diagram of the working process of the self - moving device provided by an embodiment of the present invention. Detailed implementation manners

[0096] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0097] In the prior art, there are certain defects in the cleaning methods of existing cleaning robots. For example, in many current household environments, there are areas such as floors and carpets on the ground. A cleaning robot with a mopping function is very beneficial for cleaning the floor. However, when working on a carpet, it will wet or dirty the carpet. For example, when performing a cleaning operation, when it detects a carpet ahead through a sensor, it closes the water valve of the water tank of the cleaning robot and stops supplying water to the rag. Some cleaning robots are self - seeping and cannot stop the water tank from supplying water to the rag. At the same time, existing cleaning robots cannot remove the rag bracket by themselves after installing the rag. When the wet rag works on a material with strong adsorption such as a carpet, it will wet and dirty the carpet and the like, affecting the cleaning effect. In addition, when the cleaning robot runs with the rag bracket, since the distance of the rag bracket is increased between the chassis and the ground, the chassis becomes lower and the obstacle - crossing ability of the whole machine will decrease.

[0098] In view of the above problems, the present invention provides a control method for a self - moving device and a self - moving device, which can automatically change the connection state of the first connecting member and the second connecting member so as to realize the automatic conversion of different working modes of the self - moving device.

[0099] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0100] Embodiment 1

[0101] Figure 1 is a flowchart of a control method for a self - moving device provided in an embodiment of the present invention, as Figure 1 shown.

[0102] In an embodiment of the present invention, a control method for a self - moving device is provided. The execution subject of this method includes but is not limited to the control unit of the self - moving device. The self - moving device can be implemented by the self - moving device shown in Figure 2 , and the self - moving device includes a main body 10 and a detachable part 20. The control unit is arranged on the main body 10 and is not shown in Figure 2 . The specific method includes the following steps:

[0103] Step S101: Receive a control instruction, and control the self - moving device to clean a first area according to the control instruction. Wherein, the detachable part 20 is detachably connected to a first connecting part 11 on the main body 10 through a second connecting part 21;

[0104] Refer to Figure 2 . In the embodiments of the present invention, the self - moving device includes but is not limited to a cleaning robot, including a main body 10 and a detachable part 20. A first connecting part 11 is arranged on the main body 10. The detachable part 20 has a second connecting part 21 detachably connected to the first connecting part 11. A detection unit and a control unit are also arranged on the main body 10, and the control unit is coupled to the first connecting part 11 and the detection unit respectively. Among them, the control instruction can be issued through a control panel on the self - moving device or remotely issued by a control terminal of the self - moving device. After receiving the control instruction, the control unit controls the self - moving device to perform cleaning and other operations on the area to be cleaned according to a predetermined cleaning strategy. For example, the area to be cleaned is divided into a first area and a second area in advance, and the predetermined cleaning strategy is to clean the first area first, and then clean the second area after cleaning the first area.

[0105] Before the control unit receives the control instruction, the detachable part 20 and the main body 10 can be connected by connecting the second connecting part 21 and the first connecting part 11. The connection method includes but is not limited to magnetic connection, and can be completed manually by the user or automatically by the self - moving device.

[0106] Step S102: Determine whether a first detection signal is received;

[0107] The first detection signal can be sent by a detection unit on the self - moving device. The detection unit is used to detect the working environment and working state of the self - moving device, so as to send a detection signal to the control unit, enabling the control unit to change the connection state between the first connecting member 11 and the second connecting member 21 according to the detection signal, that is, to switch the working mode of the self - moving device.

[0108] Step S103: If so, change the connection state between the first connecting member 11 and the second connecting member 21 according to the first detection signal, and the control body 10 cleans the second area.

[0109] For example, refer to Figure 2 , the detachable member 20 includes but is not limited to a rag holder, and a rag is carried on the rag holder. The control method of the above - mentioned self - moving device can be simply understood as that after receiving a control instruction, the main body 10 drives the rag holder to perform cleaning operations such as sweeping and mopping the first area. After the first area is cleaned, the main body 10 removes the rag holder and then cleans the second area to complete the cleaning operation of the entire area to be cleaned.

[0110] In the embodiment of the present invention, changing the connection state between the first connecting member 11 and the second connecting member 21 includes controlling the first connecting member 11 and the second connecting member 21 to be detached, or controlling the first connecting member 11 to drive the second connecting member 21 away from the cleaning surface. Changing the connection state between the first connecting member 11 and the second connecting member 21 can also be understood as changing the working mode of the self - moving device.

[0111] Taking the control of the detachment between the first connecting member 11 and the second connecting member 21 as an example, for example, before receiving the first detection signal, the working mode of the self - moving device is that the second connecting member 21 is connected to the first connecting member 11, and the main body 10 drives the detachable member 20 to clean the first area. After receiving the first detection signal, the working mode of the self - moving device is that after the second connecting member 21 is detached from the first connecting member 11 to prevent the detachable member 20 from contacting the cleaning surface, the main body 10 cleans the second area.

[0112] Taking the control of the first connecting member 11 driving the second connecting member 21 away from the cleaning surface as an example, for example, before receiving the first detection signal, the working mode of the self - moving device is that the second connecting member 21 is connected to the first connecting member 11, and the main body 10 drives the detachable member 20 to clean the first area. After receiving the first detection signal, the working mode of the self - moving device is that after the first connecting member 11 drives the second connecting member 21 away from the cleaning surface to prevent the detachable member 20 from contacting the cleaning surface, the main body 10 cleans the second area.

[0113] In the technical solution provided by the embodiment of the present invention, the purpose of controlling the first connecting member 11 to disengage from the second connecting member 21, or controlling the first connecting member 11 to drive the second connecting member 21 away from the cleaning surface is to prevent the self-moving device from cleaning the second area through the second connecting member 21. Thus, the automatic conversion of different working modes of the self-moving device is realized, making the cleaning process more intelligent, comprehensive and reasonably planned, and solving the applicability problem of the self-moving device for different cleaning surfaces.

[0114] Taking the change of the connection state between the first connecting member 11 and the second connecting member 21 as an example of controlling the first connecting member 11 to disengage from the second connecting member 21, the embodiment of the present invention will be introduced in detail below.

[0115] Further, before step S101, it is necessary to divide the area to be cleaned by the self-moving device. Specifically, before receiving the control instruction, it further includes: previously dividing the area to be cleaned into a first area and a second area.

[0116] For example, refer to Figure 2 , the detachable member 20 includes but is not limited to a rag holder, and a rag is carried on the rag holder.

[0117] To prevent the rag from wetting and soiling the carpet or the like when working on materials with strong adsorption such as carpets, which may affect the cleaning effect and may also damage the carpet, in the embodiment of the present invention, the area to be cleaned can be divided into a first area and a second area according to the presence or absence of a carpet. Specifically, the detection unit can be a carpet recognition sensor, and the control unit can cooperate with the carpet recognition sensor and the indoor map to previously divide the area without a carpet into the first area and the area with a carpet into the second area. For example, the first area includes the floor area, and the floor area refers to the area without a covering on the surface, including but not limited to the floor surface, the tile floor, the marble floor, etc. The second area includes the carpet area, and the carpet area refers to the area with a covering on the surface, and the covering includes but is not limited to carpets, floor mats, doormats, foam pads, etc.

[0118] When using the self - moving device for cleaning, the user can pre - connect the detachable part 20 to the first connecting part 11 on the main body 10 through the second connecting part 21, that is, install the rag bracket on the main body 10, and a rag is arranged on the rag bracket. After starting the self - moving device, the self - moving device first conducts cleaning operations such as sweeping and mopping the floor on the first area that can be cleaned with a wet rag. When the detection unit sends a first detection signal to the control unit, for example, the first detection signal includes the completion of cleaning of the first area. After the control unit controls the disconnection of the first connecting part 11 and the second connecting part 21, it then controls the main body 10 to conduct cleaning operations such as sweeping the floor on the second area. For example, the self - moving device takes the rag bracket to a designated area and automatically disconnects the rag bracket from the main body 10 to the designated area. In a state where the main body 10 has no rag bracket, it conducts cleaning operations such as sweeping the floor on the second area with carpets and other areas that cannot be cleaned with a wet rag. The state of the disconnection between the main body 10 and the detachable part 20 can be seen in Figure 3 .

[0119] For another example, since the ability of the self - moving device to pass over obstacles such as threshold stones is different when it has the detachable part 20 and when it does not have the detachable part 20, in order to enable the self - moving device to have a wider cleaning range, in the embodiments of the present invention, the area to be cleaned can be divided into a first area and a second area according to whether the self - moving device can pass through when it has the detachable part 20. Specifically, the detection unit can be an obstacle - avoidance height recognition sensor, and the control unit can, in cooperation with the obstacle - avoidance height recognition sensor and the indoor map, pre - divide the area that the self - moving device can pass through when it has the detachable part 20 into the first area, and divide the area that the self - moving device can pass through without the detachable part 20 into the second area. That is, the area to be cleaned is pre - divided into a first area and a second area. Among them, the first area includes the passable area, and the second area includes the area that needs to pass over obstacles.

