Self-moving robot and cleaning control method

Abstract

The invention discloses a self-moving robot and a cleaning control method, the robot comprises a machine main body and a cutting mechanism, the machine main body comprises a vehicle body and a walking assembly, and the walking assembly is arranged on the vehicle body and used for driving the vehicle body to advance; the cutting mechanism comprises a cleaning assembly, a cutting assembly and a driving assembly; the cleaning assembly is used for removing chippings at the bottom of the vehicle body; the cutting assembly is used for cutting an object to be cut; the driving assembly is used for driving the cutting assembly to rotate; wherein the self-moving robot has at least two working modes, in the first working mode, the cutting assembly is separated from the cleaning assembly, and the driving assembly independently provides cutting power for the cutting assembly; and in the second working mode, the cutting assembly is coupled with the cleaning assembly, and the driving assembly at least provides power for the cleaning assembly, so that the cleaning assembly can clean the bottom of the vehicle body.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a self-moving robot and a cleaning control method. Background Art

[0002] When existing self-propelled robots are working, the bottom is easily accumulated with debris generated during cutting, which leads to problems such as increased driving load or stalling of the driving components, affecting the normal operation of the robot and even causing damage to the driving components, reducing the service life of the equipment. Summary of the invention

[0003] The invention provides a self-moving robot to solve the problem of increased load or stall of a driving component due to accumulation of debris at the bottom of a vehicle body.

[0004] According to a first aspect of the present invention, the present invention provides a self-propelled robot, comprising: A machine body, the machine body comprising a vehicle body and a traveling assembly, the traveling assembly being arranged on the vehicle body and used for driving the vehicle body to move forward; The cutting mechanism comprises a cleaning assembly, a cutting assembly and a driving assembly; the cleaning assembly is used to remove debris from the bottom of the vehicle body; the cutting assembly is used to cut the object to be cut; and the driving assembly is used to drive the cutting assembly to rotate; The self-propelled robot has at least two working modes. In the first working mode, the cutting component is separated from the cleaning component, and the driving component provides cutting power for the cutting component alone. In the second working mode, the cutting component is coupled with the cleaning component, and the driving component at least provides power for the cleaning component so that the cleaning component can clean the bottom of the vehicle body.

[0005] In a self-propelled robot according to one embodiment of the present invention, the cutting component includes a cutting blade and a cutter disc for selectively coupling or separating with the cleaning component, the cutting blade is fixed under the cutter disc, and after the cleaning component is coupled with the cutter disc, at least part of the structure in the cleaning component can rotate synchronously with the cutter disc.

[0006] In a self-propelled robot in one embodiment of the present invention, the cutting assembly has a highest point and a lowest point and can reciprocate between the highest point and the lowest point, and when the cutting assembly is at the highest point, the cutting assembly is coupled with the cleaning assembly; when the cutting assembly is at the lowest point, the cutting assembly is separated from the cleaning assembly; and / or, The driving component has a first rotational speed and a second rotational speed. When the cleaning component is coupled to the cutting component, the set rotational speed of the driving component is reduced to the first rotational speed; when the cleaning component is separated from the cutting component, the set rotational speed of the driving component is increased to the second rotational speed, and the second rotational speed is greater than the first rotational speed.

[0007] In a self-propelled robot according to one embodiment of the present invention, the cleaning component includes a scraper component, which is rotatably mounted at the bottom of the vehicle body and is separated from the cutter disc. When the cutter disc moves to the highest point, the cutter disc is coupled to the cleaning component.

[0008] In a self-propelled robot according to an embodiment of the present invention, the scraper assembly includes a scraper portion and a coupling portion capable of rotating and separating synchronously with the cutter disc, and the scraper portion is arranged on the peripheral side of the coupling portion to clean debris on the bottom of the vehicle body.

[0009] In a self-propelled robot according to one embodiment of the present invention, the coupling portion is provided with a plurality of transmission teeth for transmitting power, and the cutter disc is provided with a plurality of output teeth opposite to the plurality of transmission teeth on the side facing away from the cutting assembly, and the output teeth engage with the transmission teeth when the cutter disc moves to the highest point.

[0010] In the self-moving robot according to an embodiment of the present invention, the scraper assembly includes a first scraper member and a second scraper member, and the first scraper member and the second scraper member are symmetrically arranged relative to the axis of the coupling portion.

[0011] In a self-propelled robot according to an embodiment of the present invention, the cutting mechanism comprises a base arranged at the bottom of the vehicle body, the cleaning assembly comprises a bearing member, and the scraper assembly is rotatably mounted on the base via the bearing member and is coaxially arranged with the cutter disc.

[0012] In a self-moving robot according to one embodiment of the present invention, the bearing component includes a crossed roller bearing having an outer ring portion and an inner ring portion concentrically arranged with the outer ring portion, the inner ring portion is fixed on the base, and the scraper assembly is fixed on the outer ring portion.

[0013] In the self-propelled robot of one embodiment of the present invention, the self-propelled robot further includes a speed regulator, which is electrically connected to the driving component and is used to adjust the speed of the driving component at the highest point and the lowest point.

[0014] In a self-propelled robot according to an embodiment of the present invention, the self-propelled robot further includes a detection component, which is electrically connected to the speed regulator and is used to detect a coupling state between the cutter disc and the scraper assembly and / or an accumulation condition of the debris.

