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

Abstract

The application discloses a control method of a self-moving robot, the self-moving robot and a storage medium, wherein the robot comprises a machine body, a cutting mechanism and a cleaning mechanism, the cutting mechanism is movably arranged on one side of the machine body close to the chassis and is used for executing a cutting action, and the cleaning mechanism is movable relative to the chassis and is arranged between the chassis and the cutting mechanism; the method comprises the following steps: controlling the cutting mechanism to execute a corresponding action according to a current working mode of the self-moving robot, the working mode comprises a switchable cutting mode and a cleaning mode; in the cutting mode, the cutting mechanism is controlled to rotate relative to the cleaning mechanism and the chassis to execute the cutting action; and in the cleaning mode, the cutting mechanism is controlled to move to the cleaning mechanism to be coupled with each other, and the cutting mechanism is controlled to drive the cleaning mechanism to rotate relative to the chassis to clean one side of the chassis close to the cutting mechanism, so that 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-moving robots, in particular to a control method of a self-moving robot, a self-moving robot and a storage medium. BACKGROUND

[0002] In order to reduce the labor intensity and cost of lawn maintenance, self-moving robots for cutting and trimming lawns, such as lawn mowers, have emerged.

[0003] In the currently common lawn mowers, the cutting assembly for cutting is often arranged on the chassis of the lawn mower, but the grass clippings generated during the trimming of the lawn will splash to the chassis of the lawn mower and accumulate in the gap between the cutting assembly and the chassis, resulting in an increase in the weight of the lawn mower and affecting the rotation of the cutting assembly, thereby reducing the cutting efficiency, and it is also inconvenient to clean, resulting in a poor user experience. SUMMARY

[0004] The present application provides a control method of 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 a better cleaning effect.

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

[0006] The self-moving robot at least comprises 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 one side of the machine body close to the chassis and is used to execute a cutting action, and the cleaning mechanism is movable relative to the chassis and is arranged between the chassis and the cutting mechanism;

[0007] The method comprises:

[0008] According to the current working mode of the self-moving robot, the cutting mechanism is controlled to execute a corresponding action, and the working mode of the self-moving robot includes a switchable cutting mode and a cleaning mode;

[0009] In the cutting mode, the cutting mechanism is controlled to rotate relative to the chassis and the cleaning mechanism to execute the cutting action;

[0010] In the cleaning mode, the cutting mechanism is controlled to move towards the cleaning mechanism to form a coupling with the cleaning mechanism, and the cutting mechanism is controlled to drive the cleaning mechanism to rotate relative to the chassis to clean the side of the chassis close to the cutting mechanism.

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

[0012] When the self-moving robot is switched from the cleaning mode to the cutting mode, the cutting mechanism is controlled to move away from the cleaning mechanism to decouple the cutting mechanism 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 relative to the chassis at a first rotation speed;

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

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

[0017] Upon detecting that the cutting mechanism is coupled with the cleaning mechanism, the cutting mechanism is controlled to rotate at the second rotation speed;

[0018] Upon detecting that the cutting mechanism is decoupled from the cleaning mechanism, the cutting mechanism is controlled to perform the cutting work at the first rotation speed.

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

[0020] detecting a foreign object accumulation condition between the chassis and the cutting mechanism to obtain corresponding sensing data;

[0021] controlling the self-moving robot to switch to the cutting mode or the cleaning mode according to the sensing data.

[0022] In an optional embodiment, controlling the self-moving robot to switch to the cutting mode or the cleaning mode according to the sensing data comprises:

[0023] determining a foreign object accumulation weight between the chassis and the cutting mechanism according to the sensing data;

[0024] when the foreign object accumulation weight exceeds a weight threshold, controlling the self-moving robot to switch to the cleaning mode;

[0025] when the foreign object accumulation weight does not exceed the weight threshold, controlling the self-moving robot to switch to the cutting mode.

[0026] and / or,

[0027] determining a foreign object accumulation volume between the chassis and the cutting mechanism according to the sensing data;

[0028] when the foreign object accumulation volume exceeds a volume threshold, controlling the self-moving robot to switch to the cleaning mode;

[0029] when the foreign object accumulation volume does not exceed the volume threshold, controlling the self-moving robot to switch to the cutting mode.

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

[0031] controlling the self-moving robot to switch from the cutting mode to the cleaning mode when the self-moving robot works in the cutting mode for more than a preset cutting duration threshold, and / or when a first operation instruction indicating the self-moving robot to switch to the cleaning mode is received.

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

[0033] controlling the self-moving robot to switch from the cleaning mode to the cutting mode when the self-moving robot works in the cleaning mode for more than a preset cleaning duration threshold, and / or when a second operation instruction indicating the self-moving robot to switch to the cutting mode is received.

