Cleaning method and cleaning system for chassis of self-moving robot

Abstract

The invention is suitable for the field of mowing equipment, and discloses a cleaning method and a cleaning system for a chassis of a self-moving robot. The cleaning method comprises the steps that the position of at least one water spraying device in a working area is obtained, whether a chassis of the self-moving robot needs to be cleaned or not is judged, and if the chassis needs to be cleaned, the self-moving robot is controlled to move to the position above the water spraying devices so that high-pressure water spraying can be conducted on the chassis through the water spraying devices; and after the chassis is cleaned, the self-moving robot is controlled to move out of the watering device. According to the cleaning method for the chassis of the self-moving robot, automatic cleaning of the chassis of the self-moving robot can be achieved. Moreover, a cleaning structure does not need to be additionally arranged on the self-moving robot, the cost is reduced, and meanwhile normal work of the self-moving robot is facilitated.

Description

Technical Field

[0001] The present application relates to the field of lawn mowing equipment, and in particular to a cleaning method and a cleaning system for a self-propelled robot chassis. Background Art

[0002] When a lawn mower is in use, grass clippings usually splash on its chassis, causing grass clippings to accumulate on the chassis of the lawn mower, increasing the weight of the lawn mower, and reducing the distance between the blade disc and the chassis. Grass clippings are easily drawn into the blade disc's rotating shaft, affecting the blade disc's rotation, thereby reducing mowing efficiency and providing a poor user experience.

[0003] In the prior art, in order to clean the chassis of the lawn mower, it can be cleaned manually, but this cleaning method is difficult and the cleaning efficiency is low. In addition, the chassis of the lawn mower can be cleaned by modifying the lawn mower, for example, adding a cleaning structure in the lawn mower, but this will increase the weight of the lawn mower and make the structure of the lawn mower itself too complicated, which is not conducive to the operation of the lawn mower. Summary of the invention

[0004] The purpose of the present application is to provide a cleaning method and a cleaning system for a self-moving robot chassis, which are intended to achieve automatic and efficient cleaning of the self-moving robot chassis.

[0005] To achieve the above-mentioned purpose, the present application provides a method for cleaning the chassis of a self-propelled robot, which is applicable to a lawn mower, and the cleaning method comprises:

[0006] Acquire the position of at least one sprinkler device in the working area, determine whether the chassis of the self-propelled robot needs to be cleaned, and if the chassis needs to be cleaned, control the self-propelled robot to move above the sprinkler device so as to spray high-pressure water on the chassis through the sprinkler device;

[0007] After determining that the chassis cleaning is completed, the self-movable robot is controlled to move out of the sprinkler device.

[0008] In the method for cleaning the chassis of the self-moving robot of the present application, the step of controlling the self-moving robot to move above the sprinkler device further comprises:

[0009] According to the position of the sprinkler device, the sprinkler device with the shortest distance to the self-moving robot is determined as the target sprinkler device, the self-moving robot is controlled to move above the target sprinkler device, and the chassis of the self-moving robot is sprayed with high-pressure water through the target sprinkler device.

[0010] In the cleaning method of the self-propelled robot chassis of the present application, the step of obtaining the position of at least one sprinkler device in the working area further includes:

[0011] When the self-moving robot performs a work task for the first time, controlling the self-moving robot to move in the work area, and when the self-moving robot moves above the sprinkler device, obtaining the corresponding position of the sprinkler device;

[0012] And / or, obtaining a coordinate position of at least one of the sprinkler devices within the working area input by a user, and determining a position of at least one of the sprinkler devices based on the coordinate position.

[0013] In the method for cleaning the chassis of the self-propelled robot of the present application, the step of determining whether the chassis of the self-propelled robot needs to be cleaned comprises:

[0014] Obtaining a rotation speed of a cutting assembly of the self-propelled robot;

[0015] When the rotation speed of the cutting assembly is less than a preset rotation speed, it is determined that the chassis of the self-propelled robot needs to be cleaned.

[0016] In the method for cleaning the chassis of the self-propelled robot of the present application, the step of determining that the chassis cleaning is completed includes:

[0017] Acquiring a cleaning condition of grass residues on the chassis of the self-propelled robot, and when the grass residues on the chassis of the self-propelled robot have been cleaned, determining that the cleaning of the chassis of the self-propelled robot is completed; or,

[0018] A cleaning time of the chassis of the self-propelled robot is obtained, and when the cleaning time exceeds a preset cleaning time, it is determined that the cleaning of the chassis of the self-propelled robot is completed.

[0019] The present application also provides a cleaning method for a self-propelled robot chassis, which is applicable to a cleaning system, wherein the cleaning system includes at least one sprinkler device, and the cleaning method includes:

[0020] Acquiring position information of the self-propelled robot to determine whether the self-propelled robot is located above the sprinkler device;

[0021] If the self-propelled robot is located above the watering device, controlling the watering device to spray high-pressure water toward the chassis of the self-propelled robot according to a set watering mode;

[0022] After determining that the chassis of the self-movable robot is cleaned, the sprinkler is controlled to stop spraying water.

[0023] In the method for cleaning the chassis of a self-propelled robot of the present application, the step of obtaining the position information of the self-propelled robot and determining whether the self-propelled robot is located above a sprinkler device further comprises:

[0024] The current position of the self-moving robot is obtained, and based on the current position and the position of at least one of the sprinklers, the sprinkler that is shortest in distance from the self-moving robot is determined as the target sprinkler, and it is determined whether the self-moving robot is located above the target sprinkler, so as to control the target sprinkler to spray high pressure water toward the chassis of the self-moving robot according to the set water spraying mode.

[0025] In the method for cleaning the chassis of the self-propelled robot of the present application, the step of obtaining the position information of the self-propelled robot includes:

[0026] Detection information of a detection sensor on the sprinkler is acquired, and position information of the self-moving robot is determined based on the detection information.

[0027] In the method for cleaning the chassis of the self-propelled robot of the present application, before the step of controlling the water sprinkler to spray water at high pressure toward the chassis of the self-propelled robot according to the set water spraying mode, the method includes:

[0028] Control the nozzle of the sprinkler to rise.

[0029] In the cleaning method of the chassis of the self-moving robot of the present application, after the step of controlling the sprinkler device to stop spraying water, the method includes:

[0030] The nozzle of the sprinkler is controlled to descend.

[0031] In the method for cleaning the chassis of the self-propelled robot of the present application, the setting of the water spraying mode comprises:

[0032] The nozzle of the sprinkler device is controlled to rotate and the water spraying angle is adjusted so that the water flow covers the chassis of the self-moving robot.

[0033] In the method for cleaning the chassis of the self-propelled robot of the present application, the setting of the water spraying mode further includes:

[0034] The water flow sprayed by the sprinkler is controlled to be clean water.

[0035] In the method for cleaning the chassis of the self-propelled robot of the present application, the step of determining whether the chassis cleaning of the self-propelled robot is completed includes:

[0036] Acquiring a cleaning condition of grass residues on the chassis of the self-propelled robot, and when the grass residues on the chassis of the self-propelled robot have been cleaned, determining that the cleaning of the chassis of the self-propelled robot is completed; or,

[0037] A cleaning time of the chassis of the self-propelled robot is obtained, and when the cleaning time exceeds a preset cleaning time, it is determined that the cleaning of the chassis of the self-propelled robot is completed.

[0038] The present application also provides a cleaning system, including a controller, a water flow control device, and at least one sprinkler device;

[0039] The water flow control device comprises a water inlet pipe, at least one water outlet pipe and at least one first solenoid valve, at least one first solenoid valve is respectively arranged corresponding to at least one water outlet pipe to adjust the opening of the water outlet pipe, at least one water outlet pipe is arranged corresponding to at least one sprinkler device, and the water outlet pipe is connected to the sprinkler device through a pipeline;

[0040] Each of the sprinkler devices is provided with a detection sensor, and the controller is connected to at least one of the first solenoid valves and at least one of the detection sensors. When one of the detection sensors detects that the self-moving robot is located above the corresponding sprinkler device, the controller controls the corresponding first solenoid valve to open so as to clean the chassis of the self-moving robot through the sprinkler device.

