Self-Cleaning Method of Robot, Robot and Storage Medium

Abstract

The present application discloses a self-cleaning method, a robot, and a storage medium for a robot, relating to the technical field of robots. The self-cleaning method for the robot includes: obtaining a self-cleaning instruction; in response to the self-cleaning instruction, controlling a protection component of the robot to adjust to a cleaning height in contact with a target object; controlling the robot to move so that the target object contacts the protection component to clean debris on the protection component. The robot provided by the present application can perform self-cleaning on the debris adhering to the protection component, reducing the frequency of manual maintenance and extending the service life of the robot.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a robot self-cleaning method, a robot and a computer-readable storage medium. Background Art

[0002] When the robot is in use, its bottom is easily drawn into debris generated during cutting, causing the debris to accumulate on the inner side of the cutter disc of the cutting component. If it is not handled for a long time, the debris will hinder the rotation of the cutter disc, causing the cutter disc to be unable to rotate normally, affecting the normal operation of the robot, and even causing the cutter disc to get stuck, reducing the service life of the robot. Summary of the invention

[0003] The present application provides a robot self-cleaning method, a robot and a computer-readable storage medium, which can self-clean debris adhering to a protective component, thereby reducing the frequency of manual maintenance and extending the service life of the robot.

[0004] In a first aspect, an embodiment of the present application provides a self-cleaning method of a robot, the method comprising:

[0005] Get self-cleaning instructions;

[0006] In response to the self-cleaning instruction, controlling the protection component of the robot to adjust to a cleaning height in contact with the target object;

[0007] The robot is controlled to move so that the target object contacts the protection component to clean the debris on the protection component.

[0008] In the second aspect, an embodiment of the present application also provides a robot, which includes a body, a cutting mechanism, and a protective component. The cutting mechanism includes a cutting component and a driving component. The driving component is transmission-connected to the cutting component and is used to drive the cutting component to cut the object to be cut. The protective component is arranged at the bottom of the body and forms a containing structure. The containing structure is used to partially cover the cutting component, and the working part of the cutting component is exposed for cutting the object to be cut. The robot also includes a memory and a processor. The memory is used to store a computer program. The processor is used to implement the self-cleaning method of the robot as described above when executing the computer program.

[0009] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the self-cleaning method of the robot as described above is implemented.

[0010] An embodiment of the present application provides a self-cleaning method for a robot, a robot, and a computer-readable storage medium. The present application obtains a self-cleaning instruction; in response to the self-cleaning instruction, controls a protection component of the robot to adjust to a cleaning height in contact with an object; controls the robot to move so that the object contacts the protection component to clean debris on the protection component. Thus, the debris at the bottom of the machine body can be self-cleaned by moving the protection component up and down, reducing the complexity of debris cleaning and improving the cleaning efficiency of debris. Therefore, the debris on the protection component can be cleaned in a timely manner, so that the protection component can prevent the debris generated during the cutting of the cutting component from entering the cutting component, avoid excessive debris accumulation in the cutting component, resulting in the cutting component being unable to work properly, and further reduce the frequency of manual maintenance and extend the service life of the robot.

[0011] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0013] Figure 1 is a schematic structural diagram of a self-mobile robot provided by an embodiment of the present application;

[0014] Figure 2 is Figure 1 a schematic diagram of the self-mobile robot in another angle in;

[0015] Figure 3 is Figure 1 a schematic cross-sectional diagram of the self-mobile robot in, where the protection component is in the highest position;

[0016] Figure 4 is Figure 1 a schematic cross-sectional diagram of the self-mobile robot in, where the protection component is in the lowest position;

[0017] Figure 5 is Figure 1 a schematic exploded view of the self-mobile robot in;

[0018] Figure 6 is Figure 5 an exploded view of the drive component and the cutting component in;

[0019] Figure 7 is Figure 5Schematic structural diagram of the protection component therein;

[0020] Figure 8 is Figure 5 Another schematic diagram of the protection component therein;

[0021] Figure 9 is Figure 5 Schematic cross-sectional view of the protection component therein;

[0022] Figure 10 Schematic flow chart of the self-cleaning method of the robot provided by an embodiment of the present application;

[0023] Figure 11 Schematic flow chart of the self-cleaning method of the robot provided by another embodiment of the present application;

[0024] Figure 12 Schematic flow chart of the self-cleaning method of the robot provided by another embodiment of the present application;

[0025] Figure 13 Schematic flow chart of the self-cleaning method of the robot provided by another embodiment of the present application;

[0026] Figure 14 Schematic block diagram of the structure of the robot provided by an embodiment of the present application;

[0027] Explanation of reference numerals:

[0028] 10, machine body; 11, vehicle body; 12, traveling component; 13, chassis component; 131, bottom plate; 132, side wall plate;

[0029] 20, cutting mechanism; 21, cutting component; 211, cutter head; 2111, first protrusion; 212, cutting blade; 22, driving component; 221, first driving component; 222, second driving component; 223, driving frame;

[0030] 30, protection component; 31, protective disc; 311, accommodating structure; 311a, recessed structure; 311b, through-hole structure; 3111, first groove; 3112, second groove; 312, cutting surface; 313, second protrusion; 314, protective member; 32, seal; 33, protective frame. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0032] It should also be understood that the terms used in the description of the present application are only for the purpose of describing specific embodiments. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0033] The following will describe in detail some embodiments of the present application with reference to the drawings. Without conflict, the embodiments described below and the features in the embodiments may be combined with each other.

[0034] Before introducing the self-cleaning method of the robot provided by the embodiments of the present application, the structure of the robot provided by the embodiments of the present application will be introduced first. The self-cleaning method of the robot provided by the embodiments of the present application is applied to the robot.

[0035] As Figure 1 and Figure 2 shown, the present application provides a self-mobile robot, including a machine body 10 and a cutting mechanism 20. The cutting mechanism 20 is arranged at the bottom of the machine body 10 and is used for cutting the object to be cut. Among them, the object to be cut includes but is not limited to the grass on the lawn, in the garden and on the path. That is, the self-mobile robot can cut the grass on the lawn to ensure the beauty of the lawn.

[0036] In an alternative embodiment, the machine body 10 includes a vehicle body 11 and a traveling component 12. The cutting mechanism 20 is arranged at the bottom of the vehicle body 11, and the traveling component 12 is arranged on the vehicle body 11 and is used to drive the vehicle body 11 to travel, so that the vehicle body 11 can drive the cutting mechanism 20 to cut the grass on the lawn along a preset trajectory, thereby greatly reducing manual operation, saving time and effort, and truly liberating people from the labor of lawn maintenance.

[0037] In an alternative embodiment, as Figures 1 to 3As shown, the machine body 10 includes a chassis assembly 13. The chassis assembly 13 is disposed at the bottom of the vehicle body 11, and a cutting mechanism 20 is installed at the lower end of the chassis assembly 13 for cutting an object to be cut.

[0038] In an alternative embodiment, as Figures 2 to 4 shown, the cutting mechanism 20 includes a cutting assembly 21 and a driving assembly 22. The driving assembly 22 is in transmission connection with the cutting assembly 21 for driving the cutting assembly 21 to cut the object to be cut, providing cutting power for the cutting assembly 21, greatly reducing manual operation, saving time and effort, and truly liberating people from the labor of lawn maintenance.

[0039] In an alternative embodiment, as Figures 2 to 5 shown, the cutting mechanism 20 further includes a protection assembly 30. The protection assembly 30 is disposed on the chassis assembly 13 and can move up and down relative to the chassis assembly 13 so as to be able to clean the protection assembly 30, reducing the tediousness of debris cleaning and also improving the cleaning efficiency.

[0040] In an alternative embodiment, a receiving space is formed on one side of the chassis assembly 13 away from the vehicle body 11. The protection assembly 30 is received in the receiving space, and the cutting assembly 21 is disposed on the protection assembly 30 and at least partially protrudes from the protection assembly 30 for cutting an object to be cut. Among them, the driving assembly 22 is disposed on the side of the protection assembly 30 facing the chassis assembly 13, so that the protection assembly 30 can isolate the driving assembly 22 and the part of the cutting assembly 21 exposed from the protection assembly 30, preventing debris generated during the cutting of the cutting assembly 21 from entering the chassis assembly 13. These debris will not only dirty the bottom of the chassis assembly 13, causing the overall weight of the vehicle body 11 to increase, but also affect the normal operation of the driving assembly 22, and even cause the phenomenon of motor blockage of the driving assembly 22.

[0041] In an alternative embodiment, the protection assembly 30 is adapted to the receiving space so that when the protection assembly 30 moves up and down relative to the chassis assembly 13, it can clean the side wall of the receiving space, effectively preventing the accumulation of debris in the receiving space and also avoiding the cutting assembly from being blocked by the debris accumulated in the receiving space, resulting in the cutting assembly being unable to work properly.