[0120] When using the self - moving device for cleaning, the user can pre - connect the detachable part 20 to the first connecting part 11 on the main body 10 through the second connecting part 21, that is, install the rag bracket on the main body 10, and a rag is arranged on the rag bracket. After starting the self - moving device, the self - moving device first conducts cleaning operations such as sweeping and mopping the floor on the first area that can be passed through. When the detection unit sends a first detection signal to the control unit, for example, the first detection signal includes the completion of cleaning of the first area. After the control unit controls the disconnection of the first connecting part 11 and the second connecting part 21, it conducts cleaning operations such as sweeping the floor on the second area that can be passed through without the detachable part 20. For example, the self - moving device takes the rag bracket to a designated area and automatically disconnects the rag bracket from the main body 10 to the designated area. In a state where the main body 10 has no rag bracket, it conducts cleaning operations such as sweeping the floor on the second area that cannot be passed through with the rag bracket. The state of the disconnection between the main body 10 and the detachable part 20 can be seen in Figure 3 .

[0121] According to the above division methods of the first area and the second area, they can be implemented separately or in combination. For example, the detection unit includes a carpet recognition sensor and an obstacle avoidance height recognition sensor. The first area includes the floor area and the passable area. The second area includes the carpet area or the area that needs to cross an obstacle to pass.

[0122] Further, continue to refer to Figure 2 and Figure 3 , in the embodiment of the present invention, the first connecting member 11 and the second connecting member 21 can be implemented in the following manner. One implementable way is that the first connecting member 11 is an electromagnet, and the second connecting member 21 is a permanent magnet. Controlling the separation of the first connecting member 11 and the second connecting member 21 includes: controlling the electromagnet to be energized, so that the electromagnet generates a magnetic pole with the same magnetic property as the contact end of the permanent magnet, and the permanent magnet is separated from the electromagnet. The electromagnet includes a coil 111 and an iron core 112. The coil 111 is wound around the outer periphery of the side surface of the iron core 112, and a part of the iron core 112 protrudes from the coil 111. The part of the iron core 112 that protrudes from the coil 111 serves as the connecting part of the electromagnet. The coil 111 is coupled to the control unit, and the control unit controls the coil 111 to be energized or de-energized according to the detection signal of the detection unit. Before the self-moving device performs cleaning, the electromagnet is not energized. At this time, the permanent magnet can be adsorbed to the iron core 112 in the electromagnet to complete the connection between the first connecting member 11 and the second connecting member 21. When the control unit controls the electromagnet to be energized, the coil 111 causes the iron core 112 to generate a magnetic pole with the same magnetic property as the contact end of the permanent magnet, and the permanent magnet can be separated from the iron core 112.

[0123] The user can pre-connect the detachable member 20 to the first connecting member 11 on the main body 10 through the second connecting member 21. The connection method can be manually connecting the second connecting member 21 to the first connecting member 11 on the main body 10, or placing the detachable member 20 in a designated area. After the self-moving device moves to the designated area, the permanent magnet automatically adsorbs to the iron core 112.

[0124] For example, before the self-moving device performs cleaning work, the connection between the detachable member 20 and the main body 10 is completed in advance through the permanent magnet and the iron core 112, that is, the permanent magnet and the iron core 112 are adsorbed together by the magnetism of the permanent magnet to realize the connection and fixation between the main machine and the rag holder. After starting the self-moving device, the self-moving device first cleans the first area that can be cleaned with a wet rag with the rag.

[0125] When the detection unit sends a first detection signal to the control unit, for example, the first detection signal includes the completion of cleaning in the first area. After the self - moving device brings the rag holder to the designated area, the control unit controls the electromagnet to be energized. After the electromagnet is energized, the coil 111 causes the iron core 112 to generate a magnetic pole with the same magnetism as the contact end of the permanent magnet, and the permanent magnet is separated from the iron core 112, that is, the separation of the rag holder from the main body 10 is completed. After the rag holder is separated, in the state where the main body 10 has no rag holder, the self - moving device cleans the second area.

[0126] It should be noted that, referring to Figure 4 , when the electromagnet is not energized, the detachable part 20 can also be manually disassembled from the main body 10. For example, an external force in the arrow direction is applied to the rag holder, and under the action of the external force, the permanent magnet can be directly separated from the iron core 112 of the electromagnet, thereby realizing the disassembly of the rag holder.

[0127] Another achievable way of the first connecting member 11 and the second connecting member 21 is that the first connecting member 11 is an electromagnet, and the second connecting member 21 is made of a magnetically conductive material. For example, the second connecting member 21 can be made of iron or its alloy. Controlling the separation of the first connecting member 11 and the second connecting member 21 includes: controlling the electromagnet to be powered off, so that the magnetism of the electromagnet disappears, and the electromagnet is separated from the second connecting member 21. When the control unit receives a control instruction, it simultaneously controls the electromagnet to be energized, and the iron core 112 generates magnetism, so as to adsorb the second connecting member 21 through the iron core 112 to complete the connection of the detachable part 20 and the main body 10. When the control unit controls the electromagnet to be powered off, the magnetism generated by the iron core 112 disappears, and the iron core 112 can be separated from the second connecting member 21.

[0128] The user can pre - place the second connecting member 21 in the designated area. After the self - moving device moves to the designated area, the electromagnet is energized to adsorb the second connecting member 21. For example, before the self - moving device performs the cleaning work, the control unit controls the electromagnet to be energized to complete the connection of the detachable part 20 and the main body 10, that is, the electromagnet and the second connecting member 21 are adsorbed together to connect and fix the main body 10 and the rag holder. After starting the self - moving device, the self - moving device first cleans the first area that can be cleaned with a wet rag with the rag.

[0129] When the detection unit sends a first detection signal to the control unit, for example, the first detection signal includes that the cleaning of the first area is completed. After the self - moving device brings the rag holder to the designated area, the control unit controls the electromagnet to cut off the power. After the power is cut off, the magnetism generated by the iron core 112 disappears, and the second connecting member 21 is disengaged from the iron core 112, that is, the disengagement of the rag holder from the main body 10 is completed. After the rag holder is disengaged, in the state where the main body 10 has no rag holder, the self - moving device cleans the second area. It should be noted that when the electromagnet is energized, the detachable member 20 can also be manually detached from the main body 10.

[0130] Furthermore, to prevent the detachable member 20 detached from the main body 10 from causing secondary pollution to the cleaned area, in the embodiment of the present invention, controlling the disengagement of the first connecting member 11 from the second connecting member 21 includes: after controlling the main body 10 to move to a designated position, disengaging the detachable member 20 to a designated position. The designated position can be a preset area or a user - defined area. For example, the preset area can be the position where the charging dock used in cooperation with the main body 10 is located. The charging dock can be used to carry the main body 10 and the detachable member 20, and can also charge the main body 10. The self - moving device is also equipped with a variety of recognition sensors. For example, a camera can recognize whether the floor of the user's home is a floor or a tile. If it is a floor, it is required that the designated position cannot be a floor area, and the charging dock can be designed to have a structure for carrying the detachable member 20. Or the preset area can also include, but is not limited to, a balcony, next to a mop pool, or a bathroom, etc.

[0131] The self - moving device can also disengage the detachable member 20 to a user - defined area. When disengaging to a user - defined area, the user needs to send a disengagement instruction to the self - moving device so that the self - moving device disengages the detachable member 20 according to the disengagement instruction. Specifically, controlling the disengagement of the first connecting member 11 from the second connecting member 21 includes: receiving the disengagement instruction, and the disengagement instruction contains the disengagement position. Then, according to the disengagement instruction, after controlling the main body 10 to move to the disengagement position, the detachable member 20 is disengaged to the disengagement position.

[0132] For example, during the process of cleaning the first area by the self - moving device, or after the cleaning of the first area is completed, the user sends a disengagement instruction to the self - moving device. For example, the disengagement instruction is to disengage the rag holder to the bathroom. Among them, the disengagement instruction can be sent by the user through the control panel on the self - moving device or remotely sent by the control terminal of the self - moving device. After the self - moving device receives the disengagement instruction, it controls the main body 10 to move to the bathroom with the rag holder, and then detaches the rag holder to the bathroom.

[0133] Although the user can customize the detachment position of the detachable member 20, which improves the user experience, sometimes the detachment position selected by the user is not suitable for placing the detachable member. For example, if the detachment position selected by the user is a wooden floor and there is a rag on the rag holder, the sewage on the rag will soak the wooden floor, and long-term soaking will damage the wooden floor. To prevent the detachment position selected by the user from being inappropriate for placing the detachable member 20, further, in the embodiment of the present invention, after receiving the detachment instruction, it further includes determining whether the detachment position meets the detachment condition. If it meets the detachment condition, then according to the detachment instruction, after controlling the main body 10 to move to the detachment position, the detachable member 20 is detached to the detachment position. Among them, the detachment condition can be preset or user-defined. One achievable detachment condition is that the detachment position is an area where the detachable member 20 can be placed, such as a charging stand, a bathroom, a balcony, or beside a mop pool.

[0134] The above example is further as follows: during the process of the self-moving device cleaning the first area or after the first area has been cleaned, the user sends a detachment instruction to the self-moving device. For example, the detachment instruction is to detach the rag holder to the bathroom. Among them, the detachment instruction can be sent by the user through the control panel on the self-moving device or remotely by the control terminal of the self-moving device. After receiving the detachment instruction, the self-moving device further determines whether the bathroom meets the detachment condition. If the judgment result is that the bathroom is an area where the rag holder can be placed, then the control main body 10 is controlled to move to the bathroom with the rag holder, and then the rag holder is detached to the bathroom.