[0041] In the cleaning system of the present application, the watering device is provided with a nozzle that can be raised and lowered;

[0042] When high-pressure water flows through the nozzle, the high-pressure water flow can lift the nozzle by water pressure, and when the water pressure is insufficient, the nozzle drops; or,

[0043] The sprinkler device is further provided with a first driving member, the first driving member is connected to the controller, a driving end of the first driving member is connected to the nozzle, and the controller controls the first driving member to lift the nozzle.

[0044] In the cleaning system of the present application, the watering device is provided with a rotatable nozzle;

[0045] The nozzle is provided with at least two sub-nozzles of different lengths and / or calibers, and at least two of the sub-nozzles are arranged obliquely in a direction away from the center of the nozzle. When the high-pressure water flows through the at least two sub-nozzles, the two sub-nozzles can drive the nozzle to rotate through the pressure difference generated by the high-pressure water flow;

[0046] Alternatively, the sprinkler device is further provided with a second driving member, the second driving member is connected to the controller, a driving end of the second driving member is connected to the nozzle, and the controller controls the second driving member to rotate the nozzle.

[0047] In the cleaning system of the present application, the water flow control device further includes a medicine pipeline, a medicine bottle and a water pump, the water inlet pipe is connected to the medicine bottle through the medicine pipeline, and the water pump is arranged on the medicine pipeline to suck the medicine liquid in the medicine bottle;

[0048] The controller is connected to the water pump, and when at least one of the sprinkler devices is used for sprinkling water, the controller turns on the water pump to suck the liquid medicine to mix the liquid medicine with the water flow of the water inlet pipe;

[0049] When the water sprinkler is used to clean the chassis of the self-propelled robot, the controller turns off the water pump to spray clean water onto the chassis of the self-propelled robot through the water sprinkler.

[0050] In the cleaning system of the present application, the water flow control device further comprises a second solenoid valve, which is arranged on the water inlet pipe and is used to adjust the opening of the water inlet pipe;

[0051] The controller is connected to the second solenoid valve. When at least one of the sprinkler devices is used for sprinkling water, the controller controls the opening of the second solenoid valve and turns on the water pump to mix the liquid medicine and the water flow of the water inlet pipe in proportion.

[0052] The present application provides a cleaning method and cleaning system for the chassis of a self-moving robot, which can move the self-moving robot to the top of a sprinkler, and automatically clean the chassis of the self-moving robot through the sprinkler. The grass residue flushed from the chassis of the self-moving robot can also be used as nutrients for the lawn, and the sprinkler can also be used for daily watering and maintenance of the lawn. Compared with the prior art, the cleaning method of the present application can realize automatic cleaning of the chassis of the self-moving robot, and the cleaning is simple and convenient, with good cleaning effect and high efficiency. In addition, there is no need to install a cleaning structure on the self-moving robot, which reduces costs and is conducive to the normal operation of the self-moving robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0054] Figure 1 This is one of the flow charts of the method for cleaning the chassis of a self-propelled robot provided in an embodiment of the present application;

[0055] Figure 2This is the second flow chart of the method for cleaning the chassis of a self-propelled robot provided in an embodiment of the present application;

[0056] Figure 3 is a schematic diagram of the structure of the cleaning system provided in an embodiment of the present application;

[0057] Figure 4 is a schematic diagram of cleaning the chassis of a self-propelled robot provided in an embodiment of the present application;

[0058] Figure 5 It is one of the structural schematic diagrams of the sprinkler device provided in the embodiment of the present application;

[0059] Figure 6 It is one of the cross-sectional schematic diagrams of the sprinkler device provided in the embodiment of the present application;

[0060] Figure 7 This is the second structural schematic diagram of the sprinkler device provided in the embodiment of the present application;

[0061] Figure 8 is a schematic structural diagram of a water flow control device of a cleaning system provided in an embodiment of the present application;

[0062] Fig. 9 It is a schematic block diagram of a cleaning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0064] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0065] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0066] When mowing, the weeds are cut by rotating the blade disc on the chassis. The chassis usually has grass clippings flying around, which causes accumulation of grass clippings on the chassis of the lawn mower. The weight of the lawn mower increases, and the distance between the blade disc and the chassis becomes smaller. Grass clippings are easily drawn into the blade disc rotating shaft, affecting the rotation of the blade disc, thereby reducing mowing efficiency and providing a poor user experience. Therefore, the chassis of the lawn mower needs to be cleaned in a timely manner.

[0067] At present, the chassis of the lawn mower can be cleaned manually, but this cleaning method is difficult and the cleaning efficiency is low. In addition, the chassis of the lawn mower can be cleaned by modifying the lawn mower. For example, in some schemes, a water storage tank will be set on the lawn mower, and the cutter and baffle will be cleaned by a high-pressure nozzle; in some schemes, a mechanical cleaning part will be installed in the splash guard of the lawn mower to achieve cleaning by scraping grass clippings and dirt on the splash guard; in some schemes, a fan will be set on the lawn mower to suck out grass clippings by blowing and sucking to prevent grass clogging. Although these methods can achieve a certain cleaning effect, they will increase the weight of the lawn mower, and make the structure of the lawn mower itself too complicated, which increases the cost of the lawn mower. At the same time, the added structure may also affect the mowing operation, and the cleaning effect of some methods is also poor.

[0068] To this end, the present application provides a cleaning method and cleaning system for a self-propelled robot chassis, which can realize automatic cleaning of the self-propelled robot chassis. In addition, there is no need to install a cleaning structure on the self-propelled robot, which reduces costs and is conducive to the normal operation of the self-propelled robot.

[0069] Some implementation methods of the present application are described in detail below in conjunction with the accompanying drawings.

[0070] like Figure 1 and Figure 3 As shown, a cleaning method for a self-propelled robot chassis provided in an embodiment of the present application is applicable to a lawn mower, that is, the executor of the cleaning method is a self-propelled robot 200, and the self-propelled robot 200 can work in a working area provided with a sprinkler 30. It should be noted that the sprinkler 30 in the working area can itself be used for daily lawn watering operations to maintain the lawn. The cleaning method includes:

[0071] S11, obtaining the position of at least one sprinkler 30 in the working area, determining whether the chassis of the self-moving robot 200 needs to be cleaned, and if the chassis of the self-moving robot 200 needs to be cleaned, controlling the self-moving robot 200 to move above the sprinkler 30, so as to spray high-pressure water on the chassis of the self-moving robot 200 through the sprinkler 30. The position of at least one sprinkler 30 can be stored in the main control structure of the self-moving robot 200. Of course, the position of the sprinkler 30 can also be obtained through communication connection with other devices, for example, the position of the sprinkler 30 can be obtained through communication connection with the base station of the self-moving robot 200, or the position of the sprinkler 30 can be obtained through communication connection with the cleaning system 100.

[0072] The high-pressure water flow sprayed by the sprinkler 30 can flush the chassis of the self-movable robot 200 to flush the grass residues on the chassis of the self-movable robot 200, thereby cleaning the chassis of the self-movable robot 200. The flushed grass residues directly fall on the lawn and can also be used as nutrients for the lawn to further maintain the lawn.

[0073] S12, after determining that the chassis cleaning of the self-movable robot 200 is completed, control the self-movable robot 200 to move out of the sprinkler 30. After the self-movable robot 200 moves out of the sprinkler 30, the sprinkler 30 can perform normal watering operations, ensuring that the sprinkler 30 has multifunctionality.

[0074] In the cleaning method for the chassis of the self-moving robot of this embodiment, the self-moving robot 200 can automatically move to the top of the sprinkler 30, and the chassis of the self-moving robot 200 can be automatically cleaned by the sprinkler 30. The grass clippings flushed from the chassis of the self-moving robot 200 can also be used as nutrients for the lawn, and the sprinkler 30 can also be used for daily watering and maintenance of the lawn. Compared with the prior art, the cleaning method of the present application can realize automatic cleaning of the chassis of the self-moving robot 200, and the cleaning is simple and convenient, with good cleaning effect and high efficiency. In addition, there is no need to install a cleaning structure on the self-moving robot 200, which reduces costs and is conducive to the normal operation of the self-moving robot 200.

