Self-moving robot, control method of self-moving robot and water tank assembly

Abstract

The embodiment of the invention provides a self-moving robot, a control method of the self-moving robot and a water tank assembly. The self-moving robot comprises a main body and a water tank assembly arranged on the main body, the water tank assembly comprises a water tank, a movable support and a driving assembly. The movable support is located below the water tank and movably connected with the water tank. The driving assembly is arranged in the water tank, the driving end of the driving assembly is connected with the movable support, and the driving assembly drives the movable support to move relative to the water tank. According to the technical scheme, the driving assembly is arranged in the water tank, the water tank is simpler in structure and easy to produce, and the integrity of the water tank is better from the appearance of the main body.

Description

Technical Field

[0001] The present invention relates to the field of mechanical technology, and in particular to a self-moving robot, a control method of the self-moving robot and a water tank assembly. Background Art

[0002] With the development of science and technology, various mobile smart devices have entered people's lives to facilitate people's lives, such as sweeping robots.

[0003] However, the cleaning method of the existing sweeping robot has certain defects. For example, when the sweeping robot uses a rag to clean, the sweeping robot moves with the rag, and the rag cleans along the route of the sweeping robot. For the same cleaning route, the rag is considered to have cleaned once after the sweeping robot passes through it once. If the same cleaning route is to be cleaned multiple times, the sweeping robot needs to pass through the cleaning route multiple times. Moreover, no matter what working area it is in, the existing sweeping robots all clean in this way. With this cleaning method, the cleaning time of the sweeping robot becomes longer and the cleaning efficiency is not high. Summary of the invention

[0004] In view of the above problems, the present invention is proposed to provide a control method of a self-moving robot, a self-moving robot and a water tank assembly that solve the above problems. The mobile device can work in different working modes according to different working areas. For example, for a specific environment, the mobile device can work in a vibration mode and can reciprocate to clean the surface to be cleaned, thereby improving the cleaning efficiency and avoiding resource waste.

[0005] In one embodiment of the present invention, a control method for a self-moving robot is provided, comprising: Obtaining environmental information of a current working area of ​​the self-moving robot; Determining whether the type of the environmental information belongs to a specific environment; If the type of the environmental information belongs to a specific environment, the self-moving robot is controlled to work in a vibration mode.

[0006] Optionally, obtaining environmental information of a current working area of ​​the self-moving robot includes: obtaining current position information of the self-moving robot; Determining whether the type of the environmental information belongs to a specific environment includes: determining, based on the position information, whether the current position of the self-moving robot is located in a specific area within a regional map; if so, the type of the environmental information belongs to a specific environment.

[0007] Optionally, obtaining environmental information of a current working area of ​​the self-moving robot also includes: Obtaining boundary information of a current working area of ​​the self-moving robot; Establishing the regional map according to the boundary information; The area map is divided into a specific area and a general area.

[0008] Optionally, the area map is divided into a specific area and a general area, including: Acquiring feature information of objects in the working area where the self-moving robot is currently located; Identifying whether the object feature information contains specific object features; If the specific object feature exists, the area where the self-moving robot is located is the specific area.

[0009] Optionally, obtaining environmental information of a working area where the self-moving robot is currently located includes: obtaining feature information of objects in the working area where the self-moving robot is currently located; Determining whether the type of the environmental information belongs to a specific environment includes: determining whether the object feature information contains specific object features, and if so, the type of the environmental information belongs to a specific environment.

[0010] Optionally, obtaining environmental information of a current working area of ​​the self-moving robot also includes: Acquiring feature information of objects in the working area where the self-moving robot is currently located; identifying specific object features within the object feature information; The identified specific object features are used as sample object features and stored.

[0011] Optionally, determining whether the object feature information contains a specific object feature includes: Acquiring feature information of objects in the working area where the self-moving robot is currently located; Comparing the object feature information with the pre-stored sample object features for similarity; If the similarity exceeds the similarity threshold, the object feature information includes the specific object feature.

[0012] Optionally, the specific object feature includes one or a combination of kitchen object features, bathroom object features, stain object features and obstacle object quantity features.

[0013] Accordingly, an embodiment of the present invention further provides a control method for a self-moving robot, comprising: Acquiring environmental information of the current working area of ​​the self-moving robot; Determine whether the current working area belongs to a specific area according to the environmental information; If it is determined that the current working area belongs to a specific area, the self-propelled robot is controlled to work in a vibration mode.

[0014] Accordingly, an embodiment of the present invention further provides a self-moving robot, comprising: a main body and a water tank assembly arranged on the main body; wherein: The main body is also provided with an identification unit and a control unit, wherein the identification unit is used to identify the environmental information of the working area where the self-moving robot is currently located, and send the environmental information to the control unit; A driving assembly is installed in the water tank assembly, and the control unit is coupled to the driving assembly; The control unit determines whether the type of the environmental information belongs to a specific environment. If the type of the environmental information belongs to a specific environment, the drive component is controlled to operate so that the self-moving robot works in a vibration mode.

[0015] Optionally, the recognition unit includes an image collector.

[0016] Optionally, the water tank assembly further includes: a water tank and a movable bracket; The movable bracket is movably connected to the water tank; The driving end of the driving component is connected to the movable bracket, and the driving component can drive the movable bracket to reciprocate relative to the water tank.

[0017] Optionally, the driving end includes a rotating shaft and a transmission member arranged on the rotating shaft; The movable bracket is provided with a limiting portion; The transmission member is connected to the limiting portion. When the rotating shaft rotates, the transmission member drives the movable bracket to reciprocate relative to the water tank through the limiting portion.

[0018] Optionally, the transmission member includes an eccentric cam arranged on the rotating shaft and a bearing sleeved outside the eccentric cam; The limiting portion is an oblong limiting hole; The bearing is located in the oblong limiting hole, and the bearing part abuts against the inner wall of the oblong hole. When the rotating shaft drives the eccentric cam to rotate, the bearing drives the movable bracket to reciprocate relative to the water tank through the oblong limiting hole.

[0019] Optionally, a detachable cleaning component is provided on the movable bracket, and the cleaning component moves synchronously with the movable bracket.

[0020] Optionally, the cleaning component includes one or a combination of a rag, a scraper and a brush.

[0021] Optionally, it also includes a water-free detection device; The water-free detection device is arranged in the water tank, and is used for detecting whether the water level in the water tank is lower than the water level warning position.

[0022] Optionally, the water-free detection device includes a light emitting end, a light receiving end and a light blocking float; The light-shielding float can float up and down along with the water level in the water tank; The light emitting end and the light receiving end are respectively located at two ends of the floating path of the light blocking float, and the position of the light path between the light emitting end and the light receiving end is the water level warning position.

[0023] Optionally, the water-free detection device further comprises a floating tube, the bottom of which is connected to the bottom of the water tank; The light-shielding float is located in the floating tube and can float along the extending direction of the floating tube.

[0024] Optionally, the floating tube is provided with a limiting track extending along the axial direction of the floating tube; The light-shielding float is provided with a limiting block used in conjunction with the limiting track, and the limiting block is matched and connected with the limiting track.

[0025] Optionally, mounting seats are respectively provided on both sides of the floating tube; The light emitting end and the light receiving end are respectively mounted on the two mounting seats, and the light emitted by the light emitting end passes through the floating tube and is received by the light receiving end.

[0026] Accordingly, an embodiment of the present invention further provides a self-moving robot, comprising: a main body and a cleaning module arranged on the main body; The main body is also provided with an identification unit and a control unit, wherein the identification unit is used to identify the environmental information of the working area where the self-moving robot is currently located, and send the environmental information to the control unit; The cleaning module comprises a driving assembly and a cleaning component, and the control unit is connected to the driving assembly; The control unit determines whether the type of the environmental information belongs to a specific environment. If the type of the environmental information belongs to a specific environment, the control unit controls the driving component to operate, and the driving component drives the cleaning component to operate so that the self-moving robot works in a vibration mode.

[0027] Accordingly, an embodiment of the present invention further provides a water tank assembly, comprising: a water tank, a movable bracket and a driving assembly; wherein: The movable bracket is movably connected to the water tank; The driving assembly is arranged in the water tank; The driving end of the driving component is connected to the movable bracket, and the driving component can drive the movable bracket to reciprocate relative to the water tank.

[0028] Optionally, it also includes a water-free detection device; The water-free detection device is arranged in the water tank, and is used for detecting whether the water level in the water tank is lower than the water level warning position.

[0029] Correspondingly, an embodiment of the present invention further provides a self-moving robot, comprising: a main body and a water tank assembly arranged on the main body; wherein a water-free detection device is provided in the water tank assembly and / or a driving assembly is installed in the water tank assembly.

[0030] In addition, optionally, the water tank assembly is provided with a waterless area and a water area, and the waterless detection device and / or the driving assembly are located in the waterless area.

