Self-moving robot and cleaning control method

Abstract

A self-moving robot and a cleaning control method, the robot comprising a machine body and a cutting mechanism, the machine body comprising a vehicle body and a walking assembly, the walking assembly being arranged on the vehicle body and used to drive the vehicle body to travel; the cutting mechanism comprising a cleaning assembly, a cutting assembly and a driving assembly; the cleaning assembly is used to remove debris at the bottom of the vehicle body; the cutting assembly is used to cut the to-be-cut object; the driving assembly is used to drive 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; 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] This invention relates to the field of robotics, and more particularly to a self-moving robot and a cleaning control method. Background Technology

[0002] Existing self-propelled robots are prone to accumulating debris at their bottom during cutting, leading to increased drive load or stalling of the drive components. This can affect the normal operation of the robot, damage the drive components, and reduce the lifespan of the equipment. Summary of the Invention

[0003] This invention provides a self-moving robot to solve the problem of increased load on drive components or stalling due to debris accumulation at the bottom of the vehicle body.

[0004] According to a first aspect of the present invention, the present invention provides a self-moving robot, comprising:

[0005] The machine body includes a vehicle body and a walking assembly, the walking assembly being mounted on the vehicle body for driving the vehicle body forward;

[0006] A cutting mechanism, comprising a cleaning component, a cutting component, and a driving component; the cleaning component is used to remove debris from the bottom of the vehicle body; the cutting component is used to cut the object to be cut; and the driving component is used to drive the cutting component to rotate.

[0007] 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 to the cutting component alone. In the second working mode, the cutting component is coupled to the cleaning component, and the driving component provides power to at least the cleaning component so that the cleaning component can clean the bottom of the vehicle body.

[0008] In a self-moving robot according to one embodiment of the present invention, the cutting assembly includes a cutting blade and a cutter disc for selectively coupling or separating from the cleaning assembly. The cutting blade is fixed below the cutter disc, and after the cleaning assembly is coupled to the cutter disc, at least a portion of the structure in the cleaning assembly can rotate synchronously with the cutter disc.

[0009] In a self-moving robot according to one embodiment of the present invention, the cutting component has a highest point and a lowest point and is capable of reciprocating between the highest point and the lowest point; when the cutting component is at the highest point, the cutting component is coupled to the cleaning component; when the cutting component is at the lowest point, the cutting component is separated from the cleaning component; and / or,

[0010] The drive assembly has a first rotational speed and a second rotational speed. When the cleaning assembly is coupled to the cutting assembly, the set rotational speed of the drive assembly is reduced to the first rotational speed. When the cleaning assembly is separated from the cutting assembly, the set rotational speed of the drive assembly is increased to the second rotational speed, which is greater than the first rotational speed.

[0011] In a self-moving robot according to one embodiment of the present invention, the cleaning component includes a scraper assembly, which is rotatably mounted on the bottom of the vehicle body and separately disposed from the cutter disc. When the cutter disc moves to the highest point, the cutter disc is coupled to the cleaning component.

[0012] In a self-moving robot according to an embodiment of the present invention, the scraper assembly includes a scraper portion and a coupling portion that can rotate synchronously with and separate from the cutter head. The scraper portion is disposed on the periphery of the coupling portion and is used to clean debris from the bottom of the vehicle body.

[0013] In a self-moving robot according to an embodiment of the present invention, the coupling part is provided with a plurality of transmission teeth for transmitting power, and the cutter head is provided with a plurality of output teeth on the side opposite to the cutting assembly, which are opposite to the plurality of transmission teeth. The output teeth engage with the transmission teeth when the cutter head moves to the highest point.

[0014] In a self-moving robot according to an embodiment of the present invention, the scraper assembly includes a first scraper member and a second scraper member, the first scraper member and the second scraper member being symmetrically arranged with respect to the axis of the coupling portion.

[0015] In a self-moving robot according to one embodiment of the present invention, the cutting mechanism includes a base disposed at the bottom of the vehicle body, the cleaning component includes a bearing component, and the scraper assembly is rotatably mounted on the base via the bearing component and coaxially disposed with the cutter head.

[0016] 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 disposed with respect to the outer ring portion, the inner ring portion being fixed on the base, and the scraper assembly being fixed on the outer ring portion.

[0017] In a self-moving robot according to one embodiment of the present invention, the self-moving robot further includes a speed regulator, which is electrically connected to the drive component and is used to adjust the speed of the drive component at the highest point and the lowest point.

[0018] In a self-moving robot according to one embodiment of the present invention, the self-moving 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 head and the scraper assembly and / or the accumulation of debris.