[0075] like Figure 3As shown, in some embodiments, the self-mobile robot 200 is controlled to move above the sprinkler 30, which further includes: according to the position of the sprinkler 30, determining the sprinkler 30 with the shortest distance from the self-mobile robot 200 as the target sprinkler 301, and controlling the self-mobile robot 200 to move above the target sprinkler 301, so as to spray water on the chassis of the self-mobile robot 200 with high pressure through the target sprinkler 301. When it is necessary to clean the chassis of the self-mobile robot 200, the distance between the current position of the self-mobile robot 200 and at least one sprinkler 30 can be obtained by the current position of the self-mobile robot 200 and the position of at least one sprinkler 30, and the target sprinkler 301 is the shortest distance. In this way, the self-mobile robot 200 can move to the nearest sprinkler 30 for cleaning, so that the self-mobile robot 200 can quickly move to the position that needs to be cleaned, so that the self-mobile robot 200 can clean the chassis in time at any position in the working area, thereby improving the cleaning efficiency.

[0076] like Figure 1 and Figure 3 As shown, in some embodiments, the step of obtaining the position of at least one sprinkler device 30 in the working area by the mobile robot 200 further includes:

[0077] When the self-mobile robot 200 performs a work task for the first time, the self-mobile robot 200 is controlled to move in the work area, and when the self-mobile robot 200 moves above the sprinkler 30, the position of the corresponding sprinkler 30 is obtained. In this way, the self-mobile robot 200 can automatically obtain the position of the sprinkler 30 during the work process without manual control, thereby improving the convenience of automatic cleaning of the self-mobile robot 200. In this embodiment, in order to fully obtain the position of the sprinkler 30 in the work area, when the self-mobile robot 200 performs a work task for the first time, its moving path can cover the work area, which can effectively mow the work area on the one hand, and obtain the positions of all sprinklers in the work area on the other hand, so as to facilitate the subsequent cleaning of the self-mobile robot 200.

[0078] For example, when the self-moving robot 200 moves to the top of the sprinkler 30, the sprinkler 30 below can be detected by the detection element of the self-moving robot 200 itself, and then the position of the corresponding sprinkler 30 can be obtained. For example, the detection element of the self-moving robot 200 itself can be a visual sensor, an infrared sensor, an ultrasonic sensor, etc. arranged on the self-moving robot 200. Furthermore, the detection element of the self-moving robot 200 itself can be a detection structure when it is working and moving, so that no additional structure is required, which can save costs.

[0079] In other exemplary embodiments, when the self-mobile robot 200 moves above the sprinkler device 30, the corresponding sprinkler device 30 can detect the self-mobile robot 200 through the detection sensor 50 thereon, and the detection sensor 50 can then transmit the detection information to the self-mobile robot 200. After obtaining the detection information, the self-mobile robot 200 can obtain the position of the corresponding sprinkler device 30.

[0080] like Figure 1 and Figure 3 As shown, in some embodiments, the step of obtaining the position of at least one sprinkler device 30 in the working area by the mobile robot 200 further includes:

[0081] The coordinate position of at least one sprinkler 30 in the working area input by the user is obtained, and the position of at least one sprinkler 30 is determined based on the coordinate position. In this way, the self-moving robot 200 can directly know the position of at least one sprinkler 30 in the working area, so as to facilitate the subsequent automatic cleaning. In this way, it is possible to avoid misjudging the position of the sprinkler 30, for example, avoiding including the sprinkler 30 that cannot be cleaned into the target sprinkler 301. It is ensured that the self-moving robot 200 can perform automatic cleaning at the sprinkler 30 that can be cleaned.

[0082] For example, the self-moving robot 200 can establish a coordinate system based on the working area, and the user can input the coordinate data of the sprinkler 30 in the coordinate system to the self-moving robot 200, so that the self-moving robot 200 can obtain the position of the sprinkler 30. Furthermore, in actual operation, the user can mark the position of the sprinkler 30 on the working area map simulated by the software corresponding to the self-moving robot 200, so that the self-moving robot 200 can know the position of the sprinkler 30 in subsequent work.

[0083] like Figure 1 and Figure 4 As shown, in some embodiments, the step of the self-moving robot 200 determining whether the chassis of the self-moving robot 200 needs to be cleaned includes:

[0084] Obtain the rotation speed of the cutting assembly 201 of the self-mobile robot 200. It should be noted that the self-mobile robot 200 can obtain the rotation speed of the cutting assembly 201 through the data feedback of the driving member that drives the cutting assembly 201 to move. When there is no or less grass residue on the chassis of the self-mobile robot 200, the cutting assembly 201 can rotate at a high speed to achieve mowing; when the chassis of the self-mobile robot 200 is piled with grass residue, on the one hand, the grass residue will hinder the rotation of the cutting assembly 201, and on the other hand, the grass residue attached to the blade of the cutting assembly 201 will also increase the weight of the cutting assembly 201, thereby significantly reducing the rotation speed of the cutting assembly 201. Therefore, the rotation speed of the cutting assembly 201 can be used to determine whether its work is affected by grass residue, and then it can be determined whether the chassis of the self-mobile robot 200 needs to be cleaned.

[0085] When the rotation speed of the cutting component 201 is less than the preset rotation speed, at this time, the grass residue on the chassis of the self-mobile robot 200 obviously affects the normal operation of the self-mobile robot 200, and therefore, it is determined that the chassis of the self-mobile robot 200 needs to be cleaned. When the rotation speed of the cutting component 201 is not less than the preset rotation speed, it can be determined that there is no grass residue on the chassis of the self-mobile robot 200, or the grass residue on the chassis of the self-mobile robot 200 does not affect the normal operation of the self-mobile robot 200, and the self-mobile robot 200 does not need to be cleaned and can continue to work. In this embodiment, the rotation speed of the cutting component 201 is used to determine whether the chassis of the self-mobile robot 200 needs to be cleaned, without changing the structure of the self-mobile robot 200, which can save costs, and it can be judged whether it needs to be cleaned according to the working condition of the self-mobile robot 200, which is more reasonable and accurate.

[0086] like Figure 1 and Figure 4 As shown, in some other embodiments, the step of the self-mobile robot 200 determining whether the chassis of the self-mobile robot 200 needs to be cleaned includes: obtaining image information of the chassis of the self-mobile robot 200 through a visual element to determine whether the chassis of the self-mobile robot 200 is dirty. Alternatively, the chassis of the self-mobile robot 200 is determined to be dirty by an ultrasonic sensor or an infrared sensor of the chassis of the self-mobile robot 200. Specifically, when the chassis of the self-mobile robot 200 is blocked by grass residue, the detection signal of the ultrasonic sensor or the infrared sensor will change, and then it can be determined that the chassis of the self-mobile robot 200 needs to be cleaned. Alternatively, the chassis of the self-mobile robot 200 is determined to be free of dirt by the weight change of the cutting component 201 of the chassis of the self-mobile robot 200. Specifically, after the chassis of the self-mobile robot 200 is cleaned, the weight of the cutting component 201 becomes lighter, and then it can be determined that the chassis of the self-mobile robot 200 is cleaned.

[0087] like Figure 1 and Figure 4 As shown, in some embodiments, the steps for the self-mobile robot 200 to determine that the cleaning of its chassis is completed include:

[0088] The cleaning status of grass residues on the chassis of the self-mobile robot 200 is obtained. When the grass residues on the chassis of the self-mobile robot 200 have been cleaned, it is determined that the cleaning of the chassis of the self-mobile robot 200 is completed. For example, the self-mobile robot 200 can determine whether the chassis of the self-mobile robot 200 is cleaned by an ultrasonic sensor or an infrared sensor on its chassis. Specifically, after the cleaning of the chassis of the self-mobile robot 200 is completed, the detection signal of the ultrasonic sensor or the infrared sensor will change, and then it can be determined that the cleaning of the chassis of the self-mobile robot 200 is completed. The ultrasonic sensor or the infrared sensor can be set on the side wall of the chassis of the self-mobile robot 200 to detect the accumulation of grass residues on the chassis of the self-mobile robot 200. Alternatively, the self-propelled robot 200 may also determine whether the chassis of the self-propelled robot 200 has been cleaned by setting a pressure detector in the supporting area of ​​the chassis to detect the weight change on the chassis. Specifically, after the chassis of the self-propelled robot 200 is cleaned, the weight of the chassis becomes lighter, and then it can be determined that the chassis of the self-propelled robot 200 has been cleaned. The judgment method in this embodiment can accurately know whether the chassis of the self-propelled robot 200 has been cleaned, which can make the cleaning effect of the chassis of the self-propelled robot 200 better.