[0042] In an alternative embodiment, there is no gap between the circumference of the protection assembly 30 and the circumference of the receiving space, so as to prevent debris generated during the cutting of the cutting assembly 21 from entering the chassis assembly 13, avoiding excessive debris accumulation in the cutting assembly 21, affecting the normal operation of the driving assembly 22, and even causing the phenomenon of motor blockage of the driving assembly 22.

[0043] In an alternative embodiment, the chassis assembly 13 includes a bottom plate 131 and side panels 132 connected to the four peripheral edges of the bottom plate 131. The bottom plate 131 is installed at the bottom of the vehicle body 11, and the side panels 132 and the bottom plate 131 enclose a receiving space adapted to the protection assembly 30. The protection assembly 30 is received in the receiving space and can clean or scrape the inner wall of the receiving space, so that the debris attached to the inner wall of the receiving space can be peeled off from the inner wall surface of the receiving space, avoiding the adhesion of debris to the inner wall of the receiving space, and thus achieving the technical effect of cleaning the receiving space.

[0044] Exemplarily, when the protection assembly 30 moves towards the side away from the bottom plate 131, the protection assembly 30 can move relative to the inner wall of the receiving space within the receiving space to scrape and clean the inner wall of the receiving space, so that the debris attached to the inner wall of the receiving space can be peeled off from the inner wall of the receiving space, preventing the accumulation of debris on the inner wall of the receiving space, and thus achieving the technical effect of cleaning the receiving space.

[0045] In an alternative embodiment, the side panel 132 can prevent other people from reaching into the position of the cutting assembly 21 through the gap between the robot and the ground when the cutting assembly 21 performs a cutting action, resulting in being cut by the cutting assembly 21; or, when the height of an obstacle on the ground (such as a hard obstacle like a stone or an iron can) is greater than the height of the cutting assembly 21 from the ground, the side panel 132 can push away the obstacle when the robot is moving, or prevent the obstacle from entering the receiving space, thereby avoiding the collision between the cutting assembly 21 and the obstacle and causing damage or damage to the cutting assembly 21.

[0046] After adopting the above technical solutions, since the protection assembly 30 can move up and down relative to the vehicle body 11, this not only facilitates the cleaning of the protection assembly 30, but also enables the protection assembly 30 to scrape and clean the inner wall of the receiving space, preventing the accumulation of debris on the inner wall of the receiving space. In addition, in the present application, the protection assembly 30 can isolate the exposed parts of the driving assembly 22 and the cutting assembly 21 from the protection assembly 30, avoiding the debris generated during the cutting of the cutting assembly 21 from entering the chassis assembly 13, thereby soiling the chassis assembly 13, causing grass clippings to enter the chassis area and entangle the rotating shaft of the cutting assembly 21, affecting the normal operation of the driving assembly 22 and causing the motor of the driving assembly 22 to be blocked; moreover, it can also clean the debris on the protection assembly 30, solving the problem that a large amount of debris accumulates at the bottom of the vehicle body 11 and is not easy to clean, saving the labor cost of cleaning, and ensuring that the self-propelled robot is not affected during the lawn trimming process.

[0047] It should be noted that the debris includes but is not limited to grass clippings generated when the robot is mowing the lawn. These grass clippings are easily accumulated at the bottom of the vehicle body 11 when the cutting component 21 is cutting, which will not only increase the overall weight of the robot, but also cause the grass clippings to accumulate at the bottom of the vehicle body 11. As a result, the grass clippings may be drawn into the rotating shaft, affecting the rotation of the cutting component 21 and reducing the cutting efficiency.

[0048] Exemplarily, when the robot needs to clean the debris at the bottom, the robot adjusts the position of the protection component 30 to the lowest position, so that the debris on the protection component 30 can be cleaned during the robot's movement. When the protection component 30 is at the lowest position, the protection component 30 can contact the object to be cut, or the protection component 30 can also contact the cleaning component fixed on the grass, so that the object to be cut or the cleaning component can clean the bottom of the mobile robot, so that the debris at the bottom of the vehicle body 11 can be quickly removed without manual cleaning, with fast cleaning speed and high efficiency, avoiding the accumulation of debris at the bottom of the mobile robot, affecting the normal operation of the robot, or even damaging the mobile robot.

[0049] It should be noted that the present application can also adjust the cutting height by adjusting the position of the protection component 30, and the present application is not limited thereto.

[0050] In an optional embodiment, if Figures 2 to 5 As shown, the protection component 30 is installed on the side of the chassis component 13 away from the vehicle body 11, the drive component 22 is arranged on the side of the protection component 30 facing the chassis component 13, and the cutting component 21 is exposed from the side of the protection component 30 away from the chassis component 13, so that the protection component 30 can prevent the debris generated by the cutting component 21 during cutting from entering the side thereof facing away from the chassis component 13, thereby avoiding affecting the drive component 22; or, the protection component 30 and the chassis component 13 can jointly block the debris generated by the cutting component 21 during cutting, thereby preventing the debris from entering into the interior of the robot, especially into the circuit area of ​​the robot, causing a short circuit in the circuit area.

[0051] In an alternative embodiment, a receiving structure 311 is formed on the protection component 30. The receiving structure 311 is used to partially wrap the cutting component 21 and expose the working part of the cutting component 21 for cutting the object to be cut. Wherein, the receiving structure 311 can be a through-hole structure provided on the protection component 30, or can also be a recessed structure provided on the protection component 30. The present application does not limit it. The main purpose is to enable the non-cutting part of the cutting component 21 to be wrapped by the receiving structure 311, while the working part of the cutting component 21 can be exposed from the receiving structure 311, so that the object to be cut can be cut, preventing the debris generated during the cutting of the cutting component 21 from entering the inner side of the cutting component 21, and avoiding the phenomenon that the rotation speed of the driving component 22 decreases or even jams due to the accumulation of debris.

[0052] In an alternative embodiment, as Figures 2 to 8 shown, the protection component 30 includes a seal 32 and a protection disc 31. The protection disc 31 is installed in the receiving space. The cutting component 21 is arranged on the side of the protection disc 31 away from the bottom plate 131. The seal 32 is arranged between the protection disc 31 and the side wall plate 132 to fill the gap between the protection disc 31 and the side wall plate 132, preventing the debris generated during the cutting of the cutting component 21 from entering the side of the protection disc 31 facing away from the chassis component 13; at the same time, it will not affect the up and down movement of the protection disc 31, and can also scrape off the sticky grass on the seal 32 when the protection component 30 is in the lowest position to prevent the phenomenon of grass blockage.

[0053] In an alternative embodiment, the outer contour of the protection disc 31 is adapted to the inner contour of the receiving space. The seal 32 is arranged around the outer periphery of the protection disc 31 and abuts against the inner side surface of the side wall plate 132, which can not only effectively prevent debris from entering the side of the protection disc 31 facing the bottom plate 131 through the gap between the protection disc 31 and the side wall plate 132, but also reduce the processing area of the protection disc 31, lower the process difficulty, and better ensure the matching accuracy between the protection disc 31 and the side wall plate 132.

[0054] In an alternative embodiment, the seal 32 includes at least one of a sealing strip and a sealing wool strip. The sealing strip and / or the sealing wool strip is received in the receiving space to fill the gap between the protection disc 31 and the side wall plate 132, so as to effectively prevent the debris generated during the cutting of the cutting component 21 from entering the side of the protection disc 31 facing away from the chassis component 13 and not affect the up and down movement of the protection disc 31 relative to the receiving space.

[0055] Exemplarily, the seal 32 includes a sealing strip, which is disposed around the outer peripheral side of the protection plate 31. When the protection plate 31 is installed in the receiving space, the sealing strip abuts against the inner side surface of the side wall plate 132, for filling the gap between the protection plate 31 and the side wall plate 132, so as to effectively prevent the debris generated during cutting by the cutting assembly 21 from entering the side facing away from the chassis assembly 13, and does not affect the up and down movement of the protection plate 31 relative to the receiving space.

[0056] Exemplarily, the seal 32 includes a sealing wool strip, which is disposed around the outer peripheral side of the protection plate 31. When the protection plate 31 is installed in the receiving space, the sealing wool strip abuts against the inner side surface of the side wall plate 132, for filling the gap between the protection plate 31 and the side wall plate 132, so as to effectively prevent the debris generated during cutting by the cutting assembly 21 from entering the side facing away from the chassis assembly 13, and does not affect the up and down movement of the protection plate 31 relative to the receiving space.

[0057] It should be noted that the sealing wool strip includes, but is not limited to, a brush or a flocking structure provided on the protection plate 31, and its main purpose is to fill the gap between the protection plate 31 and the side wall plate 132, prevent the debris generated during cutting by the cutting assembly 21 from entering the side facing away from the chassis assembly 13, and at the same time, it cannot affect the lifting of the protection plate 31.