[0135] If the detachment position does not meet the detachment condition, one way is to control the main body 10 to move to a preset area and detach the detachable member 20 to the preset area. Another way is to send a prompt to the user that the detachment position does not meet the condition, so that the user can re-select the detachment position.

[0136] For example, the detachment instruction is to detach the rag holder to the living room. After receiving the detachment instruction, the self-moving device further determines whether the living room meets the detachment condition. If the judgment result is that the floor of the living room is a wooden floor and it is not an area where the rag holder can be placed, then the control main body 10 is controlled to move to the bathroom with the rag holder, and then the rag holder is detached to the bathroom. Or, a prompt that the detachment position does not meet the condition is sent to the user so that the user can re-select the detachment position.

[0137] Further, to facilitate the user to know the detachment position of the detachable member 20, in the embodiment of the present invention, after the detachable member 20 is detached, it further includes: sending the position where the detachable member 20 is located after detachment to the prompting unit, so that the prompting unit can prompt the position where the detachable member 20 is located. The prompting unit includes, but is not limited to, a display provided on the main body 10 and a display on the control terminal of the self-moving device. For example, in cooperation with the indoor map, after the main body 10 detaches the detachable member 20, the detachment position can be marked on the indoor map to prompt the user.

[0138] Further, after cleaning the second area, the control method further includes: determining whether a second detection signal is received. If so, ending the work according to the second detection signal. The second detection signal includes that the cleaning of the second area is completed. Ending the work includes, but is not limited to, stopping the cleaning work and returning to a designated area, which can be the same area as the area where the detachable member 20 is placed, or a different area. For example, the area where the detachable member 20 is placed can be the area for cleaning the detachable member 20, and the area where the self-moving device returns can be the area for cleaning the main body 10.

[0139] Taking changing the connection state of the first connecting member 11 and the second connecting member 21 to control the first connecting member 11 to drive the second connecting member 21 away from the cleaning surface as an example, the embodiment of the present invention will be introduced below.

[0140] Compared with the above embodiment, it is still necessary to divide the cleaning area into a first area and a second area in advance, and the division method is the same as that of the above embodiment and can be referred to each other. The difference is only that when receiving the first detection signal, the way to change the connection state of the first connecting member 11 and the second connecting member 21 is to control the first connecting member 11 to drive the second connecting member 21 away from the cleaning surface. Therefore, it is not necessary to detach the detachable member 20 to a designated area, saving the time for the self-moving device to move back and forth, and further improving the cleaning efficiency.

[0141] Specifically, referring to Figure 5 , the detachable member 20 includes, but is not limited to, a rag holder, and a rag is carried on the rag holder.

[0142] When using the self - moving device for cleaning, the user can pre - connect the detachable part 20 to the first connecting part 11 on the main body 10 through the second connecting part 21, that is, install the rag bracket on the main body 10, and a rag is arranged on the rag bracket. After starting the self - moving device, the self - moving device first drives the rag to perform cleaning operations such as sweeping and mopping the floor on the first area that can be cleaned with a wet rag. When the detection unit sends a first detection signal to the control unit, the control unit controls the first connecting part 11 to drive the second connecting part 21 away from the cleaning surface according to the first detection signal. As the second connecting part 21 moves away from the cleaning surface, the detachable part 20 also moves away from the cleaning surface, so that the detachable part 20 moves away from the carpet to avoid damage to the carpet by the rag, or the detachable part 20 moves away from obstacles such as door sills to improve the obstacle - crossing ability of the self - moving device.

[0143] To achieve the first connecting part 11 driving the second connecting part 21 away from the cleaning surface, one feasible way is that the first connecting part 11 is a telescopic arm, and the second connecting part 21 is detachably connected to the telescopic arm. After the second connecting part 21 is connected to the telescopic arm, the state of the telescopic arm can be the extended state so that the detachable part 20 can contact the cleaning surface. When the detection unit sends a first detection signal to the control unit, the control unit controls the telescopic arm to contract according to the first detection signal, so that the telescopic arm drives the second connecting part 21 away from the cleaning surface. The second connecting part 21 can be connected to the telescopic arm by means of snap - connection, etc. Further, a receiving groove is provided on the main body 10. When the telescopic arm contracts, the detachable part 20 can retract into the receiving groove, further increasing the distance between the detachable part 20 and the cleaning surface. Figure 5 The dotted arrow in represents the telescopic direction of the telescopic arm.

[0144] It should be noted that the above - mentioned method of controlling the separation of the first connecting part 11 and the second connecting part 21 and the method of controlling the first connecting part 11 to drive the second connecting part 21 away from the cleaning surface can be realized separately or in combination. When used in combination, the method of controlling the first connecting part 11 to drive the second connecting part 21 away from the cleaning surface is the main method, and the method of controlling the separation of the first connecting part 11 and the second connecting part 21 is the auxiliary method.

[0145] For example, when using the self - moving device for cleaning, the self - moving device first drives the rag to clean the first area that can be cleaned with a wet rag. When the detection unit sends a first detection signal to the control unit, the control unit controls the first connecting part 11 to drive the second connecting part 21 away from the cleaning surface. If the detachable part can move away from the carpet or away from the obstacle, the main body 10 continues to clean the second area. If the first connecting part 11 drives the second connecting part 21 away from the cleaning surface and the detachable part cannot move away from the carpet or away from the obstacle, the main body 10 is controlled to move to a specified position, the detachable part 20 is detached to a specified position, and then the main body 10 is controlled to clean the second area.

[0146] Example 2

[0147] Based on Example 1, Example 2 of the present invention is proposed. Example 2 provides a self - moving device. The device in Example 2 can execute the method described in Example 1, and the relevant features in Example 2 and Example 1 can be referred to each other.

[0148] Specifically, referring to Figure 2 , Example 2 of the present invention also provides a self - moving device, including: a main body 10 and a detachable member 20. Among them, a first connecting member 11 is provided on the main body 10. The detachable member 20 has a second connecting member 21 detachably connected to the first connecting member 11. The main body 10 is also provided with a detection unit and a control unit. The control unit is respectively connected and coupled to the first connecting member 11 and the detection unit. Among them, the detection unit and the control unit are not shown in the figure. The control unit is configured to receive a control instruction, control the self - moving device to clean a first area according to the control instruction; determine whether a first detection signal sent by the detection unit is received; if so, change the connection state of the first connecting member 11 and the second connecting member 21 according to the first detection signal, and control the main body 10 to clean a second area.

[0149] In the embodiment of the present invention, changing the connection state of the first connecting member 11 and the second connecting member 21 includes controlling the first connecting member 11 and the second connecting member 21 to be detached, or controlling the first connecting member 11 to drive the second connecting member 21 away from the cleaning surface. Changing the connection state of the first connecting member 11 and the second connecting member 21 can also be understood as changing the working mode of the self - moving device.

[0150] Taking the control of the detachment of the first connecting member 11 and the second connecting member 21 as an example, for example, before receiving the first detection signal, the working mode of the self - moving device is that the second connecting member 21 is connected to the first connecting member 11, and the main body 10 drives the detachable member 20 to clean the first area. After receiving the first detection signal, the working mode of the self - moving device is that after the second connecting member 21 is detached from the first connecting member 11, or after the first connecting member 11 drives the second connecting member 21 away from the cleaning surface, the main body 10 cleans the second area.

[0151] The technical solution provided by the embodiment of the present invention can change the connection state of the first connecting member 11 and the second connecting member 21 according to the first detection signal, so as to realize the automatic conversion of different working modes of the self - moving device, make the cleaning process more intelligent, comprehensive and reasonably planned, and solve the applicability problem of the self - moving device for different cleaning surfaces.

[0152] It should be noted that the self - moving device in the embodiments of the present invention includes, but is not limited to, a cleaning robot. The cleaning robot is also provided with a driving unit, a suction unit, etc. The driving unit can be used to drive the cleaning robot to move, and the suction unit can be used to generate a suction force to suck the garbage on the cleaning surface.

[0153] Taking the change of the connection state between the first connecting member 11 and the second connecting member 21 to control the disconnection between the first connecting member 11 and the second connecting member 21 as an example, the embodiments of the present invention will be introduced in detail below.

[0154] Further, in the embodiments of the present invention, the control unit is further configured to receive a control instruction and control the self - moving device to clean a first area according to the control instruction, wherein the second connecting member 21 is connected to the first connecting member 11. The control instruction can be issued through the control panel on the self - moving device or remotely issued by the control terminal of the self - moving device. After receiving the control instruction, the control unit controls the self - moving device to clean the area to be cleaned according to a predetermined cleaning strategy. For example, the area to be cleaned is divided into a first area and a second area in advance, and the predetermined cleaning strategy is to clean the first area first, and then clean the second area after cleaning the first area.