[0089] like Figure 1 and Figure 4 As shown, in some embodiments, the steps for the self-mobile robot 200 to determine that the cleaning of its chassis is completed include:

[0090] The cleaning time of the chassis of the self-mobile robot 200 is obtained, and when the cleaning time exceeds the preset cleaning time, it is determined that the chassis of the self-mobile robot 200 is cleaned. After the cleaning time exceeds the preset time, it can be ensured that the sprinkler 30 has enough water jet time toward the chassis of the self-mobile robot 200, and during this time, the chassis of the self-mobile robot 200 can be basically cleaned in all directions, thereby ensuring that the cleaning is completed. If the cleaning time is insufficient, there is a situation where the sprinkler 30 cannot clean the chassis of the self-mobile robot 200 in all directions, and / or the depth of the water spray cleaning by the sprinkler 30 is not enough. In this embodiment, whether the chassis of the self-mobile robot 200 is cleaned is judged by time, and there is no need to change the structure of the self-mobile robot 200, which can save costs.

[0091] For example, the preset cleaning time may be 5 minutes, 10 minutes, 30 minutes, etc. The user may set the preset cleaning time according to the needs to ensure effective cleaning of the chassis of the self-propelled robot 200. For example, the cleaning time may be set according to the lawn conditions. A longer preset cleaning time may be set for a lawn with more mud, and a shorter preset cleaning time may be set for a lawn with less mud.

[0092] In some other embodiments, the self-moving robot 200 may also determine that the cleaning of its chassis is completed by obtaining a cleaning completion instruction from the cleaning system 100 .

[0093] In some embodiments, in the cleaning method using the self-propelled robot 200 as the execution subject, the self-propelled robot 200 is an intelligent self-propelled robot 200, which can mow the grass by self-movement, and clean its chassis by self-movement. In this way, efficient mowing can be achieved for a long time without manual operation and manual cleaning, thereby improving the user experience.

[0094] like Figure 2 and Figure 3 As shown, the present application also provides a cleaning method for a self-propelled robot chassis, which is applicable to a cleaning system 100, that is, the cleaning method is performed by the cleaning system 100, and the cleaning system 100 includes at least one sprinkler 30. It should be noted that the sprinkler 30 itself can be used for daily lawn watering operations to maintain the lawn. The cleaning method includes:

[0095] S21, obtaining the position information of the self-moving robot 200, and determining whether the self-moving robot 200 is located above the sprinkler 30. It should be noted that the self-moving robot 200 may be the above-mentioned intelligent self-moving robot 200, and of course, may also be a manual self-moving robot 200, such as a hand-pushed self-moving robot 200. The position information of the self-moving robot 200 obtained by the cleaning system 100 may be the position information of the self-moving robot 200 obtained by active detection, or the self-moving robot 200 may send its position information to the cleaning system 100, thereby obtaining the position information of the self-moving robot 200.

[0096] S22, if the self-moving robot 200 is located above the sprinkler 30, the sprinkler 30 is controlled to spray water at high pressure according to the set water spraying mode toward the chassis of the self-moving robot 200. The high-pressure water flow sprayed by the sprinkler 30 can flush the chassis of the self-moving robot 200 to flush the grass residue on the chassis of the self-moving robot 200, thereby cleaning the chassis of the self-moving robot 200.

[0097] S23, after determining that the chassis cleaning of the self-moving robot 200 is completed, control the sprinkler 30 to stop spraying water. After the self-moving robot 200 moves out of the sprinkler 30, the sprinkler 30 can perform normal watering operations, ensuring that the sprinkler 30 has multifunctionality.

[0098] The cleaning method of the self-moving robot chassis of the cleaning system 100 of this embodiment can move the self-moving robot 200 to the top of the sprinkler 30, and automatically clean the chassis of the self-moving robot 200 through the sprinkler 30. The grass clippings flushed from the chassis of the self-moving robot 200 can also be used as nutrients for the lawn, and the sprinkler 30 can also be used for daily watering and maintenance of the lawn. Compared with the prior art, the cleaning method of the present application can realize automatic cleaning of the chassis of the self-moving robot 200, and the cleaning is simple and convenient, with good cleaning effect and high efficiency. In addition, there is no need to install a cleaning structure on the self-moving robot 200, which reduces costs and is conducive to the normal operation of the self-moving robot 200.

[0099] like Figure 2 and Figure 3 As shown, in some embodiments, the cleaning system 100 obtains the position information of the self-mobile robot 200 and determines whether the self-mobile robot 200 is located above the sprinkler device 30, which further includes:

[0100] The current position of the self-movable robot 200 is obtained, and according to the current position and the position of at least one sprinkler 30, the sprinkler 30 with the shortest distance from the self-movable robot 200 is determined as the target sprinkler 301, and it is determined whether the self-movable robot 200 is located above the target sprinkler 301, so as to control the target sprinkler 301 to spray water at high pressure according to the set water spraying mode toward the chassis of the self-movable robot 200. When the chassis of the self-movable robot 200 needs to be cleaned, the distance between the current position of the self-movable robot 200 and the at least one sprinkler 30 can be obtained through the current position of the self-movable robot 200 and the position of at least one sprinkler 30, and the one with the shortest distance is the target sprinkler 301. In this way, the target sprinkler 301 can adjust its working mode to ensure that the self-mobile robot 200 can clean its chassis efficiently in time when it moves above the target sprinkler 301. For example, when the target sprinkler 301 is previously performing a watering operation, the target sprinkler 301 can be adjusted to perform a high-pressure water spray when the self-mobile robot 200 arrives. It should be noted that in this embodiment, the self-mobile robot 200 needs to determine whether its chassis needs to be cleaned, for example, by the aforementioned self-mobile robot 200 autonomously determining whether to clean, or by manually sending a cleaning instruction. When the self-mobile robot 200 determines that cleaning is required, it will send a cleaning instruction to the cleaning system 100. After obtaining the cleaning instruction, the cleaning system 100 can implement the steps of this embodiment.

[0101] like Figure 2 and Figure 3 As shown, in some embodiments, before the step of obtaining the position information of the mobile robot 200, the cleaning system 100 includes:

[0102] The action path of the self-moving robot 200 is obtained, and according to the action path, the sprinkler 30 on the action path is determined as the target sprinkler 301. The action path of the self-moving robot 200 is the working path of the self-moving robot 200 when performing the mowing operation. The self-moving robot 200 can transmit this information to the cleaning system 100. The cleaning system 100 determines the target sprinkler 301 on the path in advance according to the action path of the self-moving robot 200, so that when the self-moving robot 200 passes the target sprinkler 301, the target sprinkler 301 can clean the chassis of the self-moving robot 200. In addition, since the cleaning system 100 is provided with at least one sprinkler 30, when the self-moving robot 200 passes different sprinklers 30 along the action path, the cleaning system 100 can dynamically control different sprinklers 30 to clean in sequence, so that not only will the mowing operation of the self-moving robot 200 not be affected, but also automatic cleaning can be achieved when the self-moving robot 200 is mowing. The self-moving robot 200 also does not need to return to a specific point to complete the cleaning of the chassis, which greatly improves the cleaning efficiency and simplifies the work of the self-moving robot 200. It should be noted that in this embodiment, the self-moving robot 200 needs to determine whether its chassis needs to be cleaned, for example, by the self-moving robot 200 autonomously determining whether to clean, or by manually sending a cleaning instruction. When the self-moving robot 200 determines that cleaning is required, it will send a cleaning instruction to the cleaning system 100. After obtaining the cleaning instruction, the cleaning system 100 can implement the steps of this embodiment.