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

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

[0036] a first driving assembly for driving the cutting assembly to rotate relative to the chassis;

[0037] a second driving assembly for driving the cutting assembly to move towards or away from the chassis;

[0038] The method further comprises:

[0039] in the cutting mode, controlling the first driving assembly to drive the cutting assembly to rotate relative to the chassis;

[0040] in the cleaning mode, controlling the second driving assembly to drive the cutting assembly to move towards the cleaning mechanism so as to couple the cutting assembly with the cleaning mechanism, and controlling the first driving assembly to drive the cutting assembly to rotate relative to the chassis so as 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-moving robot, which at least comprises:

[0042] a machine body, the machine body being provided with a chassis;

[0043] a cutting mechanism movably arranged at a side of the machine body close to the chassis and used for performing a cutting action;

[0044] a cleaning mechanism movably arranged relative to the chassis, and the cleaning mechanism is arranged between the chassis and the cutting mechanism; and

[0045] a controller connected with the cutting mechanism, for controlling the cutting mechanism to perform corresponding action according to the current working mode of the self-moving robot, the working mode of the self-moving robot including switchable cutting mode and cleaning mode;

[0046] In the cutting mode, the controller controls the cutting mechanism to rotate relative to the chassis and the cleaning mechanism to perform cutting action.

[0047] In the cleaning mode, the controller controls the cutting mechanism to move towards the cleaning mechanism to form coupling with the cleaning mechanism, and controls the cutting mechanism to drive the cleaning mechanism to rotate relative to the chassis to clean the side of the chassis close to the cutting mechanism.

[0048] In an optional embodiment, the cutting mechanism includes at least a cutting assembly and a first driving assembly, the first driving assembly being configured to drive the cutting assembly to rotate to perform cutting action.

[0049] The cutting assembly includes a cutter disc and a cutting blade configured to cut the object to be cut, the cutter disc is arranged at the bottom of the machine body and is in transmission connection with the output shaft of the first driving assembly, the side of the cutter disc close to the cleaning mechanism is configured to form 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, the scraper assembly is rotatably installed at the bottom of the machine body and is arranged separately from the cutter disc, and in the cutting mode, the cutting mechanism is coupled with the cutter disc.

[0051] The scraper assembly includes a scraper part and a coupling part capable of synchronous rotation and separation with the cutter disc, and the scraper part is arranged at the circumferential side of the coupling part.

[0052] In a third aspect, the present application further provides a computer storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to enable a self-moving robot installed with the processor to implement any one of the control methods provided in the embodiments of the present application.

[0053] In summary, the embodiment of the present application provides a control method of a self-moving robot, the self-moving robot and a storage medium, wherein the self-moving robot at least comprises a robot main body, a cutting mechanism and a cleaning mechanism, the robot main body is provided with a chassis, the cutting mechanism is movably arranged on one side of the robot main body close to the chassis and is used for executing a cutting action, the cleaning mechanism is movable relative to the chassis, and the cleaning mechanism is arranged between the chassis and the cutting mechanism; the method comprises the following steps: controlling the cutting mechanism to execute a corresponding action according to a current working mode of the self-moving robot, the working mode of the self-moving robot comprising 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 execute the cutting action; in the cleaning mode, the cutting mechanism is controlled to move to the cleaning mechanism, so that the cutting mechanism and the cleaning mechanism are coupled and matched, and the cutting mechanism is controlled to drive the cleaning mechanism to rotate relative to the chassis, so that the cleaning mechanism cleans one side of the chassis close to the cutting mechanism. The embodiment of the present application controls the action of the cutting mechanism to make the coupling or decoupling between the cutting mechanism and the cleaning mechanism, and drives the cutting mechanism to rotate to clean the chassis of the robot main body when the cutting mechanism and the cleaning mechanism are coupled, so that the automatic cleaning of the chassis is realized without manual operation of the user, and the cleaning effect is good, and the use experience of the self-moving robot such as the lawn mower is improved.

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

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0056] Figure 1 Structure schematic diagram of one embodiment of the self-moving robot provided by the embodiments of the present application;

[0057] Figure 2 Structure schematic diagram of another embodiment of the self-moving robot provided by the embodiments of the present application;

[0058] Figure 3 Structure exploded view of one embodiment of the self-moving robot provided by the embodiments of the present application;

[0059] Figure 4 Structure schematic diagram of one embodiment of the cutting assembly and the cleaning mechanism in the self-moving robot provided by the embodiments of the present application;

[0060] Figure 5 FIG. 1 is a structural schematic diagram of an embodiment of a self-moving robot provided by the present application;

[0061] Figure 6 FIG. 2 is a structural schematic diagram of another embodiment of a self-moving robot provided by the present application;

[0062] Figure 7 FIG. 3 is a step flow schematic diagram of an embodiment of a control method of a self-moving robot provided by the present application;

[0063] Figure 8 FIG. 4 is a step flow schematic diagram of another embodiment of a control method of a self-moving robot provided by the present application.