[0015] According to a second aspect of the present invention, the present invention further provides a cleaning control method, which is applied to a self-propelled robot, wherein the self-propelled robot comprises a cleaning component, a cutting component and a driving component, and the control method comprises: The driving assembly is capable of driving the cutting assembly to perform cutting action and adjust the position of the cutting assembly; When debris is detected at the bottom of the self-propelled robot, the driving assembly is controlled to drive the cutting assembly to couple with the cleaning assembly, so that the cleaning assembly can rotate and remove the debris at the bottom of the self-propelled robot; After a preset time period, the cutting assembly is controlled to separate from the cleaning assembly, so that the driving assembly provides cutting power for the cutting assembly alone.

[0016] The technical solution provided by the embodiment of the present application may include the following beneficial effects: the present application designs a self-moving robot, including a machine body and a cutting mechanism, the cutting mechanism including a cleaning component, a cutting component and a driving component; the self-moving robot has at least two working modes, in the first working mode, the cutting component is separated from the cleaning component, and the driving component provides cutting power for the cutting component alone; in the second working mode, the cutting component is coupled with the cleaning component, and the driving component at least provides power for the cleaning component, so that the cleaning component can clean the bottom of the vehicle body, avoiding the accumulation of debris at the bottom of the vehicle body and increasing the driving load of the driving component or causing the output shaft of the driving component to be blocked. In this way, not only the transmission structure between the cleaning component and the cutting component is simplified, the power transmission path is shortened, and the power of the cutting component during cutting will not be involved by the cleaning component. At the same time, the debris accumulated at the bottom of the vehicle body can be cleaned by the cleaning component, avoiding the problem of the cutting component causing the cutter disc to be blocked due to the accumulation of debris, no manual cleaning is required, and the rotation of the cutter disc will not be affected, thereby improving the cutting efficiency of the self-moving robot.

[0017] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0019] Figure 1 is a structural schematic diagram of a self-moving robot provided in one embodiment of the present application; Figure 2 yes Figure 1 A cross-sectional schematic diagram of a self-propelled robot; Figure 3 yes Figure 2 An exploded schematic diagram of a self-propelled robot in FIG. Figure 4 yes Figure 2 A cross-sectional schematic diagram of a cutting mechanism in FIG. Figure 5 yes Figure 3 A schematic diagram of a scraper assembly in FIG. Figure 6 yes Figure 3 Another schematic diagram of the scraper assembly in Figure 7 A schematic block diagram of a control method for a self-moving robot provided in an embodiment of the present application.

[0020] Description of reference numerals: 100, machine body; 101, vehicle body; 102, travel assembly; 200, cutting mechanism; 10. Base; 20. cutting assembly; 21. cutter disc; 211. output teeth; 22. cutting blade; 30. Cleaning assembly; 31. Scraper assembly; 311. Scraper portion; 3111. First scraper; 3112. Second scraper; 3113. Third scraper; 312. Coupling portion; 3121. Transmission gear; 32. Bearing member; 23. Drive assembly; 231. Output shaft. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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 ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] It should also be understood that the terms used in this specification of the present invention are only for describing specific realities. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0023] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0024] like Figure 1 As shown, according to the first aspect of the present application, the present application provides a self-propelled robot, comprising a machine body 100 and a cutting mechanism 200, wherein the cutting mechanism 200 is installed at the bottom of the machine body 100 and is used to cut objects to be cut. The objects to be cut include but are not limited to lawns, gardens, and grass on paths, that is, the self-propelled robot can cut grass on lawns to ensure the aesthetics of the lawn.

[0025] In an optional embodiment, if Figures 1 to 3 As shown, the machine body 100 includes a vehicle body 101 and a traveling assembly 102. The traveling assembly 102 is arranged on the vehicle body 101 and is used to drive the vehicle body 101 to move forward, so that the vehicle body 101 can drive the cutting assembly 20 to cut the grass on the lawn along a preset trajectory, thereby greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0026] In an optional embodiment, the cutting mechanism 200 includes a cutting assembly 20 and a driving assembly 40, wherein the driving assembly 40 is used to drive the cutting assembly 20 to rotate so that the cutting assembly 20 can cut the object to be cut. The cutting assembly 20 includes a cutter disc 21 and a cutting blade 22 for cutting the object to be cut. The cutter disc 21 is arranged at the bottom of the vehicle body 101 and is in driving connection with the output shaft 41 of the driving assembly 40. The cutting blade 22 is installed on the cutter disc 21, so that the driving assembly 40 can drive the cutter disc 21 and the cutting blade 22 to rotate through the output shaft 41 to improve the cutting efficiency and ensure the neat cutting of the lawn. The driving assembly 40 can be, but is not limited to, a driving motor, and the cutter disc 21 is connected to the output shaft 41 of the driving motor.

[0027] In an optional embodiment, the cutting blade 22 includes a plurality of mowing blades, and the plurality of mowing blades are detachably mounted on the cutter disc 21, so that the driving assembly 40 can drive the cutter disc 21 to rotate via the output shaft 41, thereby driving the plurality of mowing blades to mow the lawn, so that the plurality of mowing blades can mow the lawn together, thereby improving the cutting efficiency and ensuring the neat cutting of the lawn.

