Movement control method and device of cleaning robot and cleaning robot

Abstract

The invention relates to the technical field of robots, and discloses a movement control method and device of a cleaning robot and the cleaning robot. The movement control method comprises the steps that the movable direction of the cleaning robot on the surface of a to-be-cleaned object is obtained; generating a plurality of first moving routes according to a preset advancing rule and a movable direction of the cleaning robot; determining a target moving route from the plurality of first moving routes according to physical parameters of the cleaning robot; and controlling the cleaning robot to move according to the target moving route. The moving strategy of the cleaning robot is dynamically adjusted according to the current environment and condition, the flexibility is higher, and the adaptability is higher.

Description

Technical Field

[0001] This application relates to the technical field of robots, and for example, relates to a method and device for controlling the movement of a cleaning robot and a cleaning robot. Background Art

[0002] Photovoltaic panels, also known as solar panels, are prone to being affected by environmental and weather factors when exposed to the outdoors for a long time, and dust and dirt accumulate on the surface. The accumulation of dust and dirt on the surface of photovoltaic panels will hinder the transmission of solar radiation, reduce the effective irradiation area of the photovoltaic panels, and lower the transmittance, thereby affecting the power generation efficiency of the photovoltaic system. For some areas where photovoltaic panels are erected and are difficult for technicians to reach, a robotic approach is mostly used for cleaning photovoltaic panels to ensure the efficient operation of the photovoltaic panels and reduce the personnel input.

[0003] For example, the related art discloses a method for planning the cleaning route of a robot, including: obtaining a map corresponding to the photovoltaic panel; determining at least one shaped panel area formed by the photovoltaic panel based on the map; and planning the cleaning route of the robot according to the at least one shaped panel area and the walking rules of the robot.

[0004] Although the method for planning the cleaning route of the robot in the related art realizes the dynamic planning of the cleaning route of the robot, the flexibility is relatively low. For example, when the panel area changes (such as addition, removal, or position adjustment), it is necessary to re-obtain the map corresponding to the photovoltaic panel and plan the route, which increases the operation complexity and time cost. Summary of the Invention

[0005] To have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. The summary is not a general review, nor is it intended to identify key / important constituent elements or delineate the protection scope of these embodiments, but rather serves as a preface to the subsequent detailed description.

[0006] The embodiments of the present disclosure provide a method and device for controlling the movement of a cleaning robot and a cleaning robot, which realize dynamically adjusting the movement strategy of the cleaning robot according to the current environment and conditions, with higher flexibility and stronger adaptability.

[0007] In some embodiments, a method for controlling the movement of a cleaning robot is provided, including: obtaining the movable directions of the cleaning robot on the surface of the object to be cleaned; generating a plurality of first movement routes according to the preset traveling rules and the movable directions of the cleaning robot; determining a target movement route from the plurality of first movement routes according to the physical parameters of the cleaning robot; and controlling the cleaning robot to move according to the target movement route.

[0008] In some embodiments, a mobile control device for a cleaning robot is provided, including a processor and a memory storing program instructions. The processor is configured to execute the mobile control method of the cleaning robot as described in the above embodiments when running the program instructions.

[0009] In some embodiments, a cleaning robot is provided, including: a robot body; and the mobile control device of the cleaning robot as described in the above embodiments, installed on the robot body.

[0010] The mobile control method, device and cleaning robot provided by the embodiments of the present disclosure can achieve the following technical effects:

[0011] The embodiments of the present disclosure can first obtain the movable direction of the current cleaning robot itself on the surface of the object to be cleaned, and then combine the preset travel rules to generate multiple selectable first movement routes. The first movement routes represent different paths that the cleaning robot may take when completing the cleaning task. Further, by combining the actual physical characteristics of the cleaning robot, that is, the physical parameters, a better target movement route is determined from the multiple first movement routes, and the cleaning robot is controlled to move according to the target movement route to execute the cleaning task, improving the cleaning efficiency.

[0012] Compared with the related art, the embodiments of the present disclosure can generate multiple first movement routes according to the movable direction of the cleaning robot on the actual surface of the object to be cleaned and the preset travel rules, realizing dynamic adjustment of the movement strategy of the cleaning robot according to the current environment and conditions to adapt to the surfaces of objects to be cleaned with different shapes, sizes and layouts, without following the preset routes based on the map. Therefore, it has higher flexibility and stronger adaptability.

[0013] The above general description and the following description are only exemplary and explanatory, and are not used to limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] One or more embodiments are exemplarily illustrated by the corresponding drawings. These exemplary illustrations and the drawings do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements. The drawings do not constitute a scale limitation, and among them:

[0015] Figure 1 is a schematic diagram of a cleaning robot provided by an embodiment of the present disclosure disposed on an object to be cleaned;

[0016] Figure 2 is a schematic diagram of the structure of a cleaning robot provided by an embodiment of the present disclosure;

[0017] Figure 3 is Figure 2Schematic diagram of the structure of the cleaning robot from another perspective in the illustrated embodiment;

[0018] Figure 4 Schematic diagram of the internal structure of the cleaning robot provided by an embodiment of the present disclosure;

[0019] Figure 5 Is Figure 4 Enlarged schematic diagram of the structure at X in the illustrated embodiment;

[0020] Figure 6 Schematic diagram of the structure of the rotating device provided by an embodiment of the present disclosure;

[0021] Figure 7 Is Figure 6 Cross-sectional view of the rotating device in the illustrated embodiment;

[0022] Figure 8 Schematic diagram of the structure of the cleaning robot provided by another embodiment of the present disclosure;

[0023] Figure 9 Schematic diagram showing the cleaning mechanism arranged on the rotating device provided by an embodiment of the present disclosure;

[0024] Figure 10 Is Figure 9 Enlarged schematic diagram of the structure at Y in the illustrated embodiment;

[0025] Figure 11 Is Figure 9 Enlarged schematic diagram of the structure at P in the illustrated embodiment;

[0026] Figure 12 Side view of the cleaning robot provided by an embodiment of the present disclosure arranged on the object to be cleaned;

[0027] Figure 13 Is Figure 12 Enlarged schematic diagram of the structure at Q in the illustrated embodiment;

[0028] Figure 14 Schematic diagram of the movement control device of the cleaning robot provided by an embodiment of the present disclosure;

[0029] Figure 15 Schematic diagram of the movement control method of the cleaning robot provided by an embodiment of the present disclosure;

[0030] Figure 16 Schematic diagram of the movement control method of the cleaning robot provided by another embodiment of the present disclosure;

[0031] Figure 17 Schematic diagram of the principle of determining the effective area of the surface image of the object to be cleaned according to the optimal viewing distance of the camera provided by an embodiment of the present disclosure. Detailed implementation manners

[0032] In order to understand the features and technical content of the embodiments of the present disclosure in more detail, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. The attached drawings are for reference and illustration only, and are not intended to limit the embodiments of the present disclosure. In the following technical description, for the sake of explanation, numerous details are provided to give a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be shown in a simplified manner to simplify the drawings.

[0033] The terms "first", "second", etc. in the description and claims of the embodiments of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data may be interchanged under appropriate circumstances so as to implement the embodiments of the present disclosure described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0034] It should be noted that, without conflict, the embodiments in the embodiments of the present disclosure and the features in the embodiments may be combined with each other.

[0035] In combination with Figure 1 and Figure 5 As shown, the embodiments of the present disclosure provide a cleaning robot 1, including a robot body 1000 and a movement control device 60 of the cleaning robot. The movement control device 60 of the cleaning robot is installed on the robot body 1000 and is configured to execute the movement control method of the cleaning robot as described in the following embodiments.

[0036] In the embodiments of the present disclosure, the movement control device 60 of the cleaning robot is installed on the robot body 1000. The installation relationship described here not only includes being placed inside the robot body 1000, but also includes the installation connection with other components of the cleaning robot 1, including but not limited to physical connection, electrical connection, or signal transmission connection, etc. Those skilled in the art can understand that the movement control device 60 of the cleaning robot can be adapted to a feasible cleaning robot 1, thereby implementing other feasible embodiments.

[0037] It should be noted that the object to be cleaned 7 in the present disclosure refers to the target area or object to be cleaned. According to the application scenarios of the cleaning robot 1, the object to be cleaned 7 can be floor materials such as floors, carpets, and tiles in homes or commercial places, or other surfaces that need to be cleaned, such as walls, ceilings, glass, and photovoltaic panels 70 in photovoltaic modules. For the sake of clearly introducing the present disclosure, in the following embodiments, the photovoltaic panel 70 is used as the object to be cleaned 7 to elaborate on the technical solutions.

[0038] Optionally, the robot body 1000 includes a mounting bracket 10 and a motion mechanism 20. The motion mechanism 20 is disposed on the mounting bracket 10 and is configured to drive the mounting bracket 10 to move relative to the object to be cleaned 7, so that the cleaning robot 1 moves relative to the object to be cleaned 7.

[0039] In the cleaning robot 1 provided by the embodiments of the present disclosure, the motion mechanism 20 can drive the mounting bracket 10 to move relative to the object to be cleaned 7, thereby driving the cleaning robot 1 to move relative to the object to be cleaned 7, and realizing the movement control of the cleaning robot 1.

[0040] Optionally, as Figures 2 to 4 shown, the motion mechanism 20 includes an adsorption device 200 and a rotating device 300. One end of the adsorption device 200 is connected to the mounting bracket 10, and the other end can be switched between a fixed state fixed to the surface of the object to be cleaned 7 and a detached state detached from the surface of the object to be cleaned 7. One end of the rotating device 300 is movably connected to the mounting bracket 10, and the other end can be switched between a fixed state fixed to the surface of the object to be cleaned 7 and a detached state detached from the surface of the object to be cleaned 7. Wherein, when the rotating device 300 is in the fixed state, the adsorption device 200 and the mounting bracket 10 in the detached state can move relative to the object to be cleaned 7. When the adsorption device 200 is in the fixed state, the rotating device 300 in the detached state can move relative to the object to be cleaned 7.

[0041] In the embodiments of the present disclosure, the adsorption device 200 and the rotating device 300 are spaced apart on one side of the mounting bracket 10 close to the object to be cleaned 7, and the ends of the adsorption device 200 and the rotating device 300 away from the mounting bracket 10 can both be switched between a fixed state fixed to the surface of the object to be cleaned 7 and a detached state detached from the surface of the object to be cleaned 7. And the adsorption device 200 and the rotating device 300 are not simultaneously in the detached state. By ensuring that the adsorption device 200 and the rotating device 300 are not simultaneously in the detached state, it is ensured that the cleaning robot 1 can stably adhere to the surface of the object to be cleaned 7 during operation, preventing sliding or falling due to factors such as wind force and vibration, and improving the safety and stability of the operation. Through the mutual cooperation of the adsorption device 200 and the rotating device 300, the motion mechanism 20 can drive the mounting bracket 10 to move relative to the object to be cleaned 7, and further realize the position and attitude adjustment of the cleaning robot 1 relative to the object to be cleaned 7.

[0042] It should be noted that the moving direction of the cleaning robot 1 in the present disclosure refers to the direction in which the cleaning robot 1 advances or retreats relative to the object 7 to be cleaned. In practical applications, the moving direction of the cleaning robot 1 will be consistent with a certain structural feature of the cleaning robot 1 itself. For example, when the mounting bracket 10 is rectangular parallelepiped-shaped, the moving direction of the cleaning robot 1 is the same as the length direction or the width direction of the mounting bracket 10. In the embodiments of the present disclosure, taking the moving direction of the cleaning robot 1 being the same as the length direction of the mounting bracket 10 as an example, when understanding the structural features of the cleaning robot 1 described in some embodiments of the present disclosure, the moving direction of the cleaning robot 1 can be regarded as the length direction of the mounting bracket 10.

[0043] For the convenience of introducing the present disclosure, in combination with Figure 12 and Figure 13 as shown, along the moving direction of the cleaning robot 1, the opposite ends of the mounting bracket 10 are respectively named as the first end 112 and the second end 114. Then, through the mutual cooperation of the adsorption device 200 and the rotating device 300, the specific steps for the motion mechanism 20 to drive the mounting bracket 10 to travel relative to the object 7 to be cleaned are as follows:

[0044] Exemplarily, in combination with Figure 1 、 Figure 12 and Figure 13As shown, the cleaning robot 1 moves on the surface of the object to be cleaned 7 (taking the photovoltaic panel 70 as an example) along the path shown by the dashed line in the figure. At the initial moment, the cleaning robot 1 moves relative to the photovoltaic panel 70 in the direction from A to B. At this time, the direction from A to B is the same as the direction in which the first end 112 faces the second end 114. Then, when the rotating device 300 is in the disengaged state and the adsorption device 200 is in the fixed state, the rotating device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from the first end 112 to the second end 114 (since the mounting bracket 10 is stationary relative to the photovoltaic panel 70 at this time, the rotating device 300 also moves relative to the mounting bracket 10 during the process of moving relative to the photovoltaic panel 70). After the rotating device 300 moves to the desired position (such as when the mounting bracket 10 is near the second end 114), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorption device 200 is then controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorption device 200 and the mounting bracket 10 in the disengaged state to move relative to the photovoltaic panel 70 in the direction from A to B (at this time, taking the mounting bracket 10 as the reference object, the rotating device 300 moves in the direction from the second end 114 to the first end 112). After moving to the desired position (such as when the rotating device 300 is located near the first end 112 of the mounting bracket 10), the adsorption device 200 is controlled to switch to the fixed state. After the adsorption device 200 is in the fixed state, the rotating device 300 is then controlled to switch to the disengaged state. The rotating device 300 is again controlled to move relative to the photovoltaic panel 70 in the direction from the first end 112 to the second end 114. After moving to the desired position, the rotating device 300 is controlled to switch to the fixed state... and so on, realizing the linear motion of the cleaning robot 1 relative to the photovoltaic panel 70 in the direction from A to B.

