Self-moving robot and operation method thereof

Abstract

The embodiment of the invention provides a self-moving robot and an operation method thereof. A host of the self-moving robot is provided with a turntable. And the edge part of the turntable extends out of the projection range of the host, and can be driven by the driving assembly to change between a first position and a second position. The position of the turntable can be adjusted to flexibly adapt to actual application scene requirements.

Description

Technical Field

[0001] The present application relates to the field of cleaning equipment, and particularly to a self-mobile robot and an operation method thereof. Background Art

[0002] With the progress of science and technology and the improvement of people's living quality, intelligent household cleaning appliances have entered the lives of more and more people. Among them, the self-mobile robot can automatically complete tasks such as sweeping, vacuuming, and mopping on the ground, providing considerable help to the sanitary conditions of the living environment. However, the cleaning coverage of the current cleaning robots on the market is limited, and there is still room for improvement in enhancing their cleaning efficiency.

[0003] In the prior art (Chinese Patent Publication No. CN113287975A), it is disclosed that when the movable cleaner is in the initial position, the edge of the movable cleaner is within the projection area of the widest edge of the body. When the movable cleaner is in the edge-following position, at least part of the edge of the movable cleaner is outside the projection area of the widest edge of the body. That is to say, the movable cleaner is in a retracted state under normal conditions, and it is judged that when encountering a corner such as a wall corner or a table corner and needs to walk along the edge, the movable cleaner expands outwards. This technical solution is to better clean the corner areas and reduce missed cleaning.

[0004] However, this technical solution has defects in practical applications. The cleaning robot controls the body to walk along the edge by using the information collected by the edge-following sensor on the side of the body, and the movable cleaner is installed at the rear edge of the cleaning robot body. If the obstacle to be followed along the edge is a straight-edge corner (such as the corner of a wall, a wardrobe, etc.), expanding the movable cleaner outwards when walking along the edge can achieve better comprehensive cleaning. But if the edge of the obstacle to be followed along the edge is irregular, such as circular, oval, S-curve, etc., when walking along the edge and turning is required, in order to prevent the outward-expanded movable cleaner from being caught by the obstacle, the cleaning robot needs to increase the turning radius. The rotation center of the body is in front of the movable cleaner, and it will be found that the movable cleaner simply cannot clean along the edge. When the side of the cleaning robot body turns, the distance between the side and the edge of the obstacle is relatively close, but the movable cleaner at the rear is relatively far from the edge of the obstacle.

[0005] In addition, the working scenario of the cleaning robot is very complex. In order to achieve a better edge-following walking and as comprehensive cleaning coverage as possible, there are many judgment conditions for the outward expansion of the movable cleaner, and it is impossible to list them all. Therefore, the cleaning robot cannot ensure that the movable cleaner can be expanded outwards in time every time it needs to be expanded. Summary of the Invention

[0006] In order to solve the technical problems that the cleaning coverage of the current cleaning robot's cleaner is limited and the cleaning efficiency needs to be improved, the present application provides a self-mobile robot and an operation method thereof.

[0007] The present application provides a self - moving robot, including a main body and a mopping module. The mopping module includes a driving component and a turntable. The driving component is disposed at the bottom of the main body and is connected to the turntable to drive the turntable to rotate relative to the main body and to move between a first position and a second position relative to the main body. Wherein, the edge of the turntable extends beyond the edge of the main body, and is separated from the edge by a first distance at the first position and by a second distance at the second position, and the second distance is less than the first distance.

[0008] In some embodiments, a walking module is disposed at the bottom of the main body to drive the main body to switch between a normal walking mode and a side - following walking mode. The main body walks along the edge of an obstacle in the side - following walking mode, and there is a side - following distance between the edge and the obstacle. Wherein, the turntable is located at the first position in the normal walking mode and at the second position in the side - following walking mode, and the first distance or the second distance matches the side - following distance.

[0009] In some embodiments, the walking module includes a plurality of wheel assemblies, and a control module and a detection module are disposed in the main body. The plurality of wheel assemblies are spaced apart and disposed at the bottom of the main body, and the detection module is used to detect the motion state of the main body. The control module is electrically connected to the detection module and the driving component respectively to control the driving component to drive the turntable to move from the first position to the second position according to the motion state.

[0010] In some embodiments, the motion state includes a change in the walking speed of the main body and / or an increase or decrease in the distance between the main body and the obstacle.

[0011] In some embodiments, the change in the walking speed of the main body is formed by the rotational speed difference of the plurality of wheel assemblies. The detection module detects the rotational speed difference, and the control module controls the driving component to drive the turntable to move to the second position according to the rotational speed difference.

[0012] In some embodiments, the detection module includes a differential speed sensor and / or a distance sensor that matches the motion state.

[0013] In some embodiments, the driving component includes a rotating mechanism, a changing mechanism, and a transmission mechanism. The transmission mechanism is connected to the turntable, and the rotating mechanism and the changing mechanism are respectively connected to the transmission mechanism to drive the transmission mechanism to drive the turntable to rotate and move correspondingly.

[0014] In some embodiments, the driving assembly includes an elastic member, which is connected to the turntable and normally maintains the turntable at the first position.

[0015] The present application also provides an operation method for a self - moving robot according to any one of the above - mentioned embodiments, including: when the self - moving robot is in the general walking mode, the turntable is at the first position, so that the edge of the turntable extends beyond the edge of the main body, and is separated from the edge by a first distance; and when the self - moving robot is in the edge - following walking mode, the turntable is moved to the second position, so that the distance between the edge of the turntable and the edge is reduced to the second distance.

[0016] In some embodiments, the operation method further includes: detecting the motion state of the main body; and

[0017] Controlling the driving assembly to drive the turntable to move from the first position to the second position according to the motion state; wherein, the motion state includes a change in the walking speed of the main body and / or an increase or decrease in the distance between the main body and the obstacle.

[0018] In some embodiments, an operation method for a self - moving robot may include:

[0019] Determining the behavioral actions of the self - moving robot;

[0020] Dynamically controlling the driving assembly according to the behavioral actions, so that the turntable changes its position following the behavioral actions;

[0021] Wherein, the self - moving robot includes the main body and a mopping module, the mopping module includes the driving assembly and the turntable, the driving assembly is arranged on the main body and is connected to the turntable to drive the turntable to rotate relative to the main body and to move between the first position and the second position relative to the main body. In the solution of the present invention, the mopping module is not limited to the turntable, and may also be other cleaning components, such as a roller brush;

[0022] When in the first position, the edge of the turntable extends beyond the edge of the main body; when in the second position, the turntable retracts, and the part that does not extend or extends less beyond the edge of the main body.

[0023] In some embodiments, an operation method for a self - moving robot may include:

[0024] Determining the behavioral control parameters of the main body and the target position of the turntable relative to the main body according to the planned path, the pose information of the self - moving robot and the environmental information of the space environment where the self - moving robot is located;

[0025] Controlling the main body to act according to the behavioral control parameters;

[0026] When there is a deviation between the current position of the turntable and the target position, control the driving component to drive the turntable to move to the target position; the control actions include: the telescopic distance and the telescopic speed of the turntable.

[0027] Wherein, the self - moving robot includes the main body and the mopping module, the mopping module includes the driving component and the turntable, the driving component is arranged on the main body and connected to the turntable, and is used to drive the turntable to rotate relative to the main body and change between a first position and a second position relative to the main body;

[0028] In the first position, the edge of the turntable extends beyond the edge of the main body; in the second position, the turntable retracts, and the part that does not extend or extends less beyond the edge of the main body. When the turntable retracts, it retracts quickly or slowly according to the rotation speed of the main body.

[0029] The present application also provides an operation method of the self - moving robot according to any one of the above - mentioned embodiments, including:

[0030] When the robot is traveling on a straight - line trajectory of a bow - shaped trajectory, control the turntable to be in a third position, and the third position is between the first position and the second position;

[0031] Wherein, the self - moving robot includes the main body, the driving component and the turntable, the driving component is arranged on the main body and is used to drive the turntable to rotate relative to the main body and change between a first position and a second position relative to the main body, and change the extension amount of the turntable; the first position is the maximum extension position of the turntable, and the second position is the position where the turntable does not extend.

[0032] In the above - mentioned embodiments of the present application, the turntable of the mopping module normally extends outside the projection range of the main body, and under the drive of the driving component, it can change between the first position and the second position. When the edge of the turntable is separated from the edge of the main body by a first distance, it can cooperate with the roller brush component to expand the cleaning range when the main body walks. And when encountering an obstacle, only need to drive the turntable to retreat reversely to a second distance through the driving component, and it can be applied to the edge - cleaning mode. Since the variation range of the turntable between the first distance and the second distance is small, in addition to expanding the cleaning range of the main body, it can also meet the requirements of edge - cleaning without affecting large - range cleaning, thereby improving the cleaning efficiency and enhancing the user experience.

[0033] In the method embodiment of the present application, the turntable of the mopping module can dynamically adjust its position following the actions of the host to flexibly meet the requirements of actual application scenarios. For example, when the self-moving robot encounters an obstacle, during obstacle avoidance, the turntable is retracted so that the part that does not extend or extends outside the edge of the host is reduced, making the host more flexible in movement and also avoiding the turntable from scratching the obstacle. Another example is that after bypassing the obstacle, the turntable can be extended more to expand the cleaning range of the host. When the robot encounters a sudden obstacle and needs to quickly turn to avoid it, the extended turntable also needs to be quickly retracted, and the retraction amplitude is controlled according to the relative distance between the host and the obstacle feedback by the sensor; when the obstacle quickly moves away from the host, the turntable is quickly controlled to return to its original position. Similarly, in scenarios where slow and small-scale retraction is required, the robot can freely control the telescopic amplitude and speed of the mop plate.

