Control method of self-moving robot, self-moving robot and storage medium

Abstract

The invention discloses a control method of a self-moving robot, the self-moving robot and a storage medium, the robot comprises a machine body, a cutting mechanism and a cleaning mechanism, the cutting mechanism is movably arranged on the side, close to a chassis, of the machine body and used for executing cutting action, and the cleaning mechanism is used for cleaning the cutting mechanism; the cleaning mechanism can move relative to the chassis and is arranged between the chassis and the cutting mechanism; the method comprises the steps that a cutting mechanism is controlled to execute corresponding actions according to the current working mode of the self-moving robot, and the working mode comprises a switchable cutting mode and a switchable cleaning mode; in the cutting mode, the cutting mechanism is controlled to rotate relative to the chassis and the cleaning mechanism to execute the cutting action; in the cleaning mode, the cutting mechanism is controlled to move towards the cleaning mechanism to be mutually coupled, the cutting mechanism is controlled to drive the cleaning mechanism to rotate relative to the chassis so as to clean the side, close to the cutting mechanism, of the chassis, the chassis can be automatically cleaned without manual operation, the cleaning effect is good, and the use experience of the self-moving robot is improved.

Description

Technical Field

[0001] The present application relates to the field of self-propelled robots, and in particular to a control method for a self-propelled robot, a self-propelled robot and a storage medium. Background Art

[0002] In order to reduce the labor intensity and cost of lawn maintenance, self-propelled robots for cutting and mowing lawns, such as lawn mowers, have been developed.

[0003] In currently common lawn mowers, the cutting assembly used for cutting is often set on the chassis of the lawn mower, but grass clippings generated during mowing the lawn will splash onto the chassis of the lawn mower and accumulate in the gap between the cutting assembly and the chassis, causing the weight of the lawn mower to increase and affecting the rotation of the cutting assembly, thereby reducing the mowing efficiency. It is also not easy to clean, resulting in a poor user experience. Summary of the invention

[0004] The present application provides a control method for a self-moving robot, a self-moving robot and a storage medium, aiming to realize automatic cleaning of a chassis of the self-moving robot and obtain a better cleaning effect.

[0005] In a first aspect, the present application provides a control method for a self-propelled robot, comprising:

[0006] The self-propelled robot at least comprises: a machine body, a cutting mechanism and a cleaning mechanism, wherein the machine body is provided with a chassis, the cutting mechanism is movably arranged on a side of the machine body close to the chassis and is used to perform a cutting action, and the cleaning mechanism can move relative to the chassis, and the cleaning mechanism is arranged between the chassis and the cutting mechanism;

[0007] Methods include:

[0008] Controlling the cutting mechanism to perform corresponding actions according to the current working mode of the self-propelled robot, wherein the working mode of the self-propelled robot includes a switchable cutting mode and a cleaning mode;

[0009] Wherein, in the cutting mode, the cutting mechanism is controlled to rotate relative to the chassis and the cleaning mechanism to perform the cutting action;

[0010] In the cleaning mode, the cutting mechanism is controlled to move toward the cleaning mechanism so that the cutting mechanism and the cleaning mechanism form a coupling cooperation, and the cutting mechanism is controlled to drive the cleaning mechanism to rotate relative to the chassis so that the cleaning mechanism cleans the side of the chassis close to the cutting mechanism.

[0011] In an optional embodiment, the method further comprises:

[0012] When the self-propelled robot switches from the cleaning mode to the cutting mode, the cutting mechanism is controlled to move in a direction away from the cleaning mechanism so that the cutting mechanism is decoupled from the cleaning mechanism.

[0013] In an optional embodiment, the method further comprises:

[0014] In the cutting mode, the cutting mechanism is controlled to rotate at a first speed relative to the chassis;

[0015] In the cleaning mode, the cutting mechanism is controlled to rotate at a second rotational speed relative to the chassis, wherein the second rotational speed is lower than the first rotational speed.

[0016] In an optional embodiment, the method further comprises:

[0017] When it is detected that the cutting mechanism and the cleaning mechanism are coupled, the cutting mechanism is controlled to rotate at a second speed;

[0018] When it is detected that the cutting mechanism is decoupled from the cleaning mechanism, the cutting mechanism is controlled to perform cutting work at a first rotation speed.

[0019] In an optional embodiment, the method further comprises:

[0020] Detect the accumulation of foreign matter between the chassis and the cutting mechanism and obtain corresponding sensor data;

[0021] The self-propelled robot is controlled to switch to cutting mode or cleaning mode according to the sensor data.

[0022] In an optional embodiment, controlling the self-propelled robot to switch to a cutting mode or a cleaning mode according to the sensor data includes:

[0023] Determine the weight of foreign matter accumulation between the chassis and the cutting mechanism based on the sensor data;

[0024] When the weight of the accumulated foreign matter exceeds a weight threshold, the self-propelled robot is controlled to switch to a cleaning mode;

[0025] When the weight of the accumulated foreign matter does not exceed the weight threshold, the self-mobile robot is controlled to switch to the cutting mode.

[0026] and / or,

[0027] Determine the volume of foreign matter accumulation between the chassis and the cutting mechanism based on the sensor data;

[0028] When the volume of foreign matter accumulation exceeds a volume threshold, the self-moving robot is controlled to switch to a cleaning mode;

[0029] When the volume of foreign matter accumulation does not exceed the volume threshold, the self-mobile robot is controlled to switch to the cutting mode.

[0030] In an optional embodiment, the method further comprises:

[0031] When the self-propelled robot works in the cutting mode for more than a preset cutting time threshold, and / or when a first operation instruction instructing the self-propelled robot to switch to the cleaning mode is received, the self-propelled robot is controlled to switch from the cutting mode to the cleaning mode.

[0032] In an optional embodiment, the method further comprises:

[0033] When the self-propelled robot operates in the cleaning mode for more than a preset cleaning time threshold, and / or when a second operation instruction instructing the self-propelled robot to switch to the cutting mode is received, the self-propelled robot is controlled to switch from the cleaning mode to the cutting mode.