[0045] Exemplarily, in combination with Figure 1 、 Figure 12 and Figure 13As shown, the cleaning robot 1 moves on the photovoltaic panel 70 along the path shown by the dashed line in the figure. At the initial moment, the cleaning robot 1 moves relative to the photovoltaic panel 70 in the direction from A to B, and at this time, the direction from A to B is the same as the direction in which the first end 112 faces the second end 114. Then, when the rotating device 300 is in the disengaged state and the adsorption device 200 is in the fixed state, the rotating device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from the first end 112 to the second end 114. After the rotating device 300 moves to the desired position (such as when the mounting bracket 10 is close to the second end 114), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorption device 200 is then controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorption device 200 and the mounting bracket 10 in the disengaged state to rotate 180° relative to the photovoltaic panel 70. After the adsorption device 200 and the mounting bracket 10 rotate 180° relative to the photovoltaic panel 70, the adsorption device 200 is controlled to switch to the fixed state. After the adsorption device 200 is in the fixed state, the rotating device 300 is then controlled to switch to the disengaged state. After the rotating device 300 is in the disengaged state, the rotating device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from the second end 114 to the first end 112. After moving to the desired position (such as when the mounting bracket 10 is close to the first end 112), the rotating device 300 is controlled to switch to the fixed state. After the rotating device 300 is in the fixed state, the adsorption device 200 is controlled to switch to the disengaged state. The rotating device 300 is controlled to drive the adsorption device 200 and the mounting bracket 10 in the disengaged state to rotate 180° relative to the photovoltaic panel 70. After the adsorption device 200 and the mounting bracket 10 rotate 180° relative to the photovoltaic panel 70, the adsorption device 200 is controlled to switch to the fixed state. After the adsorption device 200 is in the fixed state, the rotating device 300 is then controlled to switch to the disengaged state. After the rotating device 300 is in the disengaged state, the rotating device 300 is again controlled to move relative to the photovoltaic panel 70 in the direction from the first end 112 to the second end 114... and so on, realizing the linear motion of the cleaning robot 1 relative to the photovoltaic panel 70 in the direction from A to B.

[0046] Exemplarily, in combination with Figure 1 、 Figure 12 and Figure 13As shown in the figure, when the cleaning robot 1 reaches point B, it needs to turn from the direction from A to B to the direction from B to C. Then, the rotation device 300 is controlled to switch to the fixed state, and the adsorption device 200 is controlled to switch to the detached state. After the adsorption device 200 is in the detached state, the rotation device 300 is controlled to drive the adsorption device 200 to rotate 90° relative to the photovoltaic panel 70. After the adsorption device 200 rotates 90° relative to the photovoltaic panel 70, the adsorption device 200 is controlled to switch to the fixed state. After the adsorption device 200 is in the fixed state, the rotation device 300 is controlled to switch to the detached state. After the rotation device 300 is in the detached state, the rotation device 300 is controlled to move relative to the photovoltaic panel 70 in the direction from B to C... Thus, after the cleaning robot 1 turns on the photovoltaic panel 70, it continues to move linearly relative to the photovoltaic panel 70.

[0047] In the embodiments of the present disclosure, by switching the adsorption device 200 and the rotation device 300 between the fixed state and the detached state, and the driving of the rotation device 300, the position and posture adjustment of the cleaning robot 1 relative to the object 7 to be cleaned are realized, avoiding damages such as scratches and indentations caused by traditional wheels or tracks on the surface of the object 7 to be cleaned.

[0048] Optionally, in combination with Figures 4 to 7 As shown in the figure, the rotation device 300 includes a first moving structure 340, a first lifting structure 324, a first adsorption structure 302, and a rotation structure 314. The first moving structure 340 is movably connected to the mounting bracket 10. The first lifting structure 324 is disposed on the first moving structure 340. The first adsorption structure 302 is disposed on the first lifting structure 324, and one side of the first adsorption structure 302 away from the first lifting structure 324 can be switched between a fixed state fixed to the surface of the object 7 to be cleaned and a detached state detached from the surface of the object 7 to be cleaned. The rotation structure 314 is disposed on the first adsorption structure 302. Among them, the first moving structure 340 can drive the rotation device 300 to move relative to the object 7 to be cleaned when the first adsorption structure 302 is in the detached state. The first lifting structure 324 can drive the first adsorption structure 302 to move in a direction close to or away from the object 7 to be cleaned when the adsorption device 200 is in the fixed state, so as to realize the switching of the first adsorption structure 302 between the fixed state and the detached state. The rotation structure 314 can drive the first lifting structure 324 to rotate relative to the first adsorption structure 302 when the first adsorption structure 302 is in the fixed state, so as to drive the cleaning robot 1 to rotate relative to the object 7 to be cleaned.

[0049] In this embodiment, by combining the first moving structure 340, the first lifting structure 324, the first adsorption structure 302 and the rotating structure 314, multi-dimensional movement of the cleaning robot 1 on the surface of the object to be cleaned 7 is achieved, including translation, rotation, lifting, etc. The multi-dimensional movement of the robot on the surface of the object to be cleaned 7 enables the robot to cope with various complex operation scenarios and task requirements, improving the reliability and practicality of the robot.

[0050] Specifically, when the first adsorption structure 302 is in a fixed state in this embodiment, the rotating structure 314 can drive the adsorption device 200 and the mounting bracket 10 to rotate relative to the object to be cleaned 7 to achieve rotational movement. The first lifting structure 324 can drive the first adsorption structure 302 to move in a direction close to or away from the object to be cleaned 7 when the adsorption device 200 is in a fixed state, that is, to achieve lifting movement, and realize the switching between the fixed state and the detached state of the first adsorption structure 302. For example, when it is necessary to switch the first adsorption structure 302 from the detached state to the fixed state, control the first lifting structure 324 to drive the first adsorption structure 302 to move close to the object to be cleaned 7 so that the first adsorption structure 302 can be fixed on the surface of the object to be cleaned 7. When it is necessary to switch the first adsorption structure 302 from the fixed state to the detached state, control the first lifting structure 324 to drive the first adsorption structure 302 to move away from the object to be cleaned 7 so that the first adsorption structure 302 can be detached from the surface of the object to be cleaned 7. The first moving structure 340 can drive the rotating device 300 to move relative to the object to be cleaned 7 when the first adsorption structure 302 is in the detached state to achieve translational movement.

[0051] Optionally, as shown in Figures 4 to 7 the first adsorption structure 302 includes a suction cup 304, an air guide cylinder 308 and an air pump 312. The suction cup 304 includes a ventilation hole 306. The air guide cylinder 308 is rotatably connected to the side of the suction cup 304 away from the object to be cleaned 7. An air guide channel 310 is provided in the air guide cylinder 308, and the air guide channel 310 communicates with the ventilation hole 306. The air pump 312 is arranged in the air guide cylinder 308 and is used to change the gas flow direction in the air guide channel 310. Among them, the first lifting structure 324 is connected to the air guide cylinder 308. The rotating structure 314 is arranged on the suction cup 304.

[0052] In this embodiment, since the air guide channel 310 communicates with the ventilation hole 306 of the suction cup 304, the air pump 312 can change the gas flow direction in the air guide channel 310 by injecting air into or pumping air out of the air guide channel 310, thereby changing the air pressure between the suction cup 304 and the surface of the object to be cleaned 7, and realizing the switching between the fixed state of the suction cup 304 fixed on the surface of the object to be cleaned 7 and the detached state of the suction cup 304 detached from the surface of the object to be cleaned 7.

[0053] Specifically, when the suction cup 304 needs to switch from the detached state to the fixed state, after the suction cup 304 comes into contact with the surface of the object 7 to be cleaned, the air pump 312 is controlled to extract air from the air guide channel 310, so as to reduce the air pressure between the suction cup 304 and the surface of the object 7 to be cleaned, and make the suction cup 304 firmly adsorbed on the surface of the object 7 to be cleaned, realizing the fixation of the suction cup 304 on the surface of the object 7 to be cleaned. When the suction cup 304 needs to switch from the fixed state to the detached state, the air pump 312 is controlled to inject air into the air guide channel 310, so as to increase the air pressure between the suction cup 304 and the surface of the object 7 to be cleaned, and make the suction cup 304 separated from the surface of the object 7 to be cleaned, realizing the detachment of the suction cup 304 from the surface of the object 7 to be cleaned.

[0054] Optionally, in combination with Figures 4 to 7 As shown, the rotating structure 314 includes a rotating bracket 316, a first motor 318, a first gear 320 and a second gear 322. The rotating bracket 316 is sleeved on one end of the air guide cylinder 308 close to the suction cup 304 and is rotatably connected to the suction cup 304. The first motor 318 is arranged on the rotating bracket 316. The first gear 320 is sleeved on the output shaft of the first motor 318, and the first motor 318 is used to drive the first gear 320 to rotate. The second gear 322 is fixedly connected to the suction cup 304, and the external gear of the first gear 320 is rotatably connected to the external gear of the second gear 322.

[0055] In this embodiment, since the first gear 320 is sleeved on the output shaft of the first motor 318, the external gear of the first gear 320 is rotatably connected to the external gear of the second gear 322, and the second gear 322 is fixedly connected to the suction cup 304, during the process of the first motor 318 driving the first gear 320 to rotate, the second gear 322 can be driven to rotate, and then the suction cup 304 can be driven to rotate. Since the first motor 318 is arranged on the rotating bracket 316 and the rotating bracket 316 is sleeved on the air guide cylinder 308, when the first adsorption structure 302 is in the fixed state and the suction cup 304 is fixed on the surface of the object 7 to be cleaned, when the first motor 318 drives the first gear 320 to rotate, a reaction force can be generated between the second gear 322 and the first gear 320 to drive the first motor 318, the rotating bracket 316 and the air guide cylinder 308 to rotate relative to the suction cup 304, that is, to rotate relative to the object 7 to be cleaned. Since the first lifting structure 324 is connected to the air guide cylinder 308, the first lifting structure 324, the first moving structure 340, the mounting bracket 10, etc. are driven to rotate relative to the object 7 to be cleaned, realizing the turning of the cleaning robot 1.

[0056] Optionally, in combination with Figures 4 to 7As shown, the first lifting structure 324 includes a lifting bracket 326, a second motor 332, and a first transmission assembly 334. The lifting bracket 326 is connected to the first moving structure 340. The second motor 332 is disposed on the lifting bracket 326. The input end of the first transmission assembly 334 is connected to the output end of the second motor 332, and the output end of the first transmission assembly 334 is connected to the air guide cylinder 308.

[0057] In this embodiment, the lifting bracket 326 serves as the support frame of the first lifting structure 324 and is used to connect the first moving structure 340 and other structural components of the first lifting structure 324, such as the second motor 332, to ensure that the first lifting structure 324 can maintain stability during the lifting process and improve the stability of the rotating device 300 and the cleaning robot 1. The second motor 332 is the source of the driving force of the first lifting structure 324, provides power for the subsequent first transmission assembly 334, and thus realizes the lifting function. The input end of the first transmission assembly 334 is connected to the output end of the second motor 332, and the output end of the first transmission assembly 334 is connected to the air guide cylinder 308 to convert the rotational motion of the second motor 332 into the lifting motion of the first adsorption structure 302, and thus realize the switching between the fixed state and the separated state of the first adsorption structure 302.

[0058] Optionally, in combination with Figure 7 As shown, the first transmission assembly 334 includes a first rack 336 and a third gear 338. The first rack 336 extends along the length direction of the air guide cylinder 308 and is disposed on the air guide cylinder 308. The third gear 338 is sleeved on the output shaft of the second motor 332, and the external gear of the third gear 338 is rotatably connected to the first rack 336.

[0059] In this embodiment, the first rack 336 extends along the length direction of the air guide cylinder 308. The teeth of the first rack 336 are meshed with the teeth of the third gear 338, thereby realizing the transmission of power. The third gear 338 is disposed on one side of the first rack 336 and is directly connected to the output end of the second motor 332. When the second motor 332 is started, its output shaft drives the third gear 338 to rotate. The rotational motion of the third gear 338 is converted into the linear motion of the first rack 336 through meshing with the first rack 336, so that the air guide cylinder 308 connected to the first rack 336 can be lifted, and thus the lifting of the first adsorption structure 302 is realized.

[0060] Optionally, in combination with Figures 4 to 7As shown, the lifting bracket 326 includes an installation sleeve 328. The installation sleeve 328 is sleeved on the air guide cylinder 308, and the air guide cylinder 308 can slide relative to the installation sleeve 328. The installation sleeve 328 includes an installation groove 330 extending along the length direction of the air guide cylinder 308. The teeth of the first rack 336 are located in the installation groove 330 and are meshed and connected with the third gear 338.