[0064] Reference signs:

[0065] 10, machine body; 11, vehicle body; 111, chassis; 112, side wall; 12, walking assembly; 20, cutting mechanism; 21, cutting assembly; 211, cutter head; 212, cutting blade; 213, first gear slot; 22, first driving assembly; 221, output shaft; 23, second driving assembly; 30, cleaning mechanism; 31, scraper assembly; 311, scraper part; 3111, first scraper; 3112, second scraper; 3113, third scraper; 312, coupling part; 313, second gear slot; 32, bearing part; 40, sealing part. DETAILED DESCRIPTION

[0066] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0067] In order to reduce the labor intensity and cost of lawn maintenance, self-moving robots for cutting and trimming lawns, such as lawn mowers, are born.

[0068] In the currently common lawn mowers, the cutter head for cutting is often arranged on the chassis of the lawn mower. However, the grass clippings generated during the trimming of the lawn will be splashed to the chassis of the lawn mower and accumulated in the space between the cutter head and the chassis, which increases the weight of the lawn mower and affects the rotation of the cutter head, thereby reducing the mowing efficiency and being inconvenient to clean, resulting in a poor user experience.

[0069] Based on this, the application provides a control method of 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] Please refer to Figures 1 to 6 The control method provided by the application is applied to a self-moving robot, so the structure of the self-moving robot will be specifically described as follows:

[0071] The self-moving robot at least includes a robot main body 10, a cutting mechanism 20 and a cleaning mechanism 30. The robot main body 10 is provided with a chassis 111 at the bottom. The cutting mechanism 20 is movably arranged on one side of the robot main body 10 close to the chassis 111 and is used to perform a cutting action, so as to cut the cutting object. The cleaning mechanism 30 is movable 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, as Figures 1 to 3 shown, the robot main body 10 includes a vehicle body 11 and a walking assembly 12. The chassis 111 is arranged at the bottom of the vehicle body 11. The cutting mechanism 20 is movably connected to the chassis 111. The walking assembly 12 is arranged on the vehicle body 11 and is used to drive the vehicle body 11 to move, so that the vehicle body 11 can drive the cutting mechanism 20 to cut the cutting object along a preset track, such as grass on the lawn.

[0073] In an optional embodiment, the cutting mechanism 20 at least includes a cutting assembly 21 and a first driving assembly 22. The first driving assembly 22 is used to drive the cutting assembly 21 to rotate, so that the cutting assembly 21 can cut the cutting object. The cutting assembly 21 includes a cutter head 211 and a cutting blade 212 used to cut the cutting object. The cutter head 211 is arranged at the bottom of the vehicle body 11 and is in transmission connection with an output shaft 221 of the first driving assembly 22. The cutting blade 212 is installed on the cutter head 211, so that the first driving assembly 22 can drive the cutter head 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. The cutter head 211 is connected with the output shaft 221 of the driving motor.

[0074] In an optional embodiment, the cutting blade 212 includes a plurality of grass cutting blades. The plurality of grass cutting blades are detachably installed on the cutter head 211, so that the first driving assembly 22 can drive the cutter head 211 to rotate through the output shaft 221, thereby driving the plurality of grass cutting blades to perform the grass cutting work on the lawn. The plurality of grass cutting blades can collectively perform the grass cutting work on the lawn, which improves the cutting efficiency and ensures the neat cutting of the lawn.

[0075] In an optional embodiment, the chassis 111 further comprises a side plate 112 arranged on the side of the cutting mechanism 20, which is used to protect the cutting mechanism 20 from cutting human body or other objects that should not be cut, thereby improving the safety of the cutting operation.

[0076] In an optional embodiment, the self-moving 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 the cutting action. In the cleaning mode, the cutting mechanism 20 is controlled to move towards the cleaning mechanism 30 so that the cutting mechanism 20 and the cleaning mechanism 30 are coupled, 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 driving assembly 22 can provide cutting power for 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 driving 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 the foreign matter on the bottom of the vehicle body 11, especially the foreign matter between the cutting mechanism 20 and the chassis 111.

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

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

[0080] In an optional embodiment, the cutting mechanism 20 further comprises a second driving assembly 23 for driving the cutting assembly 21 to move towards or away from the chassis 111. The controller can control the second driving assembly 23 to drive the cutting assembly 21 to move towards the cleaning mechanism 30 so that the cutting assembly 21 is coupled with the cleaning mechanism 30, specifically, the cutter disc 211 is coupled with the cleaning mechanism 30.

[0081] In an optional embodiment, the cutter head 211 has a highest point and a lowest point and is capable of moving between the highest point and the lowest point, in the cleaning mode, the cutter head 211 is at the highest point, the cutter head 211 is coupled with the cleaning mechanism 30, so that the driving assembly is capable of driving the cleaning mechanism 30 to rotate through the cutter head 211 to clean the foreign matters accumulated on the bottom of the vehicle body 11; in the cutting mode, the cutter head 211 is at the lowest point, the cutter head 211 is separated from the cleaning mechanism 30, so as to provide cutting power for the cutting blade 212 alone to ensure the cutting effect of the cutting blade 212.