[0058] In an alternative embodiment, the protection plate 31 has a planar cutting surface 312, which is the side surface away from the bottom plate 131. At least a part of the cutting assembly 21 is exposed from the cutting surface 312 for cutting the object to be cut. Wherein, the cutting surface 312 is set as a planar structure and is adapted to the shape of the receiving space, so that it can cooperate with the chassis assembly 13 to completely cover the cutting assembly 21, which can not only prevent the grass debris from splashing to the inner side of the protection plate 31 during cutting by the cutting assembly 21, but also, compared with the cutting surface 312 provided with a groove, the planar cutting surface 312 can reduce the accumulation of grass debris more effectively.

[0059] In an alternative embodiment, a receiving structure 311 is formed on the cutting surface 312 and corresponds to the projection position of the cutting assembly 21, and the diameter of the receiving structure 311 is adapted to the outer diameter of the cutting assembly 21, to prevent the debris generated during cutting by the cutting assembly 21 from entering the side facing away from the chassis assembly 13 through the gap between the cutting assembly 21 and the protection plate 31, and at the same time, it does not affect the rotation of the cutting assembly 21.

[0060] In an alternative embodiment, the depth of the receiving structure 311 is adapted to the height of the connecting seat of the cutting assembly 21, such that the connecting seat of the cutting assembly 21 can be received in the receiving structure 311, and the cutter head 211 of the cutting assembly 21 can expose the cutting surface 312 from the receiving structure 311, thereby effectively preventing debris from entering the inside of the cutting assembly 21 and causing the output shaft 2211 connected to the cutting assembly 21 to become stuck.

[0061] In an alternative embodiment, the cutting assembly 21 includes a cutter head 211 and cutting blades 212 for cutting an object to be cut. Among them, the cutter head 211 includes a connecting seat and a cutter head body connected to the connecting seat. The connecting seat is in transmission connection with the output shaft 2211 of the driving assembly 22, and the cutting blades 212 are mounted on the cutter head body, such that the driving assembly 22 can drive the cutter head body and the cutting blades 212 to rotate through the connection between the output shaft 2211 and the connecting seat, so as to improve the cutting efficiency and ensure a neat cut of the lawn.

[0062] It should be noted that the driving assembly 22 can be, but is not limited to, a driving motor, and the cutter head 211 is connected to the output shaft 2211 of the driving motor.

[0063] In an alternative embodiment, as Figures 3 to 6 shown, the driving assembly 22 includes a first driving assembly 221 and a second driving assembly 222; wherein, the first driving assembly 221 is used to drive the cutting assembly 21 to rotate relative to the chassis assembly 13, such that the cutting assembly 21 can cut the object to be cut. The second driving assembly 222 is used to drive the protection assembly 30 to move up and down to clean the debris accumulated on the protection assembly 30.

[0064] Exemplarily, the self - mobile robot has at least two working modes: a cutting mode and a cleaning mode. In the cutting mode, the second driving assembly 222 controls the protection assembly 30 to move upward, and the first driving assembly 221 controls the cutting assembly 21 to rotate relative to the chassis assembly 13 and the protection assembly 30 to perform a cutting action; in the cleaning mode, the second driving assembly 222 controls the protection assembly 30 to move downward, so that the protection assembly 30 can contact the object to be cut or an external cleaning assembly, thereby enabling the bottom of the mobile robot to be cleaned by the object to be cut or the cleaning assembly, quickly removing the debris on the protection assembly 30, without manual cleaning, with a fast cleaning speed and high efficiency, and avoiding the bottom of the mobile robot from being affected by debris accumulation, which may affect the normal operation of the robot or even damage the mobile robot.

[0065] In an alternative embodiment, the first drive assembly 221 is mounted on one side of the protection assembly 30 facing the chassis assembly 13 and is drivingly connected to the cutting assembly 21. The second drive assembly 222 is drivingly connected to the first drive assembly 221 and is used to drive the first drive assembly 221 to move up and down so that the first drive assembly 221 can drive the protection assembly 30 and the cutting assembly 21 to move up and down.

[0066] Exemplarily, the first drive assembly 221 and the second drive assembly 222 are independent of each other. In the cutting mode, the second drive assembly 222 drives the first drive assembly 221 to move upward, thereby driving the protection assembly 30 and the cutting assembly 21 to move upward, so that the protection assembly 30 can be located at the highest position. Then, the first drive assembly 221 drives the cutting assembly 21 to rotate relative to the protection assembly 30. When the self-mobile robot switches from the cutting mode to the cleaning mode, it is necessary to control the second drive assembly 222 to drive the first drive assembly 221 to move downward, and drive the protection assembly 30 and the cutting assembly 21 to move downward with the first drive assembly 221, so that the protection assembly 30 can be in the lowest position, so that the object to be cut or an external cleaning assembly can clean the debris on the protection assembly 30. Among them, when the protection assembly 30 moves between the lowest position and the highest position, the first drive assembly 221 can be controlled to stop driving the cutting assembly 21 to rotate, or the first drive assembly 221 can be controlled to drive the cutting assembly 21 to reduce the rotation speed. It should be understood that reducing the rotation speed of the cutting assembly 21 also helps to improve the safety of the operation and avoid potential safety hazards caused by high-speed rotation. By lowering the protection assembly 30 to the lowest position, it can pass through the lawn.

[0067] In an alternative embodiment, the drive assembly 22 includes a drive frame 223. The first drive assembly 221 is fixed to the drive frame 223. The drive frame 223 can reciprocate in the height direction of the vehicle body 11 under the drive of the second drive assembly 222, so as to drive the first drive assembly 221 and the protection assembly 30 and the cutting assembly 21 connected to the first drive assembly 221 to reciprocate, realizing the automatic cleaning function of the protection assembly 30.

[0068] In an alternative embodiment, the outer diameter of the cutter head 211 is adapted to the inner diameter of the accommodating structure 311 to prevent grass clippings from entering the inside of the cutter head 211 through the gap between the cutter head 211 and the accommodating structure 311, avoiding the situation of jamming of the output shaft 2211 due to debris accumulation.

[0069] In an optional embodiment, the cutting diameter of the cutting blade 212 when performing the cutting action is not less than the diameter of the accommodating structure 311, that is, one end of the cutting blade 212 is fixed on the blade disc 211, and the other end of the cutting blade 212 extends to the outside of the accommodating structure 311 along the radial direction of the blade disc 211. In this way, not only can the object to be cut be cut, but also grass clippings can be prevented from entering the inside of the blade disc 211 through the gap between the blade disc 211 and the accommodating structure 311, thereby preventing the output shaft 2211 from being stuck due to the accumulation of debris.

[0070] In an optional embodiment, if Figures 5 to 9 As shown, the accommodating structure 311 is two recessed structures 311a formed on the protective disk 31, and the maximum diameter of the recessed structure 311a is adapted to the diameter of the cutter disk 211 so that at least part of the cutter disk 211 can be disposed in the recessed structure 311a.

[0071] Exemplarily, the accommodating structure 311 has a first groove 3111 and a second groove 3112, and the second groove 3112 is arranged at the bottom of the first groove 3111. The inner diameter of the second groove 3112 is smaller than the inner diameter of the first groove 3111, and the outer diameter of the blade disc 211 is matched with the outer diameter of the first groove 3111 to ensure that grass clippings will not enter the inner side of the blade disc 211 from the gap between the blade disc 211 and the accommodating structure 311, while ensuring that the blade disc 211 can rotate relative to the protective disc 31 to perform a cutting action.

[0072] In an optional embodiment, the depth of the first groove 3111 is adapted to the thickness of the blade disc body, and the connecting seat is connected to the drive assembly 22 and accommodated in the second groove 3112 to ensure that grass clippings do not enter the inner side of the blade disc body through the gap between the blade disc body and the first groove 3111, while ensuring that the blade disc body can rotate relative to the protective disc 31 to perform the cutting action.

[0073] It should be noted that the cutter body and the connection seat can be an integral structure, that is, the cutter body can also be a partial structure of the cutter 211, or the cutter body can also be the entire structure of the cutter 211, and the connection seat is the connection part of the cutter 211 facing the side of the chassis assembly 13, and is used to connect with the rotating shaft. Among them, the rotating shaft can be an integral structure with the output shaft 2211 of the driving assembly 22, and the rotating shaft can also be drivingly connected with the output shaft 2211, and is used to transmit the torque output by the output shaft 2211 to the connection seat, and then transmit the cutter body through the connection seat, and this application is not limited.

[0074] In an alternative embodiment, a first protrusion 2111 is formed on one side of the cutter head body facing the second groove 3112, and a second protrusion 313 is formed on one side of the second groove 3112 facing the cutter head body. The first protrusion 2111 is disposed around the outside of the second protrusion 313 to prevent grass clippings from entering the inside of the cutter head body through the gap between the cutter head body and the second groove 3112.