[0061] In this embodiment, the installation sleeve 328 and the air guide cylinder 308 are nested, and the air guide cylinder 308 is allowed to slide relative to the installation sleeve 328 inside the installation sleeve 328. While realizing the lifting function, it provides a guiding effect for the air guide cylinder 308 and ensures the smoothness of the lifting.

[0062] Optionally, in combination with Figures 4 to 7 As shown, the first moving structure 340 includes a moving bracket 342, a third motor 344, and a second transmission assembly 346. The moving bracket 342 is connected to the first lifting structure 324. The third motor 344 is arranged on the moving bracket 342. The second transmission assembly 346 is movably connected to the installation bracket 10, and the input end of the second transmission assembly 346 is connected to the output end of the third motor 344.

[0063] In this embodiment, the moving bracket 342 is used to carry other components (such as the third motor 344 and the second transmission assembly 346), and is connected to the first lifting structure 324 to ensure that the first lifting structure 324 can move along with the movement of the moving bracket 342. The third motor 344, as the power source of the first moving structure 340, is used to provide power input for the second transmission assembly 346. The second transmission assembly 346 is used to convert the rotational motion of the third motor 344 into the translational motion of the first moving structure 340, and further realize driving the rotating device 300 to move relative to the object to be cleaned 7.

[0064] Optionally, in combination with Figure 4 As shown, the second transmission assembly 346 includes a fourth gear 348, a fifth gear 350, a first connecting rod 352, a sixth gear 354, and a second rack 356. The fourth gear 348 is sleeved on the output shaft of the third motor 344. The external gear of the fifth gear 350 is meshed and connected with the external gear of the fourth gear 348. The first connecting rod 352 is slidably connected to the moving bracket 342 and passes through the fifth gear 350. The sixth gear 354 is sleeved on the end of the first connecting rod 352. The second rack 356 is arranged on the installation bracket 10 and is meshed and connected with the external gear of the sixth gear 354.

[0065] In this embodiment, a second transmission assembly 346 is formed by combining a fourth gear 348, a fifth gear 350, a first connecting rod 352, a sixth gear 354, and a second rack 356 to convert the rotational motion of the third motor 344 into the translational motion of the first moving structure 340, ensuring stable power transmission.

[0066] Specifically, the fourth gear 348 serves as the starting component of the second transmission assembly 346 and is directly connected to the output shaft of the third motor 344. When the third motor 344 is started, its power is transmitted to the fourth gear 348 through the output shaft. The fifth gear 350 is meshed with the fourth gear 348 to form a pair of meshing gears. When the fourth gear 348 rotates, it drives the fifth gear 350 to rotate in the opposite direction. The first connecting rod 352 passes through the central hole of the fifth gear 350 and is slidably connected to the moving bracket 342, enabling the first connecting rod 352 to rotate relative to the moving bracket 342 as the fifth gear 350 rotates. The sixth gear 354 is connected to the end of the first connecting rod 352. When the first connecting rod 352 rotates, it drives the sixth gear 354 to rotate. The second rack 356 is meshed with the sixth gear 354. When the sixth gear 354 rotates, the sixth gear 354 rolls along the tooth surface of the second rack 356, thereby converting the rotational motion into a linear motion, enabling the first moving structure 340 to translate on the mounting bracket 10, realizing the movement of the driving rotating device 300 relative to the mounting bracket 10, and further moving relative to the object to be cleaned 7.

[0067] In some embodiments, one end of the first connecting rod 352 is fixedly connected to the sixth gear 354, and the other end is rollingly connected to the mounting bracket 10.

[0068] In some embodiments, in combination Figure 4 As shown, the number of the sixth gears 354 is two, which are respectively connected to the opposite ends of the first connecting rod 352. The number of the second racks 356 is two, and the two second racks 356 are respectively arranged on the opposite sides of the mounting bracket 10, and the two second racks 356 and the two sixth gears 354 are arranged in one-to-one correspondence.

[0069] In this embodiment, by increasing the number of the sixth gears 354 and the second racks 356, connecting the two sixth gears 354 to the opposite ends of the first connecting rod 352 respectively, arranging the two second racks 356 on the opposite sides of the mounting bracket 10 respectively, and arranging the two second racks 356 and the two sixth gears 354 in one-to-one correspondence, the power transmission of the second transmission assembly 346 is made more stable, and the movement stability of the rotating device 300 is improved.

[0070] Optionally, in combination Figure 4As shown, the mounting bracket 10 includes two slide rails 100 that are parallel to each other and extend along the extending direction of the rack. The opposite ends of the moving bracket 342 are respectively slidably connected to the two slide rails 100. In this embodiment, by setting the opposite ends of the slide rails 100 to be slidably connected to the moving bracket 342, guidance is provided during the movement of the first moving structure 340 relative to the mounting bracket 10, improving the moving stability of the rotating device 300.

[0071] In some embodiments, in combination with Figures 2 to 4 As shown, the rotating device 300 further includes a first housing 358. The first housing 358 is disposed on the lifting bracket 326. Opposite ends of the first housing 358 are provided with first openings 360. The first housing 358 includes a first cavity 362, and the first openings 360 and the first cavity 362 are in communication. The first lifting structure 324 is located in the first cavity 362. The rotating structure 314 is located in the first cavity 362. A part of the first moving structure 340 protrudes out of the first cavity 362 through the first opening 360 and is movably connected to the mounting bracket 10. A part of the first adsorption structure 302 protrudes out of the first cavity 362 through the first opening 360 away from the first moving structure 340. In this embodiment, by providing the first housing 358 to protect the structural components of the rotating device 300, the safety of the cleaning robot 1 is improved.

[0072] In some embodiments, in combination with Figure 4 As shown, the adsorption device 200 includes a second lifting structure 202 and a second adsorption structure 204. The second lifting structure 202 is connected to the mounting bracket 10. The second adsorption structure 204 is disposed on the second lifting structure 202, and one side of the second adsorption structure 204 away from the second lifting structure 202 can be switched between a fixed state fixed to the surface of the object to be cleaned 7 and a detached state detached from the surface of the object to be cleaned 7.

[0073] In this embodiment, in combination with the cooperation of the second lifting structure 202 and the second adsorption structure 204, the switching of the adsorption device 200 between the fixed state and the detached state is realized. The second lifting structure 202 can drive the second adsorption structure 204 to move in a direction close to or away from the object to be cleaned 7 when the second adsorption structure 204 is in the fixed state, so as to realize the switching of the second adsorption structure 204 between the fixed state and the detached state, thereby realizing the switching of the adsorption device 200 between the fixed state and the detached state.

[0074] Specifically, when it is necessary to switch the adsorption device 200 from the detached state to the fixed state, the second lifting structure 202 is controlled to drive the second adsorption structure 204 to move towards the object to be cleaned 7, so that the second adsorption structure 204 can adsorb on the surface of the object to be cleaned 7, realizing the fixation of the second adsorption structure 204 on the surface of the object to be cleaned 7. When it is necessary to switch the adsorption device 200 from the fixed state to the detached state, the second lifting structure 202 is controlled to drive the second adsorption structure 204 to move away from the object to be cleaned 7, so that the second adsorption structure 204 can be detached from the surface of the object to be cleaned 7.

[0075] It should be noted that the specific structural components of the second lifting structure 202 and the second adsorption structure 204, as well as the component connection relationship between the second lifting structure 202 and the second adsorption structure 204, are the same as the specific structural components of the first lifting structure 324 and the first adsorption structure 302 in the above embodiment, and the component connection relationship between the first lifting structure 324 and the first adsorption structure 302. Details are not described here again. For the technical effects of the second moving structure 208, reference is made to the above embodiment. The difference is that in this embodiment, the lifting bracket 326 in the second lifting structure 202 is directly connected to the mounting bracket 10, realizing the connection between the second lifting structure 202 and the mounting bracket 10.

[0076] It should be noted that although the specific structural components of the second lifting structure 202 and the second adsorption structure 204 in the present disclosure are the same as those of the first lifting structure 324 and the first adsorption structure 302, the shape or size of a single component can be different, so that the second lifting structure 202 and the first lifting structure 324, or the second adsorption structure 204 and the first adsorption structure 302 are in different forms.

[0077] In a specific application, such as Figure 3 shown, the suction cup 304 in the first adsorption structure 302 is named the first suction cup 3040, and the suction cup 304 in the second adsorption structure 204 is named the second suction cup 206, so that the diameter of the second suction cup 206 is smaller than that of the first suction cup 3040, making the second adsorption structure 204 and the first adsorption structure 302 in different forms. In this embodiment, by limiting the diameter of the second suction cup 206 to be smaller than that of the first suction cup 3040, the adsorption force generated when the second suction cup 206 adsorbs on the surface of the object to be cleaned 7 is smaller than the adsorption force generated when the first suction cup 3040 adsorbs on the surface of the object to be cleaned 7, so as to optimize the adsorption force distribution while maintaining sufficient adsorption force and reducing the local pressure concentration on the surface of the object to be cleaned 7.

[0078] In some embodiments, in combination with Figure 4As shown, the adsorption device 200 further includes a second moving structure 208. The second moving structure 208 is movably connected to the mounting bracket 10. The second lifting structure 202 is disposed on the second moving structure 208. The second adsorption structure 204 is disposed on the second lifting structure 202, and one side of the second adsorption structure 204 away from the second lifting structure 202 can be switched between a fixed state fixed to the surface of the object to be cleaned 7 and a disengaged state disengaged from the surface of the object to be cleaned 7. When the rotating device 300 is in a fixed state, the second moving structure 208 can drive the second adsorption structure 204 in the disengaged state to move relative to the mounting bracket 10.

[0079] In this embodiment, by adding the second moving structure 208, the second adsorption structure 204 in the disengaged state is driven to move relative to the mounting bracket 10, so as to flexibly adjust the position of the adsorption device 200 on the mounting bracket 10 as needed, improving work efficiency and work flexibility. Among them, during the movement of the cleaning robot 1 relative to the object to be cleaned 7 (the mounting bracket 10 moves relative to the object to be cleaned 7), the adsorption device 200 is stationary relative to the mounting bracket 10 to ensure the stability of the robot's movement. During the movement of the adsorption device 200 relative to the mounting bracket 10, the mounting bracket 10 is stationary relative to the object to be cleaned 7 to ensure the stability of the position adjustment of the adsorption device 200.

[0080] It should be noted that the specific structural components of the second moving structure 208 and the component connection relationship between the second moving structure 208 and the mounting bracket 10 and the second lifting structure 202 are the same as the specific structural components of the first moving structure 340 in the above embodiment and the component connection relationship between the first moving structure 340 and the mounting bracket 10 and the first lifting structure 324, which will not be elaborated here. For the technical effects of the second moving structure 208, refer to the above embodiment.

[0081] Optionally, as shown in combination with Figures 2 to 4 As shown, the adsorption device 200 further includes a second housing 210. The second housing 210 is disposed on the lifting bracket 326 of the second lifting structure 202. Second openings 212 are provided at opposite ends of the second housing 210. The second housing 210 includes a second cavity 214, and the second openings 212 and the second cavity 214 are in communication. The second lifting structure 202 is located inside the second cavity 214. A part of the second moving structure 208 protrudes out of the second cavity 214 through the second opening 212 and is movably connected to the mounting bracket 10. A part of the second adsorption structure 204 protrudes out of the second cavity 214 through the second opening 212 away from the second moving structure 208. In this embodiment, by providing the second housing 210, the structural components of the adsorption device 200 are protected, improving the safety of the cleaning robot 1.

[0082] In some embodiments, in combination with Figures 2 to 4 As shown, the number of the adsorption devices 200 is two. Along the moving direction of the cleaning robot 1, the two adsorption devices 200 are respectively located on opposite sides of the rotating device 300 and are spaced apart from the rotating device 300.

[0083] In this embodiment, the two adsorption devices 200 are respectively located on opposite sides of the rotating device 300, and the two adsorption devices 200 act synchronously to provide stable support for the mounting bracket 10, improving the stability and reliability of the movement and operation of the cleaning robot 1. In this embodiment, the specific structures of the two adsorption devices 200 may be the same or different.

[0084] In some embodiments, in combination with Figures 2 to 4 As shown, along the moving direction of the robot, the two adsorption devices 200 are respectively located at opposite ends of the mounting bracket 10.

[0085] In some embodiments, in combination with Figures 2 to 4 As shown, the cleaning robot 1 further includes a cleaning mechanism 400. The cleaning mechanism 400 is disposed on one side of the rotating device 300 and abuts against the surface of the object to be cleaned 7. Wherein, when the adsorption device 200 is in a fixed state, the rotating device 300 in a disengaged state can move relative to the object to be cleaned 7 to drive the cleaning mechanism 400 to move relative to the object to be cleaned 7, so as to clean the surface of the object to be cleaned 7.