[0155] In the embodiments of the present invention, the first connecting member 11 is located at the bottom of the main body 10, and the detachable member 20 includes, but is not limited to, a rag holder with a rag. Further, to better clean the area to be cleaned, the self - moving device needs to divide the area to be cleaned in advance. To prevent the rag from wetting and soiling the carpet or other materials with strong adsorption properties during work, and affecting the cleaning effect and possibly damaging the carpet, in the embodiments of the present invention, the area to be cleaned can be divided into a first area and a second area according to the presence or absence of a carpet. Specifically, the detection unit can be a carpet recognition sensor, and the control unit can cooperate with the carpet recognition sensor and the indoor map to pre - divide the area without a carpet into the first area and the area with a carpet into the second area. For example, the first area includes a floor area, and the floor area refers to an area without a covering on the surface, including but not limited to a floor surface, a ceramic tile floor, a marble floor, etc. The second area includes a carpet area, and the carpet area refers to an area with a covering on the surface, and the covering includes, but is not limited to, a carpet, a doormat, a rug, a foam pad, etc.

[0156] When using the self - moving device for cleaning, the user can pre - connect the detachable part 20 to the first connecting part 11 on the main body 10 through the second connecting part 21, so as to install the rag holder on the main body 10, and a rag is arranged on the rag holder. After starting the self - moving device, the self - moving device first performs cleaning operations such as sweeping and mopping the floor on the first area that can be cleaned with a wet rag. When the detection unit sends a first detection signal to the control unit, for example, the first detection signal includes that the cleaning of the first area is completed. After the control unit controls the self - moving device to move to the designated area and controls the detachment of the first connecting part 11 and the second connecting part 21, it then controls the main body 10 to clean the second area. For example, the self - moving device takes the rag holder to the designated area, automatically detaches the rag holder from the main body 10 to the designated area, and the main body 10 performs cleaning operations such as sweeping the floor on the second area with carpets and other areas that cannot be cleaned with a wet rag in the state without the rag holder. The state of the detachment of the main body 10 and the detachable part 20 can be seen in Figure 3 .

[0157] For another example, since the ability of the self - moving device to pass over obstacles such as threshold stones is different when it is with the detachable part 20 and without the detachable part 20, in order to enable the self - moving device to have a wider cleaning range, in the embodiments of the present invention, the area to be cleaned can be divided into a first area and a second area according to whether the self - moving device can pass through when it is with the detachable part 20. Specifically, the detection unit can be an obstacle - avoidance height recognition sensor, and the control unit can cooperate with the obstacle - avoidance height recognition sensor and the indoor map to pre - divide the area that the self - moving device can pass through when it is with the detachable part 20 into the first area, and divide the area that the self - moving device can pass through without the detachable part 20 into the second area. Without the detachable part 20, the main body 10 can cross higher obstacles. That is, the area to be cleaned is pre - divided into a first area and a second area. Among them, the first area includes the passable area, and the second area includes the area that needs to cross the obstacle to pass through.

[0158] When using the self-moving device for cleaning, the user can pre-connect the detachable part 20 with the first connecting part 11 on the main body 10 through the second connecting part 21, that is, install the rag holder on the main body 10, and a rag is provided on the rag holder. After starting the self-moving device, the self-moving device first cleans the first passable area with the rag. When the detection unit sends a first detection signal to the control unit, for example, the first detection signal includes that the cleaning of the first area is completed. After the control unit controls the self-moving device to move to the designated area and controls the first connecting part 11 to disengage from the second connecting part 21, the second area that can be passed without the detachable part 20 is cleaned. For example, the self-moving device brings the rag holder to the designated area, automatically disengages the rag holder from the main body 10 to the designated area, and the main body 10, in the absence of the rag holder, cleans the second area that is not passable with the rag holder. The state of the main body 10 being disengaged from the detachable part 20 can be referred to. Figure 3 .

[0159] The division of the first area and the second area can be implemented separately or in combination. For example, the detection unit includes a carpet recognition sensor and an obstacle avoidance height recognition sensor, the first area includes the floor area and the passable area, and the second area includes the carpet area or the area that needs to be passed through obstacles.

[0160] Further, see Figure 2 and Figure 3 In the embodiment of the present invention, the first connecting member 11 and the second connecting member 21 can be implemented in the following manner. One achievable manner is that the first connecting member 11 is an electromagnet, and the second connecting member 21 is a permanent magnet. Controlling the first connecting member 11 to be separated from the second connecting member 21 includes: controlling the electromagnet to be energized so that the electromagnet generates a magnetic pole with the same magnetic properties as the contact end of the permanent magnet, and the permanent magnet is separated from the electromagnet. The electromagnet includes a coil 111 and an iron core 112. The coil 111 is wound around the outer periphery of the side of the iron core 112, and the iron core 112 partially extends out of the coil 111. The part of the iron core 112 extending out of the coil 111 serves as the connecting part of the electromagnet. The coil 111 is coupled to the control unit, and the control unit controls the coil 111 to be energized or de-energized according to the detection signal of the detection unit. When the second connecting member 21 is a permanent magnet, when the coil 111 is de-energized, the permanent magnet can be magnetically connected to the iron core 112. Before the self-moving device is cleaned, the electromagnet is powered off, and the permanent magnet can be attracted to the iron core 112 in the electromagnet to complete the connection between the first connecting member 11 and the second connecting member 21. When the control unit controls the electromagnet to be powered on, that is, when the coil 111 is powered on, the coil 111 causes the iron core 112 to generate a magnetic pole with the same magnetic property as the contact end of the permanent magnet, and the permanent magnet can be separated from the iron core 112.

[0161] The user can pre-connect the detachable part 20 to the first connector 11 on the main body 10 through the second connector 21. The connection method can be manually connecting the second connector 21 to the first connector 11 on the main body 10, or placing the detachable part 20 in a designated area. After the self-moving device moves to the designated area, the permanent magnet automatically adsorbs to the iron core 112.

[0162] For example, before the self-moving device performs the cleaning work, the connection between the detachable part 20 and the main body 10 is completed in advance through the permanent magnet and the iron core 112, that is, the permanent magnet and the iron core 112 are adsorbed together by the magnetism of the permanent magnet to connect and fix the main machine and the rag holder. After starting the self-moving device, the self-moving device first uses the rag to clean the first area that can be cleaned with a wet rag.

[0163] When the detection unit sends a first detection signal to the control unit, for example, the first detection signal includes the completion of cleaning the first area. The self-moving device takes the rag holder to the designated area, and the control unit controls the electromagnet to be energized. After the electromagnet is energized, the coil 111 causes the iron core 112 to generate a magnetic pole with the same magnetic polarity as the contact end of the permanent magnet, and the permanent magnet is separated from the iron core 112, that is, the separation of the rag holder from the main body 10 is completed. After the rag holder is separated, in the state where the main body 10 has no rag holder, the self-moving device cleans the second area.

[0164] It should be noted that referring to Figure 4 , in the case where the electromagnet is not energized, the detachable part 20 can also be manually disassembled from the main body 10. For example, an external force along the arrow direction is applied to the rag holder, and under the action of the external force, the permanent magnet can be directly separated from the iron core 112 of the electromagnet, so as to realize the disassembly of the rag holder.

[0165] Another realizable way of the first connector 11 and the second connector 21 is that the first connector 11 is an electromagnet, and the second connector 21 is made of a magnetic conductive material. The second connector 21 can be made of iron or its alloy. Controlling the separation of the first connector 11 and the second connector 21 includes: controlling the electromagnet to be powered off, that is, when the coil 111 is powered off, the magnetism of the iron core 112 disappears, and the iron core 112 is separated from the second connector 21. During use, when the control unit receives a control instruction, it simultaneously controls the electromagnet to be energized, that is, when the coil 111 is energized, the coil 111 causes the iron core 112 to generate magnetism, so that the iron core 112 can be magnetically connected to the second connector 21. The second connector 21 is adsorbed by the iron core 112 to complete the connection between the detachable part 20 and the main body 10. When the control unit controls the electromagnet to be powered off, the magnetism generated by the iron core 112 disappears, and the iron core 112 can be separated from the second connector 21.

[0166] The user can place the second connecting member 21 in a specified area in advance. After the self - moving device moves to the specified area, the electromagnet is energized to adsorb the second connecting member 21. For example, before the self - moving device performs cleaning work, the control unit controls the electromagnet to be energized to complete the connection between the detachable member 20 and the main body 10, that is, the electromagnet adsorbs to the second connecting member 21, connecting and fixing the main body 10 and the rag holder. After starting the self - moving device, the self - moving device first uses the rag to clean the first area that can be cleaned with a wet rag.

[0167] When the detection unit sends a first detection signal to the control unit, for example, the first detection signal includes the completion of cleaning the first area. The self - moving device takes the rag holder to the specified area, and the control unit controls the electromagnet to be de - energized. After the electromagnet is de - energized, the magnetism generated by the iron core 112 disappears, and the second connecting member 21 is separated from the iron core 112, that is, the separation of the rag holder from the main body 10 is completed. After the rag holder is separated, in the state where the main body 10 has no rag holder, the self - moving device cleans the second area. It should be noted that when the electromagnet is energized, the detachable member 20 can also be manually detached from the main body 10.

[0168] Furthermore, to prevent the detachable member 20 detached from the main body 10 from causing secondary pollution to the cleaned area, in the embodiment of the present invention, a moving unit (not shown in the figure) is provided on the main body 10. The moving unit includes, but is not limited to, a traveling wheel as a driving structure. The moving unit is coupled to the control unit, and the control unit is further configured to control the movement of the moving unit according to the first detection signal, so that after the moving unit drives the main body 10 to move to a specified position, the control unit controls the first connecting member 11 to detach the detachable member 20 to a specified position.