[0019] According to a second aspect of the present invention, a cleaning control method is also provided, applied to a self-moving robot, the self-moving robot including a cleaning component, a cutting component, and a driving component, the control method comprising:

[0020] The driving component can drive the cutting component to perform cutting actions and adjust the position of the cutting component;

[0021] When debris is detected at the bottom of the self-moving robot, the drive component is controlled to couple the cutting component with the cleaning component, so that the cleaning component can rotate and remove the debris at the bottom of the self-moving robot.

[0022] After a preset time, the cutting component and the cleaning component are separated, so that the driving component provides cutting power to the cutting component alone.

[0023] The technical solution provided in this application embodiment can include the following beneficial effects: This application designs a self-moving robot, including a machine body and a cutting mechanism. The cutting mechanism includes 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 and the cleaning component are separated, and the driving component provides cutting power to the cutting component alone. In the second working mode, the cutting component and the cleaning component are coupled, and the driving component provides power to at least 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, which would increase the driving load of the driving component or cause the output shaft of the driving component to stall. In this way, not only is the transmission structure between the cleaning component and the cutting component simplified and the power transmission path shortened, but the power of the cutting component during cutting is not affected 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 stalling due to debris accumulation. Manual cleaning is not required, and the rotation of the cutting disc is not affected, thus improving the cutting efficiency of the self-moving robot.

[0024] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a self-moving robot provided in one embodiment of this application;

[0027] Figure 2 yes Figure 1 A cross-sectional schematic diagram of a self-moving robot in the image;

[0028] Figure 3 yes Figure 2 An exploded view of a self-moving robot;

[0029] Figure 4 yes Figure 2 A cross-sectional schematic diagram of the cutting mechanism in the diagram;

[0030] Figure 5 yes Figure 3 A schematic diagram of one type of scraper assembly;

[0031] Figure 6 yes Figure 3 Another schematic diagram of the scraper assembly in the middle.

[0032] Figure 7 This is a schematic block diagram illustrating a control method for a self-moving robot provided in an embodiment of this application.

[0033] Explanation of reference numerals in the attached figures:

[0034] 100. Main body of the machine; 101. Vehicle body; 102. Walking components;

[0035] 200. Cutting mechanism;

[0036] 10. Base;

[0037] 20. Cutting assembly; 21. Cutter head; 211. Output teeth; 22. Cutting blade;

[0038] 30. Cleaning component; 31. Scraper assembly; 311. Scraper section; 3111. First scraper; 3112. Second scraper; 3113. Third scraper; 312. Coupling part; 3121. Transmission gear; 32. Bearing component;

[0039] 23. Drive components; 231. Output shaft. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] It should also be understood that the terminology used in this specification is merely for describing specific realities within the context of this application. It is important to understand that terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0043] like Figure 1 As shown, according to a first aspect of this application, this application provides a self-moving robot, including a machine body 100 and a cutting mechanism 200. The cutting mechanism 200 is installed at the bottom of the machine body 100 and is used to cut an object to be cut. The object to be cut includes, but is not limited to, grass on lawns, gardens, and paths; that is, the self-moving robot can cut grass on lawns to ensure the aesthetics of the lawn.

[0044] In one alternative implementation, such as Figures 1 to 3 As shown, the main body of the machine 100 includes a vehicle body 101 and a walking component 102. The walking component 102 is mounted on the vehicle body 101 and is used to drive the vehicle body 101 to move, so that the vehicle body 101 can drive the cutting component 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.

[0045] In an optional embodiment, the cutting mechanism 200 includes a cutting assembly 20 and a drive assembly 40. The drive assembly 40 drives the cutting assembly 20 to rotate, enabling it to cut the object to be cut. The cutting assembly 20 includes a cutter head 21 and cutting blades 22 for cutting the object. The cutter head 21 is located at the bottom of the vehicle body 101 and is connected to the output shaft 41 of the drive assembly 40. The cutting blades 22 are mounted on the cutter head 21, allowing the drive assembly 40 to drive the cutter head 21 and cutting blades 22 to rotate via the output shaft 41, thereby improving cutting efficiency and ensuring a neat cut of the lawn. The drive assembly 40 can be, but is not limited to, a drive motor, and the cutter head 21 is connected to the output shaft 41 of the drive motor.

[0046] In an optional embodiment, the cutting blade 22 includes multiple mowing blades that are detachably mounted on the cutter head 21 so that the drive assembly 40 can drive the cutter head 21 to rotate via the output shaft 41, thereby driving the multiple mowing blades to perform mowing operations on the lawn. This allows the multiple mowing blades to work together to mow the lawn, improving cutting efficiency and ensuring a neat cut of the lawn.