[0034] In an optional embodiment, the cutting mechanism comprises at least:

[0035] A cutting assembly is movably arranged on a side of the machine body close to the chassis, and the cutting assembly can be coupled with or separated from the cleaning mechanism;

[0036] A first driving assembly, used for driving the cutting assembly to rotate relative to the chassis;

[0037] A second driving assembly, used for driving the cutting assembly to move in a direction toward or away from the chassis;

[0038] The method also includes:

[0039] In the cutting mode, the first driving assembly is controlled to drive the cutting assembly to rotate relative to the chassis;

[0040] In the cleaning mode, the second driving assembly is controlled to drive the cutting assembly to move toward the cleaning mechanism so that the cutting assembly is coupled to the cleaning mechanism, and the first driving assembly is controlled to drive the cutting assembly to rotate relative to the chassis to drive the cleaning mechanism to rotate relative to the chassis, so that the cleaning mechanism cleans the side of the chassis close to the cutting mechanism.

[0041] In a second aspect, the present application further provides a self-propelled robot, comprising at least:

[0042] A machine body, wherein the machine body is provided with a chassis;

[0043] A cutting mechanism, which is movably arranged on one side of the machine body close to the chassis and is used to perform a cutting action;

[0044] A cleaning mechanism, which is movable relative to the chassis and is disposed between the chassis and the cutting mechanism; and

[0045] A controller, at least connected to the cutting mechanism, for controlling the cutting mechanism to perform corresponding actions according to the current working mode of the self-propelled robot, wherein the working mode of the self-propelled robot includes a switchable cutting mode and a cleaning mode;

[0046] Wherein, in the cutting mode, the controller controls the cutting mechanism to rotate relative to the chassis and the cleaning mechanism to perform the cutting action;

[0047] In the cleaning mode, the controller controls the cutting mechanism to move toward the cleaning mechanism so that the cutting mechanism and the cleaning mechanism form a coupling cooperation, and controls the cutting mechanism to drive the cleaning mechanism to rotate relative to the chassis so that the cleaning mechanism cleans the side of the chassis close to the cutting mechanism.

[0048] In an optional embodiment, the cutting mechanism comprises at least a cutting assembly and a first driving assembly, wherein the first driving assembly is used to drive the cutting assembly to rotate to perform a cutting action;

[0049] Among them, the cutting assembly includes a cutter disc and a cutting blade for cutting the object to be cut. The cutter disc is arranged at the bottom of the machine body and is connected to the output shaft of the first drive assembly. The side of the cutter disc close to the cleaning mechanism can form a coupling with the cleaning mechanism, and the cutting blade is installed on the cutter disc.

[0050] In an optional embodiment, the cleaning mechanism includes a scraper assembly, which is rotatably mounted on the bottom of the machine body and is disposed separately from the cutter disc, and in the cutting mode, the cutting mechanism is coupled to the cutter disc;

[0051] The scraper assembly includes a scraper portion and a coupling portion that can rotate and separate synchronously with the cutter disc, and the scraper portion is arranged on the peripheral side of the coupling portion.

[0052] In a third aspect, the present application further provides a computer storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, a self-propelled robot equipped with a processor implements any one of the control methods provided in the embodiments of the present application.

[0053] In summary, the embodiments of the present application provide a control method for a self-mobile robot, a self-mobile robot and a storage medium, wherein the self-mobile robot at least includes: a machine body, a cutting mechanism and a cleaning mechanism, the machine body is provided with a chassis, the cutting mechanism is movably arranged on a side of the machine body close to the chassis and is used to perform a cutting action, the cleaning mechanism can move relative to the chassis, and the cleaning mechanism is arranged between the chassis and the cutting mechanism; the method includes: controlling the cutting mechanism to perform corresponding actions according to the current working mode of the self-mobile robot, the working mode of the self-mobile robot includes a switchable cutting mode and a cleaning mode; wherein, in the cutting mode, the cutting mechanism is controlled to rotate relative to the chassis and the cleaning mechanism to perform a cutting action; in the cleaning mode, the cutting mechanism is controlled to move toward the cleaning mechanism so that the cutting mechanism and the cleaning mechanism form a coupling cooperation, and the cutting mechanism is controlled to drive the cleaning mechanism to rotate relative to the chassis, so that the cleaning mechanism cleans the side of the chassis close to the cutting mechanism. The embodiment of the present application controls the action of the cutting mechanism to couple or disengage the cutting mechanism from the cleaning mechanism, and drives the cutting mechanism to rotate when the cutting mechanism is coupled to the cleaning mechanism to clean the chassis of the machine body. Automatic cleaning of the chassis is achieved without manual operation by the user, and has a good cleaning effect, thereby improving the user experience of self-propelled robots such as lawn mowers.

[0054] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and cannot limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0056] Figure 1 A schematic diagram of the structure of an implementation of a self-moving robot provided in an embodiment of the present application;

[0057] Figure 2 A schematic diagram of the structure of another embodiment of the self-moving robot provided in the embodiment of the present application;

[0058] Figure 3 An exploded view of the structure of an implementation manner of a self-moving robot provided in an embodiment of the present application;

[0059] Figure 4 A schematic diagram of the structure of an implementation of a cutting assembly and a cleaning mechanism in a self-moving robot provided in an embodiment of the present application;

[0060] Figure 5 A schematic structural diagram of an implementation of a scraper assembly in a self-propelled robot provided in an embodiment of the present application;

[0061] Figure 6 A schematic structural diagram of another implementation of a scraper assembly in a self-moving robot provided in an embodiment of the present application;

[0062] Figure 7 A schematic diagram of a step flow of an implementation method of a self-moving robot control method provided in an embodiment of the present application;

[0063] Figure 8 A schematic flowchart of another implementation of the control method for a self-moving robot provided in an embodiment of the present application.

[0064] Reference numerals:

[0065] 10. Machine body; 11. Vehicle body; 111. Chassis; 112. Side panel; 12. Travel assembly; 20. Cutting mechanism; 21. Cutting assembly; 211. Cutter disc; 212. Cutting blade; 213. First tooth groove; 22. First drive assembly; 221. Output shaft; 23. Second drive assembly; 30. Cleaning mechanism; 31. Scraper assembly; 311. Scraper part; 3111. First scraper; 3112. Second scraper; 3113. Third scraper; 312. Coupling part; 313. Second tooth groove; 32. Bearing; 40. Sealing part. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0067] In order to reduce the labor intensity and cost of lawn maintenance, self-propelled robots for cutting and mowing lawns, such as lawn mowers, have been developed.