[0028] In an optional embodiment, the cutting mechanism 200 further includes a cleaning assembly 30, which is used to remove debris from the bottom of the vehicle body 101. The self-propelled robot has at least two working modes. In the first working mode, the cutting assembly 20 is separated from the cleaning assembly 30, so that the driving assembly 40 can provide cutting power to the cutting assembly 20 alone to ensure the cutting effect of the cutting assembly 20. In the second working mode, the cutting assembly 20 is coupled with the cleaning assembly 30, and the driving assembly 40 at least provides power to the cleaning assembly 30, so that the cleaning assembly 30 can clean the debris at the bottom of the vehicle body 101, avoiding the accumulation of debris and increasing the driving load of the driving assembly 40 or causing the output shaft 41 of the driving assembly 40 to be blocked.

[0029] After adopting the above technical solution, not only the transmission structure between the cleaning component 30 and the cutting component 20 is simplified, the power transmission path is shortened, and it is ensured that the power of the cutting blade 22 during cutting will not be affected by the cleaning component 30. At the same time, the debris accumulated at the bottom of the vehicle body 101 can also be cleaned by the cleaning component 30, avoiding the problem of the cutting blade 22 being blocked due to the accumulation of debris, and no manual cleaning is required, and the rotation of the driving component 40 will not be affected, thereby improving the cutting efficiency of the self-propelled robot.

[0030] In an optional embodiment, the blade disc 21 can be selectively coupled or separated from the cleaning assembly 30, and after the cleaning assembly 30 is coupled to the blade disc 21, at least part of the structure in the cleaning assembly 30 can rotate synchronously with the blade disc 21 to clean up the debris accumulated at the bottom of the vehicle body 101, so as to avoid the accumulation of debris and increase the driving load of the drive assembly 40 or cause the output shaft 41 of the drive assembly 40 to be blocked. When the cleaning assembly 30 is separated from the blade disc 21, the blade disc 21 will not drive the rotation of the cleaning assembly 30, so that the drive assembly 40 can provide cutting power for the cutting blade 22 alone to ensure the cutting effect of the cutting blade 22. In this way, not only the transmission structure between the cleaning assembly 30 and the cutting assembly 20 is simplified, the power transmission path is shortened, and the power of the cutting blade 22 during cutting will not be affected by the cleaning assembly 30. At the same time, the debris accumulated at the bottom of the vehicle body 101 can be cleaned through the cleaning component 30, avoiding the problem of the cutting blade 22 being blocked by the cutter disc 21 due to the accumulation of debris. No manual cleaning is required, and the rotation of the cutter disc 21 will not be affected, thereby improving the cutting efficiency of the self-propelled robot.

[0031] It should be noted that the debris includes but is not limited to grass clippings generated by the self-propelled robot during lawn mowing operations. These grass clippings are easily accumulated at the bottom of the vehicle body 101 when the cutting assembly 20 is cutting, which not only increases the overall weight of the self-propelled robot, but also causes the accumulation of grass clippings at the bottom of the vehicle body 101, affecting the rotation of the blade 21 and reducing the cutting efficiency. At the same time, the problem of a large amount of metal grass clippings accumulating at the bottom of the vehicle body 101 and being inconvenient to clean is solved, saving manpower cleaning consumption and ensuring that the self-propelled robot is not affected during the lawn trimming process.

[0032] After adopting the above technical solution, since the self-mobile robot is provided with a cleaning component 30 for cleaning the accumulation of debris, it is avoided that during the use of the self-mobile robot, the debris adheres to the bottom of the vehicle body 101, causing the accumulation of debris and the difficulty of cleaning. Excessive accumulation for a long time affects the normal operation of the self-mobile robot. Therefore, the present application couples the cutter head 21 with the cleaning component 30, so that at least part of the structure in the cleaning component 30 can rotate synchronously with the cutter head 21, so that the debris at the bottom of the vehicle body 101 can be cleaned, reducing the trouble of manual cleaning and avoiding the problem of the drive component 40 being blocked due to the accumulation of debris. When the self-mobile robot needs to cut the cutting object, the cleaning component 30 is separated from the cutter head 21, so that the cutter head 21 can provide cutting power to the cutting blade 22 independently of the cleaning component 30 to ensure the cutting effect of the cutting blade 22. The whole operation process is very simple and convenient, which will not affect the rotation of the cutter head 21 and can improve the cutting efficiency of the self-mobile robot.

[0033] In an optional embodiment, the blade disc 21 has a highest point and a lowest point and can reciprocate between the highest point and the lowest point. When the blade disc 21 is at the highest point, the blade disc 21 is coupled to the cleaning component 30, so that the driving component 40 can drive the cleaning component 30 to rotate through the blade disc 21 to clean the grass clippings accumulated at the bottom of the vehicle body 101; when the blade disc 21 is at the lowest point, the blade disc 21 is separated from the cleaning component 30, so that it can provide cutting power for the cutting blade 22 alone to ensure the cutting effect of the cutting blade 22. The structure is simple, and the cutting work of the cutting blade 22 and the cleaning work of the cleaning component 30 are achieved through the operation of a driving component 40. The blade disc 21 is cleverly coupled or decoupled with the cleaning component 30 to control the operation of the cleaning component 30, so that the structure of the self-propelled robot is more compact, the design of the self-propelled robot is more reasonable, and the production cost of the self-propelled robot is greatly reduced.