[0047] In an optional embodiment, the cutting mechanism 200 further includes a cleaning component 30 for removing debris from the bottom of the vehicle body 101. The self-moving robot has at least two operating modes. In a first operating mode, the cutting component 20 and the cleaning component 30 are separated, allowing the drive component 40 to provide cutting power to the cutting component 20 independently, ensuring the cutting effect of the cutting component 20. In a second operating mode, the cutting component 20 and the cleaning component 30 are coupled, and the drive component 40 provides power to at least the cleaning component 30, enabling the cleaning component 30 to clean debris from the bottom of the vehicle body 101, preventing debris accumulation that would increase the drive load on the drive component 40 or cause the output shaft 41 of the drive component 40 to stall.

[0048] By adopting the above technical solution, not only is the transmission structure between the cleaning component 30 and the cutting component 20 simplified and the power transmission path shortened, but the power of the cutting blade 22 during cutting is also ensured to be unaffected by the cleaning component 30. Simultaneously, the cleaning component 30 can clean the debris accumulated at the bottom of the vehicle body 101, preventing the cutting blade 22 from becoming stuck in the cutter head 21 due to debris accumulation. This eliminates the need for manual cleaning and does not affect the rotation of the drive component 40, thus improving the cutting efficiency of the self-moving robot.

[0049] In an optional embodiment, the cutter head 21 can be selectively coupled or disengaged from the cleaning component 30. When the cleaning component 30 is coupled to the cutter head 21, at least a portion of the structure in the cleaning component 30 can rotate synchronously with the cutter head 21 to clean debris accumulated at the bottom of the vehicle body 101, preventing debris accumulation from increasing the drive load on the drive component 40 or causing the output shaft 41 of the drive component 40 to stall. When the cleaning component 30 is disengaged from the cutter head 21, the cutter head 21 will not drive the rotation of the cleaning component 30, thereby allowing the drive component 40 to provide cutting power to the cutting blade 22 independently, ensuring the cutting effect of the cutting blade 22. This not only simplifies the transmission structure between the cleaning component 30 and the cutting component 20 and shortens the power transmission path, but also ensures that the power of the cutting blade 22 during cutting is not affected by the cleaning component 30. Meanwhile, the cleaning component 30 can clean the debris accumulated at the bottom of the vehicle body 101, avoiding the problem of the cutting blade 22 becoming blocked due to debris accumulation. It does not require manual cleaning and will not affect the rotation of the cutting blade 21, thus improving the cutting efficiency of the self-moving robot.

[0050] It should be noted that the debris includes, but is not limited to, grass clippings generated by the autonomous robot during lawn mowing. These clippings tend to accumulate at the bottom of the vehicle body 101 during cutting by the cutting component 20. This not only increases the overall weight of the autonomous robot but also causes grass clippings to accumulate at the bottom of the vehicle body 101, affecting the rotation of the cutter head 21 and reducing cutting efficiency. Simultaneously, this solution addresses the problem of large amounts of metal grass clippings accumulating at the bottom of the vehicle body 101, making cleaning difficult and saving manpower. It also ensures that the autonomous robot remains unaffected during lawn mowing.

[0051] By adopting the above technical solution, the self-mobilizing robot is equipped with a cleaning component 30 for cleaning up debris accumulation. This avoids the problem of debris adhering to the bottom of the vehicle body 101 during use, which would lead to debris accumulation and cleaning difficulties, and prevent long-term excessive accumulation from affecting the normal operation of the self-mobilizing robot. Therefore, this application couples the cutter head 21 with the cleaning component 30, so that at least a portion of the structure in the cleaning component 30 can rotate synchronously with the cutter head 21, thereby cleaning the debris at the bottom of the vehicle body 101, reducing the trouble of manual cleaning, and avoiding the problem of the drive component 40 becoming blocked due to debris accumulation. When the self-mobilizing robot needs to cut the object, the cleaning component 30 separates from the cutter head 21, allowing the cutter head 21 to independently provide cutting power to the cutting blade 22, ensuring the cutting effect of the cutting blade 22. The entire operation process is very simple and convenient, without affecting the rotation of the cutter head 21, and improving the cutting efficiency of the self-mobilizing robot.

[0052] In one optional embodiment, the cutter head 21 has a highest point and a lowest point and can reciprocate between the highest and lowest points. When the cutter head 21 is at its highest point, it is coupled with the cleaning component 30, allowing the drive component 40 to drive the cleaning component 30 to rotate via the cutter head 21 to clean the grass clippings accumulated at the bottom of the vehicle body 101. When the cutter head 21 is at its lowest point, it is separated from the cleaning component 30, thus providing cutting power to the cutting blade 22 independently 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 single drive component 40. The clever use of coupling or decoupling between the cutter head 21 and the cleaning component 30 to control the operation of the cleaning component 30 makes the structure of the self-mobilizing robot more compact, the design of the self-mobilizing robot more reasonable, and significantly reduces the production cost of the self-mobilizing robot.