[0034] It should be further noted that: the working logic of the existing solution in the above background technology is as follows: in general situations (such as non-corner areas or areas without obstacles), the projection area of the edge of the movable cleaner is within the body; when it is necessary to move along the edge, the movable cleaner expands so that at least part of its edge is outside the projection area of the body. In the field of cleaning robots (such as floor-sweeping robots), cleaning robots can already avoid obstacles well. The ingenuity of the solution of the present application lies in: instead of determining whether the cleaning robot needs to perform edge walking, directly based on the behavioral actions of the cleaning robot, controlling the turntable to change its position following the behavioral actions. It can be seen that the solution of the present application eliminates the recognition of complex edge situations, and only based on the behavioral actions of the robot (such as traveling speed, turning radius, acceleration, etc.), timely controls the turntable to make adaptive position changes. Its corresponding control logic is simple, the design difficulty is not great, it is easy to implement, and the turntable responds quickly and has good effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0036] Figure 1 is the bottom view of the self-moving robot according to the embodiment of the present application;

[0037] Figure 2 is the structural schematic diagram of the drive assembly of the self-moving robot according to the embodiment of the present application;

[0038] Figure 3 is the framework diagram of the self-moving robot according to the embodiment of the present application;

[0039] Figure 4 is the bottom view of the cleaning robot according to another embodiment of the present application; and

[0040] Figures 5 to 7They are respectively the operation dynamic diagrams of the self - moving robot according to the embodiments of the present application;

[0041] Figure 8 It is the flow chart of the operation method of the self - moving robot according to the embodiments of the present application

[0042] Figure 9 It is the bottom view of the self - moving robot according to other embodiments of the present application; and

[0043] Figure 10 They are the operation dynamic diagrams of the self - moving robot according to other embodiments of the present application;

[0044] Figures 11 to 14 They are respectively the relationship diagrams of the global reference system and the local reference system of the host;

[0045] Figure 15 and Figure 16 They are respectively Figure 14 the partial enlarged views of different positions of

[0046] Figure 17 It is the operation dynamic diagram of the self - moving robot provided by an embodiment of the present application; and

[0047] Figure 18 It is the operation dynamic diagram of the self - moving robot provided by another embodiment of the present application;

[0048] Figure 19 It shows the schematic diagram of the cleaning area that can be covered when neither of the two turntables on the self - moving robot expands outwards;

[0049] Figure 20 It shows the schematic diagram of the cleaning area that can be covered when one of the two turntables on the self - moving robot expands outwards;

[0050] Figure 21 It shows the schematic diagram of how to solve full coverage in different scenarios when one of the two turntables on the self - moving robot expands outwards;

[0051] Figure 22 It shows the schematic diagram of the structure of the driving component on the self - moving robot;

[0052] Figure 23 It shows the schematic diagram of the robotic arm, the first limit position detection unit, the second limit position detection unit and the intermediate position detection unit on the self - moving robot;

[0053] Figure 24 It shows the schematic diagram of the robotic arm on the self - moving robot;

[0054] Figure 25 It shows the schematic diagram of the bow - shaped trajectory with a constant spacing;

[0055] Figure 26 It shows a schematic diagram of performing a cleaning task while maintaining a constant spacing when expanding from a turntable A on one of the two turntables on the self - moving robot to the middle position. Detailed implementation manners

[0056] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the scope of protection of the present application.

[0057] It should also be noted that the term "including", "comprising" or any other variant thereof is intended to cover non - exclusive inclusion, so that a process, method, commodity or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, commodity or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, commodity or device including the said element.

[0058] Please refer to Figure 1, embodiments of the present application provide a self - moving robot that can perform cleaning tasks on the ground by itself. The self - moving robot 1 includes a main body 10 and a mopping module 20. The mopping module 20 includes a driving component 210 disposed on the main body 10 and a turntable 220 connected to the driving component 210. The turntable 220 is used to set cleaning tools such as mops or brush disks. The driving component 210 is used to drive the turntable 220 to rotate relative to the main body 10 around its own central axis for floor mopping or scrubbing and other floor cleaning work. At the same time, the driving component 210 can also drive the turntable 220 to change between a first position and a second position relative to the main body 10 to adapt to different working environments. Define the position where the maximum telescopic amplitude of the turntable is located as the first position; any position between the minimum telescopic amplitude and the maximum telescopic amplitude of the turntable is a possible second position. When in the first position, the edge of the turntable extends beyond the edge of the main body; when in the second position, the turntable retracts, and the part that does not extend or extends less beyond the edge of the main body decreases. For the convenience of observation and understanding in the specification drawings, a certain distance is always maintained between the two turntables 220. In the actual working scenario, in order not to miss any cleaning area, the two turntables 220 try to keep the working areas seamlessly connected; since there is a missed - cleaning area in the middle of the turntables when they are telescoped to the maximum amplitude, the main body 10 makes up for the missed cleaning by planning a cleaning path. At the same time, all the embodiments shown in the drawings are cases of two turntables, and the two turntables both have the telescopic function. In the actual working scenario, a single turntable can be set to have the telescopic function while the other turntable does not have the telescopic function.

[0059] It should be noted that in the embodiments of the present application, the edge of the turntable 220 extends beyond the edge of the main body 10. For example, the main body 10 can be set in any shape such as a rectangle or a circle. In one implementation, the front end of the main body 10 is set as a planar structure, that is, the front - end edge and the left - and - right side edges of the main body 10 are straight edges. The rear end of the main body 10 is set as an arc - shaped structure, so that the rear end of the main body 10 is not easily stuck by the corner when turning. The mopping component is disposed at the rear end of the main body 10 and close to one side of this arc - shaped structure, so that the turntable 220 is normally located outside the edge of the main body 10. Therefore, if the traveling direction of the main body 10 is used as the first direction, the main body 10 has two side edges parallel to the forward direction. The axial direction of the plurality of wheel assemblies 141 is the second direction perpendicular to the first direction, then the edge of the main body 10 can be the two relatively - side edges of the main body 10 that are farthest apart in the second direction, that is, the widest edge of the main body 10, but not limited thereto. When the outer shape of the main body 10 is a circular structure, the widest edge is the two side edges of the main body 10 whose tangents are parallel to the first direction on the opposite sides (as Figure 4 shown).

[0060] The turntable 220 partially protrudes from the widest edge of the main body 10 on the same side as the mopping module 20. When the turntable 220 is in the first position, there is a first distance L1 between the edge of the turntable 220 and the widest edge of the main body 10. When the turntable 220 is in the second position, there is a second distance L2 between the edge of the turntable 220 and the widest edge of the main body 10, and the second distance L2 is less than the first distance L1. Herein, the edge of the turntable 220 can be, but is not limited to, the edge of the body structure of the turntable 220 or the outer edge of the cleaning tool installed on the turntable 220 as described above. Moreover, the second distance L2 between the edge of the turntable 220 and the widest edge of the main body 10 is configured to match the edge-following distance when the main body 10 walks along the edge of an obstacle. This edge-following distance can be obtained through the detection of the edge-following sensor provided on the main body 10.

[0061] Through this configuration, when the main body 10 works in the general walking module mode, a part of the turntable 220 extends out beyond the widest edge of the main body 10 and can cooperate with the roller brush assembly 110 provided on the main body 10 to expand the cleaning area. Moreover, when the main body 10 encounters obstacles such as a wall or a floor cabinet, the turntable 220 can be immediately retracted to the second position under the drive of the drive assembly 210, so that the distance between the edge of the turntable 220 and the widest edge of the main body 10 is shortened to the second distance L2, so that the main body 10 performs the cleaning work at an appropriate edge-following distance, avoiding the excessive protrusion of the position of the turntable 220 from interfering with the normal operation of the main body 10 and not affecting the working efficiency of the roller brush assembly 110.

[0062] In addition, in some embodiments of the present application, the drive assembly 210 is provided with an elastic member, which is connected to the turntable 220 and normally maintains the turntable 220 in the first position. When the main body 10 walks along the edge, the elastic member can be compressed by the external force of the obstacle pushing against the turntable 220, so that the turntable 220 is pushed from the first position to the second position to perform the edge cleaning work. Moreover, when the main body 10 moves away from the obstacle and returns to the general walking mode, since the external force applied to the turntable 220 disappears, the turntable 220 can be pushed back to the first position under the action of the elastic restoring force of the elastic member, so as to provide a large cleaning range. Therefore, in the embodiments of the present application, the turntable 220 can be switched between the first position and the second position actively or passively according to different working scenarios, and the operation is quite simple.

[0063] In other embodiments of the present application, in order to more precisely control the switching position and switching time of the turntable 220 at different working positions, the driving assembly 210 includes a rotating mechanism 211, a changing mechanism 212, and a transmission mechanism 213. Among them, the transmission mechanism 213 is connected to the turntable 220, and the rotating mechanism 211 and the changing mechanism 212 are respectively connected to the transmission mechanism 213 to drive the transmission mechanism 213 to correspondingly drive the turntable 220 to rotate and change. It can be understood that the transmission mechanism 213 can be, but is not limited to, arranged in the form of a gearbox between the rotating mechanism 211 and the changing mechanism 212, and is respectively connected to the turntable 220 through the rotating mechanism 211 and the changing mechanism 212, so as to correspondingly drive the turntable 220 to rotate and change relative to the host 10 through the first driving motor of the rotating mechanism 211 and the second driving motor of the changing mechanism 212.

[0064] Therefore, compared with the operation mode of extending the cleaning cloth out of the projection range of the host to the outside of the host 10, in the self - moving robot 1 provided in the embodiments of the present application, the moving stroke of the turntable 220 between the first position and the second position is short, so that the speed of its position transformation is fast, and it can instantly respond to the switching of different working modes of the host 10. In addition to having the effects of expanding the cleaning area and improving the cleaning efficiency, in the transformation of the turntable position, it also has beneficial effects such as energy saving and instant response.

[0065] Please refer to Figures 1 to 3 . In some embodiments of the present application, the host 10 is further provided with a control module 120 and a detection module 130, and a walking module 140 is provided at the bottom of the host 10. Among them, the control module 120 is electrically connected to the detection module 130, the walking module 140, and the mopping module 20 respectively to control these modules to perform corresponding operations.

[0066] For example, multiple wheel assemblies 141 of the walking module 140 are spaced apart on the bottom of the host 10, and under the control of the control module 120, drive the host 10 to work in a general walking mode on the ground, or in a scenario where an obstacle is encountered, drive the host 10 to work in a side - walking mode, so that after the host 10 avoids the obstacle, it walks along the edge of the obstacle and maintains a side - walking distance from the obstacle to avoid collision.

[0067] The detection module 130 is used to detect the motion state of the host 10 and transmit the detection result to the control module 120 in the form of an electrical signal, so that the control module 120 can control the turntable 220 of the mopping module 20 to work at an appropriate position according to the motion state of the host 10. Among them, the motion state of the host 10 can be, but is not limited to, the host 10 walking straight under the drive of the wheel assemblies 141, or turning when encountering an obstacle to avoid the obstacle.

[0068] Therefore, in some embodiments of the present application, the detection module 130 includes a distance sensor or a differential sensor. In some other embodiments of the present application, the detection module 130 may also include both a distance sensor and a differential sensor. The distance sensor can be used to detect the distance between the host 10 and an obstacle, and send a signal to the control module 120, so that the control module 120 determines the relative position between the host 10 and the obstacle, calculates the time for the host 10 to reach the obstacle according to the walking speed of the host 10, and obtains the increase or decrease in the distance between the host 10 and the obstacle, so as to correspondingly control the switching timing of the mopping module 20 between different working positions.

[0069] The differential sensor is used to detect the rolling speed of each wheel assembly 141 on the ground, and when there is a difference in the rolling speeds between multiple wheel assemblies 141, it transmits a rotational speed difference signal to the control module 120, so that the control module 120 correspondingly controls the driving assembly 210 according to this signal to drive the turntable 220 to move to the second position. For example, when the host 10 approaches an obstacle in the first straight direction, the control module 120 decelerates the side of the multiple wheel assemblies 141 of the walking module 140 that is close to the obstacle, causing a difference in the rotational speeds of the multiple wheel assemblies 141, so as to drive the host 10 to turn and change to the second straight direction to walk along the edge. During this process, when there is a variation in the rotational speed difference of the multiple wheel assemblies 141, the control module 120 controls the driving assembly 210 to drive the turntable 220 to move to the second position, so that the turntable 220 retracts from the first distance L1 extending outside the host 10 to the second distance L2 to match the edge distance of the host 10, without affecting the host 10's edge walking, and at the same time can provide the function of edge cleaning.