[0031] The technical solution provided by the embodiment of the present invention obtains environmental information of the current working area of ​​the mobile robot and determines the type of environmental information so that the mobile device can adopt different working modes according to different working areas. For example, for a specific environment, the mobile device can reciprocately clean the surface to be cleaned by working in a vibration mode, thereby improving the cleaning efficiency and avoiding waste of resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A schematic diagram of a flow chart of a control method for a self-moving robot provided by an embodiment of the present invention; Figure 2 A schematic diagram of the exploded structure of a water tank assembly provided in an embodiment of the present invention; Figure 3 A schematic cross-sectional structure diagram of a water tank assembly provided in an embodiment of the present invention; Figure 4 Another exploded structural schematic diagram of a water tank assembly provided by an embodiment of the present invention; Figure 5 for Figure 4 Enlarged schematic diagram of the dotted line in the middle. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0035] When practicing the embodiments of the present invention, the inventors found that in the prior art, when a sweeping robot cleans along a cleaning route, the same cleaning route is considered cleaned once after the sweeping robot passes through it once. If the same cleaning route is to be cleaned multiple times, the sweeping robot needs to pass through the cleaning route multiple times. When the sweeping robot moves back and forth, the cleaning time becomes longer and the cleaning efficiency is not high. Moreover, no matter what working area, the existing sweeping robots all clean in this way, and cannot be adjusted for different working environments and working areas. The cleaning efficiency is low and it is easy to waste resources.

[0036] In view of the above problems, the present invention provides a control method for a self-moving robot, a self-moving robot and a water tank assembly to solve the problems existing in the prior art. The mobile device can adopt different working modes according to different working areas. For example, for a specific environment, the mobile device works in a vibration mode and can reciprocate to clean the surface to be cleaned, thereby improving the cleaning efficiency and avoiding waste of resources.

[0037] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0038] Example 1 Figure 1 A flow chart of a control method for a self-moving robot provided by an embodiment of the present invention is shown in FIG. Figure 1 shown.

[0039] In one embodiment of the present invention, a control method for a self-moving robot is provided, comprising: Step S101: Acquire environmental information of the current working area of ​​the mobile robot; Step S102: determining whether the type of environmental information belongs to a specific environment; Step S103: If the type of the environmental information belongs to a specific environment, the self-moving robot is controlled to work in a vibration mode.

[0040] The technical solution provided by the embodiment of the present invention obtains environmental information of the current working area of ​​the mobile robot and determines the type of environmental information so that the mobile device can adopt different working modes according to different working areas. For example, for a specific environment, the mobile device can reciprocately clean the surface to be cleaned by working in a vibration mode, thereby improving the cleaning efficiency and avoiding waste of resources.

[0041] In an embodiment of the present invention, one possible implementation of the self-moving robot is that the self-moving robot includes but is not limited to a self-moving cleaning robot, and the self-moving robot includes: a main body and an identification unit, a control unit and a driving component arranged on the main body. The environmental information of the working area where the self-moving robot is currently located can be identified by the identification unit and sent to the control unit. The control unit obtains the environmental information of the working area where the self-moving robot is currently located, and then determines whether the type of the environmental information belongs to a specific environment. If the type of the environmental information belongs to a specific environment, a control instruction is sent to the driving component to control the action of the driving component so that the self-moving robot works in a vibration mode.

[0042] For example, the working modes of the self-moving robot include a vibration mode and a normal working mode, and the normal working mode can also be understood as a non-vibration working mode. The vibration mode is the working mode of the self-moving robot when the driving component is started, and the non-vibration mode is the working mode of the self-moving robot when the driving component is stopped. Among them, the vibration mode may include various reciprocating movements. For example, the self-moving robot includes a cleaning component, and the vibration mode includes controlling the cleaning component to move back and forth, left and right, up and down, or vibrate up and down, etc. The vibration mode may also include a strong vibration mode and a weak vibration mode. Depending on the degree of dirtiness of a specific environment, a strong vibration mode or a weak vibration mode is performed.

[0043] When the self-moving robot is working, the initial working mode can be defaulted to a non-vibration mode. The identification unit can identify the environmental information of the working area where the self-moving robot is located in real time and send it to the control unit so that the control unit can control the start and stop of the drive component according to the environmental information. Taking the application of the self-moving robot in the home as an example, in the user's home, the overall indoor area can be divided into kitchen, bathroom, bedroom, living room, study and other areas. Generally, the kitchen and bathroom are dirtier than other areas and can be defined as specific environments. The self-moving robot can use the vibration mode for cleaning, while the bedroom, living room, study and other areas are cleaner than the kitchen and bathroom areas and can be defined as ordinary areas. The self-moving robot can use the non-vibration mode for cleaning. When the control unit determines that the type of environmental information belongs to a specific environment, such as when the self-moving robot is currently in the kitchen or bathroom, the control unit can control the drive component to start, so that the self-moving robot works in the vibration mode. If the self-moving robot is in the living room or bedroom and other areas, the control unit controls the drive component to stop, so that the self-moving robot works in the non-vibration mode. Alternatively, when the self-propelled robot is working, the initial working mode may be set to a weak vibration mode by default, and in a specific area, a strong vibration mode may be activated.

[0044] The control method of the self-moving robot provided by the embodiment of the present invention is further introduced in detail below.

[0045] In an embodiment of the present invention, the self-moving robot can change its working mode according to the area where it is located. Specifically, for step S101, obtaining the environmental information of the current working area of ​​the self-moving robot includes: obtaining the current position information of the self-moving robot. The environmental information includes the position information, and the identification unit of the self-moving robot includes but is not limited to a positioning device or an image collector. The self-moving robot is positioned by the positioning device or the image collector, and the position information of the self-moving robot is sent to the control unit, so that the control unit determines whether the type of environmental information belongs to a specific environment based on the position information.

[0046] For step S102, judging whether the type of environmental information belongs to a specific environment includes: judging whether the current position of the self-moving robot is located in a specific area in the area map according to the position information, and if so, the type of environmental information belongs to a specific environment. In an embodiment of the present invention, when the self-moving robot is in use, a map of the cleaning area can be established to plan the cleaning route, divide the cleaning area, etc. The way to establish the map includes but is not limited to building a map through camera navigation technology and laser radar navigation technology, or detecting key features in the environment through the camera on the self-moving robot, and identifying such information as a visual landmark through a program algorithm, and building a detailed plane map based on this. Alternatively, through a laser distance sensor, light is sent and received, and the surrounding environment can be accurately scanned, and self-positioning is performed according to the distance measurement, and then the accurate positioning of the fuselage is achieved through the program algorithm to draw a map. Alternatively, the walking trajectory of the robot is recorded according to sensors such as a gyroscope or an encoder, so as to draw a map of the working area. When establishing a map, the map can be divided into a specific environment and a non-specific environment. When the self-moving robot is located in a specific environment, the self-moving robot is controlled to work in a vibration mode.

[0047] In the embodiment of the present invention, the map needs to be pre-established and stored in the storage unit, or has been pre-stored in the storage unit of the self-moving robot. The map can be established when the self-moving robot works for the first time, or before the self-moving robot works for the first time, through the map establishment step, or can be loaded into the self-moving robot by the user through manual input.

[0048] In an embodiment of the present invention, a way to establish a map is, before step S101, that is, obtaining environmental information of the current working area of ​​the mobile robot, and before that, also including: Step S201: Obtaining boundary information of the current working area of ​​the mobile robot; Step S202: creating a regional map based on boundary information; Step S203: Divide the area map into specific areas and general areas.

[0049] The method of establishing a map includes but is not limited to: the recognition unit is an image collector, and the boundary information of the current working area of ​​the self-moving robot is identified by the recognition unit. For example, in a room, the floor of the room is the working area of ​​the self-moving robot, and objects that can block the movement of the self-moving robot, such as the walls on the four sides, the corners of the cabinet, the legs of the sofa, etc., can be considered as the boundaries of the working area. The recognition unit can identify the position of the boundaries such as the wall and generate the boundary information, and send the generated boundary information to the control unit. The control unit can establish a regional map based on the boundary information. After the regional map is established, the regional map is divided into a specific area and a general area.

[0050] Furthermore, in an embodiment of the present invention, the area map is divided into specific areas and general areas, including: obtaining object feature information within the current working area of ​​the self-mobile robot, identifying whether the object feature information contains specific object features, and if specific object features exist, the area where the self-mobile robot is located is a specific area.

[0051] One achievable method is that the recognition unit includes but is not limited to an image collector, and the image collector includes but is not limited to a camera, a video camera or a camera. The recognition unit can obtain a picture or image of the area in real time, and the picture or image contains object feature information. The control unit can recognize the picture or image sent by the recognition unit through image recognition technology to identify whether the object feature information contains specific object features. If there are specific object features, the area where the self-moving robot is located is a specific area. The specific object features include but are not limited to one or a combination of kitchen object features, bathroom object features, stain object features and obstacle object quantity features.

[0052] Take the application of self-moving robots in the home as an example. For example, the self-moving robot moves to the kitchen. At this time, the recognition unit can obtain pictures or images of the area where the self-moving robot is located in real time. The obtained pictures contain object feature information such as pots and stoves. The control unit can recognize the pictures through image recognition technology, and recognize that the object feature information contains specific object features such as pots and stoves. If the object feature information contains specific object features, then it is considered that the area where the self-moving robot is located is a specific area, and the control unit starts the driving unit to make the self-moving robot work in vibration mode. Alternatively, when the self-moving robot is located in a specific area, the control unit adjusts the working mode of the self-moving robot from weak vibration mode to strong vibration mode.

[0053] For another example, the self-moving robot moves to the bathroom. At this time, the recognition unit can obtain the picture or image of the area where the self-moving robot is located in real time. The obtained picture contains the feature information of objects such as toilets and washing machines. The control unit can recognize the picture through image recognition technology, and recognize that the object feature information contains specific object features such as toilets. If the object feature information contains specific object features, then it is considered that the area where the self-moving robot is located is a specific area, and the control unit starts the driving unit so that the self-moving robot works in the vibration mode. Alternatively, the control unit adjusts the working mode of the self-moving robot from the weak vibration mode to the strong vibration mode.