[0034] In an optional embodiment, the drive component 40 has a first speed and a second speed, and the second speed is greater than the first speed. When the cleaning component 30 is coupled to the cutter disc 21, the set speed of the drive component 40 is reduced to the first speed, thereby effectively reducing the wear of the cleaning component 30, extending the service life of the cleaning component 30, and reducing the frequency of replacing the cleaning component 30 and the maintenance cost; when the cleaning component 30 is separated from the cutter disc 21, the set speed of the drive component 40 is increased to the second speed, which is beneficial to the cutting work, speeds up the cutting speed, and improves work efficiency.

[0035] Exemplarily, when debris is detected at the bottom of the vehicle body 101, the self-mobile robot controls the cutter disc 21 to stop cutting, and then moves the cutter disc 21 from the lowest point to the highest point, so that the cutter disc 21 can be coupled with the cleaning component 30. After the cleaning component 30 is coupled with the cutter disc 21, the driving component 40 controls the cleaning component 30 to rotate at a first speed through the cutter disc 21 to clean the grass clippings accumulated at the bottom of the vehicle body 101. When the cleaning component 30 completes the cleaning of the debris at the bottom of the vehicle body 101, the self-mobile robot controls the cutter disc 21 to separate from the cleaning component 30, so that the driving component 40 provides cutting power to the cutting component 20 alone, and at this time, the driving component 40 drives the cutting component 20 to rotate at a second speed to ensure the cutting effect of the cutting component 20. Among them, by stopping the cutter disc 21 and then coupling it with the cleaning component 30, and then rotating it at the first speed, the difficulty of coupling the cutter disc 21 with the cleaning component 30 during the rotation process is reduced, and corresponding losses to the cutter disc 21 and the cleaning component 30 are also avoided.

[0036] In an optional embodiment, if Figures 3 to 6As shown, the cleaning assembly 30 includes a scraper assembly 31, which is rotatably mounted at the bottom of the vehicle body 101 and is separated from the cutter disc 21. When the cutter disc 21 moves to the highest point, the cutter disc 21 is coupled to the cleaning assembly 30 so that the scraper assembly 31 can clean the debris between the cutter disc 21 and the vehicle body 101, thereby reducing the trouble of manual cleaning and avoiding the problem of the cutter disc 21 being blocked due to debris accumulation.

[0037] In an optional embodiment, the scraper assembly 31 includes a scraper portion 311 and a coupling portion 312 that can rotate and separate synchronously with the cutter disc 21. The scraper portion 311 is arranged on the peripheral side of the coupling portion 312, and is used to clean the debris accumulated on the bottom of the vehicle body 101 when the cutting blade 22 is cutting, thereby avoiding the problem of the cutter disc 21 being blocked due to debris accumulation; at the same time, a driving assembly 40 can be operated through the coupling portion 312 to achieve the cutting work of the cutting blade 22 and the cleaning work of the cleaning assembly 30. The cutter disc 21 is cleverly coupled or separated from the cleaning assembly 30 to control the operation of the cleaning assembly 30, making the structure of the self-propelled robot more compact, the design of the self-propelled robot more reasonable, and the production cost of the self-propelled robot greatly reduced.

[0038] It should be noted that the coupling part 312 can be a part of the structure of a synchronizer, an electromagnetic coupler or a clutch, and the specific setting method is not limited in this application, as long as the cutter disc 21 can be connected or disconnected with the scraper part 311. For example, a transmission plate is provided on the cutter disc 21, and the coupling part 312 is a friction plate that cooperates with the transmission plate. When the cutter disc 21 reaches the highest point, the transmission plate and the friction plate are combined, so that the cutter disc 21 can drive the scraper part 311 to rotate, so that the debris between the cutter disc 21 and the vehicle body 101 can be cleaned, reducing the trouble of manual cleaning and avoiding the problem of the cutter disc 21 being blocked due to the accumulation of debris. For other structures of the coupling part 312, this application will not elaborate on them one by one.

[0039] In an optional embodiment, if Figure 5 As shown, the scraper part 311 includes a first scraper 3111 and a second scraper 3112, and the first extension part and the second extension part are extended in a relatively far direction on both sides of the coupling part 312. The first scraper 3111 and the second scraper 3112 are respectively arranged at both ends of the first extension part and the second extension part, and are used to clean the debris at the bottom of the vehicle body 101, which can not only ensure the force balance of the scraper assembly 31 during the rotation process, but also improve the cleaning efficiency of the scraper assembly 31. The shape of the first scraper 3111 and the second scraper 3112 can be, but not limited to, a rectangular structure.

[0040] In an optional embodiment, if Figure 6As shown, the scraper portion 311 includes a third scraper 3113, and a third extension portion and a fourth extension portion extend from both sides of the coupling portion 312 in a relatively distant direction. The third scraper 3113 is arranged at the upper ends of the third extension portion and the fourth extension portion, and is used to clean the debris at the bottom of the vehicle body 101. The shape of the third scraper 3113 can be, but is not limited to, a conical structure.