[0070] The following will illustrate the operation methods of the self - moving robot provided by the embodiments of the present application in some application scenarios.

[0071] Please refer to Figures 1 to 3 and Figures 5 to 7 . The operation method of the self - moving robot provided by the embodiments of the present application includes:

[0072] When the self - moving robot is in the general walking mode, the turntable is in the first position, so that the edge of the turntable extends outside the widest edge of the host and is separated from the widest edge by a first distance (S101); and when the self - moving robot is in the edge - walking mode, the turntable is moved to the second position, so that the distance between the edge of the turntable and the widest edge is retracted to a second distance (S102).

[0073] In this step, the self - moving robot 1 executes a cleaning task in a general walking mode along a preset cleaning path in the control module 120. At this time, the walking module 140 drives the self - moving robot 1 to walk in a straight line or in a zigzag manner, and under the operation of the rotary brush assembly 110 and the mopping module 20, a cleaning process is performed on the ground. During this process, since the rotary brush assembly 110 is within the projection range of the main body 10, while the turntable 220 of the mopping module 20 extends outside the projection range of the main body 10, where one side edge of the turntable 220 overlaps or is adjacent to the cleaning range of the rotary brush assembly 110 in the first direction within the projection range of the main body 10, and the other side edge of the turntable 220 extends outside the widest edge of the main body 10 outside the projection range of the main body 10 and is separated by a first distance L1. Therefore, under the synergistic effect of the turntable 220 and the rotary brush assembly 110, the cleaning area when the main body 10 moves in the first direction is enlarged, increasing the cleaning efficiency.

[0074] It should be noted that when two spaced - apart mopping modules 20 are provided on the main body 10, the distance between the two mopping modules 20 is not greater than the diameter of the turntable 220. In this way, when the main body 10 walks back and forth, the area between the two mopping modules 20 that has not been mopped can be cleaned by mopping or wiping through an operation mode with overlapping cleaning ranges, so as to fill the blank area between the two mopping modules 20.

[0075] Meanwhile, when the detection module 130 detects an obstacle W on the walking path of the main body 10, the control module 120 changes the motion state of the main body 10. For example, it controls the wheel assembly 141 of the walking module 140 to decelerate, or generates a speed difference between multiple wheel assemblies 141 to change the walking direction of the main body 10. Along with the change in the motion state of the main body 10, such as turning to avoid obstacles, the control module 120 controls the drive assembly 210 of the mopping module 20 to drive the turntable 220 to move from the first position to the second position, so that the edge of the turntable 220 retreats to a second distance L2 from the widest edge of the main body 10, to match the edge distance between the main body 10 and the obstacle W when walking along the edge, thereby avoiding a collision between the main body 10 and the obstacle W, and enabling the cleaning range of the turntable 220 to be adjusted immediately to a range suitable for edge cleaning, while not interfering with the normal walking of the main body 10, improving the operation efficiency.

[0076] It can be understood that although the above - mentioned embodiment takes the first distance L1 at which the turntables 220 of the two mopping modules 20 extend outside the widest edge of the main body 10 in the initial state as an example, however, as Figure 4As shown, in some other embodiments of the present application, the initial states of the two turntables 220 can also be configured in such a way that one extends to the first distance L1 and the other extends to the second distance L2. And, driven by the driving component 210, they change in the same direction, that is, one retracts to the second distance L2 and the other extends to the first distance L1, without being limited to the reverse change in the above embodiments.

[0077] Although the above embodiments take the distances between the edges of the turntable 220 at different positions and the widest edge of the main body 10 as the first distance L1 and the second distance L2 respectively for illustration. As Figure 9 and Figure 10 shown, in some embodiments of the present application, the first distance L1 and the second distance L2 can also be the distances between the edges of the turntable 220 at different positions and the arc-shaped edge at the rear end of the main body 10 respectively, so that a part of the turntable 220 normally extends outside the projection range of the main body 10.

[0078] At the same time, in such an embodiment, when the main body 10 is in the general walking mode and the edge-following walking mode, the turntable 220 is located at the first position, so that the tangent line of the edge of the turntable 220 and the parallel tangent line of the arc-shaped edge are separated by the first distance L, and the tangent line of the other edge of the turntable 220 corresponds to the widest edge of the main body 10, that is, the edge of the turntable 220 can be slightly beyond, equal to, or slightly less than the widest edge of the main body 10, so that it can work within the edge distance of the main body when the main body 10 is quite close to an obstacle. And, when the turntable 220 is located at the second position, the tangent line of the edge of the turntable 220 and the parallel tangent line of the arc-shaped edge are separated by the second distance L, and the tangent line of the other edge of the turntable 220 does not extend outside the widest edge of the main body 10. In this way, during the process of the main body 10 turning, it can be avoided that the turntable 220 extends too much and hits an obstacle, and the turning radius of the main body 10 can be appropriately reduced, which is suitable for performing cleaning tasks in a small turning space. Among them, when the main body turns and returns to the general walking mode or the edge-following walking mode of straight walking, the driving component drives the turntable 220 to return to the first position again, so as to provide a large cleaning efficiency for the area.

[0079] The self-moving robot moves on the traveling surface to complete functions such as autonomous movement and obstacle avoidance, so as to traverse every corner in the space to complete a certain task, such as the task of cleaning the ground. In the actual scenario, the self-moving robot needs to rely on its own sensor system, motion control system, autonomous obstacle avoidance system, etc. to complete the task during the movement. Currently, the technologies adopted by the self-moving robot mainly include:

[0080] 1. Path planning technology: Path planning is to plan a collision-free path between the starting point and the target point according to the working environment information perceived by the robot, in accordance with a certain optimization criterion, and to achieve reasonable and complete path coverage of the required traversal area (such as the cleaning area). Its essence is the positioning, navigation, and obstacle avoidance during the movement of the robot.

[0081] Path planning can be divided into two types. One is global path planning based on maps, and the other is local path planning based on sensor information. First, the robot needs to understand the given task (such as moving from a given starting position to an end position), make a global path plan; and during the robot's travel, continuously sense the surrounding environment information and its own state information (such as including: position information, attitude information, traveling speed, acceleration, etc.) through the sensor system, fuse and process this information, make a local path plan, plan an obstacle-free and passable path for the mobile robot, and then generate drive instructions to drive the machine to travel along this path.

[0082] Among them, positioning is the process of determining the position of the robot in its working environment. For example, using input information such as map information, the current estimate of the robot's pose, and sensor observations, after certain processing and transformation, a more accurate estimate of the robot's current pose is generated. Map construction, feature extraction, map matching, and pose estimation constitute the main systems of the positioning system, and pose estimation is the core of the positioning system.

[0083] The pose of a robot moving in a two-dimensional indoor plane is usually represented by a triple (tx, ty, θ), where (tx, ty) represents the position (translation component) of the robot relative to the world coordinate system, and θ represents the movement direction (rotation component) of the robot. The process of robot pose estimation based on maps can be divided into three stages: pose prediction, map matching (the corresponding process from the local map to the global map), and pose update. Pose prediction uses the odometry model to give the initial pose of the robot. Map matching is the process of finding the corresponding relationship between the local map information measured by the sensor and the global map, and updating the global map with the local map. Finally, according to the map matching result, relevant pose estimation algorithms are applied to complete the estimation of the robot's current pose.

[0084] 2. Multi-sensor Fusion Technology: To enable a robot to work properly, it is necessary to monitor the robot's position, attitude, speed, and internal system state, and also sense the static (such as walls, bookcases, tables, sofas, etc.) and dynamic information (such as movable obstacles like people and pets) in the working environment where the robot is located, so that the robot can adapt to changes in the working environment. Multi-sensor information fusion refers to the coordinated use of multiple sensors to synthesize the partial and incomplete observations provided by multiple homogeneous or heterogeneous sensors distributed at different positions and the relevant information in the associated database.

[0085] The sensor technologies widely used in mobile robots are as follows:

[0086] GPS (Global Positioning System): Due to the broadness of its detection space, GPS is suitable for the navigation technology of outdoor autonomous mobile robots.

[0087] 3D Vision: Based on the visual image processing technology of cameras, it is a commonly used navigation device for indoor mobile robots.

[0088] Laser: It has a ranging function and is widely used in the positioning and navigation of robots.

[0089] Radar: It uses the reflection phenomenon of targets to electromagnetic waves to detect targets and determine their positions. It mainly consists of a transmitter, an antenna, a receiver, and terminal processing equipment. It can be used to detect and measure the distance, azimuth, and speed of targets, and can be used for range tracking, angle tracking, and Doppler frequency tracking with radar.

[0090] Ultrasonic Wave: The ultrasonic ranging principle is similar to the working principle of radar. By using the characteristic that sound waves within a certain frequency range propagate at a constant rate in the same medium, the difference in the reflection phenomenon at the interface of different media is detected. Based on the measurement of the time interval between the transmitted wave and the reflected wave, the distance between the host and the obstacle can be obtained. And according to the amplitude of the signal, the size of the obstacle can be determined.

[0091] Infrared Light Sensor: The infrared light sensor is an inexpensive sensor and is very effective for detecting obstacles at close range. The position measurement sensor composed of an infrared light-emitting diode and a PSD (Position Sensitive Detector) is not easily affected by the appearance color of the target object and the ambient visible light, and is also widely used in the ranging and obstacle avoidance control of autonomous mobile robots.

[0092] Odometer: The odometer can calculate the traveling distance of a mobile robot by itself. It is the most commonly used dead reckoning sensor and can determine the position of the robot and the next movement direction according to the direction the robot walks and the distance it has traveled. The combination of a direction meter and a speed meter can be used to calculate the direction in which the robot deviates.

[0093] There are also other sensors such as gyroscopes, speed or accelerometers, etc. The information collected by the gyroscope can be used to determine the attitude, position, etc. of the self-mobile robot.

[0094] These sensors each have their own advantages and disadvantages. It is difficult to complete complex real-time positioning and navigation tasks using only one of them, and it is also difficult to reliably detect and avoid obstacles. Therefore, multi-sensor fusion technology is required to fuse the information of multiple sensors. For example, the sensors configured on the robot may include: optical encoders (detecting the motion information of the wheel assembly of the self-mobile robot), lidar, ultrasonic ranging sensors, gyroscopes, collision sensors, vision sensors, etc. For example, a self-mobile robot for cleaning usually has a control system, a sensing system, a walking mechanism, and a cleaning tool, etc. on its main body. The control system is the main body of the self-mobile robot. According to the built-in model and the information transmitted by the sensing system, it determines the walking path and cleaning mode of the main body, and respectively drives the walking mechanism and the cleaning tool to perform corresponding cleaning tasks.