[0086] In this embodiment, the cleaning mechanism 400 is disposed on one side of the rotating device 300 and abuts against the surface of the object to be cleaned 7, and can move synchronously relative to the object to be cleaned 7 when the rotating device 300 moves relative to the object to be cleaned 7, so as to clean the surface of the object to be cleaned 7. Since in the present disclosure, the movement of the rotating device 300 in a disengaged state relative to the object to be cleaned 7 is to cooperate with the adsorption device 200 to realize the movement of the cleaning robot 1 (for the specific process of the cooperation between the rotating device 300 and the adsorption device 200 to realize the movement of the cleaning robot 1, refer to the above embodiment), therefore, in the present disclosure, the surface of the object to be cleaned 7 can be cleaned during the movement of the cleaning robot 1, without the need for separate driving for cleaning or separate driving for movement, with higher energy utilization efficiency and lower energy consumption.

[0087] In some embodiments, in combination with Figures 2 to 4 As shown, the cleaning mechanism 400 is disposed on one side of the first housing 358. In this embodiment, by disposing the cleaning mechanism 400 on one side of the first housing 358, the cleaning mechanism 400 is disposed on one side of the rotating device 300, so as to move synchronously with the movement of the rotating device 300.

[0088] Optionally, in combination with Figure 2 、Figure 3 , Figure 4 and Figure 8 As shown in ,

[0089] , the cleaning mechanism 400 includes a third housing 402, a first cleaning member 408, and a dust collection assembly 414. The third housing 402 is disposed on one side of the rotating device 300. The first cleaning member 408 is disposed on the third housing 402 and abuts against the surface of the object 7 to be cleaned. The dust collection assembly 414 is disposed on the third housing 402 for collecting impurities removed by the first cleaning member 408.

[0089] In this embodiment, since the first cleaning member 408 abuts against the surface of the object 7 to be cleaned, when the rotating device 300 moves relative to the object 7 to be cleaned, stress can be generated between the first cleaning member 408 and the surface of the object 7 to be cleaned, so as to realize the cleaning of the surface of the object 7 to be cleaned. The dust collection assembly 414 is used for collecting impurities removed by the first cleaning member 408, such as dust, hair, snow, debris, etc., so that the impurities removed during the cleaning process can be collected and stored in time, preventing them from being scattered back into the environment and causing secondary pollution.

[0090] Optionally, as shown in Figure 2 , Figure 3 , Figure 4 , Figure 8 , the third housing 402 includes a third cavity 404 and a dust collection port 406 that communicate with each other. Part of the first cleaning member 408 is located in the third cavity 404, and part of the first cleaning member 408 protrudes from the third cavity 404 and abuts against the surface of the object 7 to be cleaned. The dust collection assembly 414 is disposed outside the third housing 402 at the dust collection port 406. Figure 2 , Figure 3 , Figure 4 and Figure 8 In this embodiment, part of the first cleaning member 408 is located in the third cavity 404, and part of the first cleaning member 408 protrudes from the third cavity 404 and abuts against the surface of the object 7 to be cleaned. The third cavity 404 serves as a space for accommodating part of the first cleaning member 408, which is used to protect the first cleaning member 408 from the influence of the external environment and ensure that the first cleaning member 408 can effectively contact the surface of the object 7 to be cleaned. The dust collection assembly 414 is located at the dust collection port 406, and the dust collection port 406 communicates with the third cavity 404, so as to guide the impurities removed by the first cleaning member 408 during the cleaning process to the dust collection assembly 414 through the dust collection port 406.

[0091] In this embodiment, part of the first cleaning member 408 is located in the third cavity 404, and part of the first cleaning member 408 protrudes from the third cavity 404 and abuts against the surface of the object 7 to be cleaned. The third cavity 404 serves as a space for accommodating part of the first cleaning member 408, which is used to protect the first cleaning member 408 from the influence of the external environment and ensure that the first cleaning member 408 can effectively contact the surface of the object 7 to be cleaned. The dust collection assembly 414 is located at the dust collection port 406, and the dust collection port 406 communicates with the third cavity 404, so as to guide the impurities removed by the first cleaning member 408 during the cleaning process to the dust collection assembly 414 through the dust collection port 406.

[0092] Optionally, as shown in Figure 2 , Figure 3 , Figure 4 , Figure 8 , the dust collection assembly 414 includes a dust collection housing 416 and a blower (not shown in the figure). The dust collection housing 416 is disposed outside the third housing 402 and covers the dust collection port 406. The dust collection housing 416 and the third housing 402 together form a dust collection cavity (not shown in the figure). The blower is disposed in the dust collection cavity. ​​​​​​​​

[0093] In this embodiment, the dust collection housing 416 is disposed outside the third housing 402 and covers the dust collection port 406 to ensure the sealing of the dust collection port 406 and prevent the leakage of impurities. The dust collection housing 416 and the third housing 402 together form a closed dust collection chamber as a space for collecting impurities, so as to efficiently accommodate and store the impurities removed from the surface of the object to be cleaned 7. The blower is disposed in the dust collection chamber and is responsible for generating a strong suction force to suck the impurities from the dust collection port 406 into the dust collection chamber. In this embodiment, the dust collection chamber formed by the dust collection housing 416 and the third housing 402 provides a closed and sufficiently capacious impurity collection space, ensuring that the impurities can be effectively collected and stored, and avoiding secondary pollution. The strong suction force of the blower further enhances the impurity collection efficiency, enabling even tiny impurities to be easily sucked into the dust collection chamber, achieving efficient impurity collection.

[0094] Optionally, as shown in Figure 4 and Figure 9 the first cleaning member 408 includes a first roller brush 410. The first roller brush 410 is disposed on the third housing 402 and abuts against the surface of the object to be cleaned 7.

[0095] In this embodiment, since the first roller brush 410 abuts against the surface of the object to be cleaned 7, when the rotating device 300 moves relative to the object to be cleaned 7, a frictional force can be generated between the first roller brush 410 and the surface of the object to be cleaned 7 to drive the first roller brush 410 to rotate and roll relative to the object to be cleaned 7. By the way of rolling cleaning with the first roller brush 410, the stains and impurities on the surface of the object to be cleaned 7 can be cleaned more deeply. Compared with the static cleaning method, the first roller brush 410 can more effectively remove the impurities that are difficult to clean.

[0096] Optionally, as shown in Figures 9 to 11 the cleaning mechanism 400 further includes a driving component 422. The driving component 422 is disposed on the third housing 402, and the output end of the driving component 422 is connected to the first roller brush 410 for driving the first roller brush 410 to roll.

[0097] In this embodiment, the driving assembly 422 is used to provide power to drive the first rolling brush 410 to roll. By providing the driving assembly 422, a more flexible cleaning method and higher cleaning efficiency can be achieved. For example, when the driving assembly 422 is not activated, the first rolling brush 410 can rotate relative to the object 7 to be cleaned under the action of the frictional force between the first rolling brush 410 and the surface of the object 7 to be cleaned. Let the rotation direction of the first rolling brush 410 at this time be the forward direction, and the rotation speed of the first rolling brush 410 at this time depends on the magnitude of the frictional force. By flexibly activating the driving assembly 422 to change the rotation speed and / or rotation direction of the first rolling brush 410 (such as changing the rotation direction of the first rolling brush 410 to the reverse direction), the frictional force between the first rolling brush 410 and the surface of the object 7 to be cleaned can be increased, thereby achieving more efficient cleaning.

[0098] Optionally, as shown in Figures 9 to 11 FIG. 5, the driving assembly 422 includes a fourth motor 424 and a third transmission assembly 426. The fourth motor 424 is disposed in the third housing 402. The input end of the third transmission assembly 426 is connected to the output shaft of the fourth motor 424, and the output end of the third transmission assembly 426 is connected to the first rolling brush 410.

[0099] In this embodiment, the fourth motor 424 is used to provide a driving force, and the third transmission assembly 426 is used to transmit the driving force generated by the fourth motor 424 to the first rolling brush 410 to ensure that the first rolling brush 410 can roll at a stable speed and direction, so as to ensure the cleaning efficiency of the cleaning mechanism 400.

[0100] Optionally, as shown in Figures 9 to 11 FIG. 6, one end of the first rolling brush 410 is provided with a first transmission shaft 412. The third transmission assembly 426 includes a seventh gear 428, an eighth gear 430, and a ninth gear 432. The seventh gear 428 is sleeved on the output shaft of the fourth motor 424. The outer gear of the eighth gear 430 is rotatably connected to the outer gear of the seventh gear 428. The ninth gear 432 is sleeved on the first transmission shaft 412 and the outer gear of the ninth gear 432 is rotatably connected to the outer gear of the eighth gear 430.

[0101] In this embodiment, the third transmission assembly 426 is jointly constituted by a seventh gear 428, an eighth gear 430, and a ninth gear 432. Among them, the seventh gear 428 is sleeved on the output shaft of the fourth motor 424, serving as the starting point of power input, and is responsible for transmitting the rotational motion generated by the fourth motor 424 to the eighth gear 430. The external gear of the eighth gear 430 is rotationally connected to the external gears of both the seventh gear 428 and the ninth gear 432. The eighth gear 430 is responsible for further transmitting the rotational motion to the ninth gear 432. The ninth gear 432 is sleeved on the first transmission shaft 412 and is responsible for further transmitting the rotational motion to the first roller brush 410 to ensure that the first roller brush 410 can roll at a stable speed and direction.

[0102] Optionally, as shown in Figures 9 to 11 The diameter of the eighth gear 430 is greater than the diameter of the seventh gear 428. The diameter of the eighth gear 430 is greater than the diameter of the ninth gear 432.

[0103] In this embodiment, the diameter of the eighth gear 430 is greater than the diameter of the seventh gear 428, and the diameter of the eighth gear 430 is greater than the diameter of the ninth gear 432 to optimize the transmission ratio between the eighth gear 430 and the seventh gear 428 and the ninth gear 432, reduce the relative sliding speed when the eighth gear 430 meshes with the seventh gear 428 and the ninth gear 432, thereby reducing the frictional loss and wear between the eighth gear 430 and the seventh gear 428 and the ninth gear 432. The smaller relative sliding speed can reduce the energy loss between the gears and make the power transmission more efficient, further improving the energy utilization efficiency of the cleaning robot 1.

[0104] Optionally, as shown in Figures 9 to 11 The number of the first roller brushes 410 is multiple, and the multiple first roller brushes 410 are arranged at intervals on the third housing 402. The number of the eighth gears 430 is multiple, and the external gears of adjacent eighth gears 430 are rotationally connected to each other. The external gear of the seventh gear 428 is rotationally connected to one of the multiple eighth gears 430. The number of the ninth gears 432 is multiple, and the multiple ninth gears 432 are arranged in one-to-one correspondence with the multiple first roller brushes 410, and the multiple ninth gears 432 are arranged in one-to-one correspondence with the multiple eighth gears 430.

[0105] In this embodiment, there are multiple eighth gears 430, multiple ninth gears 432, and multiple first brush rollers 410. By the external gears of adjacent eighth gears 430 being rotatably connected to each other, and the external gear of the seventh gear 428 being rotatably connected to one of the multiple eighth gears 430, the rotational motion generated by the fourth motor 424 is sequentially transmitted to each eighth gear 430. The multiple ninth gears 432 are arranged in one-to-one correspondence with the multiple eighth gears 430, and the multiple ninth gears 432 are arranged in one-to-one correspondence with the multiple first brush rollers 410, further realizing the sequential transmission of the rotational motion to each first brush roller 410 and driving the multiple first brush rollers 410 to work simultaneously.

[0106] In this embodiment, since the external gears of adjacent eighth gears 430 are rotatably connected to each other, the rotational directions between adjacent eighth gears 430 are opposite, so as to drive the reverse rotation of adjacent two first brush rollers 410, so as to drive the dust on the surface of the object to be cleaned 7 to fly, and then use the dust collection assembly 414 to realize the collection of the dust on the surface of the object to be cleaned 7. At the same time, the simultaneous operation of the multiple first brush rollers 410 can significantly improve the cleaning efficiency of the cleaning robot 1, so that the cleaning robot 1 can complete a larger cleaning task in a shorter time. The multiple first brush rollers 410 arranged at intervals can better cover the cleaning area, reduce omissions, and improve the cleaning quality and effect. In addition, the multiple first brush rollers 410 in this embodiment are all driven by the fourth motor 424, which can maximize the utilization of the driving force, thereby further improving the energy utilization efficiency of the cleaning robot 1.

[0107] Optionally, as shown in combination with Figure 3 and Figure 9 shown, the cleaning mechanism 400 further includes a second cleaning member 442, and the second cleaning member 442 is arranged on the first housing 358 and abuts against the surface of the object to be cleaned 7.

[0108] In this embodiment, a second cleaning member 442 is added. Since the second cleaning member 442 is arranged on the first housing 358 and abuts against the surface of the object to be cleaned 7, when the rotating device 300 moves relative to the object to be cleaned 7, it can drive the second cleaning member 442 to move relative to the object to be cleaned 7, further realizing the cleaning of the surface of the object to be cleaned 7. In this embodiment, by adding the second cleaning member 442 and the first cleaning member 408, the cleaning efficiency of the cleaning robot 1 is further enhanced, thereby improving the energy utilization efficiency of the cleaning robot 1.

[0109] Optionally, as shown in combination with Figure 3 and Figure 9 shown, part of the second cleaning member 442 is located in the first cavity 362, and part of the second cleaning member 442 protrudes from the first cavity 362 and abuts against the surface of the object to be cleaned 7.