[0041] In an optional embodiment, if Figures 4 to 6 As shown, the coupling portion 312 is provided with a plurality of transmission teeth 3121 for transmitting power, and the cutter disc 21 is provided with a plurality of output teeth 211 opposite to the plurality of transmission teeth 3121 on the side facing away from the cutting blade 22. The output teeth 211 mesh with the transmission teeth 3121 when the cutter disc 21 moves to the highest point, so that the power of the scraper assembly 31 when cleaning debris can be provided by the drive assembly 40 for controlling the cutting work of the cutting blade 22, and the operation of a drive assembly 40 is realized to realize the cutting work of the cutting blade 22 and the cleaning work of the cleaning assembly 30. The coupling or separation of the cutter disc 21 and the cleaning assembly 30 is cleverly used to control the operation of the cleaning assembly 30, so that the structure of the self-propelled robot is more compact, the design of the self-propelled robot is more reasonable, and the production cost of the self-propelled robot is greatly reduced.

[0042] In an optional embodiment, the scraper assembly 31 includes a first scraper 3111 and a second scraper 3112. The first scraper 3111 and the second scraper 3112 are symmetrically arranged relative to the axis of the coupling portion 312 to utilize opposite balancing torques to balance the scraper assembly 31 as a whole, which can also reduce noise.

[0043] In an optional embodiment, the cutting mechanism 200 includes a base 10 disposed at the bottom of the vehicle body 101, and the cutting assembly 20 and the cleaning assembly 30 are disposed below the base 10. The cleaning assembly 30 includes a bearing member 32, and the scraper assembly 31 is rotatably mounted on the vehicle body 101 through the bearing member 32 and is coaxially arranged with the cutter disc 32 to ensure smooth rotation of the scraper assembly 31.

[0044] In an optional embodiment, the base 10 may be a protective component of the cutting mechanism 200, which can prevent objects from extending into the self-propelled robot from the side, thereby improving the safety of the self-propelled robot.

[0045] In an optional embodiment, the bearing member 32 includes a cross roller bearing having an outer ring portion and an inner ring portion concentrically arranged with the outer ring portion, the inner ring portion is fixed on the base 10, and the scraper assembly 31 is fixed on the outer ring portion so as to withstand the load of the scraper assembly 31 in all directions, thereby ensuring the service life of the cleaning assembly 30.

[0046] In an optional embodiment, the self-mobile robot also includes a speed regulator, which is electrically connected to the drive component 40 and is used to adjust the speed of the drive component 40 at the highest point and the lowest point, so that the drive component 40 can control the output speed of the cutter disc 21 at the highest point to be lower than the output speed at the lowest point, so as to reduce the rotation speed of the cutter disc 21, which helps to improve the safety of the coupling between the cutter disc 21 and the cleaning component 30 and avoid potential safety hazards caused by the high-speed rotation of the cutter disc 21.

[0047] It should be noted that the speed regulator can adjust the speed of the drive component 40 according to the control signal, and the control signal includes but is not limited to the control signal sensed by the detection component, such as the coupling status signal of the blade disc 21 and the cleaning component 30 or the signal that the blade disc 21 is close to the highest point or close to the lowest point, etc., so that the drive component 40 can automatically rotate, realize a fully automatic cleaning process, reduce manual intervention, and improve user experience.

[0048] Exemplarily, when the cutter disc 21 is coupled with the cleaning component 30, the detection component automatically detects the coupling state of the cutter disc 21, and then switches the speed of the drive component 40 to a preset low-speed mode, i.e., the first speed, through the speed regulator. The speed regulator can quickly respond and stably control the speed of the drive component 40 to avoid poor cleaning effect or equipment damage due to speed fluctuations.

[0049] In an optional embodiment, the self-propelled robot further includes a detection component, which is electrically connected to the speed regulator and is used to detect the coupling state of the cutter disc 21 and the scraper assembly 31 and / or the accumulation of debris, so that when the self-propelled robot is blocked by debris, the cutter disc 21 can automatically rise to the highest point and then couple with the cleaning assembly 30, so that the cleaning assembly 30 can clean the blocked grass under the drive of the cutter disc 21, and can also remove the grass residue on the chassis; when the detection component detects that the debris cleaning is completed, the cutter disc 21 automatically lowers to the lowest point and separates from the cleaning assembly 30, so that the cutter disc 21 can independently drive the cutting blade 22 to perform cutting work.

[0050] In an optional embodiment, the self-propelled robot further includes a seal, a base hole is provided on the base 10, a drive motor is installed on the side of the base 10 away from the cleaning assembly 30, an output shaft 41 of the drive motor passes through the base hole and is connected to the cutter head 21, and a seal is provided between the base 10 and the drive motor 30 to seal the gap between the base hole and the drive motor to prevent debris, dust and other impurities from entering the vehicle body 101 and / or the interior of the drive motor. The cleaning assembly 30 is provided on the outside of the seal.

[0051] like Figures 1 to 7As shown, according to the second aspect of the present application, the present application provides a cleaning control method, which is applied to a self-propelled robot, the self-propelled robot comprising a cleaning component 30, a cutting component 20 and a driving component 40. The control method comprises: The driving assembly 40 can drive the cutting assembly 20 to perform a cutting action and adjust the position of the cutting assembly 20; When debris is detected at the bottom of the self-propelled robot, the driving assembly 40 is controlled to drive the cutting assembly 20 to couple with the cleaning assembly 30, so that the cleaning assembly 30 can rotate and remove the debris at the bottom of the self-propelled robot; After a preset period of time, the cutting component 20 is controlled to separate from the cleaning component 30, so that the driving component 40 provides cutting power for the cutting component 20 alone to ensure the cutting effect of the cutting blade 22. The entire operation process is very simple and convenient, which will not affect the rotation of the cutting component 20 and can improve the cutting efficiency of the self-moving robot.