[0095] At the same time, in the control of the walking path of the self-mobile robot, since the working environment is usually variable and there are some uncertain factors, such as suddenly appearing obstacles. For the self-mobile robot to operate, in addition to maintaining the basic cleaning efficiency, it must also take into account safety and stability at the same time. Therefore, various sensors in the sensing system (multi-sensor fusion technology) detect changes in the working environment and transmit data in real time to obtain global information for the robot, so that the control system can analyze various data information to plan the walking path and identify obstacles, and further establish a global model.

[0096] Generally, when a self-mobile robot is performing a cleaning task, the control system can first continuously collect external information through the sensing system and transmit it to the control system for analysis and decision-making to generate the walking path of the main body. Therefore, the types of sensors set in the sensing system can be, but are not limited to, ultrasonic sensors, infrared ranging sensors, anti-collision sensors, anti-drop sensors, anti-overheat sensors, height sensors, edge sensors, optical encoders, electronic compasses, gyroscopes, structured light sensors, and time-of-flight sensors, etc.

[0097] Collision avoidance sensors are usually set on one side of the main body's traveling direction. Photoelectric switches are mainly installed on the left and right sides of the collision plate at about 180°. This photoelectric switch consists of a pair of infrared light-emitting diodes, and corresponding small holes are set on the main body of the host. When the collision plate of the main body is collided, since the corresponding small holes on the main body are blocked by the collision plate, the reception of infrared rays is hindered, thus conveying information to the control system. In addition, due to the collision of the main body in any direction, the left and right photoelectric switches will respond. Therefore, the approximate position of the collision can be judged according to the direction of the collision, enabling the control system to make corresponding decisions and change the traveling direction of the main body. The anti-falling sensor also uses ultrasonic waves for ranging. When the main body walks to the edge of a step, the anti-falling sensor uses ultrasonic waves to measure the distance between the floor cleaning robot and the ground. When it exceeds the threshold, it sends a signal to the control system to control the steering of the traveling mechanism and change the forward direction of the main body to achieve the purpose of preventing the main body from falling and being damaged. The edge following sensor can be, but is not limited to, a mechanical or photoelectric structural design. It is mainly installed on the opposite two sides of the main body's traveling direction to ensure that when the main body is cleaning the edge of an obstacle such as a corner or a wall, it can always walk along the edge of the obstacle. In addition to being able to clean the edge area better, it can also avoid the main body from colliding with the obstacle and ensure the stable operation of the main body.

[0098] The photoelectric encoder is a sensor used to detect the position and speed of the main body. It is coaxially connected to the drive motor of the drive wheel in the reducer and the wheel assembly, and records the pulses corresponding to the rotation angle of the drive motor in an incremental coding manner. Since the photoelectric encoder rotates synchronously with the drive wheel, using the physical parameters between the code disk, the reducer, the motor and the drive wheel, the detected number of pulses is converted into the rotation angle of the drive wheel to obtain the instantaneous position of the main body relative to a certain reference point. The electronic compass consists of a highly reliable magnetic sensor and a drive chip, which includes an LR oscillation circuit. The electronic compass uses the geomagnetic field to detect its deflection angle relative to the direction of the geomagnetic field. When the included angle between the magnetic sensor and the direction of the earth's magnetic induction line changes, the magnetic induction coefficient of the LR oscillation circuit will also change, enabling the drive chip to calculate the included angle between the magnetic sensor and the earth's magnetic induction line through the change of the magnetic induction coefficient of the magnetic sensor, thereby obtaining the current three-dimensional direction of the main body.

[0099] The gyroscope is a sensor used to measure the angle, angular velocity and angular acceleration of a moving object. Since it is not easily affected by uncertain factors such as electromagnetic interference and drive wheel slippage, it can accurately measure the movement angle of the main body in the measurement of the main body's movement direction.

[0100] When the control system establishes a working environment model and plans a cleaning path through the cooperation of one or more of the above sensors, the control system controls the running of the traveling mechanism to drive the main body to move in the working environment. Generally speaking, the above cleaning path may include known environmental information and uncertain environmental information. Therefore, during the movement of the main body, it is also necessary to detect the working environment of the main body in real time through sensors to obtain information such as the position, shape, and size of obstacles, and perform obstacle avoidance path planning. For example, adopt the edge learning method to let the main body circle around the outer edge of the obstacle in a predetermined direction for one week from a specified position, and record the position coordinates of the center point of the main body in real time during the movement. In this way, the current environmental contour and the general distribution of obstacles can be roughly described, and the maximum value that the x coordinate can reach when the y coordinate reaches the maximum value can be recorded. During this process, an angle measurement system can be used to detect the current body angle of the main body, and the photoelectric encoder can be used to record the displacement of the main body running in this direction in real time, so as to integrate the movement route to obtain the current position and posture of the main body.

[0101] During the cleaning process, if there are no obstacles in the cleaning area, the traveling mechanism drives the main body to make a linear strip-shaped reciprocating movement in this area, so that the cleaning tool performs cleaning procedures such as sweeping, dust removal, and / or mopping on the ground in the area. And when the sensor (such as an infrared sensor) on the main body detects that the main body has moved to the maximum distance in the X direction, the main body rotates 180° around the right wheel. And when the main body turns, only one driving wheel is driven, and it turns left or right with the other driving wheel as the fulcrum. This can ensure that the main body just moves past one body length after turning 180°, ensuring that there are no cleaning dead zones left during the round-trip cleaning process.

[0102] Among them, in the control of the traveling mechanism, for the chassis of the main body, its total number of dimensions includes the position (x, y) in two planes and a horizontal rotation angle θ along the vertical axis direction. As Figure 11 and Figure 12 shown, the relationship between the global reference system and the local reference system of the main body is established here to confirm the position of the main body on the plane. Among them, the XI axis and the YI axis define any inertia on the plane as the global reference system O: {XI, YI} from a certain origin. And a point P on the chassis of the main body is selected as its position reference point. Generally, two coordinate axes relative to point P are defined as the local reference system of the main body. In the global reference system, the position of point P is determined by the coordinates X and Y, and the angle difference between the global and local reference systems is determined by θ. Therefore, the position of the main body can be described as a vector with three elements. Among them, the subscript I of the coordinate axis is used as the basis of the global reference system of the current posture of the main body.

[0103] In addition, to describe the movement of the host according to the movement of the components, it is necessary to map the movement along the global reference system into the movement along the local reference system of the host. This mapping can be accomplished by an orthogonal rotation matrix. Therefore, for a given velocity in the global coordinate system, the components in the local coordinate system of the host can be calculated. For a robot with a differential-drive chassis, assume that the diameters of its two wheels are R, and the midpoint of the two wheels is P, and the distance from each wheel to point P is L. The velocity of the host in the global reference system can be obtained under the forward kinematic model based on the rotational speeds of the two wheels and the above parameters. Then, through the corresponding equations, the movement mode of the host in the global reference system can be obtained from the movement mode of the host in the local reference system, which can be obtained by calculating the contribution of the rotational speeds of the two wheels to the forward movement of point P along the positive direction of XR. For example, when the two wheels of the walking mechanism move in opposite directions at the same speed, that is, one rotates forward and the other rotates backward, the result is that the host rotates in place but does not move. Or, when the right wheel rotates forward and the left wheel remains stationary, it drives the rotation of point P of the host, causing the host to rotate around the left wheel, etc. The above operating principles are well-known, so the detailed operations and calculation methods will not be elaborated further.

[0104] Therefore, as Figure 13 and Figure 14 shown, if an obstacle is encountered during the walking of the host, the host can control the rotation mode of the drive wheels of the walking mechanism through the control system to achieve the purpose of intelligent obstacle avoidance or obstacle crossing. As Figure 14 and Figure 15 shown, general obstacles can be classified into static obstacles A (such as furniture or walls, etc.) and dynamic obstacles (such as walking creatures or electric control toys, etc.). For static obstacles, since the host has established a model of the working environment through the sensing system and obtained the edge information of the space before cleaning, when the host approaches a static obstacle, the control system can drive the walking mechanism to avoid obstacles according to the preset path. At the same time, when an unexpected obstacle suddenly appears on the cleaning path, such as a person's foot, the control system can drive the walking mechanism to immediately change the walking direction, causing the host to deflect at a large angle to urgently change the walking direction. It is worth noting that in the self-moving robot provided in the embodiments of the present application, when the host avoids obstacles along the preset path, since the host travels at a stable walking speed and turning angle, therefore, when passing the static obstacle in the lower right corner as Figure 14 , as the walking direction of the host changes, the turntable of the mopping component located behind the host can move an appropriate distance towards the inside of the host and approach the host to avoid contacting the obstacle and interfering with the stable walking of the host. After passing the static obstacle, after the host has run for a period of time, the sensing system suddenly detects a dynamic obstacle in front of the host, as Figure 14 andFigure 16 The shown dynamic obstacle B, such as a human foot. At this time, the control system drives the traveling mechanism to deviate from the predetermined path at a large angle, and at the same time drives the turntable of the mopping component to retract a greater distance into the main body, so that when the main body passes through the edge of the human foot, the turntable can be separated from the human foot by a predetermined distance, avoiding the mop on the turntable from contacting the human body and affecting the user experience.

[0105] Because the self - moving robot provided by the embodiment of the present application has a retractable turntable, so that cleaning tools such as mops or disk brushes on the turntable can extend beyond the edge of the main body. When avoiding obstacles and moving along the edge, the turntable can be retracted (or retracted partially) to reduce the extension amount. Therefore, based on the characteristics of the solution of the present application, the following method embodiments are provided to realize the dynamic following of the turntable to adjust the position according to the behavior of the main body. Specifically, as Figure 17 shown, this embodiment also provides an operation method of a self - moving robot, including:

[0106] S01. Determine the behavioral actions of the self - moving robot;

[0107] S02. Dynamically control the driving component according to the behavioral actions, so that the turntable changes its position following the behavioral actions;

[0108] Wherein, the self - moving robot includes the main body, the driving component and the turntable. The driving component is arranged on the main body to drive the turntable to rotate relative to the main body and change its position between a first position and a second position relative to the main body, changing the extension amount of the edge of the turntable extending beyond the edge of the main body.