[0103] like Figure 2 , Figure 3 as well as Fig. 9 As shown, in some embodiments, the step of the cleaning system 100 acquiring the position information of the mobile robot 200 includes:

[0104] The detection information of the detection sensor 50 on the sprinkler device 30 is obtained, and the position information of the self-moving robot 200 is determined according to the detection information. It should be noted that when the sprinkler device 30 has not yet cleaned the self-moving robot 200, the self-moving robot 200 may be at a certain distance from the sprinkler device 30, or may be slightly away from the sprinkler device 30. The sprinkler device 30 will clean the chassis of the self-moving robot 200 only when and only when the self-moving robot 200 is located above the sprinkler device 30. In this embodiment, the specific position of the self-moving robot 200 can be determined by the detection information, so as to effectively clean the chassis of the self-moving robot 200, thereby avoiding the situation where the sprinkler device 30 starts cleaning before the self-moving robot 200 reaches the sprinkler device 30.

[0105] Exemplarily, the detection sensor 50 on the sprinkler device 30 may be an infrared sensor or an ultrasonic sensor, and the detection information of the self-moving robot 200 is obtained through the infrared signal emitted by the infrared sensor or the ultrasonic signal emitted by the ultrasonic sensor, thereby determining the position information of the self-moving robot 200. In other examples, the detection sensor 50 may also be a visual element, and the position of the self-moving robot 200 is determined through an image.

[0106] like Figure 2 , Figure 3 as well as Figure 5 As shown, in some embodiments, before the step of the cleaning system 100 controlling the sprinkler 30 to spray high pressure water toward the chassis of the self-mobile robot 200 according to the set water spraying mode, the steps include:

[0107] Control the nozzle 311 of the sprinkler 30 to rise. When the self-moving robot 200 moves above the sprinkler 30, by controlling the nozzle 311 of the sprinkler 30 to rise, the sprinkler 30 can be brought closer to the chassis of the self-moving robot 200, so that the sprinkler 30 has a better cleaning effect and higher cleaning efficiency when spraying high-pressure water. It should be noted that the nozzle 311 of the sprinkler 30 can be raised by active drive or passively by physical action.

[0108] It should be understood that when the sprinkler 30 raises the nozzle 311 to clean the chassis of the self-moving robot 200, the top of the nozzle 311 is still at a certain distance from the chassis of the self-moving robot 200 to avoid contact with the chassis of the self-moving robot 200, thereby ensuring effective cleaning. In addition, in actual use, the sprinkler 30 can also raise the nozzle 311 during the watering operation, and the height of the nozzle 311 can be higher than when cleaning the chassis of the self-moving robot 200, so that the sprinkler 30 can perform a better watering operation.

[0109] like Figure 2 , Figure 3 as well as Figure 5 As shown, in some embodiments, after the step of controlling the sprinkler device 30 to stop spraying water, the cleaning system 100 includes:

[0110] The nozzle 311 of the sprinkler 30 is controlled to descend. In this way, on the one hand, the sprinkler 30 can be prevented from blocking the self-moving robot 200, and the self-moving robot 200 can be conveniently moved out of the sprinkler 30 without affecting the normal mowing operation of the self-moving robot 200; on the other hand, after the cleaning is completed, the sprinkler 30 can also be hidden under the lawn to avoid affecting the beauty of the lawn. It should be noted that the nozzle 311 of the sprinkler 30 can be lowered by active driving or passively by physical action.

[0111] like Figure 2 , Figure 3 as well as Figure 7 As shown, in some embodiments, the setting water spray mode of the cleaning system 100 includes:

[0112] The nozzle 311 of the sprinkler 30 is controlled to rotate and the water spraying angle is adjusted so that the water flow covers the chassis of the self-moving robot 200. After the high-pressure water flow sprayed by the sprinkler 30 rotates, it can flush all positions of the chassis of the self-moving robot 200, flushing comprehensively, and because the sprayed high-pressure water flow is shot out at an angle, it can flush away grass residues better than flushing the chassis of the self-moving robot 200 directly, and the flushing effect is better. It should be noted that the nozzle 311 of the sprinkler 30 adjusts the spraying angle by rotation, which can be achieved by active drive or passive rotation through physical action.

[0113] like Figure 2 and Figure 3 As shown, in some embodiments, the setting water spray mode of the cleaning system 100 further includes:

[0114] The water flow sprayed by the sprinkler 30 is controlled to be clean water. By spraying clean water toward the self-propelled robot 200, the flushing and cleaning effect of the chassis of the self-propelled robot 200 can be better, and the residual medicine can be prevented from corroding or causing unnecessary chemical reactions to the metal parts of the self-propelled robot 200. In addition, in some examples where the degree of cleaning is determined by the water flow, it can also be clearly known whether the cleaning is completed.

[0115] like Figure 2 and Figure 3 As shown, in some embodiments, the cleaning system 100 determines that the cleaning of the chassis of the mobile robot 200 is completed, including:

[0116] The cleaning status of the grass residue of the chassis of the self-mobile robot 200 is obtained. When the grass residue of the chassis of the self-mobile robot 200 has been cleaned, it is determined that the cleaning of the chassis of the self-mobile robot 200 is completed. For example, the sprinkler 30 can determine whether the chassis of the self-mobile robot 200 is cleaned by the ultrasonic sensor or infrared sensor thereon. Specifically, after the cleaning of the chassis of the self-mobile robot 200 is completed, the detection signal of the ultrasonic sensor or the infrared sensor will change, and then it can be determined that the cleaning of the chassis of the self-mobile robot 200 is completed. The judgment method in this embodiment can accurately know whether the cleaning of the chassis of the self-mobile robot 200 is completed, which can make the cleaning effect of the chassis of the self-mobile robot 200 better.

[0117] like Figure 2 and Figure 3 As shown, in some embodiments, the cleaning system 100 determines that the cleaning of the chassis of the mobile robot 200 is completed, including:

[0118] The cleaning time of the chassis of the self-mobile robot 200 is obtained, and when the cleaning time exceeds the preset cleaning time, it is determined that the chassis of the self-mobile robot 200 is cleaned. After the cleaning time exceeds the preset time, it can be ensured that the sprinkler 30 has enough water jet time toward the chassis of the self-mobile robot 200, and the chassis of the self-mobile robot 200 can be basically cleaned in all directions during this time, so that the cleaning can be ensured to be completed. If the cleaning time is insufficient, there is a situation where the sprinkler 30 cannot clean the chassis of the self-mobile robot 200 in all directions, and / or the depth of the water spray cleaning by the sprinkler 30 is not enough. In this embodiment, judging whether the chassis of the self-mobile robot 200 is cleaned by time can save costs.

[0119] In some other embodiments, the cleaning system 100 may also determine that the cleaning of its chassis is completed by obtaining a cleaning completion instruction from the mobile robot 200 .

[0120] like Figures 3 to 9As shown, the cleaning system 100 of the embodiment of the present application includes a controller 10, a water flow control device and at least one sprinkler device 30. The water flow control device includes a water inlet pipe 21, at least one water outlet pipe 22 and at least one first solenoid valve 60. The at least one first solenoid valve 60 is respectively arranged corresponding to the at least one water outlet pipe 22 to adjust the opening of the water outlet pipe 22. The at least one water outlet pipe 22 is arranged corresponding to the at least one sprinkler device 30, and the water outlet pipe 22 is connected to the sprinkler device 30 through a pipeline. A detection sensor 50 is provided on each sprinkler device 30. The controller 10 is connected to the at least one first solenoid valve 60 and the at least one detection sensor 50. When one of the detection sensors 50 detects that the self-moving robot 200 is located above the corresponding sprinkler device 30, the controller 10 controls the corresponding first solenoid valve 60 to open, and the water flow of the water inlet pipe 21 can flow to the corresponding water outlet pipe 22 and be sprayed out from the sprinkler device 30 to clean the chassis of the self-moving robot 200 through the sprinkler device 30. The cleaning system 100 of the present application can be performed as follows Figure 2 The cleaning method shown is used to achieve automatic cleaning of the chassis of the self-moving robot 200.