[0053] In one optional embodiment, the drive assembly 40 has a first rotational speed and a second rotational speed, the second rotational speed being greater than the first rotational speed. When the cleaning assembly 30 is coupled to the cutter head 21, the set rotational speed of the drive assembly 40 is reduced to the first rotational speed, thereby effectively reducing the wear of the cleaning assembly 30, extending the service life of the cleaning assembly 30, and reducing the frequency of replacement of the cleaning assembly 30 and maintenance costs. When the cleaning assembly 30 is separated from the cutter head 21, the set rotational speed of the drive assembly 40 is increased to the second rotational speed, which is beneficial to the cutting operation, speeds up the cutting process, and improves work efficiency.

[0054] For example, when debris is detected at the bottom of the vehicle body 101, the self-moving robot controls the cutter head 21 to stop cutting and then moves the cutter head 21 from the lowest point to the highest point, allowing it to couple with the cleaning component 30. After the cleaning component 30 is coupled with the cutter head 21, the drive component 40 controls the cleaning component 30 to rotate at a first speed via the cutter head 21 to clean the accumulated grass clippings at the bottom of the vehicle body 101. When the cleaning component 30 has finished cleaning the debris at the bottom of the vehicle body 101, the self-moving robot controls the cutter head 21 to separate from the cleaning component 30, allowing the drive component 40 to provide cutting power solely to the cutting component 20. At this time, the drive component 40 drives the cutting component 20 to rotate at a second speed to ensure the cutting effect of the cutting component 20. By stopping the cutter head 21 before coupling it with the cleaning component 30 and then rotating it at the first speed, the coupling difficulty between the cutter head 21 and the cleaning component 30 during rotation is reduced, and damage to the cutter head 21 and the cleaning component 30 is avoided.

[0055] In one alternative implementation, such as Figures 3 to 6As shown, the cleaning component 30 includes a scraper assembly 31, which is rotatably mounted on the bottom of the vehicle body 101 and is separated from the cutter disc 21. When the cutter disc 21 moves to its highest point, the cutter disc 21 is coupled with the cleaning component 30 so that the scraper assembly 31 can clean the debris between the cutter disc 21 and the vehicle body 101, reducing the trouble of manual cleaning and avoiding the problem of the cutter disc 21 becoming blocked due to debris accumulation.

[0056] 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 head 21. The scraper portion 311 is disposed around the coupling portion 312 and is used to clean the debris accumulated on the bottom of the vehicle body 101 by the cutting blade 22 during cutting, thus avoiding the problem of the cutter head 21 being blocked due to debris accumulation. At the same time, the operation of a drive component 40 can be realized through the coupling portion 312 to realize the cutting work of the cutting blade 22 and the cleaning work of the cleaning component 30. The coupling or separation of the cutter head 21 and the cleaning component 30 is cleverly used to control the operation of the cleaning component 30, making the structure of the self-moving robot more compact, the design of the self-moving robot more reasonable, and significantly reducing the production cost of the self-moving robot.

[0057] It should be noted that the coupling part 312 can be a component of a synchronizer, an electromagnetic coupler, or a clutch. The specific arrangement of this component is not limited in this application, as long as it can connect or disconnect the cutter head 21 from the scraper part 311. For example, the cutter head 21 may have a transmission plate, and the coupling part 312 may be a friction plate that cooperates with the transmission plate. When the cutter head 21 reaches its highest point, the transmission plate and the friction plate engage, allowing the cutter head 21 to drive the scraper part 311 to rotate. This cleans the debris between the cutter head 21 and the vehicle body 101, reducing the need for manual cleaning and preventing the cutter head 21 from becoming stuck due to debris accumulation. Other structures for the coupling part 312 will not be described in detail in this application.

[0058] In one alternative implementation, such as Figure 5 As shown, the scraper portion 311 includes a first scraper 3111 and a second scraper 3112. The coupling portion 312 has a first extension and a second extension extending in a relatively distant direction on both sides. The first scraper 3111 and the second scraper 3112 are respectively disposed at both ends of the first extension and the second extension, respectively, for cleaning debris from the bottom of the vehicle body 101. This not only ensures the force balance of the scraper assembly 31 during rotation but also improves the cleaning efficiency of the scraper assembly 31. The shape of the first scraper 3111 and the second scraper 3112 can be, but is not limited to, a rectangular structure.

[0059] In one alternative implementation, such as Figure 6As shown, the scraper portion 311 includes a third scraper 3113. The coupling portion 312 has a third extension and a fourth extension extending in a relatively far apart direction on both sides. The third scraper 3113 is disposed at the upper end of the third extension and the fourth extension and is used to clean debris from the bottom of the vehicle body 101. The shape of the third scraper 3113 can be, but is not limited to, a conical structure.