[0109] When the self - moving robot executes the next action, it will determine the behavior control parameters for the self - moving robot based on the planned path, the currently collected environmental information, its own status information, etc. For example: controlling the robot to move forward and maintain the current speed; or steering, target orientation, and steering speed; and so on. When the self - moving robot determines the next control for itself, it can dynamically adjust the position of the turntable following the next action of the host. When the behavior of the host changes due to environmental factors (for example, it can be steering), in order to better fit the actual environmental changes, the turntable needs to change accordingly in a timely manner. Therefore, in response to the pose change of the host, the turntable will also adjust its position accordingly. In a further preferred embodiment, the action of controlling the telescoping of the turntable can be decomposed into controlling the telescoping amplitude and the telescoping speed of the turntable. For example, when the robot encounters a sudden obstacle and needs to quickly turn to avoid it, the extended turntable also needs to quickly retract, and control the retraction amplitude according to the relative distance between the host and the obstacle feedback by the sensor; when the obstacle quickly moves away from the host, quickly control the turntable to return to its original position. Similarly, in scenarios where slow and small - amplitude retraction is required, the robot can freely control the telescoping amplitude and speed of the rag tray. For example, after the self - moving robot encounters an obstacle, it retracts the turntable when avoiding the obstacle, so that the part that does not extend or extends outside the edge of the host is reduced, the host can move more flexibly, and it can also avoid the turntable scratching the obstacle. Another example is that after bypassing the obstacle, the turntable can be extended more to expand the cleaning range of the host.

[0110] That is, the above - mentioned step S01 "determine the behavior action of the self - moving robot" can be specifically:

[0111] S11. Obtain the behavior control parameters of the self - moving robot, where the behavior control parameters are used to control the behavior actions of the self - moving robot.

[0112] The above - mentioned step S02 "dynamically control the drive component according to the behavior action, so that the turntable follows the behavior action to change its position" can include:

[0113] S12. Determine the target position of the turntable according to the behavior action;

[0114] S13. According to the current position and the target position of the turntable, control the drive component, so that the turntable follows the behavior action to change its position.

[0115] In the above S12, the behavior action can be obtained from the detection information of at least one sensor on the self - moving robot, or can be obtained from the above - mentioned behavior control parameters.

[0116] For example, the motion information of the drive wheels, such as the steering angle, the turning radius of the main body, the orientation (or attitude) of the main body, the speed, etc., can be obtained from the information collected by the photoelectric encoders provided on the self - moving robot. Of course, the current behavior actions to be executed by the self - moving robot can also be obtained from the real - time behavior control parameters of the self - moving robot. For example, the behavior control parameters include: drive wheel steering control parameters, drive wheel traveling speed control parameters, etc.

[0117] If the behavior actions of the self - moving robot are obtained from the behavior control parameters, S13 above can be specifically: when there is a deviation between the current position of the turntable and the target position, while controlling the main body to act according to the behavior control parameters, control the drive assembly to drive the turntable to move to the target position, so that the turntable dynamically follows the actions of the main body to adjust its position. If there is no deviation between the current position of the turntable and the target position, the control of the drive assembly is to keep the drive assembly in the current state so that the turntable maintains its current position; or the control of the drive assembly can be understood as: not sending a control instruction to the drive assembly.

[0118] If the behavior actions of the self - moving robot are obtained from the detection information of at least one sensor on the self - moving robot, then S13 above can be specifically: based on the deviation between the current position and the target position, only control the drive assembly to drive the turntable to move to the target position.

[0119] The so - called dynamic following is specifically manifested as: when the main body performs actions, the behavior control of the turntable includes both the amplitude and the speed of telescoping. The specific amplitude and speed are matched according to the behavior actions of the main body feedback by the specific scenario, including but not limited to the actions of the main body (such as steering angle, going straight, backing up, etc.), the speeds of the behavior actions (going straight or backing up speed, steering speed, etc.). It can be that: when the behavior actions of the main body are executed quickly, the telescoping of the turntable is also correspondingly fast; when the behavior actions of the main body are executed slowly, the telescoping of the turntable is correspondingly slow. Or, when the behavior actions of the main body are executed quickly, the telescoping of the turntable is correspondingly slow; when the behavior actions of the main body are executed slowly, the telescoping of the turntable is correspondingly fast. And so on, the turntable dynamically follows the actions of the main body.

[0120] Wherein, the self - moving robot includes the main body and a mopping module. The mopping module includes the drive assembly and the turntable. The drive assembly is arranged on the main body and is connected to the turntable to drive the turntable to rotate relative to the main body and to move between a first position and a second position relative to the main body; the movement is not limited to the transformation between the first position and the second position, but can freely slide between the two positions.

[0121] When in the first position, the edge of the turntable extends beyond the edge of the main body; when in the second position, the turntable retracts, and the part that does not extend or extends beyond the edge of the main body decreases.

[0122] It should be noted here that: for the specific implementation of the self - moving robot, reference can be made to the content in the above text, which will not be elaborated here.

[0123] Further, the above - mentioned S12 "determine the target position of the turntable relative to the main body according to the behavior action" includes:

[0124] If the behavior control parameter is to control the main body to turn and avoid obstacles, and at this time the turntable needs to dynamically follow the action of the main body to expand and contract, then determine the target position as the second position;

[0125] If the behavior control parameter is to control the main body to travel along the edge, and at this time the turntable also needs to dynamically follow the action of the main body to expand and contract, then determine the target position as the corresponding second position;

[0126] If the behavior control parameter is to control the main body to get out of trouble in a narrow space, and at this time the turntable still needs to dynamically follow the action of the main body to expand and contract, then determine the target position as the corresponding second position.

[0127] It should be added here that: if the behavior action is to move forward or backward, then determine the target position as the first position.

[0128] The above process is described based on the behavior control parameter. Substantially, in the embodiment of the present application, the above - mentioned S12 "determine the target position of the turntable relative to the main body according to the behavior action" can also be described in the following way, that is, it includes:

[0129] If the behavior action is to turn and avoid obstacles, then determine the target position as the second position;

[0130] If the behavior action is to travel along the edge, then determine the target position as the second position;

[0131] If the behavior action is to get out of trouble in a narrow space, then determine the target position as the second position.

[0132] In specific implementation, when performing a work task, the turntable often needs to dynamically expand and contract back and forth between the first position and the second position (including the first position and the second position) to follow. The position of the turntable relative to the main body not only includes the first position and the second position, but may also include at least one intermediate position between the first position and the second position. That is, in another implementable technical solution, S12 in this embodiment "determine the target position of the turntable relative to the main body according to the behavior action" may include:

[0133] Determine the telescopic range of the turntable relative to the host based on the behavior control parameter.

[0134] Specifically, "determine the telescopic range of the turntable relative to the host based on the behavior control parameter" may include:

[0135] If the behavior control parameter is intended to control the host to steer and avoid obstacles, determine that the telescopic range is a first value;

[0136] If the behavior control parameter is intended to control the host to move forward or backward, determine that the telescopic range is a second value;

[0137] If the behavior control parameter is intended to control the host to move along the edge, determine that the telescopic range is a first value;

[0138] If the behavior control parameter is intended to control the host to escape from a narrow space, determine that the telescopic range is a third value;

[0139] Wherein, the absolute value of the first value is less than the absolute value of the second value; the absolute value of the third value is less than or equal to the absolute value of the first value.

[0140] In specific implementation, the extension amount of the turntable extending outside the edge of the host when the turntable is in the first position is the second value; the extension amount of the turntable extending outside the edge of the host when the turntable is in the second position is the fourth value. Of course, the positions corresponding to the second value and the fourth value can also be any two positions between the first position and the second position. The first position and the second position are two limit positions of the turntable.

[0141] Further, the above S12 "determine the target position of the turntable relative to the host according to the behavior action" may include:

[0142] If the behavior control parameter is intended to control the host to turn, determine the turning radius;

[0143] Determine the telescopic range according to the turning radius.

[0144] In specific implementation, the telescopic range corresponding to a large turning radius is less than the telescopic range corresponding to a small turning radius.

[0145] It should be noted here that: the above telescopic range can be understood as: the extension amount of the edge of the turntable extending outside the edge of the host.

[0146] In addition, the method provided by the embodiment of the present application may further include the following steps:

[0147] S14. When there is a deviation between the current position of the turntable and the target position, determine the telescopic speed of the turntable based on the behavior control parameter, so that the position change speed of the turntable adapts to the action of the host;

[0148] S15. The driving assembly drives the turntable to perform a dynamic following action at the telescopic speed.

[0149] In an implementable example, "determining the telescopic speed of the turntable based on the behavior control parameter" in the above S14 may include:

[0150] If the behavior control parameter is intended to control the host to turn and avoid obstacles, then determine the telescopic speed of the turntable according to the turning radius and turning speed in the behavior control parameter.

[0151] Specifically, when implemented, the telescopic speed of the turntable corresponding to a small turning radius and a high turning speed is greater than the telescopic speed of the turntable corresponding to a large turning radius and a low rotational speed.

[0152] Among them, in step S11 of this embodiment, "acquiring the behavior control parameter of the self - moving robot" may include at least one of the following:

[0153] Determine the behavior control parameter of the self - moving robot according to the environmental information monitored by at least one environmental monitoring sensor on the self - moving robot;

[0154] Determine the behavior control parameter of the self - moving robot based on the planned path and the pose estimation device on the self - moving robot;

[0155] Determine the behavior control parameter of the self - moving robot according to the collision sensing of the collision sensor on the self - moving robot.

[0156] Among them, the above at least one environmental monitoring sensor may include, but is not limited to: lidar, ultrasonic ranging sensor, vision sensor, etc.; the pose estimation device may include, but is not limited to: photoelectric encoder, gyroscope, vision sensor, etc.

[0157] Furthermore, in addition to changing according to the host behavior, the position of the turntable can also be controlled by the user. That is, the method provided in the embodiment of the present application may further include the following steps:

[0158] S16. In response to an instruction triggered by the user through the interaction device on the host, control the drive to drive the turntable to move to the position indicated by the user.

[0159] Among them, the interaction device may be a voice interaction device, a touch screen, an operation control, etc. provided on the host.

[0160] Next, the steps in the above - mentioned method embodiment will be described in another way. The following content is from the perspective of facilitating the understanding of the technical solution. Specifically, step S12 in the above - mentioned embodiment, "determining the target position of the turntable according to the behavior action" may include the following steps:

[0161] When the action is an action performed by the host in a normal scenario, determine the target position of the turntable as the set position;

[0162] When the action is an action performed by the host in an abnormal scenario, determine the target position of the turntable as the retracted position;

[0163] Wherein, the extension amount corresponding to the turntable at the set position is greater than the extension amount corresponding to the retracted position; the actions performed by the host in different abnormal scenarios may have the same or different corresponding retracted positions.

[0164] Among them, the normal scenario may include but is not limited to: zigzag traversal scenario, Z-shaped traversal scenario, etc.; correspondingly, the actions performed by the host in the normal scenario may include but are not limited to: going straight, turning along the planned path, etc. The abnormal scenario may include but is not limited to: obstacle scenario, scenario with an edge object (such as the base of a furniture that needs to be cleaned along the edge), narrow space escape scenario, etc.; correspondingly, the actions performed by the host in the abnormal scenario may include but are not limited to: steering to avoid obstacles, traveling along the edge, narrow space escape actions (such as actions to adjust the body posture back and forth), etc.