[0068] In currently common lawn mowers, the blade disc used for cutting is often set on the chassis of the lawn mower. However, grass clippings generated during lawn mowing will splash onto the chassis of the lawn mower and accumulate in the gap between the blade disc and the chassis, causing the weight of the lawn mower to increase and affecting the rotation of the blade disc, thereby reducing the mowing efficiency. It is also not easy to clean, resulting in a poor user experience.

[0069] Based on this, the present application provides a control method for a self-moving robot, a self-moving robot and a storage medium, aiming to realize automatic cleaning of the chassis of the self-moving robot and obtain better cleaning effect.

[0070] See also Figures 1 to 6 The control method provided in this application is applied to a self-propelled robot, so the structure of the self-propelled robot is first specifically described below:

[0071] The self-propelled robot at least includes a machine body 10, a cutting mechanism 20 and a cleaning mechanism 30. The machine body 10 is provided with a chassis 111 located at the bottom. The cutting mechanism 20 is movably arranged on a side of the machine body 10 close to the chassis 111 and is used to perform a cutting action, thereby cutting the object to be cut. The cleaning mechanism 30 can move relative to the chassis 111, and the cleaning mechanism 30 is arranged between the chassis 111 and the cutting mechanism 20.

[0072] In an optional embodiment, if Figures 1 to 3 As shown, the machine body 10 includes a vehicle body 11 and a traveling assembly 12, wherein a chassis 111 is arranged at the bottom of the vehicle body 11, a cutting mechanism 20 is movably connected to the chassis 111, and the traveling assembly 12 is arranged on the vehicle body 11, and is used to drive the vehicle body 11 to move forward, so that the vehicle body 11 can drive the cutting mechanism 20 to cut the object to be cut along a preset trajectory, such as grass on a lawn.

[0073] In an optional embodiment, the cutting mechanism 20 at least includes a cutting assembly 21 and a first driving assembly 22, wherein the first driving assembly 22 is used to drive the cutting assembly 21 to rotate so that the cutting assembly 21 can cut the object to be cut. The cutting assembly 21 includes a cutter disc 211 and a cutting blade 212 for cutting the object to be cut, wherein the cutter disc 211 is arranged at the bottom of the vehicle body 11 and is in driving connection with the output shaft 221 of the first driving assembly 22, and the cutting blade 212 is installed on the cutter disc 211, so that the first driving assembly 22 can drive the cutter disc 211 and the cutting blade 212 to rotate through the output shaft 221, so as to improve the cutting efficiency and ensure the neat cutting of the lawn. The first driving assembly 22 can be, but is not limited to, a driving motor, and the cutter disc 211 is connected to the output shaft 221 of the driving motor.

[0074] In an optional embodiment, the cutting blade 212 includes a plurality of mowing blades, and the plurality of mowing blades are detachably mounted on the cutter disc 211, so that the first drive assembly 22 can drive the cutter disc 211 to rotate via the output shaft 221, thereby driving the plurality of mowing blades to mow the lawn, so that the plurality of mowing blades can mow the lawn together, which not only improves the cutting efficiency but also ensures the neat cutting of the lawn.

[0075] In an optional embodiment, the chassis 111 also includes a side panel 112 arranged on the side of the cutting mechanism 20, which is used to protect the cutting mechanism 20 to prevent the cutting mechanism 20 from cutting the human body or other objects that are not suitable for cutting, thereby improving the safety of the cutting operation.

[0076] In an optional embodiment, the self-mobile robot has at least two working modes: a cutting mode and a cleaning mode. In the cutting mode, the cutting mechanism 20 is controlled to rotate relative to the chassis 111 and the cleaning mechanism 30 to perform a cutting action; in the cleaning mode, the cutting mechanism 20 is controlled to move toward the cleaning mechanism 30 so that the cutting mechanism 20 and the cleaning mechanism 30 form a coupling cooperation, and the cutting mechanism 20 is controlled to drive the cleaning mechanism 30 to rotate relative to the chassis 111, so that the cleaning mechanism 30 cleans the side of the chassis 111 close to the cutting mechanism 20.

[0077] Specifically, in the cutting mode, the cutting assembly 21 is separated from the cleaning mechanism 30, so that the first drive assembly 22 can provide cutting power to the cutting assembly 21 alone to ensure the cutting effect of the cutting assembly 21. In the cleaning mode, the cutting assembly 21 is coupled with the cleaning mechanism 30, and the first drive assembly 22 provides power for the rotation of the cutting assembly 21 and the cleaning mechanism 30, so that the cleaning mechanism 30 can clean foreign objects at the bottom of the vehicle body 11, especially foreign objects between the cutting mechanism 20 and the chassis 111.

[0078] In an optional embodiment, the blade disc 211 can be selectively coupled or separated from the cleaning mechanism 30, and after the cleaning mechanism 30 is coupled to the blade disc 211, at least part of the structure of the cleaning mechanism 30 can rotate synchronously with the blade disc 211 to clean foreign matter accumulated at the bottom of the vehicle body 11. When the cleaning mechanism 30 is separated from the blade disc 211, the blade disc 211 will not drive the rotation of the cleaning mechanism 30, and the first drive assembly 22 can provide cutting power for the cutting blade 212 alone.

[0079] It should be noted that foreign matter includes but is not limited to grass clippings generated by the self-propelled robot during lawn mowing operations.

[0080] In an optional embodiment, the cutting mechanism 20 also includes a second drive component 23, which is used to drive the cutting component 21 to move in a direction toward the chassis 111 or away from the chassis 111. The controller can control the second drive component 23 to drive the cutting component 21 to move toward the cleaning mechanism 30, so that the cutting component 21 is coupled with the cleaning mechanism 30, specifically, the blade 211 is coupled with the cleaning mechanism 30.

[0081] In an optional embodiment, the cutter disc 211 has a highest point and a lowest point and can move between the highest point and the lowest point. In the cleaning mode, the cutter disc 211 is at the highest point, and the cutter disc 211 is coupled to the cleaning mechanism 30, so that the drive assembly can drive the cleaning mechanism 30 to rotate through the cutter disc 211 to clean up foreign objects accumulated at the bottom of the vehicle body 11; in the cutting mode, the cutter disc 211 is at the lowest point, and the cutter disc 211 is separated from the cleaning mechanism 30, so that it can provide cutting power to the cutting blade 212 alone to ensure the cutting effect of the cutting blade 212.