[0121] It should be noted that when the chassis of the self-mobile robot 200 is not cleaned, the cleaning system 100 can sprinkle water on the lawn through at least one sprinkler 30 to achieve daily maintenance of the lawn. Specifically, the controller 10 can open the first solenoid valve 60 of the sprinkler 30 so that the water flow entering from the water inlet pipe 21 can pass through the water outlet pipe 22 and be sprayed out from the sprinkler 30. In actual use, the first solenoid valves 60 of some sprinklers 30 can be opened to sprinkle water on the required area, or the first solenoid valves 60 of all sprinklers 30 can be opened to sprinkle water on the entire lawn. In this embodiment, the sprinkler 30 can spray high-pressure water flow or spray water by adjusting the opening of the first solenoid valve 60. Specifically, the opening of the first solenoid valve 60 can be opened to increase the pressure of the sprayed water flow, and the opening of the first solenoid valve 60 can be closed to reduce the pressure of the sprayed water flow to avoid waste of water resources.

[0122] The cleaning system 100 of this embodiment can move the self-moving robot 200 to the top of the sprinkler 30, and automatically clean the chassis of the self-moving robot 200 through the sprinkler 30. The grass clippings flushed from the chassis of the self-moving robot 200 can also be used as nutrients for the lawn, and the sprinkler 30 can also be used for daily watering and maintenance of the lawn. Compared with the prior art, the cleaning system 100 of the present application can realize automatic cleaning of the chassis of the self-moving robot 200, and the cleaning is simple and convenient, with good cleaning effect and high efficiency. In addition, there is no need to install a cleaning structure on the self-moving robot 200, which reduces costs and is conducive to the normal operation of the self-moving robot 200.

[0123] like Figure 3 As shown, in some embodiments, when the self-mobile robot 200 is an intelligent self-mobile robot, the self-mobile robot 200 and the cleaning system 100 are connected via wireless communication, or the base station of the self-mobile robot 200 and the cleaning system are connected via wireless communication, so that the self-mobile robot 200 and the cleaning system 100 can be controlled in a linkage manner. For example, they can be connected via RFID, Bluetooth, or Wi-Fi to achieve linkage control, thereby ensuring that the cleaning system 100 performs effective automated cleaning on the self-mobile robot 200.

[0124] like Figure 3 and Fig. 9 As shown, in some embodiments, when the self-mobile robot 200 determines that cleaning is required, it will send a cleaning instruction to the cleaning system 100, and after determining the target sprinkler 301, the detection sensor 50 on the target sprinkler 301 can start working. In this way, the confusion between sprinkler and cleaning operations can be avoided, and at the same time, other sprinkler 30 that are not performing cleaning operations can work normally.

[0125] like Figure 3 , Figure 5 as well as Figure 6 As shown, in some embodiments, the sprinkler 30 is provided with a nozzle 311 that can be raised and lowered. When the high-pressure water flows through the nozzle 311, the high-pressure water flow can raise the nozzle 311 by the water pressure, and when the water pressure is insufficient, the nozzle 311 is lowered. In this way, when the high-pressure water flow is sprayed toward the chassis of the self-moving robot 200 through the sprinkler 30, the nozzle 311 of the sprinkler 30 can be raised, so that the sprinkler 30 is closer to the chassis of the self-moving robot 200, and the sprinkler 30 has a better cleaning effect and higher cleaning efficiency when spraying the high-pressure water flow.

[0126] For example, Figure 5 and Figure 6As shown, the sprinkler 30 is designed to be liftable, and includes two vertically arranged retractable first sprinkler sections 31 and second sprinkler sections 32. The first sprinkler section 31 and the second sprinkler section 32 are slidably connected. The diameter of the first sprinkler section 31 is smaller than that of the second sprinkler section 32, and the first sprinkler section 31 is sleeved on the second sprinkler section to achieve sliding connection. The first sprinkler section 31 is connected to the nozzle 311, and the second sprinkler section 32 is connected to the water outlet pipe 22. When water flows through the first sprinkler section 31 and the second sprinkler section 32, the first sprinkler section 31 connected to the nozzle 311 will be lifted up under the action of water pressure, and the higher the water pressure, the higher the lifting height of the first sprinkler section 31. Therefore, when the sprinkler 30 sprays water at high pressure on the chassis of the self-moving robot 200, the nozzle 311 of the sprinkler 30 can be lifted up by hydraulic action to achieve a better cleaning effect.

[0127] like Figure 3 , Figure 5 as well as Figure 6 As shown, in some possible embodiments, the sprinkler 30 is provided with a nozzle 311 that can be raised and lowered. The sprinkler 30 is also provided with a first driving member, the first driving member is connected to the controller 10, the driving end of the first driving member is connected to the nozzle 311, and the controller 10 controls the first driving member to raise and lower the nozzle 311. In this way, when the sprinkler 30 sprays high-pressure water toward the chassis of the self-mobile robot 200, the nozzle 311 of the sprinkler 30 can be raised to make the sprinkler 30 closer to the chassis of the self-mobile robot 200. When the sprinkler 30 sprays high-pressure water, the cleaning effect is better and the cleaning efficiency is higher. In this embodiment, the above-mentioned cleaning method can be used to achieve automatic cleaning of the chassis of the self-mobile robot 200. Specifically, before the step of the cleaning system 100 controlling the sprinkler 30 to spray high-pressure water toward the chassis of the self-mobile robot 200 according to the set water spraying mode, it includes: controlling the nozzle 311 of the sprinkler 30 to rise. After the step of controlling the water sprinkler 30 to stop spraying water, the cleaning system 100 further includes: controlling the nozzle 311 of the water sprinkler 30 to descend.

[0128] For example, Figure 5 and Figure 6 As shown, the first driving member includes a lifting cylinder, and the watering device 30 includes two vertically arranged retractable first watering sections 31 and second watering sections 32. The first watering section 31 is connected to the nozzle 311, and the second watering section 32 is connected to the water outlet pipe 22. The lifting cylinder is arranged to connect the second watering section 32, and the driving end of the lifting cylinder is connected to the first watering section 31. When the watering device 30 sprays water at high pressure on the chassis of the self-moving robot 200, the nozzle 311 of the watering device 30 can be lifted by controlling the lifting cylinder to achieve a better cleaning effect; the lifting cylinder can also be replaced by other first driving members driven by a hydraulic cylinder or a lead screw that can achieve lifting, which will not be elaborated here one by one.

[0129] It should be noted that the sprinkler device 30 of the cleaning system 100 needs to be pre-buried so that the nozzle 311 of the sprinkler device 30 can be hidden underground when it descends, which is convenient for the mowing operation of the self-propelled robot 200. Optionally, the sprinkler device 30 may not be pre-buried, as long as the lowest height of the sprinkler device 30 is ensured to be lower than the chassis of the self-propelled robot 200.

[0130] like Figure 3 and Figure 7 As shown, in some embodiments, the sprinkler 30 is provided with a rotatable nozzle 311. The nozzle 311 is provided with at least two sub-nozzles 3111 of different lengths and / or calibers, and at least two sub-nozzles 3111 are arranged in an inclined direction away from the center of the nozzle 311. When the high-pressure water flows through the at least two sub-nozzles 3111, the two sub-nozzles can drive the nozzle 311 to rotate through the pressure difference generated by the high-pressure water flow. In this way, when the high-pressure water flow is sprayed toward the chassis of the self-moving robot 200 through the sprinkler 30, the water flow pressure sprayed by the two sub-nozzles 3111 is different, so that the nozzle 311 can be rotated, and the water flow can then be flushed to various positions of the chassis of the self-moving robot 200, and the flushing is comprehensive. Moreover, since the sprayed high-pressure water flow is ejected at an angle, it can flush away grass residues more and has a better flushing effect than flushing the chassis of the self-moving robot 200 directly.