[0165] Specifically, the above S122 "When the action is an action performed by the host in an abnormal scenario, determine the target position of the turntable as the retracted position" may include:

[0166] S122a. If the action is the host performing steering to avoid obstacles in an obstacle scenario, determine the retracted position as the position when the extension amount of the turntable is the first value;

[0167] S122b. If the action is the host performing traveling along the edge in a scenario with an edge object, determine the retracted position as the position when the extension amount of the turntable is the third value;

[0168] S122c. If the action is the host performing an escape action in a narrow space scenario, determine the retracted position as the position when the extension amount of the turntable is the fourth value;

[0169] Wherein, the extension amount of the turntable at the set position is the second value; the absolute value of the first value is less than the absolute value of the second value, and the absolute value of the third value is less than or equal to the absolute value of the first value; the absolute value of the fourth value is less than or equal to the absolute value of the third value.

[0170] In a specific example, the extension amount of the turntable outside the host edge when the turntable is in the first position is the second value; the extension amount of the turntable outside the host edge when the turntable is in the second position is the fourth value.

[0171] Further, the above S122a "if the behavioral action is turning for obstacle avoidance, the retraction position is the position when the extension amount of the turntable is the first value" may include:

[0172] If the behavioral action is turning for obstacle avoidance, determine the turning radius of the host;

[0173] Determine the first value according to the turning radius.

[0174] Specifically, the extension amount corresponding to a larger turning radius is greater than the extension amount corresponding to a smaller turning radius.

[0175] Still further, the method provided in this embodiment may further include the following steps:

[0176] S14': Determine the telescopic speed adapted to the execution speed of the host behavioral action according to the behavioral action;

[0177] And S13 "control the drive assembly according to the current position and the target position of the turntable" may be specifically:

[0178] Control the drive assembly according to the current position, the target position and the telescopic speed of the turntable, so that the turntable realizes synchronous following in terms of behavioral action and execution speed when the position changes are executed.

[0179] For example, if the behavioral action is turning for obstacle avoidance, determine the telescopic speed according to the turning radius and turning speed of the host. Among them, the telescopic speed corresponding to a smaller turning radius and a higher turning speed is greater than the telescopic speed corresponding to a larger turning radius and a lower rotational speed.

[0180] Further, the extension amount of the turntable extending outside the edge of the host at the first position is greater than the extension amount extending outside the edge of the host at the second position. In another feasible solution, the above S12 "determine the target position of the turntable according to the behavioral action" may include:

[0181] If the behavioral action is turning for obstacle avoidance, determine the target position as the second position;

[0182] If the behavioral action is traveling along the edge, determine the target position as the second position;

[0183] If the behavioral action is getting out of trouble in a narrow space, determine the target position as the second position.

[0184] Further, the above S01 "determine the behavioral action of the mobile robot by itself" may include at least one of the following:

[0185] Determine the action of the self - moving robot according to the environmental information monitored by at least one environmental monitoring sensor on the self - moving robot;

[0186] Determine the action of the self - moving robot based on the planned path and the driving wheel information collected by the photoelectric encoder on the self - moving robot;

[0187] Determine the action of the self - moving robot according to the collision sensing of the collision sensor on the self - moving robot.

[0188] The solution provided by the above - mentioned method embodiment determines the target position of the turntable based on the next behavior control parameter of the self - moving robot for the host. In fact, the next behavior control parameter of the host and the target position of the turntable can also be determined simultaneously. Specifically, as follows Figure 18 Another embodiment of the present application provides an operation method of a self - moving robot, including:

[0189] S21. Determine the behavior control parameter of the host and the target position of the turntable relative to the host according to the planned path, the pose information of the mobile robot, and the environmental information of the space environment where the self - moving robot is located;

[0190] S22. Control the host to act according to the behavior control parameter;

[0191] S23. When there is a deviation between the current position of the turntable and the target position, control the driving component to drive the turntable to move to the target position;

[0192] Wherein, the self - moving robot includes the host and a mopping module, the mopping module includes the driving component and the turntable, the driving component is arranged on the host and connected to the turntable to drive the turntable to rotate relative to the host and change between a first position and a second position relative to the host;

[0193] In the first position, the edge of the turntable extends out of the edge of the host; in the second position, the turntable retracts, and the part that does not extend or extends out of the edge of the host decreases.

[0194] Similarly, for the specific implementation of the self - moving robot, reference can be made to the content in the above text, which will not be elaborated here.

[0195] Among them, the environmental information of the space environment where the self - moving robot is located can be sensed by at least one environmental monitoring sensor. The at least one environmental monitoring sensor may include but is not limited to: lidar, ultrasonic ranging sensor, vision sensor, etc.; the pose information of the self - moving robot can be determined by a pose estimation device, and the pose estimation device may include but is not limited to: photoelectric encoder, gyroscope, vision sensor, etc.

[0196] In the above process, the self - moving robot can be in the process of planning a travel path based on existing map information; or it can be in the process of constructing an environmental map based on the collected environmental information while traveling in the absence of a map, and applying the map to calculate the current pose of the robot, that is, Simultaneous Localization and Map Building (SLAM). If this embodiment is the process of simultaneous localization and map building, the planned path in step S21 above should be: the travel path determined during the map construction process. This travel path changes continuously with the map construction process.

[0197] Next, through some specific application scenarios, the operation method of the self - moving robot provided by the embodiment of the present application will be described.

[0198] Suppose the self - moving robot works in an indoor space. For example, cleaning the floors of each room in a building. The self - cleaning robot first cleans all the rooms on the first floor. After the self - moving robot determines the task of cleaning the floor of the first - floor space, based on the map information of the first - floor space (including at least one room, walls, furniture in the room, etc.), it plans the cleaning order of each room and the cleaning path within each room.

[0199] The living room in the first - floor space is the first room to be cleaned. The self - moving robot determines the cleaning start point, end point, and the cleaning path between the start point and the end point in the living room to cover all cleanable areas of the living room. Then, the self - moving robot travels to the start point according to the map information and its own pose information (including position and attitude information); then starting from the start point, it travels along the cleaning path.

[0200] Here, it should be added that: in the general walking mode of the self - moving robot, the turntable is in the first position, that is, the amount of protrusion of the edge of the turntable beyond the edge of the main body is the largest. At this time, the cleaning range of the rag or disk brush on the turntable is the largest. It should be noted here that: the general walking mode can include but is not limited to: straight - line travel, curved travel, diagonal travel, etc., except for the walking modes in some special working conditions. Special working conditions can be but are not limited to: obstacle - avoidance working conditions, narrow spaces, edge - following travel, etc.

[0201] The self - moving robot starts from the start point and travels along the bow - shaped planned path; the turntable of the self - moving robot is in the first position. During the travel of the self - moving robot, it suddenly detects a human foot in front of the robot. In order to avoid colliding with the human foot, the self - moving robot quickly turns, and the angle of deflection is relatively large to urgently change the walking direction. At this time, the steering angle, travel speed, etc. of the main body can be determined by the corresponding photoelectric encoders of multiple wheel assemblies. As Figure 1 shown, through Figure 1The photoelectric encoder on the left wheel assembly 141 of the host obtains the rotation speed V1 of the left driving wheel of the host, and the photoelectric encoder on the right wheel assembly 141 obtains the rotation speed V2 of the right driving wheel of the host; based on the speed difference between the rotation speeds V1 and V2, the steering angle, speed, turning radius, etc. of the host can be obtained. Therefore, based on the information determined by the photoelectric encoders corresponding to multiple wheel assemblies, the driving assembly of the turntable can be controlled to drive the turntable to retract quickly to avoid the rag or disk brush on the turntable from scratching people's feet after the host turns. In this process, the host has a fast steering speed and a large steering deflection angle; correspondingly, the retraction speed of the turntable is fast and the amplitude is large (i.e., the retraction amount is large), such as directly retracting to the limit position where the turntable can be retracted.

[0202] After avoiding people's feet, the host returns to the planned path and continues to move forward, and the turntable quickly extends to the first position. After the host returns to the original planned path, it enters the general walking mode. At this time, the turntable can extend to the first position at an extremely fast speed, so as to quickly restore to the original large-area cleaning mode.

[0203] There is a table in the living room on the first floor, and the table has a circular bottom. When the self-moving robot plans the path, it will plan a path along the edge of the circular bottom of the table.

[0204] When the self-moving robot travels along the path along the edge of the circular bottom of the table according to the planned path, the self-moving robot can continuously adjust its traveling direction along the circular bottom of the table so that the host travels close to the circular bottom. In this process, the turning radius of the host remains unchanged, that is, the speed difference between the driving wheels of the two wheel assemblies is constant. Similarly, the speed difference between the two side driving wheels can be obtained through the photoelectric encoders on the left and right wheel assemblies, and then the traveling speed along the edge arc, turning radius, etc. can be determined. In order to clean to the edge, that is, to clean the bottom edge of the table as much as possible, the edge of the host is as close as possible to the edge of the circular bottom of the table, and the turntable retracts a part, so that the rag extends beyond the edge of the host. A small part of the extended part can be deformed under the extrusion of the host and squeezed on the edge of the circular bottom of the table to clean the corner between the bottom edge and the ground. During the whole process, because of the need to clean, the steering speed is relatively slow, so the retraction speed of the turntable can also be slower. After leaving the edge path, the turntable quickly extends to the first position, so as to quickly restore to the original large-area cleaning mode.

[0205] In another application scenario of the present application, after avoiding obstacles, the main body of the self-moving robot continues to walk along the planned path, and when the distance measuring sensor such as the infrared sensor or ultrasonic sensor on the main body detects that there are obstacles such as walls or floor cabinets in the direction of travel, the control module controls the deceleration of the walking module, and calculates the rotation distance of the main body and the distance that the edge of the turntable retracts from the edge of the main body to the edge of the main body. When the main body starts to turn, the control module controls the edge of the turntable to retreat from the first position to the edge of the main body to the second position, or to retreat from the first position to the second position gradually. At this time, the control module determines that the main body is slowly adjusting the direction of travel according to obstacles such as walls or floor cabinets based on the behavior control parameters, so the turntable dynamically follows and cooperates at a slow speed accordingly. When the walking direction of the main body is converted to walking along the edge of the obstacle, the edge distance between the edge of the main body and the edge of the obstacle is detected by the edge sensor, so that the control module can determine whether to make further adjustments to the position of the turntable based on the edge distance.

[0206] It is worth noting that before or after the host turns, the distance sensor and the space sensor can be used to determine whether the host turns to the corner between the two walls. If not, the host executes the edge cleaning procedure. If so, when the host turns from one wall to another, the control module controls the turntable to retract to the second position when the host turns from the current wall, and when the turntable corresponds to the corner as the host turns, it extends to the first position to clean the dust in the corner, and then retracts to the second position, so that the host can complete the turn and execute the edge cleaning procedure for the other wall.