[0110] In this embodiment, a part of the second cleaning member 442 is located inside the first cavity 362, and a part of the second cleaning member 442 protrudes out of the first cavity 362 and abuts against the surface of the object 7 to be cleaned. The first cavity 362 serves as a space for accommodating a part of the second cleaning member 442, which is used to protect the second cleaning member 442 from the influence of the external environment and ensure that the second cleaning member 442 can effectively contact the surface of the object 7 to be cleaned.

[0111] Optionally, in combination with Figure 3 and Figure 9 as shown, the second cleaning member 442 includes a second roller brush 444, and the second roller brush 444 is disposed on the first housing 358 and abuts against the surface of the object 7 to be cleaned.

[0112] In this embodiment, since the second roller brush 444 abuts against the surface of the object 7 to be cleaned, when the rotating device 300 moves relative to the object 7 to be cleaned, a frictional force can be generated between the second roller brush 444 and the surface of the object 7 to drive the second roller brush 444 to rotate and roll relative to the object 7 to be cleaned. Through the rolling cleaning method of the second roller brush 444, the stains and impurities on the surface of the object 7 to be cleaned can be cleaned more deeply.

[0113] It should be noted that according to the specific component structure dimensions or shapes of the cleaning robot 1, the second roller brush 444 and the first roller brush 410 can be the same or different. For example, when the shapes of the first housing 358 and the third housing 402 are the same, the second roller brush 444 and the first roller brush 410 are respectively arranged along the length directions of the third housing 402 and the first housing 358, and at this time the second roller brush 444 and the first roller brush 410 are the same; when the shapes of the first housing 358 and the third housing 402 are different, such as the length of the first housing 358 is less than the length of the third housing 402, the second roller brush 444 and the first roller brush 410 are respectively arranged along the length directions of the third housing 402 and the first housing 358, and at this time the second roller brush 444 and the first roller brush 410 are different.

[0114] Optionally, in combination with Figures 9 to 11 as shown, one end of the second roller brush 444 is provided with a second transmission shaft 446. The third transmission assembly 426 further includes a first toothed sleeve 436, a second toothed sleeve 438, and a toothed chain 440. The first toothed sleeve 436 is fixedly disposed on the eighth gear 430, the second toothed sleeve 438 is sleeved on the second transmission shaft 446, and the toothed chain 440 is disposed between the first toothed sleeve 436 and the second toothed sleeve 438.

[0115] In this embodiment, the third transmission assembly 426 further includes a first toothed sleeve 436, a second toothed sleeve 438, and a toothed chain 440. The first toothed sleeve 436 is fixedly arranged on the eighth gear 430, the second toothed sleeve 438 is sleeved on the second transmission shaft 446, and the first toothed sleeve 436 and the second toothed sleeve 438 are rotationally connected to the toothed chain 440 to further transmit the rotational motion transmitted to the eighth gear 430 to the second transmission shaft 446, thereby driving the second rotary brush 444 to move and ensuring that the second rotary brush 444 can roll at a stable speed and direction. In this embodiment, the driving force generated by the fourth motor 424 can not only be used to drive the first rotary brush 410, but also drive the second rotary brush 444 at the same time, improving the utilization rate of the driving force, and further improving the energy utilization efficiency of the cleaning robot 1.

[0116] Optionally, as shown in combination with Figure 3 、 Figure 4 and Figure 9 , the number of the cleaning mechanisms 400 is two, and the two cleaning mechanisms 400 are respectively arranged on opposite sides of the rotating device 300.

[0117] In this embodiment, the two cleaning mechanisms 400 are respectively located on opposite sides of the axis where the rotating device 300 and the adsorption device 200 are located. By increasing the number of the cleaning mechanisms 400, the cleaning robot 1 can cover a larger cleaning area, further improving the cleaning efficiency of the cleaning robot 1. In addition, by respectively arranging the two cleaning mechanisms 400 on opposite sides of the rotating device 300, the structural stability of the cleaning robot 1 is ensured.

[0118] Optionally, as shown in combination with Figure 12 and Figure 13 , the cleaning robot 1 further includes a camera 50. The cameras 50 are respectively arranged at opposite ends of the mounting bracket 10 along the moving direction of the cleaning robot 1, and the main optical axes of the cameras 50 face the outside of the mounting bracket 10 and point to the surface of the object to be cleaned 7. The camera 50 is used to collect image information on the surface of the object to be cleaned 7 in the current moving direction of the cleaning robot 1 and communicate with the outside to transmit the image information. Among them, the motion mechanism 20 can receive a control signal generated externally according to the image information and adjust the moving direction of the mounting bracket 10 relative to the object to be cleaned 7, so that the cleaning robot 1 travels along a preset path.

[0119] In this embodiment, along the moving direction of the cleaning robot 1, camera 50 is provided at opposite ends of the mounting bracket 10, and the principal optical axis of the camera 50 faces outward of the mounting bracket 10 and points to the surface of the object to be cleaned 7, so that an angle is formed between the principal optical axis of the camera 50 and the plane where the surface of the object to be cleaned 7 is located, to reduce the interference of reflected light, and enable the camera 50 to more directly and accurately collect the image information of the surface of the object to be cleaned 7 in the current moving direction of the cleaning robot 1, and reduce image distortion or blind spots caused by improper position or angle of the camera 50. Furthermore, the control signal generated according to the image information is used to control the motion mechanism 20 to adjust the moving direction of the mounting bracket 10 relative to the object to be cleaned 7, so as to realize the control of the traveling direction of the cleaning robot 1.

[0120] In this embodiment, by adjusting the installation position and angle of the camera 50, the probability of image distortion or blind spots is reduced, especially the image blind spots in the moving direction of the cleaning robot 1, and further the control accuracy of the moving direction of the cleaning robot 1 is improved.

[0121] Optionally, as shown in Figure 12 and Figure 13 the angle between the principal optical axis of the camera 50 and the surface of the object to be cleaned 7 is an acute angle. In this embodiment, by defining the angle between the principal optical axis of the camera 50 and the surface of the object to be cleaned 7 as an acute angle, it is ensured that the installation angle of the camera 50 can reduce the interference of reflected light, so that the camera 50 can more directly and accurately collect the image information of the surface of the object to be cleaned 7, and realize the reduction of image distortion or blind spots.

[0122] Optionally, as shown in Figure 12 and Figure 13 the angle range between the principal optical axis of the camera 50 and the surface of the object to be cleaned 7 is from 30° to 60°.

[0123] To facilitate the introduction of the embodiments of the present disclosure, the angle between the principal optical axis of the camera 50 and the surface of the object to be cleaned 7 is called a preset angle β, then 30° ≤ β ≤ 60°. In this embodiment, by making the principal optical axis of the camera 50 form a preset angle β with the plane where the surface of the object to be cleaned 7 is located after installation, the image quality problems caused by light reflection, shadow occlusion or perspective deviation are reduced, and the clarity and accuracy of image information collection are improved. By defining the value range of the preset angle β as from 30° to 60°, the cleaning robot 1 can more comprehensively capture the image information of the surface of the object to be cleaned 7 in the current moving direction of the cleaning robot 1, reduce the perspective blind spots, and improve the accuracy of the moving direction control of the cleaning robot 1. Exemplarily, the specific values of the preset angle β are 30°, 45° or 60°.

[0124] Optionally, as shown in Figure 12 and Figure 13As shown, along the moving direction of the cleaning robot 1, mounting surfaces 110 are respectively provided at opposite ends of the mounting bracket 10. A first included angle is formed between the plane where the mounting surface 110 is located and the axis along the height direction of the mounting bracket 10. Two cameras 50 are respectively arranged on the two mounting surfaces 110, and a second included angle is formed between the principal optical axis of the camera 50 and the plane where the mounting surface 110 is located. The first included angle and the second included angle satisfy a preset condition, such that the included angle between the principal optical axis of the camera 50 and the surface of the object to be cleaned 7 is an acute angle.

[0125] In this embodiment, a first included angle (such as the included angle θ shown in Figure 13 ) is formed between the plane where the mounting surface 110 is located and the axis along the height direction of the mounting bracket 10. The two cameras 50 are respectively mounted on the two mounting surfaces 110 with an inclination angle (the first included angle). A second included angle (such as the included angle α shown in Figure 13 ) is formed between the principal optical axis of the camera 50 and the plane where the mounting surface 110 is located, so as to adapt to the inclination angle of the mounting surface 110, such that the included angle between the principal optical axis of the camera 50 and the plane where the surface of the object to be cleaned 7 is located is an acute angle, so that when the camera 50 collects image information, its viewing angle will naturally incline towards the surface of the object to be cleaned 7.

[0126] Optionally, the preset condition includes that the second included angle is greater than the first included angle, and the range of the difference between the second included angle and the first included angle is 30° to 60°. In this embodiment, as shown in Figure 12 and Figure 13 , since α - θ = 90° - β, by limiting the range of the difference between the second included angle and the first included angle to 30° to 60°, it is ensured that the preset included angle β is between 30° and 60°, ensuring that the included angle between the principal optical axis of the camera 50 and the surface of the object to be cleaned 7 is an acute angle. Exemplarily, if the value of the second included angle α is 80° and the value of the first included angle θ is 30°, then the difference between the second included angle and the first included angle is 50°. Since α - θ = 90° - β, the value of β is 40°.

[0127] In some embodiments, as shown in Figure 12 and Figure 13 , the first included angle formed between the plane where the mounting surface 110 is located and the axis along the height direction of the mounting bracket 10 is an acute angle, and the angular range of the first included angle is 30° to 60°. The two cameras 50 are respectively arranged on the two mounting surfaces 110, and the principal optical axis of the camera 50 is perpendicular to the plane where the mounting surface 110 is located.

[0128] Optionally, as shown in Figure 14As shown in the figure, the movement control device 60 of the cleaning robot includes a processor 600 and a memory 601. Optionally, the device 60 may further include a communication interface 602 and a bus 603. Among them, the processor 600, the communication interface 602, and the memory 601 can complete communication with each other through the bus 603. The communication interface 602 can be used for information transmission. The processor 600 can call the logical instructions in the memory 601 to execute the movement control method of the cleaning robot in the following embodiments.

[0129] In addition, when the logical instructions in the above-mentioned memory 601 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.

[0130] The memory 601, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as the program instructions / modules corresponding to the methods in the embodiments of the present disclosure. The processor 600 executes functional applications and data processing by running the program instructions / modules stored in the memory 601, that is, implements the movement control method of the cleaning robot in the following embodiments.

[0131] The memory 601 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the terminal device, etc. In addition, the memory 601 may include a high-speed random access memory and may also include a non-volatile memory.

[0132] Combined with Figures 1 to 14 the cleaning robot 1 shown in the figure, the embodiments of the present disclosure provide a movement control method for a cleaning robot. As Figure 15 shown in the figure, the movement control method includes:

[0133] S151, the processor obtains the movable direction of the cleaning robot on the surface of the object to be cleaned.

[0134] S152, the processor generates a plurality of first movement routes according to the preset travel rules and the movable direction of the cleaning robot.

[0135] S153, the processor determines a target movement route from the plurality of first movement routes according to the physical parameters of the cleaning robot.

[0136] S154, the processor controls the cleaning robot to move according to the target movement route.

[0137] The mobile control method of the cleaning robot provided by the embodiments of the present disclosure can first obtain the movable direction of the current cleaning robot itself on the surface of the object to be cleaned, and then generate multiple selectable first movement routes in combination with the preset traveling rules. The first movement routes represent different paths that the cleaning robot may take when completing the cleaning task. Further, in combination with the actual physical characteristics of the cleaning robot, that is, physical parameters, a better target movement route is determined from the multiple first movement routes, and the cleaning robot is controlled to move according to the target movement route to perform the cleaning task, thereby improving the cleaning efficiency.

[0138] Compared with the related art, the embodiments of the present disclosure can generate multiple first movement routes according to the movable direction of the cleaning robot on the actual surface of the object to be cleaned and the preset traveling rules, realizing dynamic adjustment of the movement strategy of the cleaning robot according to the current environment and conditions to adapt to objects to be cleaned with different shapes, sizes and layouts, without following the preset routes based on the map. Therefore, it has higher flexibility and stronger adaptability. In addition, the embodiments of the present disclosure determine the target movement route from the multiple first movement routes by accurately evaluating the movable direction and physical parameters of the cleaning robot, which is crucial to ensure that the cleaning robot can efficiently cover the surface of the object to be cleaned and avoid missed areas, ensuring the accuracy and efficiency of the execution of the cleaning task.

[0139] In some embodiments, the cleaning robot includes a distance sensor, and the detection direction of the distance sensor is perpendicular to the plane where the surface of the object to be cleaned is located, or the detection direction of the distance sensor faces the outside of the robot body and points to the surface of the object to be cleaned.

[0140] In this embodiment, the distance sensor is arranged on the robot body, and the detection direction of the distance sensor is perpendicular to the plane where the surface of the object to be cleaned is located, or the detection direction of the distance sensor faces the outside of the robot body and points to the surface of the object to be cleaned, so that the angle between the detection direction of the distance sensor and the plane where the surface of the object to be cleaned is located is a right angle or a preset angle. The detection direction of the distance sensor refers to the direction in which the distance sensor emits a signal (such as laser, infrared, etc.) and receives the reflected signal to measure the distance. For the specific structural setting in this embodiment where the detection direction of the distance sensor faces the outside of the robot body and points to the surface of the object to be cleaned, reference can be made to the structural setting in the above embodiment where the principal optical axis of the camera faces the outside of the mounting bracket and points to the surface of the object to be cleaned, which will not be elaborated here. In this embodiment, by setting the distance sensor, it is used to detect whether there is an object to be cleaned in its detection direction, so as to realize the detection of the joints or edges of the surface of the object to be cleaned.