[0075] In an alternative embodiment, the accommodating structure 311 is two through-hole structures 311b formed on the cutter head 211. The two through-hole structures are spaced apart along the width direction of the vehicle body 11, and the cutting assemblies 21 are correspondingly installed in each through-hole structure 311b so that the robot can drive the two cutting assemblies 21 to cut the object to be cut, ensuring the cutting efficiency of the robot.

[0076] In an alternative embodiment, the protection assembly 30 includes a protective frame 33. The protective frame 33 is installed on the first driving assembly 221 and can move up and down as the first driving assembly 221 moves up and down. The protective disc 31 is connected to the protective frame 33. At least part of the cutting assembly 21 passes through the through-hole structure 311b and is then connected to the first driving assembly 221 so that the first driving assembly 221 can drive the cutting assembly 21 to cut the object to be cut.

[0077] In an alternative embodiment, the protection assembly 30 includes a protective member 314. The protective member 314 is disposed on the side of the protective disc 31 away from the bottom plate 131. At least part of the structure of the cutting assembly 21 is located inside the protective member 314, which can effectively prevent obstacles from entering the cutting assembly 21 from both sides of the protective disc 31, thereby improving the safety of the cutting assembly 21.

[0078] In an alternative embodiment, the protective member 314 includes a protective protrusion and a protective strip. The protective protrusion is disposed on the outside of the protective strip. At least part of the protective strip covers the cutting assembly 21 from above and is connected to the cutting surface 312, and is used to prevent obstacles from entering the cutting assembly 21 from both sides of the protective disc 31, thereby improving the safety of the cutting assembly 21.

[0079] In an alternative embodiment, as Figures 3 to 5 shown, the protective disc 31 has a highest position and a lowest position and can reciprocate between the highest position and the lowest position. The cutting assembly 21 performs a cutting action when the protective disc 31 is in the highest position; the bottom of the machine body 10 performs a cleaning action when the protective disc 31 is in the lowest position, avoiding the accumulation of debris at the bottom of the machine body 10, reducing the frequency of manual maintenance, extending the service life of the robot, and also improving the working efficiency of the robot.

[0080] Exemplarily, as Figure 3As shown, when the protective disc 31 moves from the lowest position to the highest position, the robot can drive the cutting mechanism 20 to perform a cutting operation on the object to be cut, while the protective disc 31 can prevent grass clippings generated during the mowing operation by the cutting mechanism 20 from entering the inside of the cutting assembly 21 and the machine body 10. The side wall plate 132 of the chassis assembly 13 can prevent other people from reaching into the position of the cutting assembly 21 through the gap between the robot and the ground when the cutting assembly 21 performs a cutting action, resulting in being cut by the cutting assembly 21.

[0081] Exemplarily, as Figure 4 shown, after the robot completes the mowing action, the protective disc 31 moves from the highest position to the lowest position so that the protective disc 31 can contact the object to be cut or an external cleaning assembly, enabling the object to be cut or the cleaning assembly, etc. to clean the bottom of the mobile robot, thereby quickly removing the debris on the protective disc 31 without manual cleaning, with a fast cleaning speed and high efficiency, avoiding the bottom of the mobile robot from being affected by debris accumulation and even damaging the mobile robot due to debris accumulation at the bottom of the mobile robot.

[0082] In an alternative embodiment, the moving distance of the protective disc 31 between the highest position and the lowest position is between 15 mm and 70 mm, so that the cutting mechanism 20 can perform a cutting operation on the object to be cut when the protective disc 31 is in the highest position and can perform cleaning when the protective disc 31 is in the lowest position, avoiding debris accumulation at the bottom of the vehicle body 11.

[0083] In an alternative embodiment, as Figures 3 to 5 shown, the robot further includes a detection component. The detection component is arranged on the bottom of the vehicle body 11 and is used to detect the debris accumulation condition on the protective disc 31, enabling the robot to lift and lower the protective disc 31 according to the debris accumulation condition detected by the detection component. Among them, when the detection component detects that there is debris on the protective disc 31, it controls the protective disc 31 to move from the highest position to the lowest position so as to remove the debris on the protective disc 31.

[0084] In an alternative embodiment, the detection component includes a pressure sensor. The pressure sensor is arranged on the protective disc 31 and is used to monitor the weight change of the cutter guard 211, so that the robot can monitor the weight change of the cutter guard 211. When the value detected by the pressure sensor exceeds a preset threshold, the robot controls the cutting assembly 21 to stop rotating, moves the protective disc 31 from the highest position to the lowest position, and the traveling assembly 12 drives the vehicle body 11 to continue moving forward to clean the grass clippings on the cutter guard 211.

[0085] In an alternative embodiment, the pressure sensor includes, but is not limited to, a thin-film pressure sensor, which has the performance of high sensitivity and anti-interference ability, and can further improve the accuracy of detecting the grass clipping accumulation situation.

[0086] In some other embodiments, the detection component can also detect whether there are grass clippings on the cutter guard 211 through other sensors, such as infrared sensors and optical sensors, etc.; among them, the infrared light of the infrared sensor will produce different reflection or absorption characteristics when encountering different substances, so as to be able to use the infrared sensor to detect the reflection light intensity of the grass clippings, and then judge the accumulation situation of the grass clippings.

[0087] Exemplarily, the infrared sensor is installed on the side panel 132 and below the lowest position of the cutter guard 211, so as to be able to obtain the grass clipping accumulation situation of the cutter guard 211 and will not be damaged due to the movement of the cutter guard 211; when the infrared sensor emits light and receives the reflected light, the surface characteristics will change after the grass clippings accumulate, resulting in a change in the intensity of the reflected light, so that the infrared sensor can judge the accumulation degree of the grass clippings by detecting this change.

[0088] In an alternative embodiment, the optical sensor can be a laser sensor, and the laser sensor judges the accumulation degree of the grass clippings on the cutter guard 211 by emitting a laser beam and measuring the time and angle of its reflection back.

[0089] In an alternative embodiment, the optical sensor can also be a camera, and the camera analyzes the grass clipping accumulation situation through an image processing algorithm by obtaining the real-time image on the cutter guard 211.

[0090] In an alternative embodiment, the robot further includes a control system, and the control system controls the protective disk 31 to move between the highest position and the lowest position according to the debris accumulation situation detected by the detection component, so as to be able to clean the grass clippings accumulated on the protective disk 31.

[0091] Exemplarily, the detection component is connected to the control system through a cable, and the detection component transmits the collected pressure change signal to the control system. The control system judges whether grass clippings are accumulated on the cutter guard 211 according to a preset pressure threshold. When the pressure value detected by the detection component exceeds the set threshold, the control system will identify it as grass clipping accumulation, and then control the cutting component 21 to stop rotating, and then move the cutter guard 211 from the highest position to the lowest position, so that the cutter guard 211 can clean the grass clippings during the movement of the robot.

[0092] In an alternative embodiment, the control system includes an amplifier circuit and a filter circuit. The output signal terminal of the detection component is connected to the input signal terminal of the amplifier circuit, and the output signal terminal of the amplifier circuit is connected to the input signal terminal of the filter circuit, so that the amplifier circuit can amplify the pressure change signal collected by the detection component, and filter out the signal interference in the pressure change signal through the filter circuit, so as to detect the weak signal transmitted by the detection component and ensure the accuracy of the data.

[0093] Exemplarily, when the detection component transmits the collected pressure change signal to the control system, the control system amplifies and filters the pressure change signal through the amplifier circuit and the filter circuit to ensure the accuracy of the data. Then, the control system determines whether grass clippings are accumulated on the cutter guard 211 according to a preset pressure threshold. When the pressure value detected by the detection component exceeds the set threshold, the control system will identify it as grass clipping accumulation.

[0094] When the control system confirms that there is grass clipping accumulation on the cutter guard 211, the control system will issue a control command to adjust the position of the cutter guard 211 to the lowest position, and then start the cleaning program to ensure that the robot will not affect the operation of the cutter disc 211 due to grass clipping accumulation during long-term operation.

[0095] In an alternative embodiment, when the robot is performing a cutting action, the detection component can continuously monitor the pressure change on the cutter guard 211, so that the control system will continuously receive the pressure change signal from the detection component and perform real-time analysis on these pressure change signals; when the pressure change signal exceeds the preset pressure threshold, the control system will determine that there is too much grass clipping accumulation. At this time, the control system will pause the mowing operation and prepare to start the cleaning program.

[0096] After the control system starts the cleaning program, the control system adjusts the cutter guard 211 to the lowest position, and then controls the robot to continue moving forward so as to clean the grass clippings accumulated on the cutter guard 211; after the grass clippings accumulated on the cutter guard 211 are cleaned, the robot retreats to the position point where the cleaning program is started, ends the cleaning program, and starts the cutting action.