[0082] In an optional embodiment, as shown in Figures 3 to 6 The cleaning mechanism 30 includes a scraper assembly 31, the scraper assembly 31 is rotatably installed on the bottom of the vehicle body 11 and is separately arranged from the cutter head 211, when the cutter head 211 moves to the highest point, the cutter head 211 is coupled with the cleaning mechanism 30, so that the scraper assembly 31 is capable of cleaning the foreign matters between the cutter head 211 and the vehicle body 11.

[0083] In an optional embodiment, the scraper assembly 31 includes a scraper part 311 and a coupling part 312 capable of synchronous rotation and separation with the cutter head 211, the scraper part 311 is arranged on the circumferential side of the coupling part 312, for cleaning the foreign matters accumulated on the bottom of the vehicle body 11 when the cutting blade 212 is cutting.

[0084] It should be noted that the specific arrangement of the coupling part 312 is not limited in the present application, as long as it can connect or disconnect the cutter head 211 and the scraper part 311. For example, the cutter head 211 is provided with a first tooth groove 213, the coupling part 312 is a second tooth groove 313 matched with the first tooth groove 213, when the cutter head 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 head 211 is capable of driving the scraper part 311 to rotate, thereby cleaning the foreign matters between the cutter head 211 and the vehicle body 11. For other structures of the coupling part 312, the present application will not be described one by one.

[0085] In an optional embodiment, as shown in Figure 5 The scraper part 311 includes a first scraper 3111 and a second scraper 3112, the two sides of the coupling part 312 extend in the direction of relatively far away, the first scraper 3111 and the second scraper 3112 are arranged at the two ends of the first extension and the two ends of the second extension respectively, for cleaning the foreign matters on the bottom of the vehicle body 11, which not only ensures the force balance of the scraper assembly 31 in the rotating process, but also improves the cleaning efficiency of the scraper assembly 31. Among them, the shapes of the first scraper 3111 and the second scraper 3112 can be but are not limited to rectangular structures.

[0086] In an optional embodiment, asFigure 6 As shown, the scraper part 311 includes a third scraper 3113, and the two sides of the coupling part 312 extend in a relatively far direction and have a third extension part and a fourth extension part, and the third scraper 3113 is arranged at the upper end of the third extension part and the fourth extension part, and is used to clean the foreign matter on 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, for example, include a brush or a soft rubber strip.

[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 arranged on the vehicle body 11 through the bearing member 32 and coaxially arranged with the cutter disc 211, so as to ensure the smoothness of the 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 part and an inner ring part arranged concentrically with the outer ring part. The inner ring part is fixed on the chassis 111, and the scraper assembly 31 is fixed on the outer ring part, so as to bear the load of the scraper assembly 31 in all directions and ensure the service life of the cleaning mechanism 30.

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

[0091] In an optional embodiment, the self-moving robot further includes a detection assembly electrically connected with the rotation speed regulator, and 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-moving robot is blocked by the accumulation of foreign matter, the cutter disc 211 can be automatically raised to the highest point and coupled with the cleaning mechanism 30, so that the cleaning mechanism 30 can clean the blocked grass under the driving of the cutter disc 211 and also remove the grass residue on the chassis 111; when the detection assembly detects that the cleaning of the foreign matter is completed, the cutter disc 211 is automatically lowered to the lowest point and separated from the cleaning mechanism 30, so that the cutter disc 211 can drive the cutting blade 212 to work alone.

[0092] It should be noted that the rotation speed regulator can adjust the rotation speed of the driving assembly according to a control signal, and the control signal includes but is not limited to a control signal sensed by the detection assembly, such as a coupling state signal of the cutter disc 211 and the cleaning mechanism 30 or a 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-moving robot further comprises a sealing member 40, the base plate 111 is provided with a base hole, the driving motor is installed on the side of the base plate 111 away from the cleaning mechanism 30, the output shaft 221 of the driving motor is connected with the cutter head 211 after penetrating through the base hole, and the sealing member 40 is arranged between the base plate 111 and the driving motor to seal the gap between the base hole and the driving motor, so as to avoid impurities such as foreign matters and dust from entering the inside of the vehicle body 11 and / or the driving motor. The cleaning mechanism 30 is arranged outside the sealing member 40.

[0094] The following describes the specific mode of the control method applied to the self-moving robot, but it should be noted that the control method is not limited to being applied to the self-moving robot.

[0095] As shown in Figure 7 the control method provided by the embodiments of the application comprises:

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

[0097] According to the current working mode of the self-moving robot, the cutting mechanism 20 is controlled to perform corresponding actions, and the working mode of the self-moving robot includes a switchable cutting mode and a cleaning mode.

[0098] In step S101, in the cutting mode, the cutting mechanism 20 is controlled to rotate relative to the base plate 111 and the cleaning mechanism 30 to perform a cutting action.

[0099] In step S102, in the cleaning mode, the cutting mechanism 20 is controlled to move towards the cleaning mechanism 30 to form a coupling with the cleaning mechanism 30, and the cutting mechanism 20 is controlled to rotate to drive the cleaning mechanism 30 to rotate relative to the base plate 111, so that the cleaning mechanism 30 cleans the side of the base plate 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 at this time the cutting assembly 21 is controlled to rotate to perform a cutting action, so as to ensure the cutting power and effect of the cutting assembly 21.