[0141] Optionally, obtaining the movable direction of the cleaning robot on the surface of the object to be cleaned includes: controlling the cleaning robot to adjust its posture, and obtaining the digital signal output by the distance sensor during the posture adjustment process of the cleaning robot; analyzing the digital signal to determine the movable direction of the cleaning robot on the surface of the object to be cleaned.

[0142] In this embodiment, when the cleaning robot is at the initial position, the cleaning robot can be controlled to adjust its posture. The initial position refers to the position of the cleaning robot on the surface of the object to be cleaned when the installation of the cleaning robot on the surface of the object to be cleaned is completed, or the position of the cleaning robot on the surface of the object to be cleaned after the cleaning robot is powered on and started. The distance sensor outputs a digital signal. This digital signal represents the relative distance between the distance sensor and the surface of the object to be cleaned. According to the change of the digital signal during the posture adjustment process of the cleaning robot, it is possible to determine which directions are unobstructed, so as to determine the movable direction of the cleaning robot on the surface of the object to be cleaned, and realize the acquisition of the movable direction.

[0143] In some embodiments, the number of distance sensors is multiple, and the multiple distance sensors are arranged at intervals along the circumferential direction of the cleaning robot. Controlling the cleaning robot to adjust its posture and obtaining the digital signal output by the distance sensor during the posture adjustment process of the cleaning robot includes: respectively controlling the cleaning robot to adjust its posture in the direction from the center of the robot body to each distance sensor, and obtaining the digital signal output by the distance sensor during the posture adjustment process of the cleaning robot. Analyzing the digital signal to determine the movable direction of the cleaning robot on the surface of the object to be cleaned includes: when the digital signal output by the distance sensor detecting the object to be cleaned is at a high level, obtaining the duration of the high-level occupancy ratio in the digital signal; when the duration of the high-level occupancy ratio is greater than the first duration threshold, taking the direction from the center of the robot body to the distance sensor corresponding to the digital signal as the movable direction; or, when the digital signal output by the distance sensor detecting the object to be cleaned is at a low level, obtaining the duration of the low-level occupancy ratio in the digital signal; when the duration of the low-level occupancy ratio is greater than the first duration threshold, taking the direction from the center of the robot body to the distance sensor corresponding to the digital signal as the movable direction.

[0144] In this embodiment, first, the cleaning robot is respectively controlled to adjust its posture along the direction from the center of the robot body to each distance sensor to obtain continuous digital signals corresponding to multiple directions. Then, each obtained digital signal is analyzed. When the digital signal output by the distance sensor detecting the object to be cleaned is at a high level, the duration of the high-level proportion in the digital signal is obtained. If the duration of the high-level proportion is greater than the first duration threshold, it indicates that the distance sensor continuously detects the object to be cleaned, and there is continuously an object to be cleaned below the cleaning robot in the direction corresponding to this distance sensor. Then, the cleaning robot can move in this direction, and thus the direction from the center of the robot body to the distance sensor corresponding to this digital signal is used as the movable direction. When the digital signal output by the distance sensor detecting the object to be cleaned is at a low level, the duration of the low-level proportion in the digital signal is obtained. If the duration of the low-level proportion is greater than the first duration threshold, it indicates that the distance sensor continuously detects the object to be cleaned, and there is continuously an object to be cleaned below the cleaning robot in the direction corresponding to this distance sensor. Then, the cleaning robot can move in this direction, and thus the direction from the center of the robot body to the distance sensor corresponding to this digital signal is used as the movable direction.

[0145] In some embodiments, the number of distance sensors is two. The two distance sensors are respectively arranged at the first end and the second end of the mounting bracket. Controlling the cleaning robot to adjust its posture along the direction from the center of the robot body to each distance sensor includes: controlling the rotating device to be in a fixed state and the adsorbing device to be in a disengaged state; controlling the rotating device to drive the disengaged adsorbing device and the mounting bracket to move relative to the object to be cleaned along the direction from the first end to the second end.

[0146] In some embodiments, the number of distance sensors is two. The two distance sensors are respectively arranged at the first end and the second end of the mounting bracket. Controlling the cleaning robot to adjust its posture along the direction from the center of the robot body to each distance sensor includes: controlling the rotating device to be in a fixed state and the adsorbing device to be in a disengaged state; controlling the rotating device to drive the disengaged adsorbing device and the mounting bracket to move relative to the object to be cleaned along the direction from the second end to the first end.

[0147] In some embodiments, the number of distance sensors is four. The four distance sensors are respectively arranged at the first end, the second end of the mounting bracket, and the ends of the two cleaning mechanisms far away from the mounting bracket. Controlling the cleaning robot to adjust its posture along the direction from the center of the robot body to each distance sensor includes: controlling the rotating device to be in a fixed state and the adsorbing device to be in a disengaged state; controlling the rotating device to drive the disengaged adsorbing device and the mounting bracket to rotate 90° relative to the object to be cleaned; controlling the rotating device to drive the disengaged adsorbing device and the mounting bracket to move relative to the object to be cleaned along the direction from the first end to the second end.

[0148] In some embodiments, the number of distance sensors is four. The four distance sensors are respectively arranged at the first end and the second end of the mounting bracket, and at the ends of the two cleaning mechanisms away from the mounting bracket. Controlling the attitude adjustment of the cleaning robot in the directions pointing from the center of the robot body to each distance sensor includes: controlling the rotating device to be in a fixed state and the adsorption device to be in a disengaged state; controlling the rotating device to drive the disengaged adsorption device and the mounting bracket to rotate 90° relative to the object to be cleaned; controlling the rotating device to drive the disengaged adsorption device and the mounting bracket to move relative to the object to be cleaned in the direction from the second end to the first end.

[0149] Optionally, before controlling the attitude adjustment of the cleaning robot, obtaining the movable directions of the cleaning robot on the surface of the object to be cleaned further includes: correcting the obtained image of the surface of the object to be cleaned to obtain a target image; the image of the surface of the object to be cleaned is the image of the surface of the object to be cleaned in the current advancing direction of the cleaning robot; identifying the target image to obtain a target reference line; determining the offset angle of the cleaning robot according to the target reference line; controlling the cleaning robot to rotate the offset angle so that the axis of the advancing direction of the cleaning robot is parallel to the target reference line.

[0150] In this embodiment, the image of the surface of the object to be cleaned can be acquired by a camera arranged on the mounting surface. In this embodiment, it is possible to collect the image of the surface of the object to be cleaned in the current traveling direction of the cleaning robot (i.e., the image of the surface of the object to be cleaned), and then identify the corrected image of the surface of the object to be cleaned (i.e., the target image) to obtain a target reference line, determine the offset angle of the current traveling direction of the cleaning robot relative to the target reference line, and further control the robot to rotate the offset angle so that the axis of the advancing direction of the cleaning robot is parallel to the target reference line, realizing the attitude adjustment of the cleaning robot, so as to determine the movable direction and generate the first movement route subsequently.

[0151] In this embodiment, by correcting the image of the surface of the object to be cleaned, visual errors caused by factors such as camera angle, light change or image distortion are eliminated, so as to obtain a clear and accurate target image, ensuring the accurate recognition of the surface of the object to be cleaned by the cleaning robot and further improving the attitude adjustment accuracy of the cleaning robot. In addition, the embodiments of the present disclosure are not limited by external factors such as the surface type, layout or environmental light conditions of the object to be cleaned, and have wide adaptability and flexibility.

[0152] Optionally, generating a plurality of first movement routes according to the preset traveling rules and movable directions of the cleaning robot includes: obtaining the cleaning width of the cleaning robot; generating a plurality of first movement routes according to the preset traveling rules, movable directions and cleaning width of the cleaning robot.

[0153] In this embodiment, the cleaning width of the cleaning robot refers to the width of the surface of the object to be cleaned that the cleaning robot can cover during one movement. The preset movement rule is the basic behavior criterion that the cleaning robot follows when performing the cleaning task (such as avoiding repeated cleaning, walking in a "zigzag" route, preferentially cleaning areas with more dust accumulation, etc.). Combining the cleaning width, the preset movement rule, and the movable direction, multiple potential first movement routes are generated to obtain multiple movement routes that meet the requirements, the actual physical characteristics of the cleaning robot, and the current environment and conditions.

[0154] Optionally, according to the preset movement rule, the movable direction, and the cleaning width of the cleaning robot, multiple first movement routes are generated, including: obtaining the current position of the cleaning robot; determining multiple coordinate points on the surface of the object to be cleaned according to the preset movement rule, the movable direction, and the cleaning width of the cleaning robot; and generating the first movement route based on the current position and the coordinate points.

[0155] In this embodiment, the current position of the cleaning robot on the surface of the object to be cleaned can be obtained first. The current position of the cleaning robot can be realized by a positioning system (such as GPS or inertial navigation system) built in the cleaning robot. The surface of the object to be cleaned includes multiple positioning points (such as the grid line intersection points on the photovoltaic panel). According to the preset movement rule, the movable direction, and the cleaning width of the cleaning robot, multiple coordinate points on the surface of the object to be cleaned are determined from the positioning points. These coordinate points are the positions that the cleaning robot may reach when performing the cleaning task. A path planning algorithm (such as breadth-first search algorithm, Dijkstra algorithm, ant colony algorithm, etc.) can be used to determine multiple coordinate points from the positioning points, and after obtaining the coordinate points, with the current position as the starting point, the first movement route is further generated based on the path planning algorithm.

[0156] Exemplarily, the preset movement rule is to avoid repeated cleaning and walk in a "zigzag" route. Then, along the movable direction, multiple positioning points (grid line intersection points) are extracted in a "zigzag" route, and the distance between two adjacent positioning points perpendicular to the movable direction is equal to the cleaning width. The positioning points that meet the above conditions are used as the coordinate points, and then the Dijkstra algorithm is used to generate the first movement route with the current position as the starting point.

[0157] Optionally, the physical parameter includes the remaining battery power. According to the physical parameter of the cleaning robot, the target movement route is determined from multiple first movement routes, including: respectively determining the cleanable distance corresponding to the remaining battery power when the cleaning robot moves along each first movement route; and taking the first movement route corresponding to the maximum cleanable distance as the target movement route.

[0158] In this embodiment, for each first movement route, first determine the cleanable distance that the remaining power can support during the movement along the first movement route, and select the first movement route corresponding to the maximum cleanable distance as the target movement route, so as to make the best use of the remaining power of the cleaning robot, enable the cleaning robot to complete more cleaning tasks with limited power, and improve the cleaning efficiency.

[0159] Optionally, to respectively determine the cleanable distance corresponding to the remaining power during the movement of the cleaning robot along each first movement route, it includes: obtaining the inclination angle of the surface of the object to be cleaned; determining the cleaning energy consumption of the cleaning robot according to the inclination angle of the surface of the object to be cleaned; calculating the cleanable distance corresponding to the remaining power during the movement of the cleaning robot along the first movement route according to the cleaning energy consumption.

[0160] In this embodiment, through pre-experiment, the energy consumption of the cleaning robot under different inclination angles of the surface of the object to be cleaned and different sections (such as uphill, downhill or moving along a fixed horizontal height) has been measured, and a corresponding table between the inclination angle and the energy consumption has been formed. The inclination angle of the surface of the object to be cleaned can be obtained through a sensor or preset information. After obtaining the inclination angle of the surface of the object to be cleaned, the energy consumption of the cleaning robot in different sections can be determined by looking up the corresponding table between the inclination angle and the energy consumption, and then combined with the first movement route to calculate the cleanable distance that the remaining power can support. In this embodiment, the inclination angle of the surface of the object to be cleaned is comprehensively considered for calculating the cleanable distance, which improves the accuracy of the cleanable distance calculation and further improves the accuracy of the target movement route determination.

[0161] Optionally, taking the first movement route corresponding to the maximum cleanable distance as the target movement route includes: in the case where the number of the maximum cleanable distances is one, taking the first movement route corresponding to the maximum cleanable distance as the target movement route; in the case where the number of the maximum cleanable distances is multiple, taking the first movement routes corresponding to the multiple maximum cleanable distances as the second movement routes; obtaining the initial forward direction of the cleaning robot corresponding to each second movement route; obtaining the coverage rate of the surface of the object to be cleaned in the initial forward direction; taking the second movement route corresponding to the initial forward direction with the maximum coverage rate as the target movement route.

[0162] In this embodiment, when the number of the maximum cleanable distances is multiple, for each second movement route, its initial forward direction can be determined, that is, the traveling direction of the cleaning robot when starting to execute this route (the movable direction corresponding to this second movement route). Further, the coverage rate of the surface of the object to be cleaned in the initial forward direction is obtained. The coverage rate refers to the degree to which the surface of the object to be cleaned is blocked (such as by dust, leaves, etc.). By selecting the second movement route corresponding to the initial forward direction with the maximum coverage rate as the target movement route, the area with more accumulated stains can be preferentially cleaned, so as to improve the cleaning efficiency and effect and the power generation efficiency of the photovoltaic system.