[0131] For example, Figure 7 As shown, the sprinkler device 30 includes a first sprinkler section 31 and a second sprinkler section 32, and the first sprinkler section 31 and the second sprinkler section 32 are rotatably connected, wherein the first sprinkler section 31 is connected to the nozzle 311, and the second sprinkler section 32 is connected to the water outlet pipe 22. When the water flows through the second sprinkler section 32 and the first sprinkler section 31, the two sub-nozzles 3111 of the first sprinkler section 31 spray water, and under the pressure difference of the high-pressure water flow of the two sub-nozzles 3111, the first sprinkler section 31 will rotate relative to the second sprinkler section 32, thereby realizing the rotation of the nozzle 311 to spray water, and achieving a better cleaning effect.

[0132] like Figure 3 and Figure 7As shown, in a possible embodiment, the sprinkler 30 is provided with a rotatable nozzle 311. The sprinkler 30 is also provided with a second driving member, the second driving member is connected to the controller 10, the driving end of the second driving member is connected to the nozzle 311, and the controller 10 controls the second driving member to rotate the nozzle 311. In this way, when the high-pressure water flow is sprayed toward the chassis of the self-mobile robot 200 through the sprinkler 30, the nozzle 311 is driven to rotate by the second driving member, so that the water flow can be flushed to various positions of the chassis of the self-mobile robot 200, and the flushing is comprehensive. Moreover, since the high-pressure water flow sprayed is shot out at an angle, it can flush away grass residues more than flushing the chassis of the self-mobile robot 200, and the flushing effect is better. In this embodiment, the above-mentioned cleaning method can be used to achieve automatic cleaning of the chassis of the self-mobile robot 200. Specifically, when controlling the sprinkler device 30 to spray high-pressure water toward the chassis of the self-mobile robot 200 according to the set water spraying mode, the set water spraying mode of the cleaning system 100 includes: controlling the nozzle 311 of the sprinkler device 30 to rotate and adjusting the water spraying angle so that the water flow covers the chassis of the self-mobile robot 200.

[0133] For example, Figure 7 As shown, the second driving member includes a rotating motor, and the watering device 30 includes two vertically arranged first and second watering segments 31 and 32, the first watering segment 31 is connected to the nozzle 311, and the second watering segment 32 is connected to the water outlet pipe 22, the rotating motor is arranged in the second watering segment 32, and the driving end of the rotating motor is connected to the first watering segment 31. When the watering device 30 sprays water at high pressure on the chassis of the self-moving robot 200, the nozzle 311 of the watering device 30 can be rotated by controlling the rotating motor to achieve a better cleaning effect.

[0134] like Figure 3 , Figure 8 as well as Fig. 9 As shown, in some embodiments, the water flow control device also includes a drug pipeline 42, a medicine bottle 41 and a water pump 80. The water inlet pipe 21 is connected to the medicine bottle 41 through the drug pipeline 42. The water pump 80 is arranged on the drug pipeline 42 to suck the liquid medicine in the medicine bottle 41. The controller 10 is connected to the water pump 80. When at least one sprinkler 30 is used for sprinkling water, the controller 10 turns on the water pump 80 to suck the liquid medicine to mix the liquid medicine with the water flow of the water inlet pipe 21. It should be known that the liquid medicine in the medicine bottle 41 is conducive to grass planting, for example, fertilizer, pesticide, lawn greening agent. After the liquid medicine and the water flow are mixed, the water flow of the mixed liquid medicine can pass through the outlet pipe 22 and be sprayed out from the sprinkler 30, so that the water of the mixed liquid medicine can be sprayed on the lawn, achieving a better maintenance effect on the lawn.

[0135] like Figure 8As shown, in some embodiments, the medicine bottle 41 and the medicine pipeline 42 are detachably connected, for example, the mouth of the medicine bottle 41 can be connected to the medicine pipeline 42 by threads. In this way, the medicine solution can be replenished in time, or different medicine solutions can be replaced according to the growth requirements of the grass, so that the cleaning system 100 can have a better maintenance effect on the grass.

[0136] like Figure 3 , Figure 8 as well as Fig. 9 As shown, in some embodiments, when the sprinkler 30 is used to clean the chassis of the self-mobile robot 200, the controller 10 turns off the water pump 80 to spray clean water to the chassis of the self-mobile robot 200 through the sprinkler 30. Spraying clean water can make the flushing and cleaning effect of the chassis of the self-mobile robot 200 better, and avoid residual drugs from corroding or causing unnecessary chemical reactions to the metal parts of the self-mobile robot 200. In addition, in some examples where the degree of cleanliness is judged by water flow, it is also possible to clearly know whether the cleaning is completed. In this embodiment, the above-mentioned cleaning method can be used to achieve automatic cleaning of the chassis of the self-mobile robot 200. Specifically, when the sprinkler 30 is controlled to spray water at high pressure toward the chassis of the self-mobile robot 200 according to the set water spray mode, the set water spray mode of the cleaning system 100 also includes: controlling the water flow sprayed by the sprinkler 30 to be clean water.

[0137] like Figure 8 and Fig. 9 As shown, in some embodiments, the water flow control device further includes a second solenoid valve 70, which is disposed on the water inlet pipe 21 and is used to adjust the opening of the water inlet pipe 21. In this way, the water flow pressure sprayed by the sprinkler 30 can be adjusted by adjusting the opening of the second solenoid valve 70. Specifically, the opening of the second solenoid valve 70 can be opened wider to increase the pressure of the sprayed water flow, and the opening of the second solenoid valve 70 can be closed narrowly to reduce the pressure of the sprayed water flow. In this way, the water flow pressure can be changed according to the operation of the sprinkler 30. For example, when cleaning the chassis of the self-moving robot 200, it is adjusted to a high-pressure water flow for spraying and cleaning, and when watering the lawn, it is adjusted to a low-pressure water flow for spraying to avoid wasting water resources.

[0138] like Figure 8 and Fig. 9 As shown, in some embodiments, the controller 10 is connected to the second solenoid valve 70. When at least one sprinkler 30 is used for sprinkling water, the controller 10 controls the opening of the second solenoid valve 70 and turns on the water pump 80 to mix the liquid medicine with the water flow of the water inlet pipe 21 in proportion. By mixing the liquid medicine and the water flow in proportion, the liquid medicine sprayed by the sprinkler 30 can produce a better maintenance effect on the grass.

[0139] like Figure 3 As shown, in some embodiments, the sprinklers 30 of the cleaning system 100 are evenly distributed in the working area, so that the sprinklers 30 can cover the lawn, and all positions of the lawn can be watered for maintenance. In addition, when the self-mobile robot 200 moves to any position in the working area, it can be cleaned by the sprinkler 30 closest to it, thereby improving the cleaning efficiency of the self-mobile robot 200. For example, five sprinklers 30 can be set, four of which are set near the four corners of the working area, and one of which is located in the center of the working area. Of course, the sprinklers 30 can be set according to the specific style of the working area, and this application is not limited thereto.

[0140] Based on the above cleaning system 100 , the cleaning system 100 of the present application has a daily maintenance mode and a self-moving robot 200 cleaning mode.

[0141] In the daily maintenance mode, the user can add the required liquid medicine into the medicine bottle 41 as required, and the controller 10 of the cleaning system 100 can use the water pump 80 to suck the liquid medicine through the medicine pipeline 42, and adjust the opening of the second solenoid valve 70 to mix the liquid medicine in proportion. The controller 10 opens the first solenoid valve 60 corresponding to the sprinkler device 30 that needs to be sprayed, and the water of the mixed liquid medicine flows through the corresponding outlet pipe 22 and is sprayed out from the sprinkler device 30 to spray water to the required position to achieve lawn maintenance.

[0142] In the cleaning mode of the self-moving robot 200, when it is determined that the chassis of the self-moving robot 200 needs to be cleaned, the target sprinkler device 301 is determined, the controller 10 turns off the water pump 80, and only opens the second solenoid valve 70 and the first solenoid valve 60 corresponding to the target sprinkler device 301, so that water flows through the corresponding water outlet pipe 22 and is sprayed out from the target sprinkler device 301 to clean the chassis of the self-moving robot 200.