[0052] Specifically, the self-propelled robot has at least two switchable working modes. In the first working mode, the cutting assembly 20 is separated from the cleaning assembly 30, so that the driving assembly 40 can provide cutting power to the cutting assembly 20 alone to ensure the cutting power and cutting effect of the cutting assembly 20. In the second working mode, the cutting assembly 20 is coupled with the cleaning assembly 30, and the driving assembly 40 at least provides power to the cleaning assembly 30, so that the cleaning assembly 30 can clean the debris at the bottom of the vehicle body 101, avoiding the accumulation of debris and increasing the driving load of the driving assembly 40 or causing the output shaft 41 of the driving assembly 40 to be blocked.

[0053] For example, Figure 7 As shown, controlling the cutting assembly 20 to perform corresponding actions according to the current working mode of the self-propelled robot includes at least the following two independent steps: Step S101, in the first working mode, the cutting assembly 20 is controlled to rotate relative to the cleaning assembly 30 and the bottom of the vehicle body 101 to perform a cutting action; Step S102, in the second working mode, control the cutting assembly 20 to move toward the cleaning assembly 30 so that the cutting assembly 20 and the cleaning assembly 30 form a coupling cooperation, and control the cutting assembly 20 to drive the cleaning assembly 30 to rotate relative to the bottom of the vehicle body 101, so that the cleaning assembly 30 cleans the bottom of the vehicle body 101.

[0054] In an optional embodiment, the drive assembly at least includes: A first driving assembly, used for driving the cutting assembly 20 to rotate; The second driving assembly is used to drive the cutting assembly 20 to move toward the cleaning assembly 30 or away from the cleaning assembly 30 .

[0055] In an optional embodiment, the control method includes In the first working mode, the first driving assembly is controlled to drive the cutting assembly 20 to rotate to perform a cutting action; In the second working mode, the second driving component is controlled to drive the cutting component 20 to move toward the cleaning component 30 so that the cutting component 20 is coupled with the cleaning component 30, and the first driving component is controlled to drive the cutting component 20 to rotate to drive the cleaning component 30 to rotate, so that the cleaning component 30 cleans the bottom of the vehicle body 101.

[0056] It should be noted that the first drive assembly and the second drive assembly are independent of each other. In the first working mode, only the first drive assembly needs to be controlled to drive the cutting assembly 20 to rotate. When switching from the first working mode to the second working mode, the second drive assembly needs to be controlled to drive the cutting assembly 20 to move toward the cleaning assembly 30. In the process of the cutting assembly 20 moving toward the cleaning assembly 30, the first drive assembly can be controlled to drive the cutting assembly 20 to keep rotating or stop rotating, or the first drive assembly can be controlled to drive the cutting assembly 20 to reduce the rotation speed. It should be understood that reducing the rotation speed of the cutting assembly 20 also helps to improve the safety of the operation, facilitates the coupling and docking of the cutting assembly 20 and the cleaning assembly 30, and avoids potential safety hazards caused by high-speed rotation.

[0057] In an optional embodiment, the control method further includes: When the self-propelled robot switches from the second working mode to the first working mode, the cutting assembly 20 is controlled to move in a direction away from the cleaning assembly 30 so that the cutting assembly 20 is separated from the cleaning assembly 30 .

[0058] Exemplarily, after a preset period of time, the self-mobile robot switches from the second working mode to the first working mode, and the cutter disc 21 in the cutting component 20 needs to be separated from the cleaning component 30. The cutter disc 21 will not drive the rotation of the cleaning component 30. The first drive component can provide cutting power for the cutting blade 22 alone to ensure the cutting effect of the cutting blade 22.

[0059] In an optional embodiment, the control method further includes: In the first working mode, the cutting assembly 20 is controlled to rotate at a second speed; In the second working mode, the cutting assembly 20 is controlled to rotate at a first rotational speed, wherein the second rotational speed is greater than the first rotational speed.

[0060] It should be noted that in the first working mode, the cutting component 20 needs to rotate at a high speed to achieve a better cutting effect, and in the second working mode, the cutting component 20 is lifted and coupled with the cleaning component, and drives the cleaning component 30 to rotate together to clean the bottom of the vehicle body 101. Moreover, since in the second working mode, the cutting component 20 is coupled with the cleaning component 30, the energy consumption required for the cutting component 20 to maintain the same rotation speed is relatively large, which will have a greater impact on the endurance of the self-propelled robot. Therefore, in this embodiment, the cutting component 20 is set to rotate at a relatively low speed in the second working mode.

[0061] At the same time, the rotation speed of the cutting assembly 20 is reduced in the second working mode, which can effectively reduce the wear of the scraper in the cleaning assembly 30, extend the service life of the scraper, and reduce the replacement frequency and maintenance cost.

[0062] In an optional embodiment, the control method further includes: When it is detected that the cutting assembly 20 and the cleaning assembly 30 are coupled, the cutting assembly 20 is controlled to rotate at a first speed; When it is detected that the cutting assembly 20 is completely separated from the cleaning assembly 30 , the cutting assembly 20 is controlled to perform the cutting operation at a second rotation speed.

[0063] Exemplarily, the self-propelled robot further includes a detection component, and the detection component is at least used to detect the coupling state between the cutting component 20 and the cleaning component 30. For example, the detection component may use pressure detection or optical detection.