[0082] In an optional embodiment, if Figures 3 to 6 As shown, the cleaning mechanism 30 includes a scraper assembly 31, which is rotatably mounted at the bottom of the vehicle body 11 and is separated from the cutter disc 211. When the cutter disc 211 moves to the highest point, the cutter disc 211 is coupled to the cleaning mechanism 30 so that the scraper assembly 31 can clean foreign objects between the cutter disc 211 and the vehicle body 11.

[0083] In an optional embodiment, the scraper assembly 31 includes a scraper portion 311 and a coupling portion 312 that can rotate and separate synchronously with the cutter disc 211. The scraper portion 311 is arranged on the peripheral side of the coupling portion 312 to clean foreign matter accumulated at the bottom of the vehicle body 11 when the cutting blade 212 is cutting.

[0084] It should be noted that the specific configuration of the coupling portion 312 is not limited in this application, as long as the cutter disc 211 can be connected or disconnected with the scraper portion 311. For example, the cutter disc 211 is provided with a first tooth groove 213, and the coupling portion 312 is a second tooth groove 313 that cooperates with the first tooth groove 213. When the cutter disc 211 moves to the highest point, the first tooth groove 213 and the second tooth groove 313 form a coupling lock, so that the cutter disc 211 can drive the scraper portion 311 to rotate, thereby cleaning foreign matter between the cutter disc 211 and the vehicle body 11. For other structures of the coupling portion 312, this application will not elaborate on them one by one.

[0085] In an optional embodiment, if Figure 5 As shown, the scraper part 311 includes a first scraper 3111 and a second scraper 3112, and the first extension part and the second extension part are extended in a relatively far direction on both sides of the coupling part 312, and the first scraper 3111 and the second scraper 3112 are respectively arranged at both ends of the first extension part and the second extension part, and are used to clean foreign objects at the bottom of the vehicle body 11, which can not only ensure the force balance of the scraper assembly 31 during the rotation process, but also improve the cleaning efficiency of the scraper assembly 31. Among them, the shape of the first scraper 3111 and the second scraper 3112 can be, but not limited to, a rectangular structure.

[0086] In an optional embodiment, if Figure 6 As shown, the scraper portion 311 includes a third scraper 3113, and a third extension portion and a fourth extension portion extend from both sides of the coupling portion 312 in a relatively distant direction. The third scraper 3113 is arranged at the upper ends of the third extension portion and the fourth extension portion, and is used to clean foreign matter at the bottom of the vehicle body 11. The shape of the third scraper 3113 can be, but is not limited to, a conical structure.

[0087] The first scraper 3111 , the second scraper 3112 and the third scraper 3113 include, for example, brushes or soft rubber strips.

[0088] In an optional embodiment, the cutting assembly 21 and the cleaning mechanism 30 are arranged below the chassis 111. The cleaning mechanism 30 includes a bearing member 32, and the scraper assembly 31 is rotatably mounted on the vehicle body 11 through the bearing member 32 and is coaxially arranged with the cutter disc 211 to ensure smooth rotation of the scraper assembly 31.

[0089] In an optional embodiment, the bearing member 32 includes a cross roller bearing, which has an outer ring portion and an inner ring portion concentrically arranged with the outer ring portion, the inner ring portion is fixed on the chassis 111, and the scraper assembly 31 is fixed on the outer ring portion so as to withstand the load of the scraper assembly 31 in all directions, thereby ensuring the service life of the cleaning mechanism 30.

[0090] In an optional embodiment, the self-propelled robot further includes a speed regulator, which is electrically connected to the first driving assembly 22 and is used to adjust the rotation speed of the cutting assembly 21 .

[0091] In an optional embodiment, the self-propelled robot also includes a detection component, which is electrically connected to the speed regulator and is used to detect the coupling state of the cutter disc 211 and the scraper assembly 31 and / or the accumulation of foreign matter, so that when the self-propelled robot is blocked by foreign matter, the cutter disc 211 can automatically rise to the highest point and then couple with the cleaning mechanism 30, so that the cleaning mechanism 30 can clean the blocked grass under the drive of the cutter disc 211, and can also remove the grass residue on the chassis 111; when the detection component detects that the foreign matter is cleaned, the cutter disc 211 automatically lowers to the lowest point and separates from the cleaning mechanism 30, so that the cutter disc 211 can independently drive the cutting blade 212 to perform cutting work.

[0092] It should be noted that the speed regulator can adjust the speed of the driving component according to the control signal, and the control signal includes but is not limited to the control signal sensed by the detection component, such as the coupling status signal of the cutter disc 211 and the cleaning mechanism 30 or the signal that the cutter disc 211 is close to the highest point or close to the lowest point, etc.

[0093] In an optional embodiment, the self-propelled robot further includes a seal 40, a base hole is provided on the chassis 111, a drive motor is installed on the side of the chassis 111 away from the cleaning mechanism 30, an output shaft 221 of the drive motor passes through the base hole and is connected to the cutter head 211, and the seal 40 is provided between the chassis 111 and the drive motor to seal the gap between the base hole and the drive motor to prevent foreign matter, dust and other impurities from entering the vehicle body 11 and / or the interior of the drive motor. The cleaning mechanism 30 is provided on the outside of the seal 40.

[0094] The following describes a specific manner in which the control method is applied to the self-propelled robot described above. However, it should be noted that the control method is not limited to being applied to the self-propelled robot described above.

[0095] like Figure 7 As shown, the control method provided in the embodiment of the present application includes:

[0096] The cutting mechanism 20 is controlled to perform corresponding actions according to the current working mode of the self-propelled robot. The working mode of the self-propelled robot includes a switchable cutting mode and a cleaning mode.

[0097] Among them, controlling the cutting mechanism 20 to perform corresponding actions according to the current working mode of the self-propelled robot includes at least the following two independent steps:

[0098] Step S101, in cutting mode, controlling the cutting mechanism 20 to rotate relative to the chassis 111 and the cleaning mechanism 30 to perform a cutting action;

[0099] Step S102, in the cleaning mode, control the cutting mechanism 20 to move toward the cleaning mechanism 30 so that the cutting mechanism 20 and the cleaning mechanism 30 form a coupling cooperation, and control the cutting mechanism 20 to drive the cleaning mechanism 30 to rotate relative to the chassis 111, so that the cleaning mechanism 30 cleans the side of the chassis 111 close to the cutting mechanism 20.