[0101] In the cleaning mode, the cutting mechanism 20 is controlled to move towards the cleaning mechanism 30 to form a coupling with the cleaning mechanism 30, and then the cutting mechanism 20 is controlled to rotate, so that the cutting mechanism 20 drives the rotation of the cleaning mechanism 30 coupled therewith to clean the side of the base plate 111 close to the cutting mechanism 20.

[0102] In an alternative embodiment, the cutting mechanism 20 rotates relative to the chassis 111 and the cleaning mechanism 30, specifically at least part of 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 at least part of the cutting mechanism 20 rotates while driving the cleaning mechanism 30 to rotate relative to the chassis 111.

[0103] In an alternative embodiment, the cutting mechanism 20 at least includes a cutting assembly 21 and a first driving assembly 22, the first driving assembly 22 is configured 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 head 211 and a cutting blade 212 configured to cut the object to be cut, the cutter head 211 is arranged at the bottom of the vehicle body 11 and is in transmission connection with an output shaft 221 of the first driving assembly 22.

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

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

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

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

[0108] As shown in Figure 8 The method further includes:

[0109] In step S201, in the cutting mode, the first driving assembly 22 is controlled to drive the cutting assembly 21 to rotate relative to the chassis 111;

[0110] In step S202, in the cleaning mode, the second driving assembly 23 is controlled to drive the cutting assembly 21 to move towards the cleaning mechanism 30, so that the cutting assembly 21 is coupled with the cleaning mechanism 30, and the first driving assembly 22 is controlled to drive the cutting assembly 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 driving assembly 22 and the second driving assembly 23 are independent of each other. In the cutting mode, only the first driving assembly 22 needs to be controlled to drive the cutting assembly 21 to rotate relative to the chassis 111. When switching from the cutting mode to the cleaning mode, the second driving assembly 23 needs to be controlled to drive the cutting assembly 21 to move to the cleaning mechanism 30. During the movement of the cutting assembly 21 to the cleaning mechanism 30, the first driving assembly 22 can be controlled to drive the cutting assembly 21 to keep rotating or stop rotating, or the first driving assembly 22 can be controlled to drive the cutting assembly 21 to reduce the rotating speed. It should be understood that reducing the rotating speed of the cutting assembly 21 can also improve the safety of operation, facilitate the coupling and docking of the cutting assembly 21 and the cleaning mechanism 30, and avoid potential safety hazards caused by high-speed rotation.

[0112] The above technical solutions not only simplify the transmission structure between the cleaning assembly and the cutting assembly 21, shorten the power transmission path, and ensure that the power of the cutting blade 212 during cutting will not be affected by the cleaning assembly. At the same time, the cleaning assembly can also clean the foreign matter accumulated on the bottom of the vehicle body 11, avoiding the problem of blocking of the cutter head 211 caused by the accumulation of foreign matter on the cutting blade 212, and not needing manual cleaning, which will not affect the rotation of the driving assembly, thereby improving the cutting efficiency of the self-moving robot.

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

[0114] When the self-moving robot is switched from the cleaning mode to the cutting mode, the cutting mechanism 20 is controlled to move away from the cleaning mechanism 30, so that the cutting mechanism 20 and the cleaning mechanism 30 are decoupled.

[0115] It should be understood that when the self-moving robot is switched to the cutting mode, the cutter head 211 in the cutting mechanism 20 needs to be separated from the cleaning mechanism 30, and the cutter head 211 will not drive the rotation of the cleaning mechanism 30. The first driving 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 relative to the chassis 111 at a first rotating speed.

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

[0119] It should be noted that the cutting assembly 21 needs to rotate at high speed in the cutting mode to achieve a better cutting effect, and in the cleaning mode, the cutting assembly 21 is lifted and coupled with the cleaning assembly, and the cleaning assembly rotates together to clean the bottom plate 111. Since the cutting assembly 21 is coupled with the cleaning assembly in the cleaning mode, the energy consumption required to maintain the same rotation speed of the cutting assembly 21 is large, which has a great impact on the endurance of the self-moving robot. Therefore, in the present embodiment, the cutting mechanism 20 is set to rotate at a relatively low speed in the cleaning mode.

[0120] Moreover, the cutting mechanism 20 rotates at a reduced speed in the cleaning mode, which can effectively reduce the wear of the scraper in the cleaning mechanism 30, prolong 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 rotation speed;

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

[0124] For example, the self-moving robot further comprises a detection assembly, and the detection assembly is used at least to detect the coupling condition between the cutting mechanism 20 and the cleaning mechanism 30. For example, the detection assembly can use pressure detection or optical detection.