[0060] In one alternative implementation, such as Figures 4 to 6 As shown, the coupling part 312 is provided with multiple transmission teeth 3121 for transmitting power. The cutter head 21 is provided with multiple output teeth 211 on the side opposite to the cutting blade 22, which are opposite to the multiple transmission teeth 3121. When the cutter head 21 moves to the highest point, the output teeth 211 mesh with the transmission teeth 3121, 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. The operation of one drive assembly 40 realizes the cutting work of the cutting blade 22 and the cleaning work of the cleaning assembly 30. The coupling or separation of the cutter head 21 and the cleaning assembly 30 is cleverly used to control the operation of the cleaning assembly 30, making the structure of the self-moving robot more compact, the design of the self-moving robot more reasonable, and significantly reducing the production cost of the self-moving robot.

[0061] 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 with respect to the axis of the coupling portion 312 so as to use opposite balancing torques to make the scraper assembly 31 as a whole achieve balance, which can also reduce noise.

[0062] In an optional embodiment, the cutting mechanism 200 includes a base 10 disposed at the bottom of the vehicle body 101, and a cutting assembly 20 and a cleaning assembly 30 disposed below the base 10. The cleaning assembly 30 includes a bearing 32, and a scraper assembly 31 is rotatably mounted on the vehicle body 101 via the bearing 32 and coaxially arranged with the cutter head 32 to ensure smooth rotation of the scraper assembly 31.

[0063] In an alternative implementation, the base 10 can be a protective component of the cutting mechanism 200, which can prevent objects from penetrating from the side of the self-moving robot, thereby improving the safety of the self-moving robot.

[0064] In an alternative embodiment, the bearing 32 includes a crossed roller bearing having an outer ring portion and an inner ring portion concentrically disposed with respect to the outer ring portion. The inner ring portion is fixed to the base 10, and the scraper assembly 31 is fixed to the outer ring portion so as to withstand the load of the scraper assembly 31 in all directions and ensure the service life of the cleaning assembly 30.

[0065] In an optional embodiment, the self-moving robot also includes a speed regulator electrically connected to the drive assembly 40 for adjusting the speed of the drive assembly 40 at the highest and lowest points. This allows the drive assembly 40 to control the output speed of the cutter head 21 at the highest point to be lower than the output speed at the lowest point, thereby reducing the rotational speed of the cutter head 21. This helps improve the safety of the coupling between the cutter head 21 and the cleaning assembly 30, and avoids potential safety hazards caused by the high-speed rotation of the cutter head 21.

[0066] It should be noted that the speed regulator can adjust the speed of the drive component 40 according to the control signal. The control signal includes, but is not limited to, the control signal sensed by the detection component, such as the coupling status signal between the blade disc 21 and the cleaning component 30, or the signal that the blade disc 21 is close to the highest point or the lowest point, so that the drive component 40 can automatically rotate, realize the fully automatic cleaning process, reduce manual intervention, and improve the user experience.

[0067] For example, when the blade disc 21 is coupled with the cleaning component 30, the detection component automatically detects the coupling state of the blade 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, avoiding poor cleaning effect or equipment damage caused by speed fluctuation.

[0068] In an optional embodiment, the self-moving robot further includes a detection component electrically connected to a speed regulator. This component detects the coupling state between the cutter head 21 and the scraper assembly 31, and / or the accumulation of debris. When debris accumulates and clogs the self-moving robot, the cutter head 21 can automatically rise to its highest point and couple with the cleaning assembly 30. This allows the cleaning assembly 30 to clean the clogged grass under the drive of the cutter head 21, and also remove grass debris from the chassis. Once the detection component detects that the debris has been cleared, the cutter head 21 automatically lowers to its lowest point and separates from the cleaning assembly 30, allowing the cutter head 21 to drive the cutting blade 22 independently for cutting.

[0069] In an optional embodiment, the self-moving robot further includes a seal. The base 10 has a base hole, and a drive motor is mounted on the side of the base 10 opposite to the cleaning assembly 30. The output shaft 41 of the drive motor passes through the base hole and connects to the cutter head 21. The seal is disposed between the base 10 and the drive motor 30 to seal the gap between the base hole and the drive motor, preventing debris, dust, and other impurities from entering the vehicle body 101 and / or the interior of the drive motor. The cleaning assembly 30 is disposed on the outside of the seal.

[0070] like Figures 1 to 7As shown, according to a second aspect of this application, this application provides a cleaning control method applied to a self-moving robot, the self-moving robot including a cleaning component 30, a cutting component 20, and a driving component 40. The control method includes:

[0071] The drive component 40 can drive the cutting component 20 to perform cutting actions and adjust the position of the cutting component 20;

[0072] When debris is detected at the bottom of the self-moving robot, the control drive component 40 drives the cutting component 20 to couple with the cleaning component 30, so that the cleaning component 30 can rotate and remove the debris at the bottom of the self-moving robot.