[0064] In an optional embodiment, the self-propelled robot further includes a speed regulator, the detection component is electrically connected to the speed regulator, and the speed regulator is electrically connected to the first drive component, and is used to adjust the rotation speed of the cutting component 20 according to the coupling condition between the cutting component 20 and the cleaning component 30 detected by the detection component. Specifically, the speed regulator controls the rotation speed of the cutter disc 21 in the cleaning mode to be lower than the rotation speed in the first working mode, so as to improve the safety of the coupling between the cutter disc 21 and the cleaning component, and avoid potential safety hazards caused by the high-speed rotation of the cutter disc 21.

[0065] In an optional embodiment, the control method further includes: Detect the debris accumulation at the bottom of the self-propelled robot and obtain corresponding sensor data; The self-propelled robot is controlled to switch to cutting mode or cleaning mode according to the sensor data.

[0066] Specifically, the detection component is also used to detect the debris accumulation at the bottom of the mobile robot to obtain corresponding sensor data. Exemplarily, the debris accumulation includes but is not limited to at least one of the debris accumulation weight and debris accumulation volume at the bottom of the mobile robot. Exemplarily, the detection component can use pressure sensing and / or optical sensing to detect the debris accumulation.

[0067] In an optional embodiment, controlling the self-propelled robot to switch to the first working mode or the second working mode according to the sensor data includes: determining the weight of debris accumulation at the bottom of the self-propelled robot based on the sensor data; When the weight of the debris accumulation exceeds a weight threshold, the self-moving robot is controlled to switch to a second working mode; When the debris accumulation weight does not exceed the weight threshold, the self-mobile robot is controlled to switch to the first working mode.

[0068] and / or, determining a volume of debris accumulation at a bottom of the self-propelled robot based on the sensor data; When the debris accumulation volume exceeds a volume threshold, the self-propelled robot is controlled to switch to a second working mode; When the debris accumulation volume does not exceed the volume threshold, the self-mobile robot is controlled to switch to the first working mode.

[0069] It should be understood that if the weight of the debris accumulation exceeds the weight threshold and / or the volume of the debris accumulation exceeds the volume threshold, it indicates that there is too much accumulation of debris (e.g., grass clippings) at the bottom of the self-moving robot, then the robot switches to the second operating mode, controls the cutting assembly 20 to move toward the cleaning assembly 30, so that the blade disc 21 in the cutting assembly 20 is coupled with the cleaning assembly 30, and controls the speed regulator to control the output speed of the blade disc 21 in the second operating mode to be lower than the output speed in the first operating mode.

[0070] Exemplarily, the detection component includes a pressure sensor, which can detect the pressure borne by the cutting component 20 or the pressure borne by the output shaft 41 of the drive motor to obtain sensor data, and judge whether the weight of the debris accumulation exceeds the weight threshold based on the pressure represented by the sensor data, thereby controlling the self-moving robot to switch to the second working mode or the first working mode.

[0071] Exemplarily, the detection component includes an optical sensor, which can optically detect the space between the chassis 111 and the cutting mechanism 20 to obtain sensor data, and determine whether the debris accumulation volume exceeds the volume threshold according to the sensor data, thereby controlling the self-mobile robot to switch to the second working mode or the first working mode. The optical sensor includes but is not limited to an infrared sensor.

[0072] By detecting the volume and / or weight of the debris, the present solution can control the self-moving robot to switch to the second working mode or the first working mode at an appropriate time, thereby intelligently controlling the cutting mechanism 20 to perform rotational cutting when there is less debris accumulation, and actively controlling the cutting component 20 to couple with the cleaning component 30 when there is a lot of debris accumulation, and driving the cleaning component 30 together with the cutting component 20 to clean the accumulated debris.

[0073] In an optional embodiment, the control method further includes: When the self-propelled robot operates in the cutting mode for more than a preset cutting time threshold, and / or when a first operation instruction instructing the self-propelled robot to switch to the second working mode is received, the self-propelled robot is controlled to switch from the first working mode to the second working mode.

[0074] Specifically, the triggering conditions for the self-moving robot provided in the embodiment of the present application to switch from the first working mode to the second working mode include at least one of the following conditions: working in the first working mode for more than a preset cutting time threshold; receiving a first operation instruction input by the user.

[0075] It should be noted that when the cutting time in the first working mode exceeds the preset cutting time threshold, the self-propelled robot can automatically enter the second working mode to avoid the problem of the cutting assembly 20 being blocked due to excessive debris accumulated at the bottom of the vehicle body 101 due to the long-term continuous cutting action of the cutting assembly 20. In addition, the user can also input a first operation instruction to the self-propelled robot to actively control the self-propelled robot to switch to the cleaning mode. It should be understood that the above two trigger conditions are compatible to improve the intelligence of the self-propelled robot.

[0076] In an optional embodiment, the control method further includes: When the self-propelled robot operates in the second working mode for more than a preset cleaning time threshold, and / or when a second operation instruction instructing the self-propelled robot to switch to the first working mode is received, the self-propelled robot is controlled to switch from the second working mode to the first working mode.

[0077] Specifically, the triggering conditions for the self-moving robot provided in the embodiment of the present application to switch from the second working mode to the first working mode include at least one of the following conditions: working in the cleaning mode for more than a preset cleaning time threshold; receiving a second operation instruction input by the user.