[0097] It should be noted that the preset pressure threshold can be a multi-level pressure threshold. For example, the first-level pressure threshold triggers a warning prompt, and the second-level pressure threshold triggers the cleaning program to prevent the control system from misjudging and frequently starting the cleaning program, etc.

[0098] In an alternative embodiment, the robot further includes a charging chassis assembly 13. When the machine body 10 returns to the charging chassis assembly 13 for charging, the protective disc 31 moves from the highest position to the lowest position, so that the grass residue on the cutter guard 211 of the robot can be cleaned.

[0099] After a brief introduction to the structure of the robot provided in the embodiments of the present application, the following will, with reference to the accompanying drawings, elaborate on some embodiments of the self-cleaning method of the robot provided in the present application. Without conflict, the following embodiments and the features in the embodiments may be combined with each other. Please refer to Figure 10 , Figure 10 FIG. Figure 10 is a schematic flowchart of a self-cleaning method of a robot provided in an embodiment of the present application. The self-cleaning method of the robot is applied to the robot described in the above embodiment, and may also be applied to a terminal device or a server. The specific structure thereof may refer to the above embodiment and will not be repeated herein.

[0100] Among them, the terminal device may include fixed terminals such as mobile phones, tablet computers, personal digital assistants (PDAs), etc. The server may be, for example, a separate server or a server cluster.

[0101] Hereinafter, taking the application of the self-cleaning method of the robot to the robot as an example, the specific process of the robot performing self-cleaning will be described.

[0102] As shown in Figure 10 , the self-cleaning method of the robot may include steps S101 to S103.

[0103] Step S101, obtain a self-cleaning instruction.

[0104] As shown in Figure 2 and Figure 3 , the self-cleaning instruction is used to instruct the robot to perform self-cleaning on the protection component 30.

[0105] Specifically, the user may send a self-cleaning instruction through a mobile terminal (such as a mobile phone application or a remote controller), and the instruction is transmitted to the self-mobile robot through a wireless communication module, or the detection component is set to detect the accumulation of debris on the protection component 30, and it is determined whether the protection component 30 needs to be cleaned, so as to trigger the cleaning mode and generate a self-cleaning instruction.

[0106] Exemplarily, a self-cleaning instruction may be sent to the robot by setting a button on the robot so that the robot obtains the self-cleaning instruction; a self-cleaning instruction may also be sent to the robot through a terminal device communicatively connected to the robot so that the robot obtains the self-cleaning instruction; the robot may also detect the debris accumulation state of the protection component 30 and generate a self-cleaning instruction according to the debris accumulation state.

[0107] It should be noted that the specific structure of the robot may refer to the above embodiment and will not be repeated herein.

[0108] As shown in Figures 2 - 4As shown, in some embodiments, the debris accumulation state of the protection component 30 is obtained; whether the protection component 30 needs to be cleaned is determined according to the debris accumulation state; if the protection component 30 needs to be cleaned, a self-cleaning instruction is generated.

[0109] As Figure 11 shown, specifically, "obtaining the self-cleaning instruction of the robot" may include steps S201 to S204.

[0110] S201. Obtain the debris accumulation state of the protection component.

[0111] S202. Determine whether the protection component needs to be cleaned according to the debris accumulation state.

[0112] S203. If the debris accumulation state is a debris-dense state or a debris-dispersed state, determine that the protection component needs to be cleaned.

[0113] S204. If the debris accumulation state is a debris-scarce state, determine that the protection component does not need to be cleaned.

[0114] Among them, the debris accumulation state is used to represent the debris situation accumulated on the protection component 30, and generally may include a debris-dense state, a debris-dispersed state, and a debris-scarce state. The debris-dense state is used to represent that a very large amount of debris is accumulated on the protection component 30, the debris-dispersed state is used to represent that a relatively large amount of debris is accumulated on the protection component 30, and the debris-scarce state is used to represent that a relatively small amount of debris is accumulated on the protection component 30, that is, the debris accumulation amount in the debris-dense state is greater than the debris accumulation amount in the debris-dispersed state, and the debris accumulation amount in the debris-dispersed state is greater than the debris accumulation amount in the debris-scarce state.

[0115] Specifically, first detect the debris accumulation state of the protection component 30; determine whether the protection component 30 needs to be cleaned according to the debris accumulation state; if the protection component 30 needs to be cleaned, generate a self-cleaning instruction to control the robot to clean the grass debris accumulated on the protection component 30; if the protection component 30 does not need to be cleaned, do not generate a self-cleaning instruction, and control the cutting component 21 to continue to perform the cutting action. Thus, the robot can intelligently detect the debris accumulation state of the protection component 30, so as to accurately determine whether the protection component 30 needs to be cleaned, without manual control to clean the debris, so that the debris on the protection component 30 can be cleaned in time, reducing the tediousness of debris cleaning and also improving the cleaning efficiency of the debris.

[0116] In some embodiments, the protection component 30 is detected to obtain the real-time state information of the protection component 30; the debris accumulation state of the protection component 30 is determined according to the real-time state information.

[0117] Among them, the real-time status information can be used to feedback the real-time status of the protection component 30, specifically including information such as the pressure value, light reflection intensity, light reflection angle, and real-time image of the protection component 30.

[0118] Specifically, the detection component can be used to detect the protection component 30 to obtain the real-time status information of the protection component 30; and determine the debris accumulation status of the protection component 30 according to the real-time status information.

[0119] Exemplarily, the detection component can be set on the robot and correspondingly set with the protection component 30, so as to detect the status of the protection component 30, obtain the real-time status information of the protection component 30, and analyze the real-time status information, thereby determining the debris accumulation status of the protection component 30. Thus, the robot can accurately detect the debris accumulation status of the protection component 30 through the detection component, so as to accurately determine whether it is necessary to clean the protection component 30, effectively avoid misdetection, and there is no need for manual control to clean the debris, so that the debris on the protection component 30 can be cleaned in time, improving the cleaning efficiency of the debris.

[0120] In some embodiments, if the detection component is a pressure sensor, the pressure sensor is set on the protection component 30 and used to detect the pressure value of the protection component 30. If the pressure value of the protection component 30 exceeds the first pressure threshold, it is determined that the debris accumulation status of the protection component 30 is a debris-dense state; if the pressure value of the protection component 30 exceeds the second pressure threshold and does not exceed the first pressure threshold, it is determined that the debris accumulation status of the protection component 30 is a debris-dispersed state, where the first pressure threshold is greater than the second pressure threshold; if the pressure value of the protection component 30 does not exceed the second pressure threshold, it is determined that the debris accumulation status of the protection component 30 is a debris-scarce state.

[0121] Among them, the first pressure threshold and the second pressure threshold can be any pressure values, which are specifically set according to the actual situation, as long as the first pressure threshold is greater than the second pressure threshold, and no specific limitation is made here.

[0122] Exemplarily, the pressure sensor can detect the pressure value of the protection component 30. If the detected pressure value of the protection component 30 is larger, it indicates that there is more debris accumulated on the protection component 30. Therefore, if the detected pressure value of the protection component 30 exceeds the first pressure threshold, it indicates that there is a very large amount of debris accumulated on the protection component 30, and it is determined that the debris accumulation state of the protection component 30 is the debris dense state; if the pressure value of the protection component 30 exceeds the second pressure threshold and does not exceed the first pressure threshold, it indicates that there is a relatively large amount of debris accumulated on the protection component 30, and it is determined that the debris accumulation state of the protection component 30 is the debris dispersed state; if the pressure value of the protection component 30 does not exceed the second pressure threshold, it indicates that there is less debris accumulated on the protection component 30, and it is determined that the debris accumulation state of the protection component 30 is the debris scarce state.

[0123] In some embodiments, if the detection component is an optical sensor, the optical sensor is disposed on the vehicle body 11 and is used to send light to the position where the protection component 30 is located. According to the light reflection intensity and / or light reflection angle corresponding to the light, the debris accumulation state of the protection component 30 is determined.

[0124] Among them, the optical sensor may include an infrared sensor and a laser sensor. When the infrared light of the infrared sensor encounters different substances, it will produce different reflection or absorption characteristics, so that the infrared sensor can be used to detect the reflection light intensity of the grass clippings, and then judge the debris accumulation state of the protection component 30. The laser sensor can judge the debris accumulation state of the protection component 30 through the reflection time and reflection angle of the laser.

[0125] Exemplarily, the infrared sensor can be installed on the side wall panel and below the lowest position of the protection component 30, so as to be able to obtain the grass clippings accumulation situation of the protection component 30 and will not be damaged due to the movement of the protection component 30; when the infrared sensor emits light and receives the reflected light, the surface characteristics will change after the grass clippings are accumulated, resulting in a change in the intensity of the reflected light, so that the infrared sensor can judge the accumulation degree of the grass clippings by detecting this change.