[0169] The specified position can be a preset area or a user - defined area. For example, the preset area can be the position of the charging base used in cooperation with the main body 10. The charging base can be used to carry the main body 10 and the detachable member 20, and can also charge the main body 10. The self - moving device is also equipped with a variety of recognition sensors. For example, a camera can recognize whether the ground in the user's home is a floor or a tile. If it is a floor, it is required that the specified position cannot be a floor area, and the charging base can be designed with a structure for carrying the detachable member 20. Or the preset area can also include, but is not limited to, a balcony, next to a mop pool, or a bathroom, etc.

[0170] The self - moving device can also detach the detachable part 20 to a user - defined area. When detaching to the user - defined area, the user needs to send a detachment instruction to the self - moving device so that the self - moving device detaches the detachable part 20 according to the detachment instruction. Further, the control unit is also used to receive the detachment instruction, and the detachment instruction contains the detachment position. Then, according to the detachment instruction, after the control body 10 moves to the detachment position, the detachable part 20 is detached to the detachment position.

[0171] For example, during the process of the self - moving device cleaning the first area or after it has completed cleaning the first area, the user sends a detachment instruction to the self - moving device. For example, the detachment instruction is to detach the rag holder to the bathroom. Among them, the detachment instruction can be sent by the user through the control panel on the self - moving device or remotely sent by the control terminal of the self - moving device. After the control unit receives the detachment instruction, the control body 10 moves to the bathroom with the rag holder and then detaches the rag holder to the bathroom.

[0172] Although the user can customize the detachment position of the detachable part 20, which improves the user experience, sometimes the detachment position selected by the user is not suitable for placing the detachable part. For example, if the detachment position selected by the user is a wooden floor and the rag holder has a rag, the sewage on the rag will soak the wooden floor, and long - term soaking will damage the wooden floor. To prevent the detachment position selected by the user from being unsuitable for placing the detachable part 20, further, in the embodiment of the present invention, after receiving the detachment instruction, the control unit is also used to determine whether the detachment position meets the detachment conditions. If it meets the detachment conditions, then according to the detachment instruction, after the control body 10 moves to the detachment position, the detachable part 20 is detached to the detachment position. Among them, the detachment conditions can be preset or user - defined. One achievable detachment condition is that the detachment position is an area where the detachable part 20 can be placed, such as a charging stand, a bathroom, a balcony, beside a mop pool, etc.

[0173] If the detachment position does not meet the detachment conditions, one way is that the control body 10 moves to a preset area and detaches the detachable part 20 to the preset area. Another way is to send a prompt to the user that the detachment position does not meet the conditions so that the user can re - select the detachment position.

[0174] Further, to facilitate the user to know the detachment position of the detachable part 20, in the embodiment of the present invention, a prompt unit is also provided on the main body 10. The prompt unit is coupled to the control unit and is used to receive the location where the detachable part is located after detachment sent by the control unit and give a prompt. The prompt unit includes but is not limited to a display set on the main body 10 and a display on the control terminal of the self - moving device. For example, in cooperation with the indoor map, after the main body 10 detaches the detachable part 20, the detachment position can be marked on the indoor map to give a prompt to the user.

[0175] Further, after cleaning the second area, the control unit is further configured to determine whether a second detection signal is received. If so, the operation is ended according to the second detection signal. The second detection signal includes that the cleaning of the second area is completed. Ending the operation includes, but is not limited to, stopping the cleaning operation and returning to a designated area, which may be the same area as the area where the detachable member 20 is placed, or a different area. For example, the area where the detachable member 20 is placed may be the area for cleaning the detachable member 20, and the area where the self - moving device returns may be the area for cleaning the main body 10.

[0176] Hereinafter, taking the change of the connection state between the first connecting member 11 and the second connecting member 21 to drive the second connecting member 21 away from the cleaning surface as an example, the embodiments of the present invention will be introduced.

[0177] Compared with the above - mentioned embodiment, it is still necessary to pre - divide the cleaning area into a first area and a second area, and the division method is the same as that of the above - mentioned embodiment and can be referred to each other. The difference is only that when the control unit receives the first detection signal, the way to change the connection state between the first connecting member 11 and the second connecting member 21 is to control the first connecting member 11 to drive the second connecting member 21 away from the cleaning surface. Therefore, it is not necessary to detach the detachable member 20 to a designated area, saving the time for the self - moving device to move back and forth, and further improving the cleaning efficiency.

[0178] Specifically, referring to Figure 5 , to achieve the first connecting member 11 driving the second connecting member 21 away from the cleaning surface, one feasible way is that the first connecting member 11 is a telescopic arm, and the second connecting member 21 is detachably connected to the telescopic arm. After the second connecting member 21 is connected to the telescopic arm, the state of the telescopic arm can be an extended state so that the detachable member can contact the cleaning surface. When the detection unit sends a first detection signal to the control unit, the control unit controls the telescopic arm to contract according to the first detection signal so that the telescopic arm drives the second connecting member 21 away from the cleaning surface. The second connecting member 21 can be connected to the telescopic arm by means of snap - connection, etc. Further, a receiving groove is provided on the main body 10. When the telescopic arm contracts, the detachable member 20 can be retracted into the receiving groove, further increasing the distance between the detachable member 20 and the cleaning surface.

[0179] The relevant features in Embodiment 2 and Embodiment 1 can be referred to and learned from each other, and will not be elaborated here one by one.

[0180] Embodiment 3

[0181] Based on Embodiment 1 and Embodiment 2, Embodiment 3 of the present invention is proposed. Embodiment 3 provides a control method for a self - moving device. The device that executes the method described in Embodiment 3 is the same as or similar to the self - moving device in Embodiment 2 in terms of structure. The difference from the method described in Embodiment 1 lies only in the operation mode. It can also be understood that the device in Embodiment 2 can execute the method described in Embodiment 3 after adjusting the control mode. Without conflict, the relevant features in Embodiment 3 can be referred to those in Embodiment 1 and Embodiment 2 mutually.

[0182] For example, the methods in Embodiment 1 and Embodiment 3 can be understood as different working modes of the device in Embodiment 2.

[0183] When the device in Embodiment 2 works in accordance with the method in Embodiment 1, it can be understood that the area to be cleaned has been pre - divided into a first area and a second area. After receiving a control instruction, the main body 10 with a rag holder performs cleaning operations such as sweeping and mopping the first area. When the first area is cleaned, the main body 10 removes the rag holder and then goes to clean the second area to complete the cleaning operation of the entire area to be cleaned.

[0184] When the device in Embodiment 2 works in accordance with the method in Embodiment 3, it can be understood that after receiving a control instruction, the main body 10 does not carry the detachable part 20 first. The main body 10 performs cleaning operations such as sweeping the entire area to be cleaned, and records the positions of the first area and the second area during the cleaning process, or the area to be cleaned has been pre - divided into a first area and a second area. After cleaning the first area and the second area, the main body 10 is then connected to the detachable part 20, and the main body 10 with the detachable part 20 then goes to clean the first area to perform cleaning operations such as mopping the first area.

[0185] The specific solution of Embodiment 3 is as follows:

[0186] Figure 6 It is a flowchart of another control method for a self - moving device provided by an embodiment of the present invention, as Figure 6 shown.

[0187] In an embodiment of the present invention, a control method for a self - moving device is provided. The execution subject of this method includes but is not limited to the control unit of the self - moving device. The self - moving device can be implemented by the self - moving device shown in Figure 2 The self - moving device includes a main body 10 and a detachable part 20. The detachable part 20 can be detachably connected to a first connecting part 11 on the main body 10 through a second connecting part 21. The control unit is arranged on the main body 10 and is not shown in Figure 2 The specific method includes the following steps:

[0188] Step S201: Receive a control instruction, and control the main body to clean the first area and the second area according to the control instruction.

[0189] Refer to Figure 2 , in the embodiments of the present invention, the self - moving device includes, but is not limited to, a cleaning robot, including a main body 10 and a detachable part 20. A first connecting part 11 is provided on the main body 10. The detachable part 20 has a second connecting part 21 detachably connected to the first connecting part 11. A detection unit and a control unit are also provided on the main body 10, and the control unit is coupled to the first connecting part 11 and the detection unit respectively. Among them, the control instruction can be issued through the control panel on the self - moving device or remotely issued by the control terminal of the self - moving device. After receiving the control instruction, the control unit controls the main body to clean the area to be cleaned according to a predetermined cleaning strategy. For example, the predetermined cleaning strategy is that the main body 10 first cleans the area to be cleaned without the detachable part 20, records the positions of the first area and the second area during the cleaning process, and after cleaning the first area and the second area, the main body 10 is then connected to the detachable part 20, and the main body 10 cleans the first area with the detachable part 20. Among them, the connection method between the detachable part 20 and the main body 10 includes, but is not limited to, magnetic connection, and can be manually completed by the user or automatically completed by the self - moving device.

[0190] Step S202: Determine whether a third detection signal is received.

[0191] The third detection signal can be issued by the detection unit on the self - moving device. The detection unit is used to detect the working environment and working state of the self - moving device, so as to issue a detection signal to the control unit, enabling the control unit to change the connection state of the first connecting part 11 and the second connecting part 21 according to the detection signal, that is, to switch the working mode of the self - moving device.

[0192] Step S203: If so, change the connection state of the first connecting part and the second connecting part according to the third detection signal, and control the self - moving device to clean the first area.