[0207] The above-mentioned operation of dynamically adjusting the retractable and retractable turntable in the corner as the host turns, can also be extended to the self-propelled robot's escape operation in a narrow space. In this scenario, the control module can make adaptive adjustments to the turntable and gradually retract it according to the changes in the size of the cleaning environment according to the sensor. For example, when the distance sensor or the space sensor detects that the host's walking path is becoming narrower and narrower or is cleaning in a limited space, the control module controls the turntable to retract from the first position to the second position, and determines whether the host can continue to walk according to the sensing information of the sensor. If not, the control module controls the walking module to drive the host to turn, and determines in real time whether the position of the turntable will interfere with the host's turning. If the turntable still interferes in the second position, the control module can further control the turntable to retreat to the edge of the host to the third position, or sink into the edge of the host until the host escapes from the narrow space, and then control the turntable to return to the second position or the first position according to the current environmental conditions. For example, when the host's walking path returns to the general walking path, the turntable quickly returns to the first position extending outside the edge of the host to perform cleaning work.

[0208] Figure 19 It shows a schematic diagram of a self - moving robot's turntable in an initial state while performing a cleaning task. In the initial state, neither of the two turntables 220 of the self - moving robot extends, and there is basically no gap between the two turntables 220. When the self - moving robot performs a cleaning task according to the planned path, the area it has passed through is the cleaned area (such as Figure 19 the shaded area in the figure), and there is no area that is not cleaned. Figure 20 It shows a schematic diagram of a self - moving robot's cleaning task when one of the two turntables 220 of the self - moving robot is in an extended state. Refer to Figure 20 As shown, because one of the two turntables is in an extended state, there is a gap between the two turntables 220. When the self - moving robot performs a cleaning task according to the planned path, the area it has passed through is the cleaned area, that is, Figure 20 the two shaded areas shown in the figure. There is an area that is not cleaned in the middle of these two shaded areas (i.e., the cleaned areas).

[0209] In order to make up for the gaps that are not covered, it is necessary to adjust the cleaning algorithm of the self - moving robot. For example, add a supplementary cleaning program. Refer to Figure 21 the scenario shown in Figure a in the figure. The self - moving robot performs a cleaning task in an open area, and one of the two turntables is always in an extended state. When the self - moving robot performs cleaning in a zigzag pattern, it needs to adjust the zigzag spacing when turning around so that one of the turntables can cover the area that is not swept. Refer to Figure 21 the scenario shown in b in the figure. The self - moving robot cleans along the edge (such as the corner of a wall or the edge of a wardrobe), and adjusts the spacing of the zigzag trajectory when turning around after reaching the end to supplement the gaps that are not covered. Or, as Figure 21 the method shown in c in the figure. The self - moving robot uses a backward movement method and performs supplementary cleaning along the edge of the uncovered gap according to a Z - shaped supplementary cleaning path. It should be noted that when one of the rag trays is in an extended state, there is a gap between the two rag trays where the area is not swept or mopped. If the gap between the two rag trays is large, when the self - moving robot performs cleaning in a zigzag pattern, the repeated areas when the self - moving robot turns left and turns right are different, and the repeated areas for filling the gap where the area is not swept or mopped increase, resulting in complex movement and reduced efficiency of the self - moving robot.

[0210] In such as Figure 21In the three scenarios shown by a, b, and c, due to ground resistance, or some mechanical errors or mechanical wear in the driving component 210, the position of the extended turntable may shift or vibrate. After the self-moving robot works for a period of time, the position information of the turntable is no longer accurate. The control module 120 on the host of the self-moving robot still controls the driving component to drive the turntable to reach the theoretical position according to the preset control strategy. However, in fact, due to the above factors, there is a large deviation between the actual position and the theoretical position of the turntable. In this way, even if the self-moving robot performs supplementary scanning, there will still be missed scanning situations. Additionally, when the self-moving robot needs to control the extended turntable to adaptively retract in scenarios such as obstacle avoidance and edge cleaning, due to the deviation between the actual position and the theoretical position of the turntable, the actual retraction amount of the turntable is insufficient, resulting in collision situations.

[0211] The embodiments provided in the following content of this application propose a control strategy for turntable extension, which can not only solve the control error problem caused by the long-term driving of the turntable by the driving component, but also reduce the complexity of the control logic.

[0212] See Figure 22 , the driving component 210 includes a rotating mechanism 211, a changing mechanism 212, and a transmission mechanism 213. Among them, the transmission mechanism 213 is connected to the turntable 220, and the rotating mechanism 211 and the changing mechanism 212 are respectively connected to the transmission mechanism 213 to drive the transmission mechanism 213 to drive the turntable 220 to rotate and change correspondingly. It can be understood that the transmission mechanism 213 can be, but is not limited to, being arranged in the form of a gearbox between the rotating mechanism 211 and the changing mechanism 212, and is respectively connected to the turntable 220 through the rotating mechanism 211 and the changing mechanism 212, so as to correspondingly drive the turntable 220 to rotate and change relative to the host 10 by the first driving motor of the rotating mechanism 211 and the second driving motor of the changing mechanism 212.

[0213] The structure in the above driving component 210 that performs a swinging action to drive the turntable to change relative to the host (such as extension, retraction, etc.) can be collectively referred to as a robotic arm or a swinging arm. See Figure 23 In the shown example, a robotic arm 3 is provided on the bottom of the host 10. Figure 23 The perspective of is the top view from top to bottom after uncovering the upper shell of the host 10. The robotic arm 3 may include, but is not limited to: a first driving motor and a second driving motor. The robotic arm 3 also has a self-rotating output shaft, and the turntable is connected to the self-rotating output shaft. The self-rotating output shaft outputs rotational power, and the turntable can thus achieve self-rotation. When the robotic arm 3 moves, the self-rotating output shaft moves back and forth along the Figure 23 double-arrow trajectory in , and the position change of the turntable can be achieved. Figure 24 shows a schematic structural diagram of the robotic arm. See Figure 23 and 24As shown, one of the robotic arm 3 and the mainframe 10 may be provided with: a first limit position detection unit 4, a second limit position detection unit 5, and an intermediate position detection unit 6. Among them, the intermediate position detection unit 6 is used to detect the position between the first limit position and the second limit position. Correspondingly, the other of the robotic arm 3 and the mainframe 10 may be provided with a trigger member that cooperates with the first limit position detection unit 4, the second limit position detection unit 5, and the intermediate position detection unit 6 to work.

[0214] The first limit position may be the limit position where the turntable is retracted to the innermost side, and the second limit position may be the limit position where the turntable expands to the outermost side.

[0215] Figure 23 In the shown example, the mainframe 10 is provided with the first limit position detection unit 4 and the second limit position detection unit 5. The robotic arm 3 is provided with a first trigger member 31 and a second trigger member 32. When the robotic arm 3 moves so that the turntable is retracted to the first limit position, the first trigger member 31 triggers the first limit position detection unit 4. After the first limit position detection unit is triggered, the control module can determine that the position of the turntable is at the first limit position. When the robotic arm 3 moves in the reverse direction so that the turntable swings out to the second limit position, the second trigger member 32 triggers the second limit position detection unit 5. After the second limit position detection unit is triggered, the control module can determine that the position of the turntable is at the second limit position.

[0216] In specific implementation, the first limit position detection unit 4 and the second limit position detection unit 5 may be optocouplers, Hall elements, etc., and this embodiment does not make specific limitations on this. The intermediate position detection unit 6 may be a counting optocoupler. Correspondingly, as Figure 23 and 24 shown, a counting grating 7 is provided at the activity area of the mainframe 10 corresponding to the robotic arm. The denser the counting grating, the higher the position detection accuracy. The counting optocoupler has a transmitting end and a receiving end. The transmitting end is used to transmit signals, and the receiving end is used to receive the signals transmitted by the transmitting end. The counting grating 7 may be located between the transmitting end and the receiving end. When the robotic arm 3 moves, the counting optocoupler follows. Due to the effect of the counting grating 7, the receiving end intermittently receives signals. The received signals are similar to pulse signals. The counting optocoupler counts the received signals. The control module can determine the current position of the turntable based on the counting information of the counting optocoupler. That is, the control module can calculate the current position of the turntable according to the counting information. Among them, the position where the turntable is located is the position of the turntable relative to the mainframe.

[0217] The control module can control the driving component as needed to move the turntable. The control module then determines whether the turntable has reached the target position based on the counting information of the counting optocoupler. If the turntable has reached the target position, the control module controls the driving component to stop working. However, due to external resistance or impact, etc., the position of the turntable may change or vibrate, resulting in counting deviation. Suppose the turntable is currently at the third position and the counting optocoupler is at the middle position of the counting grating 7. But due to a collision, the robotic arm generates a displacement, and the counting optocoupler misses one or several grids, which will affect the subsequent counting accuracy.

[0218] To solve the above problems, in this embodiment, the first limit position detection unit 4 and / or the second limit position detection unit 5 can be used to calibrate the count value of the counting optocoupler. Calibrating the count value of the counting optocoupler is also to calibrate the position of the turntable.

[0219] Based on the above design, during the movement of the self-mobile robot, when calibration is needed, the counting optocoupler can be calibrated to improve the accuracy of the control of the self-mobile robot. Among them, in specific implementation, the counting optocoupler can be calibrated in at least one of the following situations:

[0220] Trigger calibration every set time interval;

[0221] When the self-mobile robot turns, trigger calibration;

[0222] When the self-mobile robot collides, trigger calibration;

[0223] When the turntable of the self-mobile robot is retracted to the first limit position, trigger calibration;

[0224] When the turntable of the self-mobile robot expands to the second limit position, trigger calibration.

[0225] Among them, the above situation where the self-mobile robot turns can be the situation where the self-mobile robot executes a task according to a "bow-shaped" trajectory and when the self-mobile robot reaches the end of a straight line of the "bow" and needs to turn around.

[0226] In a specific embodiment, a working method for a self-mobile robot is provided. The execution subject of this method can be the control module of the self-mobile robot. Specifically, the method may include:

[0227] S31. When calibration is triggered, control the driving component to drive the turntable to retract to the first limit position or expand to the second limit position;

[0228] S32. When it is determined that the turntable is in the first limit position or the second limit position, calibrate the intermediate position detection unit.

[0229] In the above S32, calibrating the middle position detection unit may include, but is not limited to: calibrating the detection information of the middle position detection unit to the first limit position or the second limit position. Taking the counting optocoupler as the middle position detection unit as an example, after the turntable is retracted to the first limit position, the counting optocoupler is reset to zero. Alternatively, after the turntable is retracted to the second limit position, the counting information of the counting optocoupler is calibrated to a set value.

[0230] Theoretically, when the self - moving robot cleans along a bow - shaped path, as Figure 25 shown, the distance D between adjacent two straight lines in the bow - shaped trajectory is equal, that is, the parameters of each turn of the self - moving robot are the same, which is relatively convenient to control and the control logic is relatively simple. When one of the two turntables of the self - moving robot expands to the second limit position state (see Figure 20 d) in it) to perform the cleaning task. Of course, one of the two turntables can also expand to the third position (a position between the first limit position and the second limit position, such as the middle position, see Figure 20 e) in it) to perform the cleaning task. When in the edge - following mode or when bypassing an obstacle, the turntable is dynamically extended or retracted according to the actual situation.