[0100] Specifically, in the cutting mode, the cutting assembly 21 is separated from the cleaning mechanism 30 , and the cutting assembly 21 is independently controlled to rotate to perform the cutting action, so as to ensure the cutting power and cutting effect of the cutting assembly 21 .

[0101] In the cleaning mode, the cutting mechanism 20 is controlled to move toward the cleaning mechanism 30 so that the cutting mechanism 20 is coupled with the cleaning mechanism 30, and then the cutting mechanism 20 is controlled to rotate. At this time, the cutting mechanism 20 drives the cleaning mechanism 30 coupled thereto to rotate to clean the side of the chassis 111 close to the cutting mechanism 20.

[0102] In an optional embodiment, the rotation of the cutting mechanism 20 relative to the chassis 111 and the cleaning mechanism 30 specifically means that at least a portion of the structure in the cutting mechanism 20 rotates relative to the chassis 111 and the cleaning mechanism 30; similarly, the cutting mechanism 20 drives the cleaning mechanism 30 to rotate relative to the chassis 111 specifically means that at least a portion of the structure in the cutting mechanism 20 rotates, and at the same time drives the cleaning mechanism 30 to rotate relative to the chassis 111.

[0103] In an optional embodiment, the cutting mechanism 20 includes at least a cutting assembly 21 and a first driving assembly 22, wherein the first driving assembly 22 is used to drive the cutting assembly 21 to rotate so that the cutting assembly 21 can cut the object to be cut. The cutting assembly 21 includes a cutter disc 211 and a cutting blade 212 for cutting the object to be cut, wherein the cutter disc 211 is disposed at the bottom of the vehicle body 11 and is in driving connection with an output shaft 221 of the first driving assembly 22.

[0104] In an optional embodiment, the cutting mechanism 20 at least includes:

[0105] The cutting assembly 21 is movably disposed on one side of the machine body 10 close to the chassis 111, and the cutting assembly 21 can be coupled to or separated from the cleaning mechanism 30;

[0106] The first driving assembly 22 is used to drive the cutting assembly 21 to rotate relative to the chassis 111;

[0107] The second driving assembly 23 is used to drive the cutting assembly 21 to move toward the chassis 111 or away from the chassis 111;

[0108] like Figure 8 As shown, the method also includes:

[0109] Step S201, in cutting mode, controlling the first driving assembly 22 to drive the cutting assembly 21 to rotate relative to the chassis 111;

[0110] Step S202, in the cleaning mode, control the second driving component 23 to drive the cutting component 21 to move toward the cleaning mechanism 30 so that the cutting component 21 is coupled to the cleaning mechanism 30, and control the first driving component 22 to drive the cutting component 21 to rotate relative to the chassis 111 to drive the cleaning mechanism 30 to rotate relative to the chassis 111, so that the cleaning mechanism 30 cleans the side of the chassis 111 close to the cutting mechanism 20.

[0111] Specifically, the first drive component 22 and the second drive component 23 are independent of each other. In the cutting mode, only the first drive component 22 needs to be controlled to drive the cutting component 21 to rotate relative to the chassis 111. When switching from the cutting mode to the cleaning mode, the second drive component 23 needs to be controlled to drive the cutting component 21 to move toward the cleaning mechanism 30. In the process of the cutting component 21 moving toward the cleaning mechanism 30, the first drive component 22 can be controlled to drive the cutting component 21 to keep rotating or stop rotating, or the first drive component 22 can be controlled to drive the cutting component 21 to reduce the rotation speed. It should be understood that reducing the rotation speed of the cutting component 21 also helps to improve the safety of the operation, facilitates the coupling and docking of the cutting component 21 and the cleaning mechanism 30, and avoids potential safety hazards caused by high-speed rotation.

[0112] The above technical solution not only simplifies the transmission structure between the cleaning component and the cutting component 21, shortens the power transmission path, and ensures that the power of the cutting blade 212 during cutting will not be affected by the cleaning component. At the same time, the foreign matter accumulated at the bottom of the vehicle body 11 can also be cleaned by the cleaning component, avoiding the problem of the cutting blade 212 being blocked due to the accumulation of foreign matter, and does not require manual cleaning, nor does it affect the rotation of the driving component, thereby improving the cutting efficiency of the self-propelled robot.

[0113] In an optional embodiment, the method further comprises:

[0114] When the self-propelled robot switches from the cleaning mode to the cutting mode, the cutting mechanism 20 is controlled to move in a direction away from the cleaning mechanism 30 so that the cutting mechanism 20 is decoupled from the cleaning mechanism 30 .

[0115] It should be understood that when the self-mobile robot switches to the cutting mode, the cutter disc 211 in the cutting mechanism 20 needs to be separated from the cleaning mechanism 30. The cutter disc 211 will not drive the rotation of the cleaning mechanism 30. The first drive assembly 22 can provide cutting power for the cutting blade 212 alone to ensure the cutting effect of the cutting blade 212.

[0116] In an optional embodiment, the method further comprises:

[0117] In the cutting mode, the cutting mechanism 20 is controlled to rotate at a first speed relative to the chassis 111;

[0118] In the cleaning mode, the cutting mechanism 20 is controlled to rotate relative to the chassis 111 at a second rotational speed, wherein the second rotational speed is lower than the first rotational speed.

[0119] It should be noted that in the cutting mode, the cutting component 21 needs to rotate at a high speed to achieve a better cutting effect. In the cleaning mode, the cutting component 21 is lifted and coupled with the cleaning component, and drives the cleaning component to rotate together with the chassis 111. Moreover, since in the cleaning mode, the cutting component 21 is coupled with the cleaning component, the energy consumption required for the cutting component 21 to maintain the same rotation speed is relatively large, which will have a greater impact on the endurance of the self-propelled robot. Therefore, in this embodiment, the cutting mechanism 20 is set to rotate at a relatively low speed in the cleaning mode.