[0126] Exemplarily, the laser sensor emits a laser beam and measures parameters such as the reflection intensity, reflection time and reflection angle of the laser beam to judge the debris accumulation state of the protection component 30.

[0127] It should be noted that by detecting the protection component 30 through the optical sensor, it can be accurately determined that the debris accumulation state of the protection component 30 is at least one of the debris dense state, the debris dispersed state or the debris scarce state.

[0128] In some embodiments, if the detection component is a camera, the camera is disposed on the vehicle body 11 and is configured to acquire a real-time image of the protection component 30, extract features from the real-time image of the protection component 30 to obtain debris feature information; and determine the debris accumulation state of the protection component 30 according to the debris feature information.

[0129] Wherein, the real-time image may be a picture of the protection component 30 and its surrounding environment, and the debris feature information may be the image features of the debris accumulated on the protection component 30.

[0130] Exemplarily, a real-time image of the protection component 30 is acquired, features are extracted from the real-time image and irrelevant features are filtered out, so as to obtain debris feature information. Then, based on an image feature recognition algorithm, the debris feature information is recognized and statistically processed, so as to determine the debris accumulation situation on the protection component 30, and further accurately determine the debris accumulation state of the protection component 30.

[0131] It should be noted that by detecting the protection component 30 through the camera, it is also possible to accurately determine that the debris accumulation state of the protection component 30 is at least one of a debris dense state, a debris dispersed state, or a debris scarce state.

[0132] In some embodiments, if the debris accumulation state is a debris dense state or a debris dispersed state, it is determined that the protection component 30 needs to be cleaned; if the debris accumulation state is a debris scarce state, it is determined that the protection component 30 does not need to be cleaned.

[0133] Exemplarily, if the debris accumulation state is a debris dense state or a debris dispersed state, it indicates that there is a large amount of debris accumulated on the protection component 30, and the debris needs to be cleaned to avoid affecting the normal operation of the cutting component 21. Therefore, it is determined that the protection component 30 needs to be cleaned.

[0134] Exemplarily, if the debris accumulation state is a debris scarce state, it indicates that there is less debris accumulated on the protection component 30, and the normal operation of the cutting component 21 can be maintained without cleaning the debris. Therefore, it is determined that the protection component 30 does not need to be cleaned.

[0135] In some embodiments, if the debris accumulation state is a debris dispersed state, a debris accumulation warning prompt of the robot is triggered.

[0136] Exemplarily, if the debris accumulation state is a debris dense state, the robot is directly triggered to perform self-cleaning on the protection component 30; if the debris accumulation state is a debris dispersed state, a debris accumulation warning prompt of the robot is triggered to prompt the user to determine whether the protection component 30 needs to be cleaned, thereby preventing the robot from misjudging and avoiding frequent self-cleaning of the protection component 30.

[0137] Such asFigure 3 and Figure 4 As shown, in some embodiments, the robot includes at least a cleaning mode and a cutting mode. The protection component 30 is in the first position in the cleaning mode, and the protection component 30 is in the second position in the cutting mode; wherein, the height of the first position is less than the height of the second position.

[0138] Wherein, when the robot is in the cleaning mode, it is used to clean the protection component 30, and when the robot is in the cutting mode, it is used to perform a cutting operation on the object to be cut.

[0139] As Figures 3 - 5 shown, since it is necessary to contact the target object when cleaning the debris on the protection component 30, and the height of the target object is generally low, the height of the first position is generally relatively low. That is, the first position of the protection component 30 can be the position as Figure 3 shown. When the robot cuts the object to be cut, it is generally adjusted according to the height of the object to be cut. Generally, the height of the object to be cut is not too low, so the height of the cutting component 21 is relatively high. That is, the first position of the protection component 30 can be the position as Figure 4 shown. And since the cutting component 21 is arranged on the protection component 30, the height of the protection component 30 is also relatively high. Therefore, the height of the first position is less than the height of the second position.

[0140] Specifically, the detection component can obtain the debris accumulation state of the protection component 30 in real time and determine the working mode of the robot according to the debris accumulation state in real time.

[0141] Exemplarily, if it is determined according to the debris accumulation state that the working mode of the robot is switched from the cleaning mode to the cutting mode, it means that the grass clippings accumulated at the bottom of the protection component 30 have been cleaned up. At this time, the protection component 30 can be controlled to move upward relative to the vehicle body 11 to the cutting position and perform the corresponding cutting operation.

[0142] Exemplarily, if it is determined according to the debris accumulation state that the working mode of the robot is switched from the cutting mode to the cleaning mode, it means that there is more grass clippings accumulated at the bottom of the protection component 30, and it is necessary to clean the debris to avoid affecting the normal operation of the cutting component 21. At this time, the protection component 30 can be controlled to move downward relative to the vehicle body 11 to the cleaning position and perform the corresponding cleaning operation.

[0143] The self-cleaning method of the robot provided by the embodiment of the present application can also detect the debris accumulation state of the protection component 30, so as to accurately determine whether it is necessary to perform self-cleaning on the protection component 30, without manual control to clean the debris, so that the debris on the protection component 30 can be cleaned in time, reducing the tediousness of debris cleaning and improving the cleaning efficiency of debris, realizing the intelligence of robot self-cleaning.

[0144] Step S102, in response to the self-cleaning instruction, control the protection component of the robot to adjust to the cleaning height in contact with the target object.

[0145] As Figure 2 shown, since the protection component 30 is provided on the vehicle body 11 and can move up and down relative to the vehicle body 11, the protection component 30 can be controlled to move downward relative to the vehicle body 11 to the cleaning height in contact with the target object; it can also be controlled to move upward relative to the vehicle body 11 to the cleaning height in contact with the target object, which is not specifically limited here.

[0146] Among them, the specific structure of the robot can refer to the above-mentioned embodiments, which will not be repeated here.

[0147] As Figure 3 and Figure 4 shown, referring to the above-mentioned embodiments, it can be seen that the protection component 30 can move up and down relative to the vehicle body 11. Exemplarily, when the robot needs to clean the debris at the bottom, the robot will adjust the protection component 30 to the cleaning height in contact with the target object. Among them, the cleaning height can be any height, or it can be adjusted according to the height of the target object. The height of the cleaning height from the ground is lower than the height of the target object to ensure that the protection component can be in full contact with the target object, so that the debris on the protection component can be cleaned; optionally, the height of the protection component 30 can be adjusted to the lowest height, that is Figure 4 the corresponding height of the protection component 30 in , which is not specifically limited here.

[0148] Exemplarily, after the robot obtains the self-cleaning instruction, the robot will adjust the position of the protection component 30 to the lowest, so that during the movement of the robot, the debris on the protection component 30 can be cleaned.

[0149] In some embodiments, before controlling the protection component 30 of the robot to adjust to the cleaning height in contact with the target object, obtain the image information corresponding to the target object; according to the image information corresponding to the target object, extract the features of the target object to determine the height of the target object; according to the height of the target object, determine the cleaning height. Thus, the corresponding cleaning height can be adjusted according to the height of the target object, thereby improving the cleaning effect and cleaning efficiency of the debris on the protection component 30.

[0150] Exemplarily, the height of the target object can be determined by obtaining the image information corresponding to the target object and extracting the feature information of the target object, and then the cleaning height can be adjusted according to the height of the target object to ensure that the protection component 30 can be in contact with the target object in different environments at the cleaning height.

[0151] In some embodiments, after responding to the self-cleaning instruction, if it is detected that the robot is in the cutting mode, control the robot to stop executing the cutting action.

[0152] As Figure 12 shown, specifically, "in response to a self-cleaning instruction, controlling the protection component of the robot to adjust to a cleaning height in contact with the target object" may include steps S301 to S304.

[0153] S301. Receive a self-cleaning instruction.

[0154] S302. Determine whether the robot is in a cutting mode.

[0155] S303. If it is detected that the robot is in a cutting mode, control the robot to stop performing the cutting action.

[0156] S304. If it is detected that the robot is not in a cutting mode, control the protection component of the robot to adjust to a cleaning height in contact with the target object.

[0157] Exemplarily, if the robot receives a self-cleaning instruction, it indicates that there is a relatively large amount of debris on the protection component 30, reaching the level that needs to be cleaned. In order to avoid further accumulation of debris on the protection component 30, the robot can be controlled to stop performing the cutting action and switch the cutting mode to the cleaning mode.

[0158] Step S103. Control the robot to move so that the target object contacts the protection component to clean the debris on the protection component.

[0159] Among them, by controlling the robot to move, the protection component 30 can be continuously kept in contact with the target object, so that the debris on the protection component 30 can be taken out during the movement of the robot, thereby realizing the cleaning of the debris on the protection component 30.