[0054] For another example, when the self-moving robot changes its working area and enters the living room, the picture acquired by the recognition unit in real time contains sofas, televisions, etc. The control unit can recognize the picture through image recognition technology. If no specific object features such as toilets and stoves are recognized, it is considered that the object feature information does not contain specific object features, and the area where the self-moving robot is located is a common area. The control unit stops the driving unit, so that the self-moving robot works in a non-vibration mode. Alternatively, the control unit adjusts the working mode of the self-moving robot from a strong vibration mode to a weak vibration mode.

[0055] Furthermore, before identifying the specific object features in the object feature information, it is also necessary to establish a database of sample object features so as to identify whether the object feature information contains the specific object features by comparing the sample object features. Specifically, obtaining the environmental information of the current working area of ​​the mobile robot also includes: Step S301: Acquire feature information of objects in the current working area of ​​the mobile robot; Step S302: identifying specific object features in the object feature information; Step S303: The identified specific object features are used as sample object features and stored.

[0056] Specific object features include, but are not limited to, one or a combination of kitchen object features, bathroom object features, stain object features, and obstacle object quantity features. When establishing a map, the self-moving robot can obtain object feature information in the current working area of ​​the self-moving robot in real time, such as obtaining a picture or image of the area in real time through a recognition unit, and the picture or image contains various object feature information. The control unit can recognize the picture or image sent by the recognition unit through image recognition technology. When specific object features such as pots, stoves, toilets, washing machines, etc. are recognized, the pots, stoves, toilets, washing machines, etc. are used as sample object features and stored. Among them, users can customize specific object features, or the control unit can automatically recognize them according to a pre-set program.

[0057] Furthermore, a method for determining whether the object feature information contains a specific object feature is to identify whether the object feature information contains a specific object feature by comparing the sample object features, specifically including: Step 401: Acquire feature information of objects in the current working area of ​​the mobile robot; Step 402: Compare the object feature information with pre-stored sample object features for similarity; Step 403: If the similarity exceeds the similarity threshold, the object feature information contains specific object features. For example, the self-moving robot is used in a home. For example, the self-moving robot moves to the kitchen. At this time, the recognition unit can obtain a picture or image of the area where the self-moving robot is located in real time. The obtained picture contains object feature information such as pots and stoves. The control unit can compare the obtained object feature information with the sample object features. If the similarity of the specific object features such as pots and stoves contained in the object feature information exceeds the similarity threshold, it is considered that the object feature information contains specific object features.

[0058] For another example, the self-moving robot moves to the bathroom. At this time, the recognition unit can obtain pictures or videos of the area where the self-moving robot is located in real time. The obtained pictures contain feature information of objects such as toilets and washing machines. The control unit can compare the obtained object feature information with the sample object features. If the similarity of specific object features such as sofas and televisions contained in the object feature information exceeds the similarity threshold, it is considered that the object feature information contains specific object features.

[0059] For another example, when the self-moving robot changes its working area and enters the living room, the picture obtained in real time by the recognition unit contains feature information of objects such as a sofa and a television. The control unit can compare the obtained object feature information with the sample object features. If the similarity of the specific object features such as the sofa and the television contained in the object feature information does not exceed the similarity threshold, it is considered that the object feature information does not contain the specific object features.

[0060] In the embodiment of the present invention, in addition to the above-mentioned method of the self-moving robot changing its working mode according to the area it is in, it is also possible to change its working mode directly according to the different working conditions of the self-moving robot without judging the area it is in.

[0061] Specifically, for step S101, obtaining environmental information of the current working area of ​​the mobile robot includes: obtaining feature information of objects in the current working area of ​​the mobile robot; Determining whether the type of environmental information belongs to a specific environment includes: determining whether the object feature information contains specific object features, and if so, the type of environmental information belongs to a specific environment.

[0062] The environmental information includes object feature information, and the recognition unit of the self-propelled robot includes but is not limited to an image collector. The image collector can recognize the object feature information in the current working area of ​​the self-propelled robot and send it to the control unit so that the control unit can determine whether the type of environmental information belongs to a specific environment based on the object feature information.

[0063] For step S102, judging whether the type of environmental information belongs to a specific environment includes: judging whether the object feature information contains a specific object feature, and if so, the type of environmental information belongs to a specific environment. In an embodiment of the present invention, when the self-moving robot is in use, it is not necessary to establish a map of the cleaned area, and it is not necessary to divide the specific area and the general area. It is only necessary to identify whether the object feature information contains a specific object feature to determine whether the self-moving robot is in a specific environment. One achievable way is that the recognition unit includes but is not limited to an image collector, and the image collector includes but is not limited to a camera, a video camera or a camera. The recognition unit can obtain a picture or image of the area in real time, and the picture or image contains object feature information. The control unit can recognize the picture or image sent by the recognition unit through image recognition technology to identify whether the object feature information contains a specific object feature. If there is a specific object feature, the area where the self-moving robot is located is a specific area. The specific object feature includes but is not limited to one or a combination of kitchen object features, bathroom object features, stain object features and obstacle object quantity features.

[0064] Take the application of a self-moving robot in a home as an example. For example, the self-moving robot moves to the kitchen. At this time, the recognition unit can obtain pictures or images of the area where the self-moving robot is located in real time. The obtained pictures contain feature information of objects such as pots and stoves. The control unit can recognize the pictures through image recognition technology, and recognize that the object feature information contains specific object features such as pots and stoves. If it is considered that the object feature information contains specific object features, the control unit starts the driving unit to make the self-moving robot work in vibration mode. Alternatively, the control unit adjusts the working mode of the self-moving robot from weak vibration mode to strong vibration mode.

[0065] For another example, the self-moving robot moves to the bathroom. At this time, the recognition unit can obtain the picture or image of the area where the self-moving robot is located in real time. The obtained picture contains the feature information of objects such as toilets and washing machines. The control unit can recognize the picture through image recognition technology, and recognize that the object feature information contains specific object features such as toilets. If it is considered that the object feature information contains specific object features, the control unit starts the driving unit to make the self-moving robot work in vibration mode. Alternatively, the control unit adjusts the working mode of the self-moving robot from weak vibration mode to strong vibration mode.

[0066] For another example, the features of a stain object refer to the features of an object that can affect the cleanliness of the cleaning surface, such as sewage, oil stains, and sticky substances. The above-mentioned stain objects can appear in different places, such as living rooms and bedrooms. The recognition unit can obtain pictures or images of the area where the self-moving robot is located in real time. The obtained pictures contain object feature information such as the ground and sewage on the ground. The control unit can recognize the picture through image recognition technology, and recognize that the object feature information contains specific object features such as sewage. If it is considered that the object feature information contains specific object features, the control unit starts the driving unit to make the self-moving robot work in vibration mode. Alternatively, the control unit adjusts the working mode of the self-moving robot from weak vibration mode to strong vibration mode.

[0067] For another example, the number of obstacle objects can represent the number of obstacles on the cleaning surface. For different numbers of obstacles on the cleaning surface, the self-moving robot can use corresponding working modes for cleaning. If there are more than two pieces of paper, fruit peels, etc. on the cleaning surface, the control unit can identify the image through image recognition technology, and if it is recognized that the object feature information contains more than two obstacles, it is considered that the object feature information contains specific object features, and the control unit starts the driving unit to make the self-moving robot work in vibration mode. Alternatively, the control unit adjusts the working mode of the self-moving robot from weak vibration mode to strong vibration mode.

[0068] In the embodiment of the present invention, the method of changing the working mode of the self-moving robot according to whether the feature information of the identified object contains the features of a specific object also requires establishing a database of sample object features, and identifying the features of a specific object based on the comparison of the sample object features. The method of establishing a database of sample object features and comparing the sample object features can be found in the above-mentioned records and will not be repeated here.

[0069] Example 2 Based on Example 1, the present invention proposes Example 2. The difference between Example 2 and Example 1 is that the control method of the self-moving robot provided in Example 2 is based on whether the self-moving robot is located in a specific area. If the self-moving robot is located in the specific area, the self-moving robot is controlled to work in a vibration mode. The specific scheme is as follows: An embodiment of the present invention provides a control method for a self-moving robot, comprising: Step S501: Acquire the environmental information of the current working area of ​​the mobile robot; Step S502: judging whether the current working area belongs to a specific area according to the environmental information; Step S501: If it is determined that the current working area belongs to a specific area, the self-moving robot is controlled to work in a vibration mode.

[0070] The technical solution provided by the embodiment of the present invention obtains environmental information of the current working area of ​​the mobile robot and determines the type of the current working area, so that the mobile device can adopt different working modes according to different working areas. For example, for a specific area, the mobile device can reciprocately clean the surface to be cleaned by working in a vibration mode, thereby improving the cleaning efficiency and avoiding waste of resources.

[0071] Further, in the embodiment of the present invention, for step S501, obtaining the environmental information of the current working area of ​​the self-moving robot includes: obtaining the current position information of the self-moving robot. The environmental information includes the position information, and the identification unit of the self-moving robot includes but is not limited to a positioning device or an image collector. The self-moving robot is positioned by the positioning device or the image collector, and the position information of the self-moving robot is sent to the control unit, so that the control unit determines whether the current working area belongs to a specific area according to the position information.

[0072] For step S502, determining whether the current working area belongs to a specific area includes: determining whether the current position of the self-moving robot is located in a specific area in the area map according to the position information, and if so, the current working area belongs to the specific area. In the embodiment of the present invention, when the self-moving robot is in use, a map of the cleaning area can be established to plan the cleaning route, divide the cleaning area, etc. The method of establishing the map can refer to the relevant content in Example 1, and will not be repeated here.