[0120] Moreover, the rotation speed of the cutting mechanism 20 is reduced in the cleaning mode, which can effectively reduce the wear of the scraper in the cleaning mechanism 30, extend the service life of the scraper, and reduce the replacement frequency and maintenance cost.

[0121] In an optional embodiment, the method further comprises:

[0122] When it is detected that the cutting mechanism 20 and the cleaning mechanism 30 are coupled, the cutting mechanism 20 is controlled to rotate at a second speed;

[0123] When it is detected that the cutting mechanism 20 is decoupled from the cleaning mechanism 30 , the cutting mechanism 20 is controlled to perform the cutting operation at the first rotation speed.

[0124] Exemplarily, the self-propelled robot further includes a detection component, and the detection component is at least used to detect the coupling condition between the cutting mechanism 20 and the cleaning mechanism 30. For example, the detection component may use pressure detection or optical detection.

[0125] In an optional embodiment, the self-propelled robot further includes a speed regulator, the detection component is electrically connected to the speed regulator, and the speed regulator is electrically connected to the first drive component 22, and is used to adjust the rotation speed of the cutting component 21 according to the coupling between the cutting mechanism 20 and the cleaning mechanism 30 detected by the detection component. Specifically, the speed regulator controls the rotation speed of the cutter disc 211 in the cleaning mode to be lower than the rotation speed in the cutting mode, so as to improve the safety of the coupling between the cutter disc 211 and the cleaning component, and avoid potential safety hazards caused by the high-speed rotation of the cutter disc 211.

[0126] In an optional embodiment, the method further comprises:

[0127] Detect the accumulation of foreign matter between the chassis 111 and the cutting mechanism 20 to obtain corresponding sensing data;

[0128] The self-propelled robot is controlled to switch to cutting mode or cleaning mode according to the sensor data.

[0129] Specifically, the detection component is also used to detect the accumulation of foreign matter between the chassis 111 and the cutting mechanism 20 to obtain corresponding sensing data. Exemplarily, the accumulation of foreign matter includes but is not limited to at least one of the weight and volume of foreign matter accumulation between the chassis 111 and the cutting mechanism 20. Exemplarily, the detection component can use pressure sensing and / or optical sensing to detect the accumulation of foreign matter.

[0130] In an optional embodiment, controlling the self-propelled robot to switch to a cutting mode or a cleaning mode according to the sensor data includes:

[0131] Determine the weight of foreign matter accumulated between the chassis 111 and the cutting mechanism 20 according to the sensor data;

[0132] When the weight of the accumulated foreign matter exceeds a weight threshold, the self-propelled robot is controlled to switch to a cleaning mode;

[0133] When the weight of the accumulated foreign matter does not exceed the weight threshold, the self-mobile robot is controlled to switch to the cutting mode.

[0134] and / or,

[0135] Determine the volume of foreign matter accumulation between the chassis 111 and the cutting mechanism 20 according to the sensor data;

[0136] When the volume of foreign matter accumulation exceeds a volume threshold, the self-moving robot is controlled to switch to a cleaning mode;

[0137] When the volume of foreign matter accumulation does not exceed the volume threshold, the self-mobile robot is controlled to switch to the cutting mode.

[0138] It should be understood that when the weight of the accumulated foreign matter exceeds the weight threshold and / or the volume of the accumulated foreign matter exceeds the volume threshold, it indicates that too much foreign matter (such as grass clippings) has accumulated between the detection chassis 111 and the cutting mechanism 20. In this case, the mode is switched to the cleaning mode, and the cutting mechanism 20 is controlled to move toward the cleaning mechanism 30 so that the blade disc 211 in the cutting mechanism 20 is coupled with the cleaning component in the cleaning mechanism 30, and the speed regulator is controlled to control the blade disc 211 to reduce the rotation speed. At this time, the rotation speed of the blade disc 211 is lower than the output speed of the blade disc 211 in the cutting mode.

[0139] Exemplarily, the detection component includes a pressure sensor, which can detect the pressure borne by the cutting mechanism 20 or the pressure borne by the output shaft 221 of the drive motor to obtain sensor data, and judge whether the weight of the accumulated foreign matter exceeds the weight threshold based on the pressure represented by the sensor data, thereby controlling the self-moving robot to switch to cleaning mode or cutting mode.

[0140] Exemplarily, the detection component includes an optical sensor, which can optically detect the space between the chassis 111 and the cutting mechanism 20 to obtain sensor data, and determine whether the volume of foreign matter accumulation exceeds a volume threshold based on the sensor data, thereby controlling the self-mobile robot to switch to a cleaning mode or a cutting mode. The optical sensor includes but is not limited to an infrared sensor.

[0141] In an optional embodiment, the detection component includes a pressure sensor, which is disposed on the cutter disc 211 or the output shaft 221 of the drive motor, and is used to monitor the weight change of the cutter disc 211 so that the self-mobile robot can monitor the weight change of the cutter disc 211. When the value detected by the pressure sensor exceeds a preset threshold value, the self-mobile robot switches to a cleaning mode, controls the cutting mechanism 20 to move toward the cleaning mechanism 30, so that the cutter disc 211 in the cutting mechanism 20 is coupled with the cleaning component in the cleaning mechanism 30, and controls the speed regulator to control the cutter disc 211 to reduce the rotation speed.

[0142] In an optional embodiment, the pressure sensor includes but is not limited to a thin film pressure sensor, which has high sensitivity and anti-interference capabilities, and can further improve the accuracy of detecting the accumulation of grass clippings.

[0143] In some other embodiments, the detection component can also detect whether there are grass clippings on the blade 211 through other sensors, such as infrared sensors and optical sensors; wherein the infrared light of the infrared sensor will produce different reflection or absorption characteristics when encountering different substances, so that the infrared sensor can be used to detect the intensity of the reflected light of the grass clippings, and then determine the accumulation of the grass clippings.

[0144] Exemplarily, the infrared sensor is installed on the side panel 112 and is lower than the lowest position of the blade disc 211 so that it can obtain the accumulation of grass clippings on the blade disc 211 without being damaged by the movement of the blade disc 211; when the infrared sensor emits light and receives reflected light, the accumulation of grass clippings will change the surface characteristics, causing the intensity of the reflected light to change, so that the infrared sensor can determine the degree of accumulation of grass clippings by detecting this change.