[0125] In an optional embodiment, the self-moving robot further comprises a rotation speed regulator, the detection assembly is electrically connected with the rotation speed regulator, and the rotation speed regulator is electrically connected with the first driving assembly 22, and is used to adjust the rotation speed of the cutting assembly 21 according to the coupling condition between the cutting mechanism 20 and the cleaning mechanism 30 detected by the detection assembly. Specifically, the rotation speed regulator controls the rotation speed of the cutter head 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 head 211 and the cleaning assembly, and avoid potential safety hazards caused by high-speed rotation of the cutter head 211.

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

[0127] Detecting the foreign matter accumulation condition between the bottom plate 111 and the cutting mechanism 20 to obtain corresponding sensing data;

[0128] Controlling the self-moving robot to switch to the cutting mode or the cleaning mode according to the sensing data.

[0129] Specifically, the detection assembly is further configured to detect the foreign matter accumulation condition between the chassis 111 and the cutting mechanism 20 to obtain corresponding sensing data. For example, the foreign matter accumulation condition includes at least one of the foreign matter accumulation weight and the foreign matter accumulation volume between the chassis 111 and the cutting mechanism 20. For example, the detection assembly can use pressure sensing and / or optical sensing to detect the foreign matter accumulation condition.

[0130] In an optional embodiment, the self-moving robot is controlled to switch between the cutting mode and the cleaning mode according to the sensing data, including:

[0131] determining the foreign matter accumulation weight between the chassis 111 and the cutting mechanism 20 according to the sensing data;

[0132] controlling the self-moving robot to switch to the cleaning mode when the foreign matter accumulation weight exceeds a weight threshold;

[0133] controlling the self-moving robot to switch to the cutting mode when the foreign matter accumulation weight does not exceed the weight threshold.

[0134] and / or,

[0135] determining the foreign matter accumulation volume between the chassis 111 and the cutting mechanism 20 according to the sensing data;

[0136] controlling the self-moving robot to switch to the cleaning mode when the foreign matter accumulation volume exceeds a volume threshold;

[0137] controlling the self-moving robot to switch to the cutting mode when the foreign matter accumulation volume does not exceed the volume threshold.

[0138] It should be understood that when the foreign matter accumulation weight exceeds the weight threshold and / or the foreign matter accumulation volume exceeds the volume threshold, it indicates that too much foreign matter (e.g., grass clippings) is accumulated between the chassis 111 and the cutting mechanism 20, and the self-moving robot is controlled to switch to the cleaning mode, the cutting mechanism 20 is controlled to move to the cleaning mechanism 30, so that the cutter head 211 in the cutting mechanism 20 is coupled with the cleaning assembly in the cleaning mechanism 30, and the rotational speed of the cutter head 211 is reduced by the rotational speed regulator, and the rotational speed of the cutter head 211 is lower than the output speed of the cutter head 211 in the cutting mode.

[0139] For example, the detection assembly includes a pressure sensor, the sensing data can be obtained by detecting the pressure borne by the cutting mechanism 20 or the output shaft 221 of the driving motor, and whether the foreign matter accumulation weight exceeds the weight threshold can be determined according to the pressure represented by the sensing data, so as to control the self-moving robot to switch to the cleaning mode or the cutting mode.

[0140] For example, the detection assembly includes an optical sensor. The optical sensor can be used to obtain sensing data by optically detecting the space between the base plate 111 and the cutting mechanism 20, and determine whether the volume of the foreign matter accumulation exceeds the volume threshold based on the sensing data, so as to control the self-moving robot to switch to the cleaning mode or the cutting mode. The optical sensor can include, but is not limited to, an infrared sensor.

[0141] In an optional embodiment, the detection assembly includes a pressure sensor arranged on the cutter head 211 or the output shaft 221 of the driving motor, for monitoring the weight change of the cutter head 211, so that the self-moving robot can monitor the weight change of the cutter head 211. When the value detected by the pressure sensor exceeds a preset threshold, the self-moving robot switches to the cleaning mode, controls the cutting mechanism 20 to move to the cleaning mechanism 30, so that the cutter head 211 in the cutting mechanism 20 is coupled with the cleaning assembly in the cleaning mechanism 30, and controls the rotational speed regulator to control the cutter head 211 to reduce the rotational speed.

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

[0143] In other embodiments, the detection assembly can also detect whether there are grass clippings on the cutter head 211 through other sensors, such as an infrared sensor and an optical sensor. The infrared sensor can detect the reflection intensity of the grass clippings, and then determine the accumulation of the grass clippings.

[0144] For example, the infrared sensor is installed on the side wall 112 and below the lowest position of the cutter head 211, so as to obtain the accumulation of the grass clippings on the cutter head 211 without being damaged by the movement of the cutter head 211. When the infrared sensor emits light and receives reflected light, the accumulation of the grass clippings changes the surface characteristics, resulting in a change in the intensity of the reflected light, so that the infrared sensor can determine the accumulation of the grass clippings by detecting the change.

[0145] In an optional embodiment, the optical sensor can be a laser sensor, which can determine the accumulation of the grass clippings on the cutter head 211 by emitting a laser beam and measuring the time and angle of the reflected laser beam.