[0193] For example, refer to Figure 2 , the detachable part 20 includes, but is not limited to, a rag holder, and a rag is carried on the rag holder. The control method of the above - mentioned self - moving device can be simply understood as that after receiving the control instruction, the main body 10 first cleans the entire area to be cleaned without the detachable part 20, such as sweeping the floor, and records the positions of the first area and the second area during the cleaning process. After cleaning the first area and the second area, the main body 10 is then connected to the detachable part 20, and the main body 10 cleans the first area with the detachable part 20 to perform cleaning operations such as mopping the first area.

[0194] In the embodiments of the present invention, changing the connection state between the first connecting member 11 and the second connecting member 21 includes controlling the connection between the first connecting member 11 and the second connecting member 21, or controlling the first connecting member 11 to drive the second connecting member 21 closer to the cleaning surface. Changing the connection state between the first connecting member 11 and the second connecting member 21 can also be understood as changing the working mode of the self - moving device.

[0195] Taking the control of the connection between the first connecting member 11 and the second connecting member 21 as an example, for instance, before receiving the third detection signal, the working mode of the self - moving device is that the main body 10 is not connected to the detachable member 20, the main body 10 does not carry the detachable member 20, and the main body 10 cleans the entire area to be cleaned alone and records the positions of the first area and the second area. After receiving the third detection signal, where the third detection signal indicates that both the first area and the second area have been cleaned, the working mode of the self - moving device is that the main body 10 is connected to the second connecting member 21 through the first connecting member 11, and the main body 10 carries the detachable member 20 to clean the first area.

[0196] Taking the control of the first connecting member 11 to drive the second connecting member 21 closer to the cleaning surface as an example, for instance, before receiving the third detection signal, the working mode of the self - moving device is that the main body 10 first drives the detachable member 20 away from the cleaning surface, the main body 10 performs cleaning operations such as sweeping the entire area to be cleaned, and records the positions of the first area and the second area. After receiving the third detection signal, where the third detection signal indicates that both the first area and the second area have been cleaned, the working mode of the self - moving device is that after the first connecting member 11 drives the second connecting member 21 closer to the cleaning surface, the detachable member 20 contacts the cleaning surface, and the main body 10 carries the detachable member 20 to perform cleaning operations such as mopping the first area.

[0197] In the technical solution provided by the embodiments of the present invention, the purpose of controlling the connection between the first connecting member 11 and the second connecting member 21, or controlling the first connecting member 11 to drive the second connecting member 21 closer to the cleaning surface is that the self - moving device cleans the first area through the second connecting member 21. Thus, the automatic conversion of different working modes of the self - moving device is realized, making the cleaning process more intelligent, comprehensive, and reasonably planned, and solving the applicability problem of the self - moving device for different cleaning surfaces.

[0198] Next, taking the change in the connection state between the first connecting member 11 and the second connecting member 21 as the control of the connection between the first connecting member 11 and the second connecting member 21 as an example, the embodiments of the present invention will be introduced in detail.

[0199] Further, before step S101, it is necessary to divide the area to be cleaned of the self - moving device into a first area and a second area, or when the main body 10 performs a cleaning operation, the positions of the first area and the second area are recorded in real time. In the embodiments of the present invention, for the division method of the first area and the second area, reference can be made to the division method in Embodiment 1, which will not be elaborated here one by one.

[0200] Further, continue to refer to Figure 2 and Figure 3 In the embodiments of the present invention, the first connecting member 11 and the second connecting member 21 can be realized in the following ways. One possible way is that the first connecting member 11 is an electromagnet and the second connecting member 21 is a permanent magnet. Controlling the connection between the first connecting member 11 and the second connecting member 21 includes: controlling the electromagnet to be powered off, so that the magnetic pole of the contact end of the electromagnet that is the same as that of the permanent magnet disappears, and the permanent magnet is connected to the electromagnet. Or another possible way of connecting the first connecting member 11 and the second connecting member 21 is to control the electromagnet to be powered on, so that the electromagnet generates a magnetic pole opposite to the magnetic pole of the contact end of the permanent magnet, and the permanent magnet is connected to the electromagnet. The electromagnet includes a coil 111 and an iron core 112. The coil 111 is wound around the outer periphery of the side surface of the iron core 112, and a part of the iron core 112 extends out of the coil 111. The part of the iron core 112 that extends out of the coil 111 serves as the connecting part of the electromagnet. The coil 111 is coupled to the control unit, and the control unit controls the coil 111 to be powered on or off according to the detection signal of the detection unit. When the main body 10 cleans the entire area to be cleaned, after the control unit controls the electromagnet to be powered on, the coil 111 causes the iron core 112 to generate a magnetic pole that is the same as the magnetic pole of the contact end of the permanent magnet, and the permanent magnet can be separated from the iron core 112. After the main body 10 completes the cleaning work of the entire area to be cleaned, the control unit controls the electromagnet to be powered off. At this time, the permanent magnet can be adsorbed to the iron core 112 in the electromagnet to complete the connection between the first connecting member 11 and the second connecting member 21.

[0201] It should be noted that referring to Figure 4 when the electromagnet is not powered on, the detachable member 20 can also be manually disassembled from the main body 10. For example, an external force in the arrow direction is applied to the rag bracket, and under the action of the external force, the permanent magnet can be directly separated from the iron core 112 of the electromagnet, thereby realizing the disassembly of the rag bracket.

[0202] Another realizable way of the first connecting member 11 and the second connecting member 21 is that the first connecting member 11 is an electromagnet, and the second connecting member 21 is made of a magnetic material. For example, the second connecting member 21 can be made of iron or its alloy. Controlling the connection between the first connecting member and the second connecting member includes: controlling the electromagnet to be energized so that the electromagnet generates magnetism, and the electromagnet is connected to the second connecting member. When the electromagnet is energized, the iron core 112 generates magnetism, and thus the second connecting member 21 is adsorbed through the iron core 112 to complete the connection between the detachable member 20 and the main body 10. When the control unit controls the electromagnet to be de-energized, the magnetism generated by the iron core 112 disappears, and the iron core 112 can be separated from the second connecting member 21.

[0203] Further, to avoid the detachable member 20 causing secondary pollution to the already cleaned area, in the embodiment of the present invention, the user can pre-place the second connecting member 21 in a designated area. Changing the connection state between the first connecting member 11 and the second connecting member 21 includes: after controlling the main body 10 to move to the designated position, controlling the first connecting member 11 and the second connecting member 21 to be connected. For example, after the main body 10 completes the entire area to be cleaned and moves to the designated area, the control unit controls the electromagnet to be energized to complete the connection between the detachable member 20 and the main body 10, that is, the electromagnet is adsorbed together with the second connecting member 21 to connect and fix the main body 10 and the rag holder. After starting the self-moving device, the self-moving device first drives the rag to clean the first area that can be cleaned with a wet rag.

[0204] The designated position can be a pre-set area or a user-defined area. For example, the pre-set area can be the position where the charging dock used in cooperation with the main body 10 is located. The charging dock can be used to carry the main body 10 and the detachable member 20, and can also charge the main body 10. The self-moving device also has a variety of recognition sensors. For example, a camera can recognize whether the ground in the user's home is a floor or a tile. If it is a floor, it is required that the designated position cannot be a floor area, and the charging dock can be designed to have a structure for carrying the detachable member 20. Or the pre-set area can also include but is not limited to a balcony, next to a mop pool, or a bathroom, etc.

[0205] The main body 10 can also connect the detachable member 20 in a user-defined area. When connecting the detachable member 20 in a user-defined area, the user needs to send a connection instruction to the main body 10 so that the main body 10 can connect the detachable member 20 at the connection position according to the connection instruction. Specifically, changing the connection state between the first connecting member and the second connecting member includes: receiving the connection instruction, and the connection instruction contains the connection position. According to the connection instruction, after controlling the main body 10 to move to the connection position, controlling the first connecting member 11 and the second connecting member 21 to be connected.

[0206] For example, during the process of the main body 10 cleaning the area to be cleaned or after the area to be cleaned has been cleaned, the user sends a connection instruction to the main body 10. For example, the connection instruction is to move to the bathroom to connect to the rag holder. Among them, the connection instruction can be sent by the user through the control panel on the self - moving device or remotely sent by the control terminal of the self - moving device. After receiving the connection instruction, the main body 10 moves to the bathroom, and then after connecting to the rag holder through the first connecting member 11, the main body 10 drives the rag holder to clean the first area.

[0207] Further, after cleaning the first area, the control method further includes: determining whether a fourth detection signal is received. If so, according to the fourth detection signal, the work is ended. Among them, the fourth detection signal includes that the first area has been cleaned. Ending the work includes but is not limited to stopping the cleaning work and returning to a designated area. The designated area can be the same area as the area where the detachable member 20 is placed or a different area. For example, the area where the detachable member 20 is placed can be the area for cleaning the detachable member 20, and the area where the self - moving device returns can be the area for cleaning the main body 10.

[0208] Next, taking changing the connection state between the first connecting member 11 and the second connecting member 21 to control the first connecting member 11 to drive the second connecting member 21 close to the cleaning surface as an example, the embodiments of the present invention will be introduced.