[0078] It should be noted that when the second working mode exceeds the preset cutting time threshold, that is, the cleaning component 30 has cleaned the bottom of the vehicle body 101 for a sufficient time, the self-propelled robot can automatically enter the first working mode to ensure that the self-propelled robot has enough time to perform the cutting action and improve the cutting efficiency. In addition, the user can also input a second operation instruction to the self-propelled robot to actively control the self-propelled robot to switch to the first working mode. It should be understood that the above two trigger conditions are compatible to improve the intelligence of the self-propelled robot.

[0079] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0080] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0081] The disclosure above provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described above. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the various specific processes and material examples provided by the present application, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0082] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A self-propelled robot, characterized in that: include: A machine body, the machine body comprising a vehicle body and a traveling assembly, the traveling assembly being arranged on the vehicle body and used for driving the vehicle body to move forward; The cutting mechanism comprises a cleaning assembly, a cutting assembly and a driving assembly; the cleaning assembly is used to remove debris from the bottom of the vehicle body; the cutting assembly is used to cut the object to be cut; and the driving assembly is used to drive the cutting assembly to rotate; The self-propelled robot has at least two working modes. In the first working mode, the cutting component is separated from the cleaning component, and the driving component provides cutting power for the cutting component alone. In the second working mode, the cutting assembly is coupled to the cleaning assembly, and the driving assembly at least provides power to the cleaning assembly so that the cleaning assembly can clean the bottom of the vehicle body.

2. The self-propelled robot according to claim 1, characterized in that: The cutting assembly includes a cutting blade and a cutter disc for selectively coupling or separating with the cleaning assembly, wherein the cutting blade is fixed below the cutter disc, and after the cleaning assembly is coupled with the cutter disc, at least part of the structure in the cleaning assembly can rotate synchronously with the cutter disc.

3. The self-propelled robot according to claim 1, characterized in that: The cutting assembly has a highest point and a lowest point and can reciprocate between the highest point and the lowest point, and when the cutting assembly is at the highest point, the cutting assembly is coupled to the cleaning assembly; When the cutting assembly is at the lowest point, the cutting assembly is separated from the cleaning assembly; and / or, The driving assembly has a first rotational speed and a second rotational speed, and when the cleaning assembly is coupled with the cutting assembly, the set rotational speed of the driving assembly is reduced to the first rotational speed; When the cleaning component is separated from the cutting component, the set rotation speed of the driving component is increased to a second rotation speed, and the second rotation speed is greater than the first rotation speed.

4. The self-propelled robot according to claim 2, characterized in that: The cleaning assembly comprises a scraper assembly, which is rotatably mounted at the bottom of the vehicle body and is separated from the cutter disc. When the cutter disc moves to the highest point, the cutter disc is coupled to the cleaning assembly.

5. The self-propelled robot according to claim 4, characterized in that: The scraper assembly includes a scraper portion and a coupling portion that can rotate and separate synchronously with the cutter disc. The scraper portion is arranged on the peripheral side of the coupling portion and is used to clean debris on the bottom of the vehicle body.

6. The self-propelled robot according to claim 5, characterized in that: The coupling portion is provided with a plurality of transmission teeth for transmitting power, and the cutter disc is provided with a plurality of output teeth opposite to the plurality of transmission teeth on the side facing away from the cutting assembly, and the output teeth mesh with the transmission teeth when the cutter disc moves to the highest point.

7. The self-propelled robot according to claim 5, characterized in that: The scraper assembly includes a first scraper member and a second scraper member, and the first scraper member and the second scraper member are symmetrically arranged relative to the axis of the coupling portion.

8. The self-propelled robot according to claim 4, characterized in that: The cutting mechanism comprises a base arranged at the bottom of the vehicle body, the cleaning assembly comprises a bearing member, and the scraper assembly is rotatably mounted on the base through the bearing member and is coaxially arranged with the cutter disc.

9. The self-propelled robot according to claim 8, characterized in that: The bearing member comprises a cross roller bearing, wherein the cross roller bearing comprises an outer ring portion and an inner ring portion arranged concentrically with the outer ring portion, wherein the inner ring portion is fixed on the base, and the scraper assembly is fixed on the outer ring portion.

10. The self-propelled robot according to claim 3, characterized in that: The self-propelled robot further comprises a speed regulator, which is electrically connected to the driving assembly and is used to adjust the speed of the driving assembly at the highest point and the lowest point.

11. The self-propelled robot according to claim 10, characterized in that: The self-propelled robot further comprises a detection component, which is electrically connected to the speed regulator and is used to detect a coupling state between the cutter disc and the scraper assembly and / or an accumulation state of the debris.

12. A cleaning control method, applied to a self-propelled robot, characterized in that: The self-propelled robot comprises a cleaning component, a cutting component and a driving component, and the control method comprises: The driving assembly is capable of driving the cutting assembly to perform cutting action and adjust the position of the cutting assembly; When debris is detected at the bottom of the self-propelled robot, the driving assembly is controlled to drive the cutting assembly to couple with the cleaning assembly, so that the cleaning assembly can rotate and remove the debris at the bottom of the self-propelled robot; After a preset time period, the cutting assembly is controlled to separate from the cleaning assembly, so that the driving assembly provides cutting power for the cutting assembly alone.

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