[0073] After a preset time, the cutting component 20 is separated from the cleaning component 30, so that the drive component 40 provides cutting power to the cutting component 20 alone, ensuring 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 cutting component 20 and can improve the cutting efficiency of the self-moving robot.

[0074] Specifically, the self-propelled robot has at least two switchable operating modes. In the first operating mode, the cutting component 20 and the cleaning component 30 are separated, allowing the drive component 40 to provide cutting power to the cutting component 20 independently, ensuring the cutting power and cutting effect of the cutting component 20. In the second operating mode, the cutting component 20 and the cleaning component 30 are coupled, and the drive component 40 provides power to at least the cleaning component 30, so that the cleaning component 30 can clean the debris at the bottom of the vehicle body 101, avoiding debris accumulation that would increase the drive load on the drive component 40 or cause the output shaft 41 of the drive component 40 to stall.

[0075] For example, such as Figure 7 As shown, controlling the cutting component 20 to perform corresponding actions according to the current working mode of the self-moving robot includes at least the following two independent steps:

[0076] Step S101: In the first working mode, control the cutting component 20 to rotate relative to the cleaning component 30 and the bottom of the vehicle body 101 to perform the cutting action;

[0077] Step S102: In the second working mode, control the cutting component 20 to move towards the cleaning component 30 so that the cutting component 20 and the cleaning component 30 are coupled together, and control the cutting component 20 to drive the cleaning component 30 to rotate relative to the bottom of the vehicle body 101 so that the cleaning component 30 cleans the bottom of the vehicle body 101.

[0078] In one optional implementation, the driving component includes at least:

[0079] The first drive component is used to drive the cutting component 20 to rotate;

[0080] The second drive assembly is used to drive the cutting assembly 20 to move toward or away from the cleaning assembly 30.

[0081] In one optional implementation, the control method includes

[0082] In the first working mode, the first drive component is controlled to drive the cutting component 20 to rotate in order to perform the cutting action;

[0083] In the second working mode, the second drive component is controlled to drive the cutting component 20 to move toward the cleaning component 30 so that the cutting component 20 and the cleaning component 30 are coupled, and the first drive component is controlled to drive the cutting component 20 to rotate so that the cleaning component 30 can rotate so that the cleaning component 30 cleans the bottom of the vehicle body 101.

[0084] It should be noted that the first drive component and the second drive component are independent of each other. In the first working mode, only the first drive component needs to be controlled to drive the cutting component 20 to rotate. When switching from the first working mode to the second working mode, the second drive component needs to be controlled to drive the cutting component 20 to move towards the cleaning component 30. During the process of the cutting component 20 moving towards the cleaning component 30, the first drive component can be controlled to keep the cutting component 20 rotating or stop rotating. It can also be controlled to reduce the rotation speed of the cutting component 20. It should be understood that reducing the rotation speed of the cutting component 20 also helps to improve the safety of operation, facilitates the coupling and docking of the cutting component 20 and the cleaning component 30, and avoids potential safety hazards caused by high-speed rotation.

[0085] In an optional implementation, the control method further includes:

[0086] When the self-moving robot switches from the second working mode to the first working mode, the cutting component 20 is controlled to move away from the cleaning component 30 so that the cutting component 20 and the cleaning component 30 are separated.

[0087] For example, after a preset time, the self-moving robot switches from the second working mode to the first working mode. The cutter head 21 in the cutting component 20 needs to be separated from the cleaning component 30. The cutter head 21 will not drive the rotation of the cleaning component 30. The first drive component can provide cutting power to the cutting blade 22 separately to ensure the cutting effect of the cutting blade 22.

[0088] In an optional implementation, the control method further includes:

[0089] In the first working mode, the cutting component 20 is controlled to rotate at the second rotation speed;

[0090] In the second working mode, the cutting component 20 is controlled to rotate at a first speed, wherein the second speed is greater than the first speed.

[0091] It should be noted that in the first working mode, the cutting component 20 needs to rotate at high speed to achieve a better cutting effect. 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. Since the cutting component 20 and the cleaning component 30 are coupled in the second working mode, the energy required for the cutting component 20 to maintain the same rotation speed is large, which will have a significant impact on the battery life of the self-moving robot. Therefore, in this embodiment, the cutting component 20 is set to rotate at a relatively low speed in the second working mode.

[0092] Meanwhile, the cutting component 20 operates at a reduced speed in the second working mode, which effectively reduces the wear of the scraper in the cleaning component 30, extends the service life of the scraper, and reduces the frequency of replacement and maintenance costs.

[0093] In an optional implementation, the control method further includes:

[0094] When the coupling between the cutting component 20 and the cleaning component 30 is detected, the cutting component 20 is controlled to rotate at a first rotation speed;

[0095] When the cutting component 20 is detected to be completely separated from the cleaning component 30, the cutting component 20 is controlled to perform cutting at a second rotation speed.