[0209] Compared with the above - mentioned embodiment, it is still necessary to divide the cleaning area into a first area and a second area. The division method is the same as that of the above - mentioned embodiment and can be referred to each other. The difference is only that when receiving the third detection signal, the way to change the connection state between the first connecting member 11 and the second connecting member 21 is to control the first connecting member 11 to drive the second connecting member 21 close to the cleaning surface. Therefore, the main body 10 has been pre - connected to the detachable member 20, and the main body 10 does not need to connect to the detachable member 20 in the designated area, saving the time for the self - moving device to move back and forth, and further improving the cleaning efficiency.

[0210] Specifically, referring to Figure 5 , the detachable member 20 includes but is not limited to a rag holder, and the rag holder is provided with a rag.

[0211] When using the self - moving device for cleaning, the user can pre - connect the detachable part 20 to the first connecting part 11 on the main body 10 through the second connecting part 21, that is, install the rag bracket on the main body 10, and a rag is arranged on the rag bracket. After starting the self - moving device, the control unit pre - controls the first connecting part 11 to drive the second connecting part 21 away from the cleaning surface. As the second connecting part 21 moves away from the cleaning surface, the detachable part 20 also moves away from the cleaning surface, so that the detachable part 20 is away from the carpet to avoid damage to the carpet by the rag, or the detachable part 20 is away from obstacles such as threshold stones to improve the obstacle - crossing ability of the self - moving device. The main body 10 performs cleaning operations such as sweeping the entire area to be cleaned.

[0212] When the detection unit sends a third detection signal to the control unit, the control unit controls the first connecting part 11 to drive the second connecting part 21 to approach the cleaning surface according to the third detection signal. As the second connecting part 21 approaches the cleaning surface, the detachable part 20 contacts the cleaning surface, so as to perform cleaning operations such as sweeping and mopping the first area that can be cleaned with a wet rag through the detachable part 20.

[0213] To achieve the first connecting part 11 driving the second connecting part 21 to approach the cleaning surface, one feasible way is that the first connecting part 11 is a telescopic arm, and the second connecting part 21 is detachably connected to the telescopic arm. After the second connecting part 21 is connected to the telescopic arm, the state of the telescopic arm can be the retracted state, so that the detachable part 20 can be away from the cleaning surface. When the detection unit sends a third detection signal to the control unit, the control unit controls the telescopic arm to extend according to the third detection signal, so that the telescopic arm drives the second connecting part 21 to approach the cleaning surface, so that the detachable part 20 contacts the cleaning surface. The second connecting part 21 can be connected to the telescopic arm by means of clamping, etc. Further, a receiving groove is provided on the main body 10. When the telescopic arm contracts, the detachable part 20 can be retracted into the receiving groove to further increase the distance between the detachable part 20 and the cleaning surface. Figure 5 The dotted arrow in represents the telescopic direction of the telescopic arm.

[0214] Embodiment 4

[0215] Based on Embodiments 2 and 3, Embodiment 4 of the present invention is proposed. Embodiment 4 provides a self - moving device. The device in Embodiment 4 can execute the method described in Embodiment 4, and the relevant features in Embodiment 4 and Embodiments 2 and 3 can be referred to each other.

[0216] Specifically, refer to Figure 2, an embodiment of the present invention further provides a self - moving device, including: a main body 10 and a detachable member 20. Among them, a first connecting member 11 is provided on the main body 10. The detachable member 20 has a second connecting member 21 detachably connected to the first connecting member 11. The main body 10 is further provided with a detection unit and a control unit, and the control unit is respectively connected and coupled to the first connecting member 11 and the detection unit. Among them, the detection unit and the control unit are not shown in the figure. The control unit is used to receive a control instruction, control the main body 10 to clean a first area and a second area according to the control instruction; determine whether a third detection signal is received; if so, change the connection state of the first connecting member 11 and the second connecting member 21 according to the third detection signal, and control the self - moving device to clean the second area.

[0217] The technical solution provided by the embodiment of the present invention can change the connection state of the first connecting member 11 and the second connecting member 21 according to the third detection signal, so as to realize the automatic conversion of different working modes of the self - moving device, making the cleaning process more intelligent, comprehensive and reasonably planned, and solving the applicability problem of the self - moving device for different cleaning surfaces.

[0218] The relevant features in Embodiment 4 can be mutually referred to and learned from those in Embodiments 2 and 3, and will not be elaborated here one by one.

[0219] Next, in combination with specific application scenarios, the technical solutions adopted by the present invention will be described to help understanding. The following application scenario takes a cleaning robot as an example.

[0220] Application Scenario 1

[0221] See Figure 7 , the control unit, in cooperation with the carpet recognition sensor and the indoor map, pre - divides the area to be cleaned into a floor area (the first area) and a carpet area (the second area). Before starting cleaning, the user installs a rag holder on the main body. Among them, the floor area refers to an area without covering on the surface, including but not limited to a floor surface, a tile floor, a marble floor, etc. The carpet area refers to an area with a covering on the surface, and the covering includes but is not limited to a carpet, a doormat, a rug, a foam pad, etc.

[0222] After starting the cleaning robot, if the control unit does not receive a control instruction, the control unit controls the main body to standby.

[0223] If the control unit receives a control instruction, the control unit controls the main body to clean the first area that can be cleaned with a wet rag with the rag holder, and continuously determines whether a first detection signal is received.

[0224] If the first detection signal is not received, no change is made and the cleaning of the first area continues.

[0225] If the first detection signal is received, indicating that the cleaning of the floor area (the first area) is completed, the control unit controls the main body to move to the designated area and drop the rag holder in the designated area. At the same time, the user is prompted by the prompting unit about the dropping position of the rag holder. The designated area includes but is not limited to the charging stand, balcony, next to the mop sink, or the bathroom, etc.

[0226] After dropping the rag holder in the designated area, continue to control the main body to clean the carpet area (the second area) and continuously judge whether the second detection signal is received.

[0227] If the second detection signal is not received, no change is made and the cleaning of the second area continues.

[0228] If the second detection signal is received, indicating that the cleaning of the carpet area (the second area) is completed, the control unit controls the main body to end the cleaning work. After ending the cleaning work, the control unit can control the main body to return to the designated area.

[0229] Application Scenario 2

[0230] See Figure 8 , the control unit, in cooperation with the obstacle avoidance height recognition sensor and the indoor map, pre-divides the area to be cleaned into an area (the first area) that can be passed through when the self - moving device has a detachable part and an area (the second area) that needs to cross an obstacle when the self - moving device has a detachable part. Before starting the cleaning, the user installs the rag holder on the main body.

[0231] After starting the cleaning robot, if the control unit does not receive a control instruction, the control unit controls the main body to standby.

[0232] If the control unit receives a control instruction, the control unit controls the main body with the rag holder to clean the passable first area and continuously judge whether the first detection signal is received.

[0233] If the first detection signal is not received, no change is made and the cleaning of the first area continues.

[0234] If the first detection signal is received, indicating that the passable area (the first area) is cleaned, the control unit controls the main body to move to the designated area and drop the rag holder in the designated area. At the same time, the user is prompted by the prompting unit about the dropping position of the rag holder.

[0235] After dropping the rag holder in the designated area, continue to control the main body to clean the area (the second area) that needs to cross an obstacle and continuously judge whether the second detection signal is received.

[0236] If the second detection signal is not received, no change is made and the cleaning of the second area continues.

[0237] If the second detection signal is received and the area to be crossed for obstacle (the second area) is cleaned, the control unit controls the main body to end the cleaning work. After ending the cleaning work, the control unit can control the main body to return to the designated area.

[0238] Application scenario three

[0239] In Application scenario one or Application scenario two, if the first detection signal is received and the floor area (the first area) is cleaned, the control unit controls the telescopic arm to contract so that the telescopic arm drives the rag bracket to contract into the receiving groove on the main body, so that the rag bracket is away from the carpet.

[0240] After moving the rag bracket away from the carpet, continue to control the main body to clean the carpet area (the second area) and continuously judge whether the second detection signal is received.

[0241] Application scenario four

[0242] Before starting cleaning, the user detaches the rag bracket from the main body, or the main body is not pre-connected to the rag bracket.

[0243] After receiving the control instruction, the main body performs cleaning operations such as sweeping on the entire area to be cleaned and continuously judges whether the third detection signal is received. During the cleaning process, the positions of the first area and the second area are recorded, or the first area and the second area of the area to be cleaned have been pre-divided. Among them, the control unit divides the area to be cleaned into a floor area (the first area) and a carpet area (the second area) by cooperating with the carpet recognition sensor and the indoor map. Among them, the floor area refers to the area without covering on the surface, including but not limited to the floor surface, tile floor, marble floor, etc. The carpet area refers to the area with covering on the surface, and the covering includes but is not limited to carpets, floor mats, doormats, foam pads, etc.

[0244] If the third detection signal is not received, no change is made and the cleaning of the area to be cleaned continues.

[0245] If the third detection signal is received and the area to be cleaned is cleaned, the control unit controls the main body to move to the designated area and connect the rag bracket through the first connecting piece on the main body.

[0246] After the main body connects the rag bracket, continue to control the main body to clean the floor area (the first area) and continuously judge whether the fourth detection signal is received.

[0247] If the fourth detection signal is not received, no change is made and the cleaning of the first area continues.