[0073] After the map is established, the regional map can be divided into specific areas and general areas. One way to divide a specific area includes: obtaining object feature information within the current working area of ​​the self-moving robot, and identifying whether the object feature information contains specific object features. If specific object features exist, the area where the self-moving robot is located is a specific area.

[0074] One achievable method is that the recognition unit includes but is not limited to an image collector, and the image collector includes but is not limited to a camera, a video camera or a camera. The recognition unit can obtain a picture or image of the area in real time, and the picture or image contains object feature information. The control unit can recognize the picture or image sent by the recognition unit through image recognition technology to identify whether the object feature information contains specific object features. If there are specific object features, the area where the self-moving robot is located is a specific area. The specific object features include but are not limited to one or a combination of kitchen object features, bathroom object features, stain object features and obstacle object quantity features.

[0075] Take the application of self-moving robots in the home as an example. For example, the self-moving robot moves to the kitchen. At this time, the recognition unit can obtain pictures or images of the area where the self-moving robot is located in real time. The obtained pictures contain object feature information such as pots and stoves. The control unit can recognize the pictures through image recognition technology, and recognize that the object feature information contains specific object features such as pots and stoves. If the object feature information contains specific object features, then it is considered that the area where the self-moving robot is located is a specific area, and the control unit starts the driving unit to make the self-moving robot work in vibration mode. Alternatively, when the self-moving robot is located in a specific area, the control unit adjusts the working mode of the self-moving robot from weak vibration mode to strong vibration mode.

[0076] For another example, the self-moving robot moves to the bathroom. At this time, the recognition unit can obtain the picture or image of the area where the self-moving robot is located in real time. The obtained picture contains the feature information of objects such as toilets and washing machines. The control unit can recognize the picture through image recognition technology, and recognize that the object feature information contains specific object features such as toilets. If the object feature information contains specific object features, then it is considered that the area where the self-moving robot is located is a specific area, and the control unit starts the driving unit so that the self-moving robot works in the vibration mode. Alternatively, the control unit adjusts the working mode of the self-moving robot from the weak vibration mode to the strong vibration mode.

[0077] For another example, when the self-moving robot changes its working area and enters the living room, the picture acquired by the recognition unit in real time contains sofas, televisions, etc. The control unit can recognize the picture through image recognition technology. If no specific object features such as toilets and stoves are recognized, it is considered that the object feature information does not contain specific object features, and the area where the self-moving robot is located is a common area. The control unit stops the driving unit, so that the self-moving robot works in a non-vibration mode. Alternatively, the control unit adjusts the working mode of the self-moving robot from a strong vibration mode to a weak vibration mode.

[0078] It should be noted that the relevant features in Example 2 and Example 1 can be referenced and borrowed from each other, and will not be described one by one here.

[0079] Example 3 Accordingly, on the basis of Example 1 and Example 2, the embodiment of the present invention further provides a self-moving robot. The self-moving robot described in Example 3 can execute the methods in Example 1 and Example 2. The technical features in Example 3 and the technical features in Example 1 and Example 2 can be referenced to each other if there is no conflict.

[0080] Specifically, see Figure 2An embodiment of the present invention further provides a self-moving robot, comprising: a main body (not shown in the figure) and a water tank assembly arranged on the main body.

[0081] The main body is also provided with an identification unit and a control unit (not shown in the figure), wherein the identification unit is used to identify the environmental information of the current working area of ​​the self-moving robot and send the environmental information to the control unit. A driving assembly 30 is installed in the water tank assembly, and the control unit is connected to the driving assembly 30.

[0082] The control unit determines whether the type of environmental information belongs to a specific environment. If the type of environmental information belongs to a specific environment, the control unit controls the driving component 30 to operate so that the self-moving robot works in a vibration mode.

[0083] The technical solution provided by the embodiment of the present invention obtains the environmental information of the current working area of ​​the self-mobile robot and determines the type of environmental information so that the mobile device can work in different working modes according to different working areas. For example, for a specific environment, the mobile device can reciprocate to clean the surface to be cleaned by working in a vibration mode, thereby improving the cleaning efficiency and avoiding waste of resources. In addition, the drive component 30 can be arranged inside the water tank component to save installation space. The drive component 30 can be used to drive the movable parts of the self-mobile robot. For example, the drive component 30 can be connected to the mobile bracket 20, and the cleaning component 22 can be arranged on the mobile bracket 20. The drive component 30 drives the mobile bracket to reciprocate relative to the water tank, and the surface to be cleaned can be reciprocated by the cleaning component 22, thereby improving the cleaning efficiency.

[0084] For example, the working mode of the self-moving robot includes a vibration mode and a non-vibration mode. The vibration mode is the working mode of the self-moving robot when the driving component 30 is started, and the non-vibration mode is the working mode of the self-moving robot when the driving component 30 is stopped. Among them, the vibration mode can include various reciprocating movements. For example, the self-moving robot includes a cleaning component 22, and the vibration mode includes controlling the cleaning component 22 to move back and forth, move back and forth, move up and down, or vibrate up and down. And the vibration mode can also include a strong vibration mode and a weak vibration mode. According to the degree of dirtiness of a specific environment, a strong vibration mode or a weak vibration mode is performed.

[0085] When the self-mobile robot is working, the initial working mode can be defaulted to a non-vibration mode, and the identification unit can identify the environmental information of the working area where the self-mobile robot is located in real time, and send it to the control unit so that the control unit controls the start and stop of the drive component 30 according to the environmental information. For example, when the control unit identifies that the current working area of ​​the self-mobile robot is a kitchen or a bathroom, the control unit can control the drive component 30 to start, so that the self-mobile robot works in a vibration mode. Alternatively, when the control unit identifies that the current working area of ​​the self-mobile robot is a dirty environment, the control unit can control the drive component 30 to start. Alternatively, when the control unit identifies that the current working area of ​​the self-mobile robot is an environment with many obstacles, the control unit can control the drive component 30 to start. Alternatively, when the self-mobile robot is working, the initial working mode can be defaulted to a weak vibration mode, and in a specific area, the strong vibration mode is started.

[0086] The self-propelled robot provided by the embodiment of the present invention is further introduced in detail below.

[0087] In the embodiment of the present invention, the recognition unit includes but is not limited to an image collector, and the image collector includes but is not limited to a camera, a video camera or a camera. The recognition unit can obtain a picture or image of the area in real time, and the control unit can determine whether the type of environmental information belongs to a specific environment by recognizing the picture or image. If the type of environmental information belongs to a specific environment, the driving component 30 is started so that the self-moving robot works in a vibration mode.

[0088] Continue to see Figure 2 In one embodiment of the present invention, a water tank assembly is provided, including: a water tank 10 and a movable bracket 20.

[0089] The movable bracket 20 is movably connected to the water tank 10. The driving assembly 30 is disposed in the water tank 10. The driving end of the driving assembly 30 is connected to the movable bracket 20, and the driving assembly 30 can drive the movable bracket 20 to reciprocate relative to the water tank 10.

[0090] In the technical solution provided by the embodiment of the present invention, the driving assembly 30 in the water tank assembly is arranged inside the water tank 10, which saves installation space. The water tank 10 and the mobile bracket 20 can be arranged as a whole and can be installed integrally on the main body of the self-propelled robot, which reduces the difficulty of installation. The cleaning component 22 can be arranged on the mobile bracket 20. When the driving assembly 30 drives the mobile bracket 20 to reciprocate relative to the water tank 10, the cleaning surface can be reciprocated by the cleaning component 22, thereby improving the cleaning efficiency.

[0091] In an achievable embodiment of the present invention, the water tank 10 includes an upper cover 11 and a lower cover 12, and the drive assembly 30 can be arranged on the lower cover 12. A water inlet is arranged on the upper cover 11, and when there is less water in the water tank 10, the user can add water to the water tank 10 through the water inlet. In order to prevent the injected water from containing impurities, a filter component is sleeved inside the water inlet. When the user adds water, the impurities in the water are isolated outside after the water flows through the filter component and will not enter the water tank 10. After the water is added, the water inlet can be sealed by a sealing cover.

[0092] In an embodiment of the present invention, there are multiple ways in which the driving component 30 drives the mobile bracket 20 to reciprocate. For example, one feasible driving method is that the driving end of the driving component 30 is linearly reciprocating, and the driving end is connected to the mobile bracket 20. When the driving component 30 is running, the driving end drives the mobile bracket 20 to perform linear reciprocating motion.

[0093] Another possible driving mode is that the driving end of the driving assembly 30 is in rotational motion, and the driving end includes a transmission member 31. When the driving assembly 30 is in operation, the driving end is rotating, and the driving end drives the mobile bracket 20 to perform linear reciprocating motion through the transmission member 31. Figure 2 and Figure 3 , the driving end includes a rotating shaft (not shown in the figure) and a transmission member 31 arranged on the rotating shaft. A limiting portion 21 is arranged on the mobile bracket 20. The transmission member 31 is connected to the limiting portion 21. When the rotating shaft rotates, the transmission member 31 drives the mobile bracket 20 to reciprocate relative to the water tank 10 through the limiting portion 21. The function of the transmission member 31 is to convert the rotational motion of the rotating shaft into the linear reciprocating motion of the mobile bracket 20. The function of the limiting portion 21 is to limit the movement amplitude and movement direction of the mobile bracket 20.