[0163] Optionally, obtaining the coverage rate of the surface of the object to be cleaned in the initial forward direction includes: correcting the obtained image of the surface of the object to be cleaned to obtain a target image; the image of the surface of the object to be cleaned is the image of the surface of the object to be cleaned in the current forward direction of the cleaning robot (in this embodiment, the current forward direction of the cleaning robot is the same as the initial forward direction); calculating the similarity between the target image and the pre-saved panel image; taking the reciprocal of the similarity as the coverage rate of the surface of the object to be cleaned.

[0164] In this embodiment, a panel image is pre-saved, that is, a clear and unobstructed image of the surface of the object to be cleaned is used as a reference. The panel image represents the "ideal state" of the surface of the object to be cleaned. In this embodiment, the image of the surface of the object to be cleaned captured can be corrected first to obtain a target image, so as to eliminate image distortion caused by factors such as shooting angle and light, and obtain a more accurate and clear target image. After acquiring and correcting the current image of the surface of the object to be cleaned, the similarity between the target image and the pre-saved panel image is calculated by using image processing techniques (such as feature matching, template matching, etc.). The higher the similarity, the closer the target image is to the panel image, that is, the lower the coverage rate of the surface of the object to be cleaned; on the contrary, the lower the similarity, the higher the coverage rate. In order to convert the similarity into an intuitive coverage rate index, the reciprocal of the similarity is used as the measure of the coverage rate. In this way, the lower the similarity (that is, the higher the coverage), the larger the value of the coverage rate; the higher the similarity (that is, the lower the coverage), the smaller the value of the coverage rate, so as to make a decision according to the size of the coverage rate. In this embodiment, by using image processing techniques to evaluate the coverage rate of the surface of the object to be cleaned, it is possible to more accurately judge which areas need to be cleaned preferentially, thereby improving the accuracy and efficiency of cleaning.

[0165] Combined with Figure 16 As shown, another mobile control method for a cleaning robot provided by an embodiment of the present disclosure includes:

[0166] S161, the processor obtains the movable direction of the cleaning robot on the surface of the object to be cleaned.

[0167] S162. The processor generates multiple first movement routes according to the preset movement rules and movable directions of the cleaning robot.

[0168] S163. The processor determines a target movement route from the multiple first movement routes according to the physical parameters of the cleaning robot.

[0169] S164. The processor corrects the obtained surface image of the object to be cleaned to obtain a target image.

[0170] The surface image of the object to be cleaned is an image of the surface of the object to be cleaned in the current forward direction of the cleaning robot.

[0171] S165. The processor identifies the target image to obtain a target reference line.

[0172] S166. The processor determines the offset angle of the cleaning robot according to the target reference line.

[0173] S167. The processor controls the cleaning robot to rotate the offset angle so that the cleaning robot moves along the target movement route.

[0174] The movement control method of the cleaning robot provided by the embodiments of the present disclosure can collect in real time the image of the surface of the object to be cleaned in the current forward direction of the cleaning robot (i.e., the surface image of the object to be cleaned), and then identify the corrected surface image of the object to be cleaned (i.e., the target image) to obtain a target reference line, determine the offset angle of the current forward direction of the cleaning robot relative to the target movement route, and further control the cleaning robot to rotate the offset angle to correct the forward direction, so that the cleaning robot moves along the target movement route.

[0175] Optionally, correcting the obtained surface image of the object to be cleaned to obtain a target image includes: slicing the surface image of the object to be cleaned to obtain an effective area image; performing perspective transformation on the effective area image to obtain a target image.

[0176] In this embodiment, the accuracy and efficiency of correcting the surface image of the object to be cleaned can be improved by slicing and perspective transformation of the surface image of the object to be cleaned, and further improve the correction accuracy of the forward direction of the cleaning robot.

[0177] Specifically, by slicing the surface image of the object to be cleaned and reducing unnecessary or blurred image information, the image size can be reduced while reducing computational complexity and improving visual computing speed. In addition, after removing unnecessary or blurred image information, subsequent target image recognition can be more focused on the surface of the object to be cleaned itself, improving the accuracy and reliability of the recognition results. The effective area image is then perspective transformed to eliminate image deformation caused by shooting angle, lens distortion and other factors, so that the image of the surface of the object to be cleaned in the target image is closer to its true shape and size, providing a more accurate image basis for subsequent image recognition and target reference line extraction, thereby further improving the accuracy of correcting the direction of travel of the cleaning robot and improving the accuracy and stability of the cleaning robot's autonomous cruising.

[0178] Optionally, slicing the surface image of the object to be cleaned to obtain an effective area image includes: obtaining an optimal viewing distance from the camera to the surface of the object to be cleaned; determining an effective area of the surface image of the object to be cleaned based on the optimal viewing distance; slicing the surface image of the object to be cleaned, extracting the effective area, and obtaining an effective area image.

[0179] The optimal viewing distance from the camera to the surface of the object to be cleaned depends on the focal length and resolution of the camera, as well as the size and layout of the surface of the object to be cleaned, etc. Therefore, the optimal viewing distance from the camera to the surface of the object to be cleaned needs to be obtained by a technician based on actual product equipment experimental measurement. In the disclosed embodiment, the optimal viewing distance from the camera to the surface of the object to be cleaned can be stored in a memory during the factory delivery of the cleaning robot, or can be obtained by a technician in actual application after experimental measurement and input.

[0180] In this embodiment, the effective area of the surface image of the object to be cleaned is determined according to the optimal viewing distance to ensure that the image of the effective area is neither too blurred (the viewing distance is too far) nor too distorted (the viewing distance is too close), so as to obtain the clearest regional image, improve the quality of the effective area image, and improve the accuracy of target reference line extraction, thereby further improving the accuracy of correcting the direction of travel of the cleaning robot and improving the accuracy and stability of the autonomous cruising of the cleaning robot. After determining the effective area, the surface image of the object to be cleaned is sliced, and only the image data in the effective area is retained, while other areas (such as background, border, blurred area or distorted area, etc.) are eliminated, so as to reduce the amount of data that needs to be processed by the subsequent image processing algorithm, improve the processing speed, and reduce the consumption of computing resources.

[0181] In addition, since the embodiment of the present disclosure can combine the optimal viewing distance from the camera to the surface of the object to be cleaned and automatically extract the effective area, the cleaning robot's adaptability to different scenarios is enhanced, making the cleaning robot more flexible and reliable in practical applications, further improving the cleaning robot's wide adaptability and flexibility.

[0182] Optionally, according to the optimal viewing distance, determine the effective area of the surface image of the object to be cleaned, including: along the length direction of the surface image of the object to be cleaned, determine the starting position of the effective area according to the optimal viewing distance; along the length direction of the surface image of the object to be cleaned, determine the ending position of the effective area according to the optimal viewing distance; and take the area between the starting position and the ending position as the effective area.

[0183] In this embodiment, it is possible to determine the starting position and the ending position of the effective area respectively according to the optimal viewing distance along the length direction of the surface image of the object to be cleaned, and then take the image area between these two positions as the effective area, realizing the rapid extraction of the effective area. In addition, the method for determining the effective area in this embodiment can adapt to the surface images of objects to be cleaned with different sizes, layouts and angles, further improving the wide adaptability and flexibility of the cleaning robot.

[0184] In some embodiments, in combination with Figure 17 as shown, determine the starting position X of the effective area in the following manner s : where d represents the optimal viewing distance from the camera to the surface of the object to be cleaned, β represents the angle between the principal optical axis of the camera and the plane where the surface of the object to be cleaned is located, and a and m represent correction parameters.

[0185] Among them, 30° ≤ β ≤ 60°. Exemplarily, the value of β is 30°, 45° or 60°.

[0186] In this embodiment, the correction parameter m represents the fixed offset (or safety margin) from the edge of the camera's field of view to the starting position of the effective area, and the correction parameter a represents the area adjustment description of the effective area. By increasing a, the area of the effective area can be increased, and by decreasing a, the area of the effective area can be decreased. In this embodiment, the optimal viewing distance d from the camera to the surface of the object to be cleaned and the angle β between the principal optical axis of the camera and the plane where the surface of the object to be cleaned is located are comprehensively considered. Through the cosβ factor, the optimal viewing distance is projected onto the plane where the surface of the object to be cleaned is located, and then the starting position X of the effective area is determined according to the correction parameters a and m s .

[0187] In some embodiments, in combination with Figure 17 as shown, determine the ending position X of the effective area in the following manner f : where d represents the optimal viewing distance of the camera, β represents the angle between the principal optical axis of the camera and the plane where the surface of the object to be cleaned is located, and a and m represent correction parameters.

[0188] In this embodiment, the optimal viewing distance d from the camera to the surface of the object to be cleaned and the angle β between the principal optical axis of the camera and the plane where the surface of the object to be cleaned is located are comprehensively considered. Through the cosβ factor, the optimal viewing distance is projected onto the plane where the surface of the object to be cleaned is located, and then the end position X of the effective area is determined according to the correction parameters a and m. f .

[0189] It should be noted that the angle β between the principal optical axis of the camera and the plane where the surface of the object to be cleaned is located, and the correction parameters a and m depend on the actual product device. Therefore, the angle β, and the correction parameters a and m need to be measured by technicians according to the actual product device. In the embodiments of the present disclosure, the angle β, and the correction parameters a and m can be stored in the memory during the factory process of the cleaning robot, or can be input and obtained by technicians after measurement during actual application.

[0190] Among them, 30° ≤ β ≤ 60°. Exemplarily, the value of β is 30°, 45°, or 60°.

[0191] Optionally, performing a perspective transformation on the effective area image to obtain a target image includes: performing a perspective transformation on the effective area image using a transformation matrix to obtain the target image.

[0192] In this embodiment, a transformation matrix is pre-saved, and the transformation matrix describes the mapping relationship between the distorted image (i.e., the effective area image) and the desired undistorted image (i.e., the target image). The transformation matrix is used to perform a perspective transformation on the effective area image to facilitate the quickly corrected target image.

[0193] Specifically, the perspective transformation of the effective area image using the transformation matrix M is performed in the following manner:

[0194]

[0195] Among them, the transformation matrix (X, Y, Z) represents the pixel coordinates of the target image after perspective transformation. (x, y, 1) represents the pixel coordinates of the effective area image before perspective transformation. Since in the embodiments of the present disclosure, the processed image is a two-dimensional image, therefore, Z represents the scaling scale between the corresponding pixels.

[0196] When Z = 1, it means that the scaling scale between the corresponding pixels is 1. Defining the pixel of the target image after perspective transformation as (X′, Y′, 1) to reduce the image from three dimensions to two dimensions, the following equation can be obtained:

[0197]

[0198] Let a 33 = 1, expand the above equation, and obtain the transformation relationship between the corresponding pixels as follows:

[0199]

[0200] When the transformation matrix M is known, the transformation relationship between corresponding pixel points can be obtained.

[0201] In some embodiments, the transformation matrix is obtained in the following manner: controlling the cleaning robot to move along the stripe direction of the calibration board, and collecting an image of the calibration board in the current traveling direction of the cleaning robot; identifying the calibration board image to obtain a plurality of diagonal points on the calibration board and the pixel position coordinates of each diagonal point; substituting the pixel position coordinates of each diagonal point and its corresponding actual pixel position coordinates into the transformation relationship formula between corresponding pixel points, and solving the simultaneous equations to obtain the transformation matrix.

[0202] In this embodiment, the calibration board is an experimental board with a regular pattern on its surface, which is used for experimental determination in the design process of the cleaning robot. In this embodiment, the calibration board has the same regular pattern lines as the surface of the object to be cleaned (such as stripes with the same arrangement as the grid lines of the photovoltaic panel). By controlling the cleaning robot to move along the line direction of the calibration board, the movement of the cleaning robot on the surface of the object to be cleaned is simulated. Furthermore, an image of the calibration board in the current traveling direction of the cleaning robot is collected to simulate the image of the surface of the object to be cleaned actually collected. After obtaining the calibration board image, a plurality of diagonal points on the calibration board and the pixel position coordinates of each diagonal point can be obtained through the findChessboardCorners() function provided by a computer vision library (such as OpenCV). Since the calibration board is a known experimental board, the actual position coordinates of each pixel point in its top view state (under the perspective transformation view) are known. By substituting the pixel position coordinates of each diagonal point and its corresponding actual pixel position coordinates into the above transformation relationship formula between corresponding pixel points and solving the simultaneous equations, the transformation matrix can be obtained.

[0203] In this embodiment, the transformation matrix is obtained through pre-experimental determination and saved to improve the reliability, accuracy, and transformation rate of the perspective transformation of the image of the surface of the object to be cleaned during actual application.

[0204] In actual application, functions provided by a computer vision library (such as OpenCV) can also be used to calculate the perspective transformation matrix.

[0205] Optionally, identifying the target image to obtain a target reference line includes: identifying the target image to obtain a plurality of detection points; screening the plurality of detection points to obtain target detection points; and performing linear fitting on the target detection points to obtain the target reference line.