[0096] For example, the self-moving robot also includes a detection component, which is used at least to detect the coupling state between the cutting component 20 and the cleaning component 30. For example, the detection component may employ pressure detection or optical detection.

[0097] In an optional embodiment, the self-moving robot further includes a speed regulator. The detection component is electrically connected to the speed regulator, which in turn is electrically connected to the first drive component. The speed regulator is used to adjust the rotational speed of the cutting component 20 based on the coupling condition between the cutting component 20 and the cleaning component 30 detected by the detection component. Specifically, the speed regulator controls the rotational speed of the cutter head 21 in cleaning mode to be lower than its rotational speed in the first operating mode, thereby improving the safety of the coupling between the cutter head 21 and the cleaning component and avoiding potential safety hazards caused by the high-speed rotation of the cutter head 21.

[0098] In an optional implementation, the control method further includes:

[0099] The sensor data is obtained by detecting the accumulation of debris at the bottom of the mobile robot.

[0100] The self-moving robot is controlled to switch between cutting mode and cleaning mode based on sensor data.

[0101] Specifically, the detection component is also used to detect the debris accumulation on the bottom of the mobile robot to obtain corresponding sensor data. For example, the debris accumulation includes, but is not limited to, at least one of the weight and volume of debris accumulation on the bottom of the mobile robot. For example, the detection component can use pressure sensing and / or optical sensing to detect the debris accumulation.

[0102] In one optional implementation, controlling the self-mobile robot to switch to a first working mode or a second working mode based on sensor data includes:

[0103] The weight of debris accumulation at the bottom of the self-moving robot is determined based on sensor data;

[0104] When the weight of accumulated debris exceeds the weight threshold, the self-moving robot is controlled to switch to the second working mode.

[0105] When the weight of the accumulated debris does not exceed the weight threshold, the self-moving robot is controlled to switch to the first working mode.

[0106] And / or,

[0107] The volume of debris accumulation at the bottom of the self-moving robot is determined based on sensor data;

[0108] When the volume of accumulated debris exceeds the volume threshold, the self-moving robot is controlled to switch to the second working mode.

[0109] When the volume of debris accumulation does not exceed the volume threshold, the self-moving robot is controlled to switch to the first working mode.

[0110] It should be understood that if the weight of the accumulated debris exceeds the weight threshold and / or the volume of the accumulated debris exceeds the volume threshold, indicating that too much debris (e.g., grass clippings) has been detected accumulated from the bottom of the mobile robot, then the robot switches to a second working mode, controls the cutting component 20 to move towards the cleaning component 30, so that the cutter head 21 in the cutting component 20 is coupled with the cleaning component 30, and controls the speed regulator to control the output speed of the cutter head 21 in the second working mode to be lower than the output speed in the first working mode.

[0111] For example, the detection component includes a pressure sensor, which can detect the pressure carried by the cutting component 20 or the pressure carried by the output shaft 41 of the drive motor to obtain sensing data, and determine whether the weight of the accumulated debris exceeds the weight threshold based on the pressure represented by the sensing data, thereby controlling the self-mobile robot to switch to the second working mode or the first working mode.

[0112] For example, the detection component includes an optical sensor, which can optically detect the space between the chassis 111 and the cutting mechanism 20 to obtain sensing data, and determine whether the volume of debris accumulation exceeds a volume threshold based on the sensing 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.

[0113] By detecting the volume and / or weight of the debris, this solution can control the self-moving robot to switch to the second working mode or the first working mode at the appropriate time, thereby intelligently controlling the cutting mechanism 20 to perform rotary cutting when there is less debris accumulation, and actively controlling the cutting component 20 to couple with the cleaning component 30 when there is more debris accumulation, and together with the cutting component 20 driving the cleaning component 30 to clean up the accumulated debris.

[0114] In an optional implementation, the control method further includes:

[0115] When the self-moving robot operates in cutting mode for more than a preset cutting time threshold, and / or when a first operation command is received instructing the self-moving robot to switch to a second working mode, the self-moving robot is controlled to switch from the first working mode to the second working mode.

[0116] Specifically, the triggering conditions for the self-moving robot provided in this application embodiment 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 based on user input.

[0117] It should be noted that if the cutting time exceeds the preset threshold in the first working mode, the self-moving robot can automatically switch to the second working mode. This prevents excessive debris from accumulating at the bottom of the vehicle body 101 due to the continuous cutting action of the cutting component 20 for an extended period, which could lead to jamming of the cutting component 20. Furthermore, the user can also input a first operation command to actively control the self-moving robot to switch to cleaning mode. It should be understood that the above two triggering conditions are compatible to enhance the intelligence of the self-moving robot.