[0094] It should be noted that when the driving end is connected to the movable bracket 20 through the transmission member 31 , the rotating shaft of the driving end can extend out of the water tank 10 and be connected to the transmission member 31 , and the transmission member 31 can be located outside the water tank 10 and connected to the movable bracket 20 .

[0095] One possible implementation of the transmission member 31 is that the transmission member 31 includes an eccentric cam 32 disposed on the rotating shaft and a bearing 33 sleeved outside the eccentric cam 32. The limiting portion 21 is an oblong limiting hole. The bearing 33 is located in the oblong limiting hole, and a portion of the bearing 33 abuts against an inner wall of the oblong hole. When the rotating shaft drives the eccentric cam 32 to rotate, the bearing 33 drives the movable bracket 20 to reciprocate relative to the water tank 10 through the oblong limiting hole.

[0096] Specifically, the rotating shaft is eccentrically connected to the eccentric cam 32, and the eccentric cam 32 rotates eccentrically when the rotating shaft rotates. The bearing 33 is sleeved with the eccentric cam 32 through the inner ring, and abuts against the inner wall of the oblong limiting hole through the outer ring. When the eccentric cam 32 rotates, the bearing 33 rotates with the eccentric cam 32, and when the bearing 33 rotates in the oblong limiting hole, the movable bracket 20 can be driven to reciprocate. At the same time, the movement amplitude of the movable bracket 20 can be limited by setting the length of the oblong limiting hole and the size of the eccentric cam 32. The moving direction of the movable bracket 20 can be limited by limiting the extension direction of the oblong limiting hole. For example, if the extension direction of the oblong limiting hole is the same as the traveling direction of the self-moving robot, then the moving direction of the movable bracket 20 is the left and right direction of the self-moving robot. If the extension direction of the oblong limiting hole is perpendicular to the moving direction of the self-moving robot, then the moving direction of the movable bracket 20 is the traveling direction of the self-moving robot. Of course, the extension direction of the oblong limiting hole can be differently limited according to different cleaning requirements, and the present invention does not make a specific limitation.

[0097] In an embodiment of the present invention, a cleaning component 22 may be mounted on the mobile bracket 20, and when the mobile bracket 20 moves back and forth, the cleaning component 22 may be driven to repeatedly clean the surface to be cleaned. In order to be applicable to different cleaning environments and cleaning requirements, further, a detachable cleaning component 22 is provided on the mobile bracket 20, and the cleaning component 22 moves synchronously with the mobile bracket 20. The cleaning component 22 is detachably connected to the mobile bracket 20, which is convenient for the user to replace and clean the cleaning component 22, so as to ensure the cleaning effectiveness of the cleaning component 22. The connection method of the cleaning component 22 to the mobile bracket 20 includes but is not limited to snap-on, adhesive, sleeve connection, fastener connection, etc. The cleaning component 22 includes but is not limited to one or a combination of a rag, a scraper and a brush.

[0098] Furthermore, the water tank 10 is also provided with a water pump and a nozzle. The water pump is connected to the water tank 10, and the nozzle is connected to the water pump. The nozzle is arranged in the moving direction of the cleaning component 22. When the cleaning component 22 is cleaning, water can be sprayed to the surface to be cleaned through the nozzle, thereby improving the cleaning efficiency.

[0099] Further, in an achievable embodiment of the present invention, the driving assembly 30 has a high sealing performance. For example, the driving assembly 30 includes a shell, and the shell has a waterproof function. Therefore, the driving assembly 30 can be directly installed inside the water tank 10 for use, and the water in the water tank 10 will not invade the driving assembly 30. Alternatively, the water tank 10 is divided into a water area and a waterless area. The water area is used to store water, and the waterless area can be used to install the driving assembly 30. The water in the water area will not invade the waterless area, so that the driving assembly 30 can be used in a waterless environment.

[0100] See also Figure 4In order to prevent the water in the water tank 10 from being too little and affecting the normal use of the water tank 10, in an achievable embodiment of the present invention, the water tank assembly further includes a waterless detection device 40. The waterless detection device 40 is arranged in the water tank 10 and is used to detect whether the water level in the water tank 10 is lower than the water level warning position. The waterless detection device 40 can detect the water level in the water tank 10. When the water level is too low, such as when it is lower than the water level warning position, a warning signal is issued to notify the user to add water to the water tank 10. One achievable way is that the waterless detection device 40 has a waterproof function, so the waterless detection device 40 can be directly installed inside the water tank 10 for use, and the water in the water tank 10 will not invade the waterless detection device 40. Alternatively, the water tank 10 is divided into a water area and a waterless area, the water area is used to store water, and the waterless area can be used to install the waterless detection device 40, and the water in the water area will not invade the waterless area, so that the waterless detection device 40 can be used in a waterless environment. When the waterless detection device 40 is located in the waterless area, the waterless area is provided with a communicating vessel structure connected with the water area. The water level in the communicating vessel structure is the same as the water level in the water tank 10. The waterless detection device 40 can obtain the water level in the water tank 10 by detecting the water level in the communicating vessel structure.

[0101] See also Figure 5 In an embodiment of the present invention, a method for implementing a waterless detection device 40 is that the waterless detection device 40 includes a light emitting end 41, a light receiving end 42 and a light blocking float 43. The light blocking float 43 can float up and down with the water level in the water tank 10. The light emitting end 41 and the light receiving end 42 are respectively located at the two ends of the floating path of the light blocking float 43, and the position of the light path between the light emitting end 41 and the light receiving end 42 is the water level warning position. The waterless detection device 40 in the embodiment of the present invention uses the principle of optical coupling induction to perform waterless detection. The waterless detection device 40 can be connected to the control unit of the mobile robot through communication. The light blocking float 43 includes but is not limited to being made of a black light blocking material with a density less than water.

[0102] For example, when the water tank 10 is full of water, the light blocking float 43 floats on the high side of the water level, the light receiving end 42 can sense the light emitted by the light emitting end 41, and a smooth light path is formed between the light emitting end 41 and the light receiving end 42. At this time, the water level of the water tank 10 is relatively high and not lower than the water level warning position, and the water tank 10 can work normally.

[0103] When the water level in the water tank 10 drops, the light-blocking float 43 drops along with the water level. When the water level in the water tank 10 is low, such as when the water level in the water tank 10 is lower than the water level warning position, at this time, the light-blocking float 43 is located between the light-emitting end 41 and the light-receiving end 42, and the light-blocking float 43 blocks the light path, so that the light-receiving end 42 cannot receive and sense the light emitted by the light-emitting end 41. Similarly, a through hole may also be provided in the light-blocking float 43, such as when the water level in the water tank 10 is lower than the water level warning position, at this time, the light-receiving end 42 can receive the light emitted by the light-emitting end 41 and passing through the through hole. The self-moving robot receives the detection signal of the waterless detection device 40, and believes that the water level in the water tank 10 is low, and will issue a low water level alarm. For example, the self-moving robot will voice prompt the user to add water.

[0104] Furthermore, in order to limit the floating path of the light-blocking float 43, in the embodiment of the present invention, the water-free detection device 40 also includes a floating tube 44, and the bottom of the floating tube 44 is connected to the bottom of the water tank 10. The light-blocking float 43 is located in the floating tube 44, and can float along the extension direction of the floating tube 44. The floating tube 44 includes but is not limited to a transparent tube, or a transparent area that allows light to pass through is set on the side wall. The floating tube 44 can be set in a water area or in a waterless area. When the floating tube 44 is set in a waterless area, the floating tube 44 can be used as a communicating vessel, and the water level in the floating tube 44 is the same as the water level in the water tank 10. The light-blocking float 43 is located in the floating tube 44, and floats up and down with the water level in the floating tube 44, that is, the floating tube 44 is the floating path of the light-blocking float 43.

[0105] When the water tank 10 is full of water, the water level in the floating tube 44 is high, and the light-blocking float 43 floats on the high side of the water level. The light-emitting end 41 and the light-receiving end 42 are located on both sides of the floating tube 44, and the light emitted by the light-emitting end 41 can pass through the floating tube 44 and be received by the light-receiving end 42. The light-receiving end 42 can sense the light emitted by the light-emitting end 41, and a smooth light path is formed between the light-emitting end 41 and the light-receiving end 42, indicating that the water level of the water tank 10 is high and not lower than the water level warning position, and the water tank 10 can work normally.

[0106] When the water level in the water tank 10 drops, the water level in the floating tube 44 drops accordingly, and the light-blocking float 43 drops along with the water level. When the water level in the water tank 10 is low, such as when the water level in the water tank 10 is lower than the water level warning position, at this time, the light-blocking float 43 is located between the light-emitting end 41 and the light-receiving end 42, and the light-blocking float 43 blocks the light path, so that the light-receiving end 42 cannot receive and sense the light emitted by the light-emitting end 41. Similarly, a through hole may also be provided in the light-blocking float 43, such as when the water level in the water tank 10 is lower than the water level warning position, at this time, the light-receiving end 42 can receive the light emitted by the light-emitting end 41 and passing through the through hole. The self-moving robot receives the detection signal of the waterless detection device 40, and believes that the water level in the water tank 10 is low, and will issue a low water level alarm. For example, the self-moving robot will voice prompt the user to add water.