[0160] Specifically, the surface characteristics of the target object can form contact friction with the protection component 30 to remove debris. Exemplarily, the target object can be an object to be cut or a cleaning component, etc.

[0161] As Figure 4 shown, taking the first position as the lowest position of the protection component 30 as an example, the robot can adjust the protection component 30 to the lowest height, and then control the driving robot to continue moving forward so as to clean the grass clippings accumulated at the bottom of the protection component 30. When the protection component 30 is in the lowest position, the protection component 30 can contact the object to be cut, or the protection component 30 can also contact the cleaning component fixed on the grass, so that the object to be cut or the cleaning component can clean the bottom of the robot, thereby quickly removing the debris at the bottom of the robot. There is no need for manual cleaning, the cleaning speed is fast, the efficiency is high, and it is avoided that the bottom of the robot is affected by debris accumulation, which affects the normal operation of the robot and even damages the robot.

[0162] In some embodiments, the robot is controlled to move within a cleaning area such that an object in the cleaning area contacts the protection component 30.

[0163] Among them, the cleaning area may be an area including the object, which is an area for cleaning debris from the protection component 30. For example, the object may be an object to be cut or a cleaning component, etc. Exemplarily, the cleaning area may be an area where debris can be cleaned using the object to be cut, or an area where a cleaning component capable of cleaning debris is provided.

[0164] As Figure 4 shown, taking the lowest position of the protection component 30 as the first position as an example for illustration, when the protection component 30 is in the lowest position, the robot can be controlled to move within the cleaning area such that the object to be cut or the cleaning component, etc. can clean the bottom of the robot, thereby quickly removing the debris at the bottom of the robot without manual cleaning, with a fast cleaning speed and high efficiency.

[0165] In some embodiments, determine the cleaning area corresponding to the robot; obtain the real-time position of the robot, and generate a cleaning path based on the real-time position and the cleaning area; control the robot to move within the cleaning area based on the cleaning path such that an object in the cleaning area contacts the protection component 30.

[0166] As Figure 13 shown, specifically, "controlling the robot to move within the cleaning area such that the object in the cleaning area contacts the protection component" may include steps S401 to S403.

[0167] S401. Determine the cleaning area corresponding to the robot.

[0168] S402. Obtain the real-time position of the robot, and generate a cleaning path based on the real-time position and the cleaning area.

[0169] S403. Control the robot to move within the cleaning area based on the cleaning path such that an object in the cleaning area contacts the protection component.

[0170] Among them, the real-time position may be the position where the robot receives the self-cleaning instruction, or the position where the cutting action of the robot is interrupted, and no specific limitation is made here. The cleaning path is the path for the robot to perform self-cleaning movement.

[0171] Exemplarily, after determining the cleaning area of the robot, a cleaning path can be generated based on the real-time position of the robot and the cleaning area; control the robot to move according to the cleaning path such that the object to be cut or the cleaning component, etc. on the cleaning path can clean the bottom of the robot, thereby quickly removing the debris at the bottom of the vehicle body without manual cleaning, with a fast cleaning speed and high efficiency.

[0172] In some embodiments, image information and / or working path information collected by the robot are obtained; based on the image information and / or the working path information, a to-be-cut area of the robot is determined, and the to-be-cut area is used as a cleaning area. Thus, the to-be-cut area can be accurately determined as the cleaning area to clean the debris on the protection component 30.

[0173] Exemplarily, the position of the object to be cut can be determined according to the collected image information, then the to-be-cut area can be determined based on the position of the object to be cut, and the to-be-cut area is used as the cleaning area; alternatively, the position of the cleaning component can be determined according to the collected image information, then the to-be-cut area can be determined based on the position of the cleaning component, and the to-be-cut area is used as the cleaning area.

[0174] Exemplarily, the cut area can be determined according to the working path information. The cut area indicates that there is no object to be cut in this area. Then, based on the environmental map and the cut area, the to-be-cut area is determined, and the to-be-cut area is used as the cleaning area.

[0175] In some embodiments, if the working mode of the robot is switched from the cleaning mode to the cutting mode, the protection component 30 is controlled to adjust to the cutting height, and the robot is controlled to move to the working position to perform the cutting action.

[0176] As Figure 3 and Figure 4 shown, when the robot is in the cleaning mode, it is used to clean the protection component 30, and when the robot is in the cutting mode, it is used to perform the cutting operation on the object to be cut. The cutting height can be the height corresponding to the second position, generally the highest height of the protection component 30, that is, Figure 3 the height corresponding to the protection component 30 in , which is not specifically limited herein. The working position can be the latest cutting position of the task or the position where the cutting action of the robot is interrupted, which is not specifically limited herein.

[0177] Exemplarily, if the working mode of the robot is switched from the cleaning mode to the cutting mode, it indicates that the grass clippings accumulated at the bottom of the protection component 30 have been cleaned. The protection component 30 can be controlled to adjust to the cutting height, waiting to perform the subsequent cutting operation, and the robot is controlled to move to the latest working position. After the robot moves to the working position and the protection component 30 adjusts to the cutting height, the cutting action is then performed.

[0178] Exemplarily, if the working mode of the robot is switched from the cleaning mode to the cutting mode, it indicates that the grass clippings accumulated at the bottom of the protection component 30 have been cleaned. At this time, the protection component 30 can be controlled to adjust to the cutting height, waiting to execute the subsequent cutting operation, and the robot can be controlled to return to the position where the cutting action was interrupted based on the cleaning path. After the robot returns to the position where the cutting action was interrupted and the protection component 30 moves to the cutting position, the cutting action is then executed.

[0179] The embodiment of the present application provides a self-cleaning method for a robot. In response to a self-cleaning instruction, the protection component 30 of the robot is controlled to adjust to the cleaning height in contact with the target object; the robot is controlled to move so that the target object contacts the protection component 30 to clean the debris on the protection component 30. Thus, the self-cleaning of the debris at the bottom of the machine body can be realized by the up and down movement of the protection component 30, reducing the tediousness of debris cleaning and improving the cleaning efficiency of the debris. Therefore, the debris on the protection component 30 can be cleaned in a timely manner, so that the protection component 30 can prevent the debris generated during the cutting of the cutting component 21 from entering the cutting component 21, avoiding excessive debris accumulation in the cutting component 21, which may cause the cutting component 21 to malfunction, and further reducing the frequency of manual maintenance and extending the service life of the robot.

[0180] Please refer to Figure 14 , Figure 14 which is a schematic block diagram of the structure of a robot 100 provided by the embodiment of the present application. In Figure 14 it, the robot 100 includes a processor 200 and a memory 300. Among them, the processor 200 and the memory 300 are connected through a bus, and this bus can be any applicable bus such as an I2C (Inter-integrated Circuit) bus.

[0181] Among them, the memory 300 can include a storage medium and an internal memory. The storage medium can store an operating system and a computer program. This computer program includes program instructions, and when the program instructions are executed, the processor can be made to execute the self-cleaning method of the robot described in any embodiment.

[0182] The processor 200 is used to provide computing and control capabilities to support the operation of the entire robot 100.

[0183] Among them, the processor 200 can be a Central Processing Unit (CPU), and this processor can also be a general-purpose processor, a Digital Signal Processor (DSP), an application specific integrated circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the general-purpose processor can also be any conventional processor, etc.

[0184] Among them, the processor 200 is used to run the computer program stored in the memory 300, and when executing the computer program, it implements the following steps:

[0185] Obtain a self-cleaning instruction;

[0186] In response to the self-cleaning instruction, control the protection component of the robot to adjust to the cleaning height in contact with the target object;

[0187] Control the robot to move so that the target object contacts the protection component to clean the debris on the protection component.

[0188] In some embodiments, when the processor 200 implements obtaining the self-cleaning instruction of the robot, it is used to implement:

[0189] Obtain the debris accumulation state of the protection component; determine whether the protection component needs to be cleaned according to the debris accumulation state; if the protection component needs to be cleaned, generate a self-cleaning instruction.

[0190] In some embodiments, when the processor 200 implements obtaining the debris accumulation state of the protection component, it is used to implement:

[0191] Detect the protection component to obtain the real-time state information of the protection component; determine the debris accumulation state of the protection component according to the real-time state information.

[0192] In some embodiments, when the processor 200 implements determining whether the protection component needs to be cleaned according to the debris accumulation state, it is used to implement:

[0193] If the debris accumulation state is a debris-dense state or a debris-dispersed state, it is determined that the protection component needs to be cleaned; if the debris accumulation state is a debris-scarce state, it is determined that the protection component does not need to be cleaned.

[0194] In some embodiments, the robot includes at least a cleaning mode and a cutting mode. The protection component is in a first position in the cleaning mode and in a second position in the cutting mode; wherein, the height of the first position is less than the height of the second position.