[0118] In an optional implementation, the control method further includes:

[0119] When the self-moving robot operates in the second working mode for more than a preset cleaning time threshold, and / or when a second operation command is received instructing the self-moving robot to switch to the first working mode, the self-moving robot is controlled to switch from the second working mode to the first working mode.

[0120] Specifically, the triggering conditions for the self-moving robot provided in this application embodiment 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 based on user input.

[0121] It should be noted that if the second working mode exceeds the preset cutting time threshold, meaning the cleaning component 30 has cleaned the bottom of the vehicle body 101 for a sufficient period of time, the self-moving robot can automatically switch to the first working mode. This ensures the self-moving robot has enough time to perform cutting actions, improving cutting efficiency. Furthermore, the user can also input a second operation command to actively control the self-moving robot to switch to the first working mode. It should be understood that the above two triggering conditions are compatible to enhance the intelligence of the self-moving robot.

[0122] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0123] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0124] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0125] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

Claims

1. A self-moving robot, characterized in that, include: The machine body includes a vehicle body and a walking assembly, the walking assembly being mounted on the vehicle body for driving the vehicle body forward; A cutting mechanism, comprising a cleaning component, a cutting component, and a driving component; the cleaning component is used to remove debris from the bottom of the vehicle body; the cutting component is used to cut the object to be cut; and the driving component is used to drive the cutting component to rotate. 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 to the cutting component alone. In the second operating mode, the cutting component is coupled to the cleaning component, and the driving component provides power to at least the cleaning component so that the cleaning component can clean the bottom of the vehicle body; The cutting assembly includes a cutting blade and a blade disc for selectively coupling or separating from the cleaning assembly, the cleaning assembly including a scraper assembly rotatably mounted on the bottom of the vehicle body and disposed separately from the blade disc.

2. The self-moving robot according to claim 1, characterized in that, The cutting blade is fixed below the cutter disc, and after the cleaning assembly is coupled to the cutter disc, at least a portion of the structure in the cleaning assembly can rotate synchronously with the cutter disc.

3. The self-moving robot according to claim 1, characterized in that, The cutting component has a highest point and a lowest point and is capable of reciprocating between the highest point and the lowest point. When the cutting component is at the highest point, the cutting component is coupled to the cleaning component. When the cutting component is at the lowest point, the cutting component separates from the cleaning component; And / or, The drive assembly has a first rotational speed and a second rotational speed. When the cleaning assembly is coupled to the cutting assembly, the set rotational speed of the drive assembly is reduced to the first rotational speed. When the cleaning component separates from the cutting component, the set rotation speed of the drive component increases to a second rotation speed, which is greater than the first rotation speed.

4. The self-moving robot according to claim 3, characterized in that, When the cutter head moves to the highest point, the cutter head is coupled to the cleaning assembly.

5. The self-moving robot according to claim 4, characterized in that, The scraper assembly includes a scraper section and a coupling section that can rotate synchronously with and separate from the cutter head. The scraper section is disposed on the periphery of the coupling section and is used to clean debris from the bottom of the vehicle body.

6. The self-moving robot according to claim 5, characterized in that, The coupling part is provided with multiple transmission teeth for transmitting power. The cutter head is provided with multiple output teeth on the side opposite to the cutting assembly. The output teeth engage with the transmission teeth when the cutter head moves to the highest point.

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

8. The self-moving robot according to claim 4, characterized in that, The cutting mechanism includes a base disposed at the bottom of the vehicle body, the cleaning component includes a bearing component, and the scraper assembly is rotatably mounted on the base via the bearing component and coaxially disposed with the cutter disc.

9. The self-moving robot according to claim 8, characterized in that, The bearing component includes a crossed roller bearing having an outer ring portion and an inner ring portion concentrically disposed with respect to the outer ring portion. The inner ring portion is fixed on the base, and the scraper assembly is fixed on the outer ring portion.

10. The self-moving robot according to claim 3, characterized in that, The self-moving robot also includes a speed regulator, which is electrically connected to the drive assembly and is used to adjust the speed of the drive assembly at the highest and lowest points.

11. The self-moving robot according to claim 10, characterized in that, The self-moving robot also includes a detection component, which is electrically connected to the speed regulator and is used to detect the coupling state of the cutter head and the scraper assembly and / or the accumulation of debris.

12. A cleaning control method applied to a self-moving robot, characterized in that, The self-moving robot includes a cleaning component, a cutting component, and a driving component, and the control method includes: The driving component can drive the cutting component to perform cutting actions and adjust the position of the cutting component; When debris is detected at the bottom of the self-moving robot, the drive component is controlled to couple the cutting component with the cleaning component, so that the cleaning component can rotate and remove the debris at the bottom of the self-moving robot. After a preset time, the cutting component and the cleaning component are separated, so that the driving component provides cutting power to the cutting component alone.

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