[0107] Further, to ensure that the light shielding float 43 can only float along the floating path, continue to refer to Figure 5 In the embodiment of the present invention, the floating tube 44 is provided with a limiting track 45 extending along the axial direction of the floating tube 44. The light-blocking float 43 is provided with a limiting block 46 used in conjunction with the limiting track 45, and the limiting block 46 is matched and connected with the limiting track 45. The implementation methods of the limiting track 45 include but are not limited to the following. One possible implementation method is that the limiting track 45 is a track groove provided on the inner wall of the floating tube 44, and the limiting block 46 extends into the track groove and can move along the track groove. Another possible implementation method is that the limiting track 45 is a track hole provided on the inner wall of the floating tube 44, and the limiting block 46 extends into the track hole and can move along the track hole. When the limiting track 45 is a track hole, the floating tube 44 can be connected with the water tank 10 through the track hole, and the water in the water tank 10 enters the floating tube 44 through the track hole.

[0108] In the embodiment of the present invention, the light emitting end 41 and the light receiving end 42 can be directly mounted on the water tank 10, or mounted on the floating tube 44. The optical path formed by the light emitting end 41 and the light receiving end 42 is set at the water level warning position, so that the position of the water level is detected by the change of the optical path. One installation method of the light emitting end 41 and the light receiving end 42 is that mounting seats 47 are respectively provided on both sides of the floating tube 44. The light emitting end 41 and the light receiving end 42 are respectively mounted on two mounting seats 47, and the light emitted by the light emitting end 41 passes through the floating tube 44 and is received by the light receiving end 42. The mounting seat 47 can be an integral structure with the floating tube 44, or a separate structure with the floating tube 44. By setting the position of the mounting seat 47, different water level warning positions can be adjusted. The connection method of the mounting seat 47 with the light emitting end 41 and the light receiving end 42 includes but is not limited to card connection, plug connection, bonding or fastener connection.

[0109] In actual use, the following situations may occur, for example, the water level drops too low, the light-blocking float 43 is below the water level warning position, the light-blocking float 43 is not located between the light-emitting end 41 and the light-receiving end 42, and the light emitted by the light-emitting end 41 can be received by the light-receiving end 42. The light-receiving end 42 can sense the light emitted by the light-emitting end 41, and a smooth light path is formed between the light-emitting end 41 and the light-receiving end 42. At this time, the water level is too low, but the detection result of the water-free detection device 40 is that the water tank 10 is full of water, which is a false alarm. The water tank 10 is running at a low water level and is prone to damage.

[0110] To prevent the above situation from occurring, in an embodiment of the present invention, a limiter is provided at the bottom of the floating tube 44 to prevent the light-blocking float 43 from continuing to drop from the water level warning position. When the water level in the water tank 10 drops, the water level in the floating tube 44 drops accordingly, and the light-blocking float 43 drops along with the water level. When the water level in the water tank 10 is low, such as when the water level in the water tank 10 is lower than the water level warning position, at this time, the light-blocking float 43 is located between the light-emitting end 41 and the light-receiving end 42, and the light-blocking float 43 blocks the light path, so that the light-receiving end 42 cannot receive the light emitted by the light-emitting end 41. The self-moving robot receives the detection signal of the waterless detection device 40, and believes that the water level in the water tank 10 is low, and will issue a low water level alarm. For example, the self-moving robot will voice prompt the user to add water. If the water level continues to drop, the light-blocking float 43 will abut against the limiter, and the limiter prevents the light-blocking float 43 from dropping further, so that the light-blocking float 43 is always between the light-emitting end 41 and the light-receiving end 42, so that the self-moving robot continues to alarm. The limiter includes but is not limited to a spring, a bump, a support rod, etc.

[0111] Of course, in addition to performing the alarm operation, the self-moving robot can also perform the following operations, such as closing the passage between the water tank 10 and the outside to prevent the water level in the water tank 10 from dropping, or directly shutting down the self-moving robot.

[0112] In an achievable embodiment of the present invention, the light emitting end 41 and the light receiving end 42 in the waterless detection device 40 can be integrated into a detection end, and the detection end is a reflective detection component that can both emit and receive light. The light blocking float 43 is replaced by a reflective float. A reflective surface is provided on the reflective float, and the reflective surface is arranged opposite to the detection end.

[0113] For example, when the water tank 10 is full of water, the reflective float floats on the high side of the water level, and the light emitted by the detection end will not be reflected back, so the detection end will not receive the light. This indicates that the water level of the water tank 10 is high and not lower than the water level warning position, and the water tank 10 can work normally.

[0114] When the water level in the water tank 10 drops, the water level in the floating tube 44 drops accordingly, and the reflective float drops along with the water level. When the water level in the water tank 10 is low, such as when the water level in the water tank 10 is lower than the water level warning position, at this time, the reflective surface of the reflective float is opposite to the detection end, and the reflective float reflects the light back to the detection end, and the detection end receives the reflected light. The self-moving robot receives the detection signal from the detection end, and believes that the water level in the water tank 10 is low, and will issue a low water level alarm, for example, the self-moving robot will voice prompt the user to add water.

[0115] The relevant features in Example 3, Example 1 and Example 2 can be referenced and borrowed from each other, and will not be described in detail here.

[0116] Example 4 Accordingly, on the basis of Example 3, the embodiment of the present invention further provides a self-moving robot. The technical features in Example 4 and the technical features in Example 3 can be referenced to each other if there is no conflict.

[0117] Specifically, see Figure 2 An embodiment of the present invention further provides a self-moving robot, comprising: a main body (not shown in the figure) and a cleaning module arranged on the main body.

[0118] The main body is also provided with an identification unit and a control unit (the identification unit and the control unit are not shown in the figure), wherein the identification unit is used to identify the environmental information of the current working area of ​​the self-mobile robot and send the environmental information to the control unit.

[0119] The cleaning module comprises a driving assembly 30 and a cleaning component 22 , and a control unit is connected to the driving assembly 30 .

[0120] The control unit determines whether the type of environmental information belongs to a specific environment. If the type of environmental information belongs to a specific environment, the control unit controls the driving component 30 to operate, and the driving component 30 drives the cleaning component 22 to operate so that the self-moving robot works in a vibration mode.

[0121] The technical solution provided by the embodiment of the present invention obtains the environmental information of the current working area of ​​the self-moving robot and determines the type of environmental information so that the mobile device can work in different working modes according to different working areas. For example, for a specific environment, the mobile device can reciprocate to clean the surface to be cleaned by working in a vibration mode, thereby improving the cleaning efficiency and avoiding waste of resources. In addition, the driving component 30 can be used to drive the movable parts of the self-moving robot. For example, the driving component 30 can be connected to the cleaning component 22, and the driving component 30 drives the cleaning component 22 to reciprocate. The cleaning surface to be cleaned can be reciprocated by the cleaning component 22, thereby improving the cleaning efficiency.

[0122] The relevant features in Example 4 and Example 3 can be referenced and borrowed from each other, and will not be described in detail here.

[0123] Example 5 Accordingly, on the basis of Example 3, in one embodiment of the present invention, a water tank assembly is provided. The water tank assembly can be implemented by the water tank assembly in Example 3. The features of the water tank assembly in Example 5 can refer to the features of the water tank assembly in Example 3.

[0124] Specifically, see Figures 2 to 4 In one embodiment of the present invention, a water tank assembly is provided, including: a water tank 10, a movable bracket 20 and a driving assembly 30.

[0125] The movable bracket 20 is movably connected to the water tank 10. The driving assembly 30 is disposed in the water tank 10. The driving end of the driving assembly 30 is connected to the movable bracket 20, and the driving assembly 30 can drive the movable bracket 20 to reciprocate relative to the water tank 10.

[0126] In the technical solution provided by the embodiment of the present invention, the driving assembly 30 in the water tank assembly is arranged inside the water tank 10, which saves installation space. The water tank 10 and the mobile bracket 20 can be arranged as a whole and can be installed integrally on the main body of the self-propelled robot, which reduces the difficulty of installation. The cleaning component 22 can be arranged on the mobile bracket 20. When the driving assembly 30 drives the mobile bracket 20 to reciprocate relative to the water tank 10, the cleaning surface can be reciprocated by the cleaning component 22, thereby improving the cleaning efficiency.

[0127] See also Figure 4 and Figure 5In order to prevent the water in the water tank 10 from being too little and affecting the normal use of the water tank 10, in an achievable embodiment of the present invention, the water tank assembly further includes a waterless detection device 40. The waterless detection device 40 is arranged in the water tank 10 and is used to detect whether the water level in the water tank 10 is lower than the water level warning position. The waterless detection device 40 can detect the water level in the water tank 10. When the water level is too low, such as when it is lower than the water level warning position, a warning signal is issued to notify the user to add water to the water tank 10. One achievable way is that the waterless detection device 40 has a waterproof function, so the waterless detection device 40 can be directly installed inside the water tank 10 for use, and the water in the water tank 10 will not invade the waterless detection device 40. Alternatively, the water tank 10 is divided into a water area and a waterless area, the water area is used to store water, and the waterless area can be used to install the waterless detection device 40, and the water in the water area will not invade the waterless area, so that the waterless detection device 40 can be used in a waterless environment. When the waterless detection device 40 is located in the waterless area, the waterless area is provided with a communicating vessel structure connected with the water area. The water level in the communicating vessel structure is the same as the water level in the water tank 10. The waterless detection device 40 can obtain the water level in the water tank 10 by detecting the water level in the communicating vessel structure.

[0128] The relevant features in Example 5 and Example 3 can be referenced and borrowed from each other, and will not be described in detail here.

[0129] Example 6 Accordingly, on the basis of Embodiment 3 and Embodiment 5, the embodiment of the present invention further provides a self-moving robot, comprising: a main body and a water tank assembly arranged on the main body. The water tank assembly can be implemented by the water tank assembly in Embodiment 3 and Embodiment 5 above, and the relevant features in Embodiment 6 and Embodiment 3 and Embodiment 5 can be referenced to each other.