[0248] If the fourth detection signal is received, such as when the cleaning of the first area is completed, the control unit controls the main body to end the cleaning work. After ending the cleaning work, the control unit can control the main body to return to the designated area. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A control method for a self - moving device, characterized in that, The self - moving device includes a main body and a detachable part. The method includes: Receiving a control instruction, and controlling the self - moving device to clean a first area according to the control instruction, where the control instruction is remotely sent by a control terminal of the self - moving device. Wherein, the detachable part is detachably connected to a first connector on the main body through a second connector; Judging whether a first detection signal is received; If so, changing the connection state between the first connector and the second connector according to the first detection signal, and controlling the main body to clean a second area; Wherein, changing the connection state between the first connector and the second connector includes any one of the following: Controlling the first connector and the second connector to disengage; Controlling the first connector to drive the second connector away from the cleaning surface.

2. The control method according to claim 1, wherein Before receiving the control instruction, it further includes: Pre - dividing the area to be cleaned into a first area and a second area; Wherein, the first area includes a floor area; The second area includes a carpet area.

3. The control method according to claim 1, wherein Before receiving the control instruction, it further includes: Pre - dividing the area to be cleaned into a first area and a second area; Wherein, the first area includes a passable area; The second area includes an area that needs to be passed over an obstacle.

4. The control method according to claim 1, characterized in that The first detection signal includes that the cleaning of the first area is completed.

5. The control method according to claim 1, wherein The first connector is an electromagnet, and the second connector is a permanent magnet. Controlling the first connector and the second connector to disengage includes: Controlling the electromagnet to be energized, so that the electromagnet generates a magnetic pole with the same magnetism as the contact end of the permanent magnet, and the permanent magnet disengages from the electromagnet; or The first connector is an electromagnet, and the second connector is made of a magnetically conductive material. Controlling the first connector and the second connector to disengage includes: Controlling the electromagnet to be de - energized, so that the magnetism of the electromagnet disappears, and the electromagnet disengages from the second connector.

6. The control method according to claim 5, wherein Controlling the first connector and the second connector to disengage includes: After controlling the main body to move to a specified position, detaching the detachable part to the specified position.

7. The control method according to claim 5, characterized in that Controlling the first connector and the second connector to disengage includes: Receiving a detachment instruction, where the detachment instruction contains a detachment position; Judging whether the detachment position meets the detachment condition; If it meets the detachment condition, then according to the detachment instruction, after controlling the main body to move to the detachment position, detaching the detachable part to the detachment position.

8. The control method according to claim 6 or 7, characterized in that, After detaching the detachable part, it further includes: Sending the position where the detachable part is located after detachment to a prompting unit, so that the prompting unit can prompt the position where the detachable part is located.

9. The control method according to claim 1, wherein The first connector is a telescopic arm, and the second connector is detachably connected to the telescopic arm.

10. The control method according to claim 1, wherein After cleaning the second area, it further includes: Judging whether a second detection signal is received; If so, ending the work according to the second detection signal.

11. A self - moving device, characterized in that, It includes: A main body, on which a first connector is provided; A detachable part, on which there is a second connecting part detachably connected to the first connecting part; The main body is further provided with a detection unit and a control unit, and the control unit is coupled to the first connecting part and the detection unit respectively; The control unit is configured to receive a control instruction, control the self - moving device to clean a first area according to the control instruction, and the control instruction is remotely sent by a control terminal of the self - moving device; determine whether a first detection signal sent by the detection unit is received; if so, change the connection state between the first connecting part and the second connecting part according to the first detection signal, and control the main body to clean a second area; Wherein, changing the connection state between the first connecting part and the second connecting part includes any one of the following: Control the first connecting part and the second connecting part to disengage; Control the first connecting part to drive the second connecting part away from the cleaning surface.

12. The self - moving device according to claim 11, wherein The first connecting part includes a coil and an iron core; The coil is wound around the outer periphery of the side surface of the iron core, and a part of the iron core extends out of the coil; The coil is coupled to the control unit, and the control unit controls the coil to be energized or de - energized according to the detection signal of the detection unit.

13. The self - moving device according to claim 12, wherein, The second connecting part is a permanent magnet; When the coil is de - energized, the permanent magnet can be magnetically connected to the iron core; When the coil is energized, the coil causes the iron core to generate a magnetic pole with the same magnetic property as the contact end of the permanent magnet, and the permanent magnet can be disengaged from the iron core.

14. The self - moving device according to claim 12, characterized in that, The second connecting part is made of a magnetic conductive material; When the coil is energized, the coil causes the iron core to generate magnetism, and the iron core can be magnetically connected to the second connecting part; When the coil is de - energized, the magnetism of the iron core disappears, and the iron core is disengaged from the second connection.

15. The self - moving device according to claim 12, wherein, A moving unit is provided on the main body; The moving unit is coupled to the control unit; The control unit is further configured to control the moving unit to move according to the first detection signal, so that after the moving unit drives the main body to move to a designated position, the control unit controls the first connecting part to detach the detachable part to the designated position.

16. The self - moving device according to claim 15, wherein, The control unit is further configured to receive a detachment instruction, and the detachment instruction includes a detachment position; Judge whether the detachment position meets the detachment condition; If the detachment condition is met, according to the detachment instruction, control the moving unit to move, so that after the moving unit drives the main body to move to the detachment position, the detachable part is detached to the detachment position.

17. The self - moving device according to claim 12, wherein, A prompting unit is further provided on the main body; The prompting unit is coupled to the control unit, and is configured to receive the position where the detachable part is located after detachment sent by the control unit and give a prompt.

18. The self - moving device according to claim 11, wherein The first connecting part is a telescopic arm, and the second connecting part is detachably connected to the telescopic arm.

19. The self - moving device according to any one of claims 11 to 18, characterized in that, The first connecting part is located at the bottom of the main body; The detachable part includes a rag holder.

20. A control method for a self - moving device, characterized in that, The self - moving device includes a main body and a detachable member. The detachable member can be detachably connected to a first connecting member on the main body through a second connecting member. The method includes: Receiving a control instruction, and controlling the main body to clean a first area and a second area according to the control instruction; Judging whether a third detection signal is received; If so, changing the connection state between the first connecting member and the second connecting member according to the third detection signal, and controlling the self - moving device to clean the first area. The control instruction is remotely sent by a control terminal of the self - moving device.

21. The control method according to claim 20, characterized in that, The third detection signal includes that both the first area and the second area are cleaned.

22. The control method according to claim 20, wherein Changing the connection state between the first connecting member and the second connecting member includes: controlling the first connecting member and the second connecting member to be connected; wherein, The first connecting member is an electromagnet, and the second connecting member is a permanent magnet. Controlling the first connecting member and the second connecting member to be connected includes: Controlling the electromagnet to be powered off, so that the magnetic pole of the contact end of the electromagnet with the same magnetism as the permanent magnet disappears, and the permanent magnet is connected to the electromagnet; or Controlling the electromagnet to be powered on, so that the electromagnet generates a magnetic pole opposite to the magnetism of the contact end of the permanent magnet, and the permanent magnet is connected to the electromagnet; or The first connecting member is an electromagnet, and the second connecting member is made of a magnetically conductive material. Controlling the first connecting member and the second connecting member to be connected includes: Controlling the electromagnet to be powered on, so that the electromagnet generates magnetism, and the electromagnet is connected to the second connecting member.

23. The control method according to claim 22, wherein Changing the connection state between the first connecting member and the second connecting member includes: After controlling the main body to move to a specified position, controlling the first connecting member and the second connecting member to be connected.

24. The control method according to claim 22, wherein Changing the connection state between the first connecting member and the second connecting member includes: Receiving a connection instruction, and the connection instruction contains a connection position; According to the connection instruction, after controlling the main body to move to the connection position, controlling the first connecting member and the second connecting member to be connected.

25. The control method according to claim 20, characterized in that, Changing the connection state between the first connecting member and the second connecting member includes: controlling the first connecting member to drive the second connecting member close to the cleaning surface; wherein, The first connecting member is a telescopic arm, and the second connecting member is detachably connected to the telescopic arm.

26. A self - moving device, characterized in that, Includes: A main body, on which a first connecting member is provided; A detachable member, on which a second connecting member that can be detachably connected to the first connecting member is provided; The main body is further provided with a detection unit and a control unit, and the control unit is respectively coupled to the first connecting member and the detection unit; The control unit is configured to receive a control instruction, control the main body to clean a first area and a second area according to the control instruction; judge whether a third detection signal is received; if so, change the connection state between the first connecting member and the second connecting member according to the third detection signal, and control the self - moving device to clean the first area. The control instruction is remotely sent by a control terminal of the self - moving device.

27. A self - moving device, characterized in that, Includes: A main body, on which a first connecting member is provided, and the first connecting member is used for detachably connecting with a second connecting member on a second cleaning module; The main body is further provided with a detection unit and a control unit, and the control unit is respectively coupled with the first connecting member and the detection unit; The control unit is configured to receive a control instruction, control the self-moving device to clean a first area according to the control instruction, and the control instruction is remotely sent by a control terminal of the self-moving device; determine whether a first detection signal sent by the detection unit is received; if so, change the connection state between the first connecting member and the second connecting member according to the first detection signal, and control the main body to clean a second area; Wherein, changing the connection state between the first connecting member and the second connecting member includes any one of the following: Controlling the first connecting member and the second connecting member to be disengaged; Controlling the first connecting member to drive the second connecting member away from the cleaning surface.

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