[0143] Through the description of the above implementation modes, those skilled in the art can clearly understand that each implementation mode can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on such an understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0144] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. All equivalent structural changes made by using the contents of the present application specification and drawings under the application concept of the present application, or directly / indirectly used in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for cleaning a chassis of a self-propelled robot, characterized in that: Applicable to a lawn mower, the cleaning method comprises: Acquire the position of at least one sprinkler device in the working area, determine whether the chassis of the self-propelled robot needs to be cleaned, and if the chassis needs to be cleaned, control the self-propelled robot to move above the sprinkler device so as to spray high-pressure water on the chassis through the sprinkler device; After determining that the chassis cleaning is completed, the self-movable robot is controlled to move out of the sprinkler device.

2. The method for cleaning the chassis of a self-propelled robot according to claim 1, characterized in that: The controlling the self-moving robot to move above the sprinkler device also includes: According to the position of the sprinkler device, the sprinkler device with the shortest distance to the self-moving robot is determined as the target sprinkler device, the self-moving robot is controlled to move above the target sprinkler device, and the chassis of the self-moving robot is sprayed with high-pressure water through the target sprinkler device.

3. The method for cleaning the chassis of a self-propelled robot according to claim 1, characterized in that: The step of obtaining the position of at least one sprinkler device in the working area further includes: When the self-moving robot performs a work task for the first time, controlling the self-moving robot to move in the work area, and when the self-moving robot moves above the sprinkler device, obtaining the corresponding position of the sprinkler device; And / or, obtaining a coordinate position of at least one of the sprinkler devices within the working area input by a user, and determining a position of at least one of the sprinkler devices based on the coordinate position.

4. The method for cleaning the chassis of a self-propelled robot according to claim 1, characterized in that: The step of determining whether the chassis of the self-propelled robot needs to be cleaned comprises: Obtaining a rotation speed of a cutting assembly of the self-propelled robot; When the rotation speed of the cutting assembly is less than a preset rotation speed, it is determined that the chassis of the self-propelled robot needs to be cleaned.

5. The method for cleaning the chassis of a self-propelled robot according to claim 1, characterized in that: The step of determining that the chassis cleaning is completed comprises: Acquiring a cleaning condition of grass residues on the chassis of the self-propelled robot, and when the grass residues on the chassis of the self-propelled robot have been cleaned, determining that the cleaning of the chassis of the self-propelled robot is completed; or, A cleaning time of the chassis of the self-propelled robot is obtained, and when the cleaning time exceeds a preset cleaning time, it is determined that the cleaning of the chassis of the self-propelled robot is completed.

6. A method for cleaning a chassis of a self-propelled robot, characterized in that: Suitable for a cleaning system, the cleaning system comprising at least one sprinkler, the cleaning method comprising: Acquiring position information of the self-propelled robot to determine whether the self-propelled robot is located above the sprinkler device; If the self-propelled robot is located above the watering device, controlling the watering device to spray high-pressure water toward the chassis of the self-propelled robot according to a set watering mode; After determining that the chassis of the self-movable robot is cleaned, the sprinkler is controlled to stop spraying water.

7. The method for cleaning the chassis of a self-propelled robot according to claim 6, characterized in that: The step of obtaining the position information of the self-moving robot and determining whether the self-moving robot is located above the sprinkler device further comprises: The current position of the self-moving robot is obtained, and based on the current position and the position of at least one of the sprinklers, the sprinkler that is shortest in distance from the self-moving robot is determined as the target sprinkler, and it is determined whether the self-moving robot is located above the target sprinkler, so as to control the target sprinkler to spray high pressure water toward the chassis of the self-moving robot according to the set water spraying mode.

8. The method for cleaning the chassis of a self-propelled robot according to claim 6, characterized in that: The step of obtaining the position information of the self-propelled robot comprises: Detection information of a detection sensor on the sprinkler is acquired, and position information of the self-moving robot is determined based on the detection information.

9. The method for cleaning the chassis of a self-propelled robot according to claim 6, characterized in that: Before the step of controlling the sprinkler device to spray water at high pressure toward the chassis of the self-propelled robot according to the set water spraying mode, the method includes: The nozzle of the sprinkler is controlled to rise.

10. The method for cleaning the chassis of a self-propelled robot according to claim 6, characterized in that: After the step of controlling the sprinkler to stop spraying water, the method further comprises: Control the nozzle of the sprinkler device to descend.

11. The method for cleaning the chassis of a self-propelled robot according to claim 6, characterized in that: The setting of the water spray mode comprises: The nozzle of the sprinkler device is controlled to rotate and the water spraying angle is adjusted so that the water flow covers the chassis of the self-moving robot.

12. The method for cleaning the chassis of a self-propelled robot according to claim 6, characterized in that: The setting of the water spray mode also includes: The water flow sprayed by the sprinkler is controlled to be clean water.

13. The method for cleaning the chassis of a self-propelled robot according to claim 6, characterized in that: The step of determining that the chassis cleaning of the self-propelled robot is completed includes: Acquiring a cleaning condition of grass residues on the chassis of the self-propelled robot, and when the grass residues on the chassis of the self-propelled robot have been cleaned, determining that the cleaning of the chassis of the self-propelled robot is completed; or, A cleaning time of the chassis of the self-propelled robot is obtained, and when the cleaning time exceeds a preset cleaning time, it is determined that the cleaning of the chassis of the self-propelled robot is completed.

14. A cleaning system, characterized in that: comprising a controller, a water flow control device, and at least one sprinkler device; The water flow control device comprises a water inlet pipe, at least one water outlet pipe and at least one first solenoid valve, at least one first solenoid valve is respectively arranged corresponding to at least one water outlet pipe to adjust the opening of the water outlet pipe, at least one water outlet pipe is arranged corresponding to at least one sprinkler device, and the water outlet pipe is connected to the sprinkler device through a pipeline; Each of the sprinkler devices is provided with a detection sensor, and the controller is connected to at least one of the first solenoid valves and at least one of the detection sensors. When one of the detection sensors detects that the self-moving robot is located above the corresponding sprinkler device, the controller controls the corresponding first solenoid valve to open so as to clean the chassis of the self-moving robot through the sprinkler device.

15. The cleaning system of claim 14, wherein: The watering device is provided with a nozzle that can be raised and lowered; When high-pressure water flows through the nozzle, the high-pressure water flow can lift the nozzle by water pressure, and when the water pressure is insufficient, the nozzle drops; or, The sprinkler device is further provided with a first driving member, the first driving member is connected to the controller, a driving end of the first driving member is connected to the nozzle, and the controller controls the first driving member to lift the nozzle.

16. The cleaning system of claim 14, wherein: The sprinkler device is provided with a rotatable nozzle; The nozzle is provided with at least two sub-nozzles of different lengths and / or calibers, and at least two of the sub-nozzles are arranged obliquely in a direction away from the center of the nozzle. When the high-pressure water flows through the at least two sub-nozzles, the two sub-nozzles can drive the nozzle to rotate through the pressure difference generated by the high-pressure water flow; Alternatively, the sprinkler device is further provided with a second driving member, the second driving member is connected to the controller, a driving end of the second driving member is connected to the nozzle, and the controller controls the second driving member to rotate the nozzle.

17. The cleaning system of claim 14, wherein: The water flow control device also includes a medicine pipeline, a medicine bottle and a water pump, wherein the water inlet pipe is connected to the medicine bottle through the medicine pipeline, and the water pump is arranged on the medicine pipeline to suck the medicine liquid in the medicine bottle; The controller is connected to the water pump, and when at least one of the sprinkler devices is used for sprinkling water, the controller turns on the water pump to suck the liquid medicine to mix the liquid medicine with the water flow of the water inlet pipe; When the water sprinkler is used to clean the chassis of the self-propelled robot, the controller turns off the water pump to spray clean water onto the chassis of the self-propelled robot through the water sprinkler.

18. The cleaning system of claim 17, wherein: The water flow control device further comprises a second solenoid valve, which is arranged on the water inlet pipe and is used to adjust the opening of the water inlet pipe; The controller is connected to the second solenoid valve. When at least one of the sprinkler devices is used for sprinkling water, the controller controls the opening of the second solenoid valve and turns on the water pump to mix the liquid medicine and the water flow of the water inlet pipe in proportion.

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