[0130] The self-moving robot includes but is not limited to a self-moving cleaning robot, and may also be a handheld cleaning device. The main body in the embodiment of the present invention includes but is not limited to a main body of a self-moving cleaning robot or a main body of a handheld cleaning device.

[0131] The self-moving robots described in the following embodiments are explained by taking a self-moving cleaning robot as an example. It should be noted that the explanation by taking the self-moving cleaning robot as an example is only an example and does not constitute an improper limitation of the embodiments of the present invention.

[0132] Specifically, an embodiment of the present invention further provides a self-moving robot, comprising: a main body and a water tank assembly arranged on the main body. The water tank assembly comprises: a water tank 10, a moving bracket 20 and a driving assembly 30; The water tank 10 is connected to the main body. The movable bracket 20 is located between the main body and the surface to be cleaned, and the movable bracket 20 is movably connected to the water tank 10. The driving assembly 30 is disposed in the water tank 10.

[0133] The driving end of the driving component 30 is connected to the movable bracket 20 , and the driving component 30 can drive the movable bracket 20 to reciprocate relative to the water tank 10 .

[0134] In the technical solution provided by the embodiment of the present invention, the driving assembly 30 in the water tank assembly is arranged inside the water tank 10, which saves installation space. The water tank 10 and the mobile bracket 20 can be arranged as a whole and can be installed integrally on the main body of the self-propelled robot, which reduces the difficulty of installation. The cleaning component 22 can be arranged on the mobile bracket 20. When the driving assembly 30 drives the mobile bracket 20 to reciprocate relative to the water tank 10, the cleaning surface can be reciprocated by the cleaning component 22, thereby improving the cleaning efficiency.

[0135] Furthermore, in an achievable embodiment of the present invention, the water tank assembly further includes a water-free detection device 40. The water-free detection device 40 is disposed in the water tank 10 and is used to detect whether the water level in the water tank 10 is lower than the water level warning position.

[0136] For example, in one achievable manner, the waterless detection device 40 is communicatively connected with the main body. The waterless detection device 40 includes a light emitting end 41, a light receiving end 42, and a light blocking float 43. The light blocking float 43 can float up and down with the water level in the water tank 10. The light emitting end 41 and the light receiving end 42 are respectively located at the two ends of the floating path of the light blocking float 43, and the position of the light path between the light emitting end 41 and the light receiving end 42 is the position of the water level warning position. The light blocking float 43 includes but is not limited to being made of a black light blocking material with a density less than water.

[0137] When the water tank 10 is full of water, the light blocking float 43 is at the high side of the water level, the light receiving end 42 can sense the light emitted by the light emitting end 41, and a smooth light path is formed between the light emitting end 41 and the light receiving end 42. At this time, the main body receives the detection signal of the water-free detection device 40, and believes that the water level of the water tank 10 is high and not lower than the water level warning position.

[0138] When the water level of the water tank 10 is low, such as when the water level of the water tank 10 is lower than the water level warning position. At this time, the light-blocking float 43 is located between the light-emitting end 41 and the light-receiving end 42, and the light-blocking float 43 blocks the light path, so that the light-receiving end 42 cannot receive and sense the light emitted by the light-emitting end 41. Similarly, a through hole may also be provided in the light-blocking float 43. For example, when the water level of the water tank 10 is lower than the water level warning position, at this time, the light-receiving end 42 can receive the light emitted by the light-emitting end 41 and passing through the through hole. The main body receives the detection signal of the waterless detection device 40, and believes that the water level of the water tank 10 is low, and a low water level alarm will be issued. For example, the main body will voice prompt the user to add water.

[0139] The relevant features in Example 6, Example 3 and Example 5 can be referenced and borrowed from each other, and will not be described in detail here.

[0140] Example 7 Accordingly, on the basis of Embodiments 3 to 6, the embodiment of the present invention further provides a self-moving robot, comprising: a main body and a water tank assembly arranged on the main body. The water tank assembly can be implemented by the water tank assembly in Embodiments 3 to 6 above, and the relevant features in Embodiment 7 and Embodiments 3 to 6 can be referenced to each other.

[0141] The self-moving robot includes but is not limited to a self-moving cleaning robot, and may also be a handheld cleaning device. The main body in the embodiment of the present invention includes but is not limited to a main body of a self-moving cleaning robot or a main body of a handheld cleaning device.

[0142] Specifically, an embodiment of the present invention further provides a self-moving robot, comprising: a main body and a water tank assembly arranged on the main body, wherein a water-free detection device 40 is arranged in the water tank assembly and / or a driving assembly 30 is installed in the water tank assembly.

[0143] In the technical solution provided by the embodiment of the present invention, when a water-free detection device 40 is provided in the water tank assembly, the water-free detection device 40 is used to detect whether the water level in the water tank assembly is lower than the water level warning position, so as to prevent the water in the water tank assembly from being too low and affecting the normal use of the water tank assembly. When a driving assembly 30 is installed in the water tank assembly, the driving assembly 30 can be arranged inside the water tank assembly, saving installation space. The driving assembly 30 can be used to drive the movable parts of the self-moving robot. For example, the driving assembly 30 can be connected to the mobile bracket 20, and the cleaning component 22 can be arranged on the mobile bracket 20. The driving assembly 30 drives the mobile bracket 20 to reciprocate relative to the water tank 10, and the cleaning component 22 can reciprocate to clean the surface to be cleaned, thereby improving the cleaning efficiency.

[0144] One possible implementation of the water tank assembly is that the water tank assembly includes a water tank 10, and a water-free detection device 40 is disposed in the water tank 10. The water level in the water tank 10 can be detected by the water-free detection device 40, and when the water level is too low, such as below the water level warning position, a warning signal is issued to notify the user to add water to the water tank 10.

[0145] For example, in one achievable manner, the waterless detection device 40 is communicatively connected with the main body. The waterless detection device 40 includes a light emitting end 41, a light receiving end 42, and a light blocking float 43. The light blocking float 43 can float up and down with the water level in the water tank 10. The light emitting end 41 and the light receiving end 42 are respectively located at the two ends of the floating path of the light blocking float 43, and the position of the light path between the light emitting end 41 and the light receiving end 42 is the position of the water level warning position. The light blocking float 43 includes but is not limited to being made of a black light blocking material with a density less than water.

[0146] When the water tank 10 is full of water, the light blocking float 43 is at the high side of the water level, the light receiving end 42 can sense the light emitted by the light emitting end 41, and a smooth light path is formed between the light emitting end 41 and the light receiving end 42. At this time, the main body receives the detection signal of the water-free detection device 40, and believes that the water level of the water tank 10 is high and not lower than the water level warning position.

[0147] When the water level of the water tank 10 is low, such as when the water level of the water tank 10 is lower than the water level warning position. At this time, the light-blocking float 43 is located between the light-emitting end 41 and the light-receiving end 42, and the light-blocking float 43 blocks the light path, so that the light-receiving end 42 cannot receive and sense the light emitted by the light-emitting end 41. Similarly, a through hole may also be provided in the light-blocking float 43. For example, when the water level of the water tank 10 is lower than the water level warning position, at this time, the light-receiving end 42 can receive the light emitted by the light-emitting end 41 and passing through the through hole. The main body receives the detection signal of the waterless detection device 40, and believes that the water level of the water tank 10 is low, and a low water level alarm will be issued. For example, the main body will voice prompt the user to add water.

[0148] Another possible implementation of the water tank assembly is that the water tank assembly includes a water tank 10, and a driving assembly 30 is disposed in the water tank 10. The driving assembly 30 can be used to drive the movable parts of the self-moving robot. For example, the driving assembly 30 can be connected to a mobile bracket 20, and a cleaning component 22 can be disposed on the mobile bracket 20.

[0149] There are many ways for the driving component 30 to drive the mobile bracket 20 to reciprocate. For example, one feasible driving method is that the driving end of the driving component 30 is linearly reciprocating, and the driving end is connected to the mobile bracket 20. When the driving component 30 is running, the driving end drives the mobile bracket 20 to perform linear reciprocating motion.

[0150] Another possible driving mode is that the driving end of the driving assembly 30 is in rotational motion, and the driving end includes a transmission member 31. When the driving assembly 30 is in operation, the driving end is rotating, and the driving end drives the mobile bracket 20 to perform linear reciprocating motion through the transmission member 31. Figure 1 and Figure 2 , the driving end includes a rotating shaft (not shown in the figure) and a transmission member 31 arranged on the rotating shaft. A limiting portion 21 is arranged on the mobile bracket 20. The transmission member 31 is connected to the limiting portion 21. When the rotating shaft rotates, the transmission member 31 drives the mobile bracket 20 to reciprocate relative to the water tank 10 through the limiting portion 21. The function of the transmission member 31 is to convert the rotational motion of the rotating shaft into the linear reciprocating motion of the mobile bracket 20. The function of the limiting portion 21 is to limit the movement amplitude and movement direction of the mobile bracket 20.

[0151] The water tank assembly in Example 7 may be provided with a water-free detection device 40 or a driving assembly 30 separately, or may be provided with a water-free detection device 40 or a driving assembly 30 at the same time.

[0152] The relevant features in Example 7 and Examples 3 to 6 can be referenced and borrowed from each other, and will not be described in detail here.