[0195] In some embodiments, when the processor 200 implements determining the debris accumulation state of the protection component according to the real-time status information, it is used to implement:

[0196] Obtain the pressure value of the protection component; if the pressure value of the protection component exceeds a first pressure threshold, determine that the debris accumulation state of the protection component is a dense debris state; if the pressure value of the protection component exceeds a second pressure threshold and does not exceed the first pressure threshold, determine that the debris accumulation state of the protection component is a dispersed debris state, the first pressure threshold is greater than the second pressure threshold; if the pressure value of the protection component does not exceed the second pressure threshold, determine that the debris accumulation state of the protection component is a sparse debris state.

[0197] In some embodiments, when the processor 200 implements determining the debris accumulation state of the protection component according to the real-time status information, it is used to implement:

[0198] Obtain the light reflection intensity and / or light reflection angle corresponding to the protection component; determine the debris accumulation state of the protection component according to the light reflection intensity and / or light reflection angle.

[0199] In some embodiments, when the processor 200 implements determining the debris accumulation state of the protection component according to the real-time status information, it is used to implement:

[0200] Obtain a real-time image of the protection component, perform feature extraction on the real-time image to obtain debris feature information; determine the debris accumulation state of the protection component according to the debris feature information.

[0201] In some embodiments, after the processor 200 implements responding to the self-cleaning instruction, it is further used to implement:

[0202] If it is detected that the robot is in the cutting mode, control the robot to stop performing the cutting action.

[0203] In some embodiments, when the processor 200 implements controlling the robot to move so that the target contacts the protection component, it is used to implement:

[0204] Control the robot to move within the cleaning area so that the target in the cleaning area contacts the protection component.

[0205] In some embodiments, when the processor 200 is implemented to control the robot to move within a cleaning area such that an object in the cleaning area contacts the protection component, it is used to implement:

[0206] Determine the cleaning area corresponding to the robot; obtain the real-time position of the robot, and generate a cleaning path based on the real-time position and the cleaning area; control the robot to move within the cleaning area based on the cleaning path such that the object in the cleaning area contacts the protection component.

[0207] In some embodiments, when the processor 200 is implemented to determine the cleaning area corresponding to the robot, it is used to implement:

[0208] Obtain the image information and / or working path information collected by the robot; based on the image information and / or the working path information, determine the area to be cut by the robot, and use the area to be cut as the cleaning area.

[0209] In some embodiments, the processor 200 is further used to implement:

[0210] If the working mode of the robot is switched from the cleaning mode to the cutting mode, then control the protection component to adjust to the cutting height, and control the robot to move to the working position to perform a cutting action.

[0211] In some embodiments, before the processor 200 is implemented to control the protection component of the robot to adjust to the cleaning height in contact with the object, it is further used to implement:

[0212] Obtain the image information corresponding to the object; based on the image information corresponding to the object, perform feature extraction on the object to determine the height of the object; based on the height of the object, determine the cleaning height.

[0213] In some embodiments, the surface characteristics of the object can form contact friction with the protection component to remove debris.

[0214] An embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and the computer program includes program instructions. The processor executes the program instructions to implement any self-cleaning method of the robot provided in the embodiments of the present application. For example, when the computer program is loaded by the processor, the following steps can be executed:

[0215] Obtain a self-cleaning instruction; in response to the self-cleaning instruction, control the protection component of the robot to adjust to the cleaning height in contact with the object; control the robot to move such that the object contacts the protection component to clean the debris on the protection component.

[0216] For the specific implementation of each of the above operations, reference may be made to the foregoing embodiments, which will not be elaborated herein.

[0217] Among them, the computer-readable storage medium may be the internal storage unit of the robot in the foregoing embodiments, such as the hard disk or memory of the robot. The computer-readable storage medium may also be an external storage device of the robot, such as a plug-in hard disk equipped on the robot, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0218] In the description of the present application, it should be noted that, unless otherwise clearly defined and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection. It may be a mechanical connection or an electrical connection. It may be directly connected or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application may be understood according to specific circumstances.

[0219] In the present application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0220] The foregoing disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and / or the use of other materials.

[0221] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

Claims

1. A robot self-cleaning method, characterized in that: include: Get self-cleaning instructions; In response to the self-cleaning instruction, controlling the protection component of the robot to adjust to a cleaning height in contact with the target object; Controlling the robot to move so that the target object contacts the protection component to clean the debris on the protection component; Wherein, the robot includes at least a cleaning mode and a cutting mode, the protection component is in a first position in the cleaning mode, and the protection component is in a second position in the cutting mode; the height of the first position is smaller than the height of the second position.

2. The method according to claim 1, characterized in that The obtaining of the self-cleaning instruction comprises: Obtaining a debris accumulation state of the protection component; Determining whether the protection component needs to be cleaned according to the debris accumulation state; If the protection component needs to be cleaned, a self-cleaning instruction is generated.

3. The method according to claim 2, characterized in that The obtaining of the debris accumulation state of the protection component includes: Detecting the protection component to obtain real-time status information of the protection component; A debris accumulation state of the protection component is determined based on the real-time state information.

4. The method according to claim 2, characterized in that: The determining whether the protection component needs to be cleaned according to the debris accumulation state includes: If the debris accumulation state is a debris dense state or a debris scattered state, it is determined that the protection component needs to be cleaned; If the debris accumulation state is a state of little debris, it is determined that the protection component does not need to be cleaned.

5. The method according to claim 3, characterized in that: Determining the debris accumulation state of the protection component according to the real-time state information includes: Obtaining a pressure value of the protection component; If the pressure value of the protection component exceeds a first pressure threshold, determining that the debris accumulation state of the protection component is a debris dense state; If the pressure value of the protection component exceeds the second pressure threshold and does not exceed the first pressure threshold, it is determined that the debris accumulation state of the protection component is a debris dispersion state, and the first pressure threshold is greater than the second pressure threshold; If the pressure value of the protection component does not exceed the second pressure threshold, it is determined that the debris accumulation state of the protection component is a debris scarce state.

6. The method according to claim 3, characterized in that: Determining the debris accumulation state of the protection component according to the real-time state information includes: Obtaining the light reflection intensity and / or light reflection angle corresponding to the protection component; The debris accumulation state of the protection component is determined according to the light reflection intensity and / or the light reflection angle.

7. The method according to claim 3, characterized in that Determining the debris accumulation state of the protection component according to the real-time state information includes: Acquire a real-time image of the protection component, and perform feature extraction on the real-time image to obtain debris feature information; A debris accumulation state of the protection component is determined based on the debris characteristic information.

8. The method according to claim 1, characterized in that After responding to the self-cleaning instruction, the method further comprises: If it is detected that the robot is in the cutting mode, the robot is controlled to stop performing the cutting action.

9. The method according to claim 1, characterized in that: The controlling the robot to move so that the target object contacts the protection component includes: The robot is controlled to move in a cleaning area so that a target object in the cleaning area contacts the protection component.

10. The method according to claim 9, characterized in that The controlling the robot to move in the cleaning area so that the target object in the cleaning area contacts the protection component includes: Determine a cleaning area corresponding to the robot; Acquiring the real-time position of the robot, and generating a cleaning path according to the real-time position and the cleaning area; The robot is controlled to move within the cleaning area based on the cleaning path, so that the target object in the cleaning area contacts the protection component.

11. The method according to claim 10, characterized in that The determining the cleaning area corresponding to the robot includes: Acquiring image information and / or work path information collected by the robot; According to the image information and / or the work path information, the area to be cut of the robot is determined, and the area to be cut is used as the cleaning area.

12. The method according to claim 1, characterized in that The method further comprises: If the working mode of the robot is switched from the cleaning mode to the cutting mode, the protection component is controlled to be adjusted to the cutting height, and the robot is controlled to move to the working position to perform the cutting action.

13. The method according to claim 1, characterized in that Before the protective component of the robot is controlled to be adjusted to a cleaning height in contact with the target object, the method further includes: Acquiring image information corresponding to the target object; Extracting features of the target object according to the image information corresponding to the target object to determine the height of the target object; The cleaning height is determined according to the height of the target object.

14. The method according to any one of claims 1 to 13, characterized in that: The surface characteristics of the target object can form contact friction with the protection component to remove debris.

15. A robot, characterized in that: The robot comprises a body, a cutting mechanism, and a protection component. The cutting mechanism comprises a cutting component and a driving component. The driving component is in transmission connection with the cutting component and is used to drive the cutting component to cut the object to be cut. The protection component is arranged at the bottom of the body and is formed with a containing structure. The containing structure is used to partially cover the cutting component. The working part of the cutting component is exposed and is used to cut the object to be cut. The robot also comprises a memory and a processor. The memory is used to store computer programs; The processor is used to implement the self-cleaning method of the robot as described in any one of claims 1 to 14 when executing the computer program.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the self-cleaning method of the robot according to any one of claims 1 to 14 is implemented.

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