[0145] In an optional embodiment, the optical sensor may be a laser sensor, which determines the accumulation degree of grass clippings on the blade disc 211 by emitting a laser beam and measuring the time and angle of its reflection.

[0146] In an optional embodiment, the optical sensor may also be a camera, which acquires a real-time image on the blade disc 211 and analyzes the accumulation of grass clippings through an image processing algorithm.

[0147] By detecting the volume and / or weight of foreign matter, the present solution can control the self-moving robot to switch to the cleaning mode or cutting mode at an appropriate time, thereby intelligently controlling the cutting mechanism 20 to perform rotational cutting when there is less accumulation of foreign matter, and actively controlling the cutting mechanism 20 to couple with the cleaning mechanism 30 when there is a lot of accumulation of foreign matter, and driving the cleaning mechanism 30 together with the cutting mechanism 20 to clean up the accumulated foreign matter.

[0148] In an optional embodiment, the method further comprises:

[0149] When the self-propelled robot works in the cutting mode for more than a preset cutting time threshold, and / or when a first operation instruction instructing the self-propelled robot to switch to the cleaning mode is received, the self-propelled robot is controlled to switch from the cutting mode to the cleaning mode.

[0150] Specifically, the triggering conditions for the self-propelled robot provided in the embodiment of the present application to switch from cutting mode to cleaning mode include at least one of the following conditions: working in cutting mode for more than a preset cutting time threshold; receiving a first operation instruction input by the user.

[0151] It should be noted that when the cutting time exceeds a preset threshold in the cutting mode, the self-propelled robot can automatically enter the cleaning mode to avoid the problem of the cutting mechanism 20 being blocked due to excessive accumulation of foreign matter between the chassis 111 and the cutting mechanism 20 due to the cutting action being continuously performed by the cutting mechanism 20 for a long time. In addition, the user can also input a first operation instruction to the self-propelled robot to actively control the self-propelled robot to switch to the cleaning mode. It should be understood that the above two trigger conditions are compatible to enhance the intelligence of the self-propelled robot.

[0152] In an optional embodiment, the method further comprises:

[0153] When the self-propelled robot operates in the cleaning mode for more than a preset cleaning time threshold, and / or when a second operation instruction instructing the self-propelled robot to switch to the cutting mode is received, the self-propelled robot is controlled to switch from the cleaning mode to the cutting mode.

[0154] Specifically, the triggering conditions for the self-moving robot provided in the embodiment of the present application to switch from the cleaning mode to the cutting mode include at least one of the following conditions: working in the cleaning mode for more than a preset cleaning time threshold; receiving a second operation instruction input by the user.

[0155] It should be noted that when the self-propelled robot works in the cleaning mode for a period exceeding the preset cutting time threshold, that is, the cleaning mechanism 30 has cleaned the space between the chassis 111 and the cutting mechanism 20 for a sufficient time, the self-propelled robot can automatically enter the cutting mode to ensure that the self-propelled robot has enough time to perform the cutting action and improve the cutting efficiency. In addition, the user can also input a second operation instruction to the self-propelled robot to actively control the self-propelled robot to switch to the cutting mode. It should be understood that the above two trigger conditions are compatible to improve the intelligence of the self-propelled robot.

[0156] An embodiment of the present application also provides a computer storage medium for computer-readable storage, wherein the computer storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of a control method 1 for a self-moving robot as provided in any one of the embodiments of the present application specification.

[0157] The computer storage medium may be an internal storage unit of the self-propelled robot of the aforementioned embodiment, such as a hard disk or memory of the self-propelled robot. The storage medium may also be an external storage device of the self-propelled robot, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the self-propelled robot 1.

[0158] In summary, the embodiments of the present application provide a control method of a self-propelled robot, a self-propelled robot and a storage medium, wherein the self-propelled robot at least comprises: a machine body 10, a cutting mechanism 20 and a cleaning mechanism 30, the machine body 10 is provided with a chassis 111, the cutting mechanism 20 is movably arranged on a side of the machine body 10 close to the chassis 111 and is used to perform a cutting action, the cleaning mechanism 30 can be movable relative to the chassis 111, and the cleaning mechanism 30 is arranged between the chassis 111 and the cutting mechanism 20; the method comprises: according to the current working mode of the self-propelled robot The cutting mechanism 20 is controlled to perform corresponding actions. The working modes of the self-propelled robot include switchable cutting mode and cleaning mode; wherein, in the cutting mode, the cutting mechanism 20 is controlled to rotate relative to the chassis 111 and the cleaning mechanism 30 to perform the cutting action; in the cleaning mode, the cutting mechanism 20 is controlled to move toward the cleaning mechanism 30 so that the cutting mechanism 20 and the cleaning mechanism 30 form a coupling match, and the cutting mechanism 20 is controlled to drive the cleaning mechanism 30 to rotate relative to the chassis 111 so that the cleaning mechanism 30 cleans the side of the chassis 111 close to the cutting mechanism 20. The embodiment of the present application controls the action of the cutting mechanism 20 to couple or disengage the cutting mechanism 20 and drives the cutting mechanism 20 to rotate when the cutting mechanism 20 and the cleaning mechanism 30 are coupled to clean the chassis 111 of the machine body 10, thereby realizing automatic cleaning of the chassis 111 without manual operation by the user, and having a good cleaning effect, thereby improving the user experience of a self-propelled robot such as a lawn mower.

[0159] It should be understood that the module structure diagram shown in the accompanying drawings is only an example and does not necessarily include all the connection relationships between structures. In the description of this application, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, and it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0160] It should also be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise. Moreover, in this specification and the appended claims, "a plurality" means at least two unless the context clearly indicates otherwise.

[0161] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0162] It should also be understood that the term "and / or" used in the specification of this application and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, including these combinations. It should be noted that, in this article, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "including a..." does not exclude the presence of other identical elements in the process, method, article or system including the element.