[0146] In an optional embodiment, the optical sensor can also be a camera, which can obtain real-time images of the cutter head 211 and analyze the accumulation of the grass clippings through image processing algorithms.

[0147] By detecting the volume and / or weight of the foreign matter, the self-moving robot can be controlled to switch to the cleaning mode or the cutting mode at appropriate time, so as to intelligently control the cutting mechanism 20 to perform rotary cutting when the foreign matter is less accumulated, and to actively control the cutting mechanism 20 to couple with the cleaning mechanism 30 and drive the cleaning mechanism 30 to clean the accumulated foreign matter when the foreign matter is more accumulated.

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

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

[0150] Specifically, the trigger condition for the self-moving robot to switch from the cutting mode to the cleaning mode includes at least one of the following conditions: working in the cutting mode for more than a preset cutting duration threshold; receiving a first operation instruction according to user input.

[0151] It should be noted that when the self-moving robot works in the cutting mode for more than a preset cutting duration threshold, the self-moving robot can automatically enter the cleaning mode, so as to avoid the problem of locked rotor of the cutting mechanism 20 caused by too much foreign matter accumulated between the chassis 111 and the cutting mechanism 20 due to long-time continuous execution of the cutting action of the cutting mechanism 20. In addition, the user can also input a first operation instruction to the self-moving robot to actively control the self-moving robot to switch to the cleaning mode. It should be understood that the above two trigger conditions are compatible to improve the intelligence of the self-moving robot.

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

[0153] When the self-moving robot works in the cleaning mode for more than a preset cleaning duration threshold, and / or when a second operation instruction indicating that the self-moving robot switches to the cutting mode is received, the self-moving robot is controlled to switch from the cleaning mode to the cutting mode.

[0154] Specifically, the trigger condition for the self-moving robot to switch from the cleaning mode to the cutting mode includes at least one of the following conditions: working in the cleaning mode for more than a preset cleaning duration threshold; receiving a second operation instruction according to user input.

[0155] It should be noted that when the self-moving robot works in the cleaning mode for more than a preset cutting duration threshold, i.e., the cleaning mechanism 30 has cleaned the space between the chassis 111 and the cutting mechanism 20 for a sufficient time, the self-moving robot can automatically enter the cutting mode to ensure that the self-moving robot has sufficient 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-moving robot to actively control the self-moving robot to switch to the cutting mode. It should be understood that the above two triggering conditions can be compatible to improve the intelligence of the self-moving robot.

[0156] The embodiments of the present application further provide a computer storage medium for computer readable storage, and 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 the control method of any one of the self-moving robot control methods 1 provided by the embodiments of the present application.

[0157] The computer storage medium can be an internal storage unit of the self-moving robot in the foregoing embodiments, such as a hard disk or a memory of the self-moving robot. The storage medium can also be an external storage device of the self-moving robot, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the self-moving robot 1.

[0158] In summary, the embodiment of the present application provides a control method of a self-moving robot, the self-moving robot and a storage medium, wherein the self-moving robot at least comprises a robot main body 10, a cutting mechanism 20 and a cleaning mechanism 30, the robot main body 10 is provided with a chassis 111, the cutting mechanism 20 is movably arranged on one side of the robot main body 10 close to the chassis 111 and is used for performing a cutting action, the cleaning mechanism 30 is 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: controlling the cutting mechanism 20 to perform a corresponding action according to a current working mode of the self-moving robot, the working mode of the self-moving robot comprising a switchable cutting mode and a 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 towards the cleaning mechanism 30, so that the cutting mechanism 20 and the cleaning mechanism 30 are coupled, 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 one 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 make the coupling or decoupling between the cutting mechanism 20 and the cleaning mechanism 30, 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 robot main body 10, without manual operation of the user to realize automatic cleaning of the chassis 111, and has a better cleaning effect, improving the use experience of the self-moving robot such as a lawn mower.

[0159] It should be understood that the module structure shown in the drawings is only an example and does not necessarily include all structures and connection relationships between structures. In the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", and "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, and can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

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

[0161] It should also be understood that, in this specification and the appended claims, the term "and / or" is intended to mean an inclusive "and" such that, for a set of items, the expression "X and / or Y" means one or more of the items X and one or more of the items Y and any combination thereof. It should also be understood that, in this specification, where a statement or disclosure appears that it can include one or more of a group of items, and "or" is used in reference to themselves, it is taken that the disclosure is a mere representation of a number of claimed or generic embodiments. However, the contents of a group of items does not by itself limit the number of possible embodiments to just those items specifically named or insinuated in that disclosure.

[0162] It should also be understood that, in this specification and the appended claims, the term "and / or" is intended to mean an inclusive "and" such that, for a set of items, the expression "X and / or Y" means one or more of the items X and one or more of the items Y and any combination thereof. It should also be understood that, in this specification, where a statement or disclosure appears that it can include one or more of a group of items, and "or" is used in reference to themselves, it is taken that the disclosure is a mere representation of a number of claimed or generic embodiments. However, the contents of a group of items does not by itself limit the number of possible embodiments to just those items specifically named or insinuated in that disclosure.