[0231] In the above - mentioned embodiment, a solution is provided, that is, under normal conditions, the turntable is in the extended state for operation; in the special state, the turntable retracts. Among them, under normal conditions, the turntable can expand to the second limit position state for operation, or can also expand to the third position for operation. In the special state, the turntable retracts. The following embodiment provides a method for the turntable to expand to the third position for operation under normal conditions. Adopting the solution provided by this embodiment, in the scenario of performing the cleaning task while moving along the bow - shaped trajectory, the effect is remarkable. When the turntable expands to the third position for operation, the self - moving robot can run at a constant distance without missing any cleaning area, and can also have better working efficiency (that is, minimizing the area of the repeated cleaning area as much as possible). This embodiment provides a working method for the self - cleaning robot, that is, when the turntable is at a position between the first limit position and the second limit position, the self - moving robot cleans along the bow - shaped trajectory at a constant distance without omission.

[0232] It should be added here that: the special state may include, but is not limited to: the edge - following state, the obstacle - avoiding state, etc., and this embodiment does not make specific limitations on this.

[0233] As Figure 26 shown, the self - moving robot has two turntables, namely the first turntable A and the second turntable B. The first turntable A expands, and the position of the second turntable B remains unchanged. The outermost edge of the second turntable B is flush with the central axis of the self - moving robot.

[0234] To implement the design concept of this embodiment, between the first extreme position and the second extreme position, the extent of the outward expansion of the first turntable (i.e., the specific value) is highly related to the size of the turntable, the size of the self - moving robot, and so on. Therefore, in specific implementation, this intermediate position can be determined according to the actual product situation, so that the self - moving robot can clean along a bow - shaped trajectory at a constant spacing without omission and with high cleaning efficiency.

[0235] In this embodiment, a solution is provided, that is, the turntable is in a third position between the first extreme position and the second extreme position. For example, this third position can be the intermediate position: the position at half of the outward expansion travel of the turntable from the first extreme position to the second extreme position. That is, along the outward expansion trajectory of the turntable, the distance from the intermediate position to the first extreme position is equal to the distance to the second extreme position.

[0236] See Figure 26 As shown, a working method of a self - moving robot provided by an embodiment of the present application includes:

[0237] S41. When preparing to travel along a straight - line trajectory of a bow - shaped trajectory with a constant spacing, control the driving component to drive the turntable to a set position, where the set position is a position between the first extreme position and the second extreme position;

[0238] S42. During the process of traveling along a straight - line trajectory of a bow - shaped trajectory with a constant spacing, the turntable is in the set position to clean the surface to be cleaned.

[0239] The above - mentioned set position can be the intermediate position.

[0240] Alternatively, a working method of a self - moving robot provided by an embodiment of the present application includes: when the robot is traveling along a straight - line trajectory of a bow - shaped trajectory, control the turntable to be in a third position, and the third position is between the first position and the second position. The first position is the maximum extended position of the turntable, and the second position is the position where the turntable does not extend.

[0241] Here, it needs to be supplemented and explained that: Figure 26 In [reference], the maximum extended position of the turntable A, that is, the second extreme position, is represented by a dotted line.

[0242] In a more specific embodiment, the above - mentioned method further includes:

[0243] S43. When preparing to turn along the bow - shaped trajectory, control the driving component to drive the turntable to expand outward to the second extreme position;

[0244] S44. During the bow - shaped turning process of the self - moving robot, the turntable is in the second extreme position;

[0245] S45. After the bow-shaped turn is completed, control the drive assembly to drive the turntable to retract to the set position, and continue to travel along the straight track of the bow-shaped track with a constant pitch to clean the surface to be cleaned.

[0246] The method provided in this embodiment is as follows: when walking along the straight segment of the bow shape, the robotic arm maintains an outward-expanded intermediate state, for example, the robotic arm is maintained at the 1 / 2 position of the full range. When making a U-turn during the bow-shaped turn, the robotic arm expands fully outward (i.e., the turntable is in the second extreme position). After the U-turn is completed, the robotic arm retracts inward, so that the turntable maintains an intermediate state when the self-moving robot is walking straight. The advantage of this is that when walking straight, the robotic arm maintains an intermediate state, and the mopping efficiency is high. The pitch of the bow shape remains unchanged during the round trip, reducing the control complexity caused by making up for missed mopping. When the machine makes a U-turn, the robotic arm expands fully outward, reducing the missed mopping area, and the relative position of the robotic arm can be calibrated to the maximum range by the outermost swing-in-place optocoupler, effectively solving the problem of cumulative error introduced by the jitter of the robotic arm caused by external resistance.

[0247] The above are only the embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for operating a self-propelled robot, characterized in that: include: Determine the behavior of the self-moving robot; Dynamically controlling the driving component according to the behavioral action so that the turntable changes position following the behavioral action; Among them, the self-moving robot includes a main body, a driving component and the turntable. The driving component is arranged on the main body to drive the turntable to rotate relative to the main body and move between a first position and a second position relative to the main body, thereby changing the extension amount of the edge of the turntable beyond the edge of the main body.

2. The method according to claim 1, characterized in that Dynamically controlling the driving component according to the behavioral action so that the turntable changes position following the behavioral action includes: Determining a target position of the turntable according to the behavioral action; According to the current position of the turntable and the target position, the driving component is controlled so that the turntable changes position following the action.

3. The method according to claim 1, characterized in that Determining the target position of the turntable according to the behavior action includes: When the behavior action is an action performed by the host in a conventional scene, determining the target position of the turntable to be a set position; When the behavioral action is an action performed by the host in an unconventional scenario, determining the target position of the turntable to be a retracted position; Among them, the extension amount of the turntable corresponding to the set position is greater than the extension amount corresponding to the retracted position; the actions performed by the host in unconventional scenarios are different, and the corresponding retracted positions may be the same or different.

4. The method according to claim 3, characterized in that When the behavior action is an action performed by the host in an unconventional scenario, determining the target position of the turntable as a retracted position includes: If the behavior action is a turn to avoid an obstacle performed by the host in a scene with obstacles, determining the retracted position as a position when the extension amount of the turntable is a first value; If the behavior action is edge travel performed by the host in a scene with edge objects, the retracted position is determined to be a position when the extension amount of the turntable is a third value; If the behavior action is an escape action performed by the host in a narrow space scenario, determining the retracted position to be a position when the extension amount of the turntable is a fourth value; Wherein, the extension amount of the turntable at the set position is a second value; The absolute value of the first value is smaller than the absolute value of the second value, the absolute value of the third value is smaller than or equal to the absolute value of the first value; and the absolute value of the fourth value is smaller than or equal to the absolute value of the third value.

5. The method according to claim 4, characterized in that When the rotating disk is at the first position, the extension amount beyond the edge of the host is the second value; The extension amount of the turntable beyond the edge of the host when the turntable is at the second position is the fourth value.

6. The method according to claim 4, characterized in that If the behavior is turning to avoid obstacles, the retracted position is the position when the extension amount of the turntable is the first value, including: If the behavior is turning to avoid obstacles, determining the turning radius of the host; The first value is determined according to the turning radius.

7. The method according to claim 6, characterized in that The extension corresponding to a large turning radius is greater than the extension corresponding to a small turning radius.

8. The method according to any one of claims 2 to 7, characterized in that Also includes: According to the behavior action, determining a scaling speed adapted to the execution speed of the host behavior action; And according to the current position of the turntable and the target position, controlling the driving assembly includes: The driving assembly is controlled according to the current position of the turntable, the target position and the telescopic speed, so that the turntable can achieve synchronous following in terms of behavioral action and execution speed when executing position changes.

9. The method according to claim 8, characterized in that If the action is turning to avoid obstacles, the telescopic speed is determined according to the turning radius and turning speed of the host; Among them, the telescopic speed corresponding to a small turning radius and a high turning speed is greater than the telescopic speed corresponding to a large turning radius and a low rotation speed.

10. The method according to claim 2, characterized in that The extension amount of the turntable beyond the edge of the main unit when the turntable is in the first position is greater than the extension amount of the turntable beyond the edge of the main unit when the turntable is in the second position; as well as Determining the target position of the turntable according to the behavior action includes: If the behavior action is turning to avoid obstacles, determining the target position to be the second position; If the behavior action is moving along the edge, determining the target position to be the second position; If the behavioral action is escaping from a narrow space, the target position is determined to be the second position.

11. The method according to claim 1, characterized in that: Determine the behavior of the self-mobile robot, at least one of the following: Determining a behavior of the self-moving robot according to environmental information monitored by at least one environmental monitoring sensor on the self-moving robot; Determine the behavior of the self-propelled robot based on the planned path and the driving wheel information collected by the photoelectric encoder on the self-propelled robot; According to the collision sensing of the collision sensor on the self-moving robot, the behavior action of the self-moving robot is determined.

12. The method according to claim 1, characterized in that The self-propelled robot further comprises a first limit position detection unit, a second limit position detection unit and an intermediate position detection unit; the method further comprises: When the calibration is triggered, the control driving component drives the turntable to retract to the first limit position or expand to the second limit position; When it is determined that the turntable is at the first extreme position or the second extreme position, the intermediate position detection unit is calibrated.

13. The method according to claim 12, characterized in that Also includes at least one of the following: Set the duration for each interval to trigger calibration; When the mobile robot turns, calibration is triggered; When the self-moving robot collides, calibration is triggered; When the turntable of the self-mobile robot is recovered to the first limit position, the calibration is triggered; When the turntable of the mobile robot expands outward to the second limit position, calibration is triggered.

14. The method according to claim 1, characterized in that Determining the behavior of the self-moving robot and dynamically controlling the driving component according to the behavior, including: When preparing to travel along the straight track of the bow-shaped track with a constant pitch, the driving assembly is controlled to drive the turntable to a set position, wherein the set position is a position between the first extreme position and the second extreme position; During the process of traveling along the straight track of the bow-shaped track with a constant spacing, the turntable is at the set position to clean the surface to be cleaned.

15. The method according to claim 14, characterized in that Also includes: When preparing to turn in a bow-shaped trajectory, the driving assembly is controlled to drive the turntable to expand outward to the second extreme position; During the bow-shaped turning process of the self-mobile robot, the turntable is in the second extreme position; After the bow-shaped turning is completed, the driving component is controlled to drive the turntable to be recovered to the set position, and continue to move along the straight track of the bow-shaped track with a constant spacing to clean the surface to be cleaned.

16. A method for operating a self-propelled robot, characterized in that: include: When the robot is traveling on a straight track of the bow-shaped track, the control dial is located at a third position, and the third position is located between the first position and the second position; Among them, the self-moving robot includes a main body, a driving component and the turntable. The driving component is arranged on the main body to drive the turntable to rotate relative to the main body and move between a first position and a second position relative to the main body, thereby changing the extension amount of the turntable; the first position is the maximum extension position of the turntable, and the second position is the position where the turntable is not extended.

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