[0163] The serial numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments. The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A control method for a self-propelled robot, characterized in that: The self-propelled robot at least comprises: a machine body, a cutting mechanism and a cleaning mechanism, wherein the machine body is provided with a chassis, the cutting mechanism is movably provided on a side of the machine body close to the chassis and is used to perform a cutting action, the cleaning mechanism can move relative to the chassis, and the cleaning mechanism is provided between the chassis and the cutting mechanism; The method comprises: Controlling the cutting mechanism to perform corresponding actions according to the current working mode of the self-propelled robot, wherein the working mode of the self-propelled robot includes a switchable cutting mode and a cleaning mode; Wherein, in the cutting mode, the cutting mechanism is controlled to rotate relative to the chassis and the cleaning mechanism to perform the cutting action; In the cleaning mode, the cutting mechanism is controlled to move toward the cleaning mechanism so that the cutting mechanism and the cleaning mechanism form a coupling cooperation, and the cutting mechanism is controlled to drive the cleaning mechanism to rotate relative to the chassis so that the cleaning mechanism cleans the side of the chassis close to the cutting mechanism.

2. The method according to claim 1, characterized in that The method further comprises: When the self-propelled robot switches from the cleaning mode to the cutting mode, the cutting mechanism is controlled to move in a direction away from the cleaning mechanism so that the cutting mechanism is decoupled from the cleaning mechanism.

3. The method according to claim 1, characterized in that The method further comprises: In the cutting mode, controlling the cutting mechanism to rotate at a first speed relative to the chassis; In the cleaning mode, the cutting mechanism is controlled to rotate relative to the chassis at a second rotational speed, wherein the second rotational speed is less than the first rotational speed.

4. The method according to claim 3, characterized in that The method further comprises: When it is detected that the cutting mechanism is coupled with the cleaning mechanism, controlling the cutting mechanism to rotate at the second speed; When it is detected that the cutting mechanism is decoupled from the cleaning mechanism, the cutting mechanism is controlled to perform cutting at a first rotation speed.

5. The method according to claim 1, characterized in that The method further comprises: Detecting the accumulation of foreign matter between the chassis and the cutting mechanism to obtain corresponding sensing data; The self-propelled robot is controlled to switch to the cutting mode or the cleaning mode according to the sensing data.

6. The method according to claim 5, characterized in that The step of controlling the self-propelled robot to switch to the cutting mode or the cleaning mode according to the sensing data comprises: determining the weight of foreign matter accumulated between the chassis and the cutting mechanism according to the sensing data; When the weight of the accumulated foreign matter exceeds a weight threshold, controlling the self-propelled robot to switch to the cleaning mode; When the accumulated weight of the foreign matter does not exceed the weight threshold, the self-propelled robot is controlled to switch to the cutting mode. and / or, determining the volume of foreign matter accumulation between the chassis and the cutting mechanism according to the sensing data; When the volume of the foreign matter accumulation exceeds a volume threshold, controlling the self-propelled robot to switch to the cleaning mode; When the foreign matter accumulation volume does not exceed the volume threshold, the self-propelled robot is controlled to switch to the cutting mode.

7. The method according to claim 1, characterized in that The method further comprises: When the self-propelled robot operates in the cutting mode for more than a preset cutting time threshold, and / or when a first operation instruction instructing the self-propelled robot to switch to the cleaning mode is received, the self-propelled robot is controlled to switch from the cutting mode to the cleaning mode.

8. The method according to claim 1, characterized in that The method further comprises: When the self-propelled robot operates in the cleaning mode for more than a preset cleaning time threshold, and / or when a second operation instruction instructing the self-propelled robot to switch to the cutting mode is received, the self-propelled robot is controlled to switch from the cleaning mode to the cutting mode.

9. The method according to claim 1, characterized in that The cutting mechanism at least comprises: A cutting assembly, movable relative to the chassis, and the cutting assembly can be coupled to or separated from the cleaning mechanism; A first driving assembly, used for driving the cutting assembly to rotate relative to the chassis; a second driving assembly, used for driving the cutting assembly to move in a direction toward the chassis or away from the chassis; The method further comprises: In the cutting mode, controlling the first driving assembly to drive the cutting assembly to rotate relative to the chassis; In the cleaning mode, the second driving component is controlled to drive the cutting component to move toward the cleaning mechanism so that the cutting component is coupled to the cleaning mechanism, and the first driving component is controlled to drive the cutting component to rotate relative to the chassis to drive the cleaning mechanism to rotate relative to the chassis, so that the cleaning mechanism cleans the side of the chassis close to the cutting mechanism.

10. A self-propelled robot, characterized in that: At least: A machine body, wherein the machine body is provided with a chassis; A cutting mechanism, which is movably disposed on a side of the machine body close to the chassis and is used to perform a cutting action; A cleaning mechanism, the cleaning mechanism being movable relative to the chassis and disposed between the chassis and the cutting mechanism; and a controller, at least connected to the cutting mechanism, and configured to control the cutting mechanism to perform corresponding actions according to a current working mode of the self-propelled robot, wherein the working mode of the self-propelled robot includes a switchable cutting mode and a cleaning mode; Wherein, in the cutting mode, the controller controls the cutting mechanism to rotate relative to the chassis and the cleaning mechanism to perform the cutting action; In the cleaning mode, the controller controls the cutting mechanism to move toward the cleaning mechanism so that the cutting mechanism and the cleaning mechanism form a coupling cooperation, and controls the cutting mechanism to drive the cleaning mechanism to rotate relative to the chassis so that the cleaning mechanism cleans the side of the chassis close to the cutting mechanism.

11. The self-propelled robot according to claim 10, wherein: The cutting mechanism at least comprises a cutting assembly and a first driving assembly, wherein the first driving assembly is used to drive the cutting assembly to rotate to perform a cutting action; Among them, the cutting assembly includes a cutter disc and a cutting blade for cutting the object to be cut. The cutter disc is arranged at the bottom of the machine body and is connected to the output shaft of the first drive assembly. The side of the cutter disc close to the cleaning mechanism can form a coupling with the cleaning mechanism, and the cutting blade is installed on the cutter disc.

12. The self-propelled robot according to claim 11, characterized in that: The cleaning mechanism includes a scraper assembly, which is rotatably mounted on the bottom of the machine body and is separated from the cutter disc, and in the cutting mode, the cutting mechanism is coupled to the cutter disc; The scraper assembly includes a scraper portion and a coupling portion that can rotate and separate synchronously with the cutter disc, and the scraper portion is arranged on the peripheral side of the coupling portion.

13. A computer 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-propelled robot equipped with the processor implements the control method according to any one of claims 1 to 9.

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