[0153] The technical solution adopted by the present invention is described below in combination with specific application scenarios to help understanding. The following application scenario takes a sweeping robot as an example.

[0154] Application scenario 1 The sweeping robot is performing cleaning work indoors. At this time, the picture obtained by the camera on the sweeping robot contains area information such as pots and stoves. The control unit recognizes the picture through image recognition technology, and recognizes that the object feature information contains specific object features such as pots and stoves. It is considered that the object feature information contains specific object features, and the area where the self-moving robot is located is a specific area. The control unit starts the driving unit to make the self-moving robot work in vibration mode.

[0155] When the sweeping robot changes its working area, the recognition unit obtains the picture in real time, which includes the sofa, TV, etc. The control unit recognizes the picture through image recognition technology and recognizes that there is no specific object feature in the object feature information. It considers that the area where the self-moving robot is located is an ordinary area. The control unit stops the driving unit, so that the self-moving robot changes its working mode from vibration mode to non-vibration mode.

[0156] Application scenario 2 The sweeping robot is performing cleaning work indoors. At this time, the picture obtained by the camera on the sweeping robot contains cleanliness information such as sewage and dust. The control unit recognizes the picture through image recognition technology, and recognizes that the object feature information contains specific object features such as sewage. If it is considered that the object feature information contains specific object features, the control unit starts the driving unit to make the self-moving robot work in vibration mode.

[0157] When the self-mobile robot changes its working area or completes cleaning the cleaning surface, the recognition unit obtains a picture or video of the area where the self-mobile robot is located in real time. The control unit can recognize the picture through image recognition technology, and recognize that the object feature information does not contain specific object features such as sewage. The control unit stops the driving unit, causing the self-mobile robot to change its working mode from vibration mode to non-vibration mode.

[0158] Application scenario three The sweeping robot is performing cleaning work indoors. At this time, the picture obtained by the camera on the sweeping robot contains information on the number of obstacles such as more than two pieces of paper scraps and fruit peels. The control unit can identify the picture through image recognition technology, and recognize that the object feature information contains more than two obstacles. If it is recognized that the object feature information contains specific object features, the control unit starts the driving unit to make the self-moving robot work in vibration mode.

[0159] When the self-mobile robot changes its working area or finishes cleaning the cleaning surface, the control unit recognizes that the object feature information does not contain specific object features, so the control unit stops the driving unit, causing the self-mobile robot to change its working mode from vibration mode to non-vibration mode.

[0160] Application scenario 4 When the existing sweeping robot uses a rag to clean, the sweeping robot moves with the rag, and the rag cleans along the route of the sweeping robot. When cleaning the surface to be cleaned, the sweeping robot passes the surface to be cleaned once, and then the rag cleans the surface to be cleaned once.

[0161] The sweeping robot in the embodiment of the present invention is provided with a water tank assembly, and a rag is provided on the moving bracket. When the sweeping robot moves, the driving assembly drives the moving bracket to move back and forth relative to the water tank, and the moving bracket drives the rag to move back and forth, and the rag can be used to clean the surface to be cleaned back and forth. After the sweeping robot passes the surface to be cleaned once, the rag can be used to clean the surface to be cleaned back and forth multiple times, thereby improving the cleaning efficiency.

[0162] Application Scenario 5 When the sweeping robot in the embodiment of the present invention cleans the surface to be cleaned, the water in the water tank gradually decreases.

[0163] When there is more water in the water tank, the light-blocking float floats on the high side of the water level. The light receiving end can sense the light emitted by the light emitting end, and a smooth light path is formed between the light emitting end and the light receiving end. At this time, the main body of the sweeping robot receives the detection signal of the water-free detection device and believes that the water level in the water tank is high and not lower than the water level warning position.

[0164] When there is less water in the water tank, that is, when the water level is low, such as when the water level in the water tank is lower than the water level warning position. At this time, the light-blocking float is located between the light-emitting end and the light-receiving end, and the light-blocking float blocks the light path, so that the light-receiving end cannot sense the light emitted by the light-emitting end. The main body receives the detection signal of the water-free detection device, and believes that the water level in the water tank is low, and will issue a low water level alarm. For example, the main body will voice prompt the user to add water.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A self-propelled robot, characterized in that: include: A main body and a water tank assembly arranged on the main body; wherein the water tank assembly comprises: Water tank; A movable bracket is located below the water tank and is movably connected to the water tank; A driving assembly is arranged in the water tank, a driving end of the driving assembly is connected to the movable bracket, and the driving assembly drives the movable bracket to move relative to the water tank.

2. The self-moving robot according to claim 1, characterized in that: The drive assembly is located at one of the two ends of the water tank.

3. The self-propelled robot according to claim 1, characterized in that: The water tank is provided with a through hole, and the driving end of the driving assembly extends out of the water tank through the through hole.

4. The self-moving robot according to claim 1, characterized in that: Also included is a water-free detection device; The water-free detection device is used to detect the water level in the water tank and send a signal when the water level is lower than the water level warning position; The water-free detection device is arranged in the water tank and is located on one side of the driving component.

5. The self-moving robot according to claim 4, characterized in that: The water tank is wide at both ends and narrow in the middle; The driving assembly is located at one of the two ends of the water tank; The water-free detection device is located on one side of the driving component close to the middle narrow section.

6. The self-moving robot according to claim 1, characterized in that: The driving end includes a rotating shaft and a transmission member arranged on the rotating shaft; The movable bracket is provided with a limiting portion; The transmission member is connected to the limiting portion. When the rotating shaft rotates, the transmission member drives the movable bracket to reciprocate relative to the water tank through the limiting portion.

7. The self-moving robot according to claim 6, characterized in that: The transmission member includes an eccentric cam arranged on the rotating shaft and a bearing sleeved outside the eccentric cam; The limiting portion is a limiting hole; The bearing is located in the limiting hole, and the bearing part abuts against the inner wall of the limiting hole. When the rotating shaft drives the eccentric cam to rotate, the bearing drives the movable bracket to reciprocate relative to the water tank through the limiting hole.

8. The self-propelled robot according to any one of claims 1 to 7, characterized in that: Also includes: an identification unit, arranged on the main body; A control unit is used to control the start and stop of the driving component according to the recognition result of the recognition unit.

9. The self-moving robot according to claim 8, characterized in that: The control unit is also used for: When the recognition result is that the self-moving robot is currently in a specific area, the driving component is controlled to start so as to drive the moving support to move relative to the water tank; When the recognition result is that the environment currently located by the self-moving robot contains the specific object features, the driving component is controlled to start, so as to drive the moving support to move relative to the water tank; When the recognition result is that the current environment of the self-moving robot is a relatively dirty environment, the driving component is controlled to start so as to drive the moving support to move relative to the water tank.

10. A self-propelled robot, characterized in that: include: A main body and a water tank assembly arranged on the main body; wherein the water tank assembly comprises: A water tank having a waterless area and a watered area; A movable bracket is located below the water tank and is movably connected to the water tank; The driving component is arranged in the waterless area of ​​the water tank. The driving end of the driving component extends out of the water tank and is connected to the movable bracket. The driving component drives the movable bracket to move relative to the water tank.

11. A control method for a self-moving robot, characterized in that: Applicable to the self-moving robot according to any one of claims 1 to 10, the method comprising: When the self-moving robot is currently in a specific area, the driving component is controlled to work so as to drive the moving support to move relative to the water tank.

12. The method according to claim 11, characterized in that The mode in which the movable bracket moves relative to the water tank is a vibration mode, and the vibration mode includes: forward and backward reciprocating movement, left and right reciprocating movement, up and down reciprocating movement, or up and down vibration; according to the reciprocating movement frequency or vibration frequency, it is divided into a strong vibration mode and a weak vibration mode; When the self-moving robot is currently in a specific area, controlling the driving component to work so as to drive the moving support to move relative to the water tank includes: If the self-moving robot is operating in a non-vibration mode, then when the self-moving robot is currently in a specific area, controlling the driving component to start so as to operate in the vibration mode; If the self-moving robot operates in a weak vibration mode, then when the self-moving robot is currently in a specific area, the driving component is controlled to operate so as to adjust from the weak vibration mode to the strong vibration mode.

13. A control method for a self-moving robot, characterized in that: Applicable to the self-moving robot according to any one of claims 1 to 10, the method comprising: When the environment currently located by the self-moving robot contains specific object features, the driving component is controlled to work so as to drive the moving support to move relative to the water tank.

14. The method according to claim 13, characterized in that Also includes at least one of the following: When at least one of the object features contained in the current environment of the self-propelled robot is a sample object feature, determining that the environment contains the specific object feature; When the environment currently located by the self-propelled robot contains a characteristic of the number of obstacle objects, and the characteristic of the number of obstacle objects indicates that there are more than two obstacles, it is determined that the specific object characteristic is contained.

15. A water tank assembly, characterized in that: include: Water tank, mobile bracket and drive assembly; among which, The movable bracket is movably connected to the water tank; The driving assembly is arranged in the water tank; The driving end of the driving component is connected to the movable bracket, and the driving component can drive the movable bracket to reciprocate relative to the water tank.

16. A self-propelled robot, characterized in that: include: A main body and a water tank assembly arranged on the main body; wherein the water tank assembly comprises: A water tank having an upper cover and a lower cover; A water-free detection device, used to detect the water level in the water tank and send a signal when the water level is lower than the water level warning position; Wherein, the water-free detection device is arranged on the lower cover; the two ends of the water tank are wide and the middle is narrow; the water-free detection device is located at one of the two ends of the water tank and is close to the middle narrow section.

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