[0163] The above-mentioned sequence number of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. The above description is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for a self-moving robot, characterized in that, The self-moving robot includes at least: a machine body, a cutting mechanism, and a cleaning mechanism. The machine body is provided with a chassis. The cutting mechanism is movably disposed on the side of the machine body near the chassis and is used to perform cutting actions. The cleaning mechanism is movable relative to the chassis and is disposed between the chassis and the cutting mechanism. The method includes: The self-moving robot controls the cutting mechanism to perform corresponding actions according to its current working mode. The working modes of the self-moving robot include a switchable cutting mode and a cleaning mode. 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 are coupled together, 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 as described in claim 1, characterized in that, The method further includes: When the self-moving robot switches from the cleaning mode to the cutting mode, it controls the cutting mechanism to move away from the cleaning mechanism so as to decouple the cutting mechanism from the cleaning mechanism.

3. The method as described in claim 1, characterized in that, The method further includes: In the cutting mode, the cutting mechanism is controlled to rotate relative to the chassis at a first rotational speed; 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 as described in claim 3, characterized in that, The method further includes: When the coupling between the cutting mechanism and the cleaning mechanism is detected, the cutting mechanism is controlled to rotate at the second rotation speed; When the cutting mechanism is detected to be decoupled from the cleaning mechanism, the cutting mechanism is controlled to perform cutting operations at a first rotational speed.

5. The method as described in claim 1, characterized in that, The method further includes: The accumulation of foreign objects between the chassis and the cutting mechanism is detected, and corresponding sensor data is obtained; The self-moving robot is controlled to switch between the cutting mode and the cleaning mode based on the sensor data.

6. The method as described in claim 5, characterized in that, The step of controlling the self-moving robot to switch to the cutting mode or the cleaning mode based on the sensor data includes: The weight of the foreign object accumulation between the chassis and the cutting mechanism is determined based on the sensor data. When the weight of the accumulated foreign matter exceeds a weight threshold, the self-moving robot is controlled to switch to the cleaning mode; When the weight of the accumulated foreign object does not exceed the weight threshold, the self-moving robot is controlled to switch to the cutting mode; And / or, The volume of foreign matter accumulation between the chassis and the cutting mechanism is determined based on the sensor data. When the volume of the foreign object accumulation exceeds a volume threshold, the self-moving robot is controlled to switch to the cleaning mode; When the volume of the foreign object accumulation does not exceed the volume threshold, the self-moving robot is controlled to switch to the cutting mode.

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

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

9. The method as described in claim 1, characterized in that, The cutting mechanism includes at least: The cutting assembly is movable relative to the chassis, and the cutting assembly can be coupled to or detached from the cleaning mechanism; A first drive assembly is used to drive the cutting assembly to rotate relative to the chassis; The second drive assembly is used to drive the cutting assembly to move in a direction toward or away from the chassis; The method further includes: In the cutting mode, the first driving component is controlled to drive the cutting component to rotate relative to the chassis; In the cleaning mode, the second drive component is controlled to drive the cutting component to move toward the cleaning mechanism so that the cutting component is coupled with the cleaning mechanism, and the first drive component is controlled to drive the cutting component to rotate relative to the chassis so that the cleaning mechanism rotates relative to the chassis so that the cleaning mechanism cleans the side of the chassis near the cutting mechanism.

10. A self-moving robot, characterized in that, At least including: The main body of the machine is equipped with a chassis; A cutting mechanism is movably disposed on the side of the machine body near the chassis and is used to perform cutting actions; A cleaning mechanism, which is movable relative to the chassis, and is disposed between the chassis and the cutting mechanism; and A controller, at least for connection to the cutting mechanism, is used to control the cutting mechanism to perform corresponding actions according to the current working mode of the self-mobilizing robot. The working mode of the self-mobilizing robot includes a switchable cutting mode and a cleaning mode. 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 are coupled together, 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-moving robot as described in claim 10, characterized in that, The cutting mechanism includes at least a cutting component and a first driving component, wherein the first driving component is used to drive the cutting component to rotate in order to perform a cutting action; The cutting assembly includes a cutter head and a cutting blade for cutting the object to be cut. The cutter head is located at the bottom of the machine body and is connected to the output shaft of the first drive assembly. The side of the cutter head near the cleaning mechanism can be coupled with the cleaning mechanism. The cutting blade is mounted on the cutter head.

12. The self-moving robot as described in claim 11, characterized in that, The cleaning mechanism includes a scraper assembly, which is rotatably mounted on the bottom of the machine body and separately disposed from the cutter disc, and in the cutting mode, the cutting mechanism is coupled to the cutter disc; The scraper assembly includes a scraper section and a coupling section that can rotate synchronously with and separate from the cutter head. The scraper section is disposed on the periphery of the coupling section.

13. A computer storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes a self-moving robot equipped with the processor to implement the control method as described in any one of claims 1 to 9.

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