[0206] In this embodiment, multiple feature points (such as grid line intersection points, edge points, corner points, texture feature points, etc.) that can represent the position of the robot can be obtained by recognizing the target image as detection points. After identifying multiple detection points, screening is first performed to identify the target detection points, reducing the computational amount in the subsequent straight line fitting process, improving the fitting efficiency of the target reference line, and improving the travel direction correction efficiency and travel efficiency of the robot.

[0207] Optionally, recognizing the target image to obtain multiple detection points includes: calculating the similarity between a preset template and each region in the target image; taking the region with a similarity greater than the similarity threshold as the target region; outputting the pixel positions of the target region to obtain multiple detection points.

[0208] In this embodiment, a preset template is pre-saved. The preset template is a feature map of known feature points on the surface of the object to be cleaned, such as a feature map of grid line intersection points, a feature map of edge points, a feature map of corner points, a feature map of texture feature points, etc.

[0209] In this embodiment, the preset template can be compared with each region in the target image through the cv2.matchTemplate() function in the OpenCV library, that is, the similarity between the preset template and each region in the target image is calculated through template matching to obtain the similarity measure between the preset template and each region in the target image. Then, the obtained similarity measure is compared with the preset similarity threshold. When the similarity is greater than the similarity threshold, it indicates that the region corresponding to the similarity has a high similarity with the preset template, and this region is very likely to be the desired feature point region. Therefore, the region with a similarity greater than the similarity threshold is used as the target region and the pixel positions of the target region are output to obtain the coordinates of the desired feature points, that is, the detection points.

[0210] In this embodiment, the accurate extraction of multiple detection points is realized through template matching and similarity threshold comparison. By using the anti-interference ability of the template matching algorithm and the variability of the preset template, the robustness and flexibility of the control method are improved, thereby improving the reliability and wide applicability of the cleaning robot.

[0211] Optionally, screening multiple detection points to obtain target detection points includes: determining a first detection point from multiple detection points; calculating the distance from non-first detection points to the first detection point; the non-first detection points are other detection points among the multiple detection points except the first detection point; taking the two non-first detection points closest to the first detection point and the first detection point as the target detection points.

[0212] In this embodiment, after obtaining multiple detection points, first select one point from the multiple detection points as a reference, that is, the first detection point. This selection can be random or based on a specific criterion (such as position, brightness, contrast, etc.). After selecting the first detection point, calculate the distances from all non-first detection points (i.e., all detection points except the first detection point) among the multiple detection points to the first detection point. Further, take the two non-first detection points closest to the first detection point and the first detection point as target detection points to form a small set including only three points for subsequent target reference line fitting, further reducing the computational amount in the straight line fitting process, improving the efficiency of target reference line fitting, and improving the travel direction correction efficiency and travel efficiency of the cleaning robot.

[0213] In practical applications, the least squares method can be used to perform linear fitting on the target detection points to obtain the target reference line; or the fitLine function of an image processing library (such as OpenCV) can be used to perform linear fitting.

[0214] Optionally, according to the target reference line, determine the offset angle of the cleaning robot, including: according to the target reference line, determine the travel reference line; calculate the included angle between the target reference line and the travel reference line to obtain the offset angle of the cleaning robot.

[0215] In this embodiment, the target reference line is a linear representation of the preset travel direction of the cleaning robot, that is, a linear representation of the ideal direction that the cleaning robot should face or follow. The travel reference line is a linear representation of the current actual travel direction of the cleaning robot. The embodiments of the present disclosure can determine the travel reference line of the cleaning robot according to the target reference line, that is, the current actual travel direction of the cleaning robot, and then calculate the included angle between the target reference line and the travel reference line to obtain the deviation between the current orientation of the cleaning robot and the preset travel direction, that is, the offset angle, to accurately obtain the offset angle and achieve the correction of the travel direction of the cleaning robot.

[0216] Optionally, determine the travel reference line in the following manner: taking the acquisition direction of the surface image of the object to be cleaned as the vertical axis, establish a rectangular coordinate system; if the target reference line is Y = kX + b, then the travel reference line is X = b; where k represents the slope of the target reference line and b represents the intercept of the target reference line.

[0217] In this embodiment, since the image of the surface of the object to be cleaned is the image of the surface of the object to be cleaned in the current traveling direction of the cleaning robot, the acquisition direction of the image of the surface of the object to be cleaned can be understood as the current traveling direction of the cleaning robot. After obtaining the image of the surface of the object to be cleaned, a rectangular coordinate system is established with the acquisition direction of the image of the surface of the object to be cleaned as the vertical axis. And the target reference line is converted into the form of Y = kX + b, then the traveling reference line is X = b. Since the vertical axis is the acquisition direction of the image of the surface of the object to be cleaned, that is, the current traveling direction of the cleaning robot, using X = b (a straight line parallel to the vertical axis) can represent the current traveling direction of the cleaning robot. It realizes representing the current traveling direction of the cleaning robot by a linear equation.

[0218] In practical applications, the calculation of the angle between the target reference line and the traveling reference line can be achieved by the dot product and the modulus length between the vectors represented by the target reference line and the traveling reference line, or by directly comparing the direction vectors of the target reference line and the traveling reference line. In this embodiment, the obtained offset angle can be positive or negative, specifically depending on whether the cleaning robot deviates to the left or right from the preset traveling direction. Exemplarily, when the offset angle is positive, it means that the cleaning robot deviates to the right from the preset traveling direction. When the offset angle is negative, it means that the cleaning robot deviates to the left from the preset traveling direction.

[0219] Optionally, controlling the cleaning robot to rotate by the offset angle includes: controlling the rotating device to be in a fixed state; controlling the adsorption device to be in a detached state; controlling the rotating device to rotate by the offset angle to drive the adsorption device and the mounting bracket to rotate by the offset angle relative to the object to be cleaned.

[0220] In this embodiment, by first controlling the rotating device to be in a fixed state and then controlling the adsorption device to be in a detached state, the rotating device is fixed to the surface of the object to be cleaned, while the adsorption device is detached from the surface of the object to be cleaned. At this time, controlling the rotating device to rotate by the offset angle to drive the adsorption device and the mounting bracket to rotate by the offset angle relative to the object to be cleaned, realizing that the cleaning robot rotates by the offset angle, so that the cleaning robot returns to the preset traveling direction. Among them, the process of controlling the rotation of the rotating device can refer to the description of the cleaning robot structure above, which will not be elaborated here, as long as the rotation angle is the offset angle.

[0221] Optionally, the control method further includes: after the rotating device drives the adsorption device and the mounting bracket to rotate 180° relative to the object to be cleaned, switching the camera connected by the signal transmission.

[0222] In this embodiment, the cleaning robot travels along a preset path. The controller is signal - transmission connected to a camera facing the forward direction of the cleaning robot to ensure that the image received by the controller is of the surface of the object to be cleaned in the current traveling direction of the cleaning robot. When the rotating device drives the adsorption device and the mounting bracket to rotate 180° relative to the object to be cleaned, it indicates that the cleaning robot has "turned around" during straight - line travel. At this time, switch the camera signal - transmission connected to the controller to ensure that the image received by the controller is of the surface of the object to be cleaned in the current traveling direction of the cleaning robot.

[0223] In some embodiments, the cleaning robot includes a distance sensor. The movement control method further includes: obtaining the digital signal output by the distance sensor during the movement of the cleaning robot; analyzing the digital signal to determine the target movement step length of the cleaning robot; controlling the cleaning robot to move according to the target movement step length.

[0224] In this embodiment, the distance between the cleaning robot and the surface of the object to be cleaned is measured in real - time by a distance sensor provided at the first end or the second end of the mounting bracket. During the movement of the cleaning robot, the distance sensor continuously outputs digital signals to characterize the distance between the distance sensor and the surface of the object to be cleaned at the current position of the cleaning robot. By analyzing the digital signals, the target movement step length of the cleaning robot is dynamically calculated to realize real - time adjustment of the movement step length of the cleaning robot, avoid the phenomenon that the cleaning robot falls or gets stuck in a groove during movement on the surface of the object to be cleaned, and improve the safety and reliability of the cleaning robot.

[0225] Optionally, when the digital signal output after the distance sensor detects the object to be cleaned is at a high level, analyzing the digital signal to determine the target movement step length of the cleaning robot includes: when the digital signal changes from high level to low level and the first duration of the low level is greater than the second duration threshold, obtaining the second duration of the high level; calculating the target movement step length of the cleaning robot according to the second duration and the target movement speed; or, when the digital signal changes from high level to low level and then to high level, obtaining the third duration of the high level after the low level changes to high level; calculating the spatial step length according to the third duration and the target movement speed; when the spatial step length is greater than or equal to the step length threshold, taking the maximum movement step length of the cleaning robot as the target movement step length; when the spatial step length is less than the step length threshold, obtaining the fourth duration of the high level before the high level changes to low level; calculating the target movement step length of the cleaning robot according to the fourth duration and the target movement speed.

[0226] In this embodiment, the digital signal output by the distance sensor after detecting the object to be cleaned is at a high level. When the digital signal changes from a high level to a low level, it indicates that the distance sensor does not detect the object to be cleaned, that is, there is no object to be cleaned in the detection direction of the distance sensor. At this time, the cleaning robot reaches the edge of the object to be cleaned or passes through the gap between adjacent objects to be cleaned. Further obtain the first duration of the low level. When the first duration is greater than the second duration threshold, it indicates that the cleaning robot reaches the edge of the object to be cleaned (the object to be cleaned does not continuously exist in the detection direction of the distance sensor). Then, calculate the target movement step of the cleaning robot according to the second duration of the high level and the target movement speed, and calculate the movable range of the cleaning robot to avoid the cleaning robot from falling.

[0227] In this embodiment, when the digital signal changes from a high level to a low level and then to a high level, it indicates that the distance sensor first detects the object to be cleaned, then does not detect the object to be cleaned, and then detects the object to be cleaned again, that is, the object to be cleaned intermittently exists in the detection direction of the distance sensor. At this time, the cleaning robot is passing through the gap between adjacent objects to be cleaned. Further obtain the third duration of the high level after the low level changes to a high level. According to the third duration and the target movement speed, calculate the space step. The space step represents the movable distance of the cleaning robot after crossing the gap. The step threshold is equal to the width of the rotating device along the moving direction of the current cleaning robot (in some embodiments, the step threshold is equal to the diameter of the suction cup of the rotating device). When the space step is greater than or equal to the step threshold, it indicates that the cleaning robot has enough space to land after crossing the gap, and the rotating device will not land in the gap. At this time, take the maximum movement step of the cleaning robot as the target movement step to ensure that the cleaning robot can directly cross the gap. When the space step is less than the step threshold, it indicates that the cleaning robot does not have enough space to land after crossing the gap, and the rotating device is likely to land in the gap. At this time, obtain the fourth duration of the high level before the high level changes to a low level. According to the fourth duration and the target movement speed, calculate the target movement step of the cleaning robot to first move the cleaning robot close to the gap and then cross the gap to ensure that the cleaning robot can stably cross the gap.

[0228] Optionally, when the digital signal output after the distance sensor detects the object to be cleaned is at a low level, analyze the digital signal to determine the target movement step length of the cleaning robot, including: when the digital signal changes from low level to high level and the first duration of the high level is greater than the second duration threshold, obtain the second duration of the low level; calculate the target movement step length of the cleaning robot according to the second duration and the target movement speed; or, when the digital signal changes from low level to high level and then to low level, obtain the third duration of the low level after the high level changes to low level; calculate the space step length according to the third duration and the target movement speed; when the space step length is greater than or equal to the step length threshold, use the maximum movement step length of the cleaning robot as the target movement step length; when the space step length is less than the step length threshold, obtain the fourth duration of the low level before the low level changes to high level; calculate the target movement step length of the cleaning robot according to the fourth duration and the target movement speed.

[0229] In this embodiment, the digital signal output after the distance sensor detects the object to be cleaned is at a low level. When the digital signal changes from low level to high level, it indicates that the distance sensor does not detect the object to be cleaned, that is, there is no object to be cleaned in the detection direction of the distance sensor. At this time, the cleaning robot reaches the edge of the object to be cleaned or passes through the gap between adjacent objects to be cleaned. Further obtain the first duration of the low level. When the first duration is greater than the second duration threshold, it indicates that the cleaning robot reaches the edge of the object to be cleaned at this time (the object to be cleaned does not exist continuously in the detection direction of the distance sensor). Then calculate the target movement step length of the cleaning robot according to the second duration of the high level and the target movement speed, and calculate the movable range of the cleaning robot to avoid the cleaning robot from falling.

[0230] In this embodiment, when the digital signal changes from low level to high level and then to low level, it indicates that the distance sensor first detects the object to be cleaned, then fails to detect the object to be cleaned, and then detects the object to be cleaned again. That is, there is an object to be cleaned intermittently in the detection direction of the distance sensor. At this time, the cleaning robot is passing through the gap between adjacent objects to be cleaned. Further obtain the third duration of the low level after the high level changes to low level, and calculate the spatial step size according to the third duration and the target moving speed. The spatial step size represents the movable distance of the cleaning robot after crossing the gap. When the spatial step size is greater than or equal to the step size threshold, it indicates that the cleaning robot has enough space to land after crossing the gap, and the rotating device will not land in the gap. At this time, take the maximum moving step size of the cleaning robot as the target moving step size to ensure that the cleaning robot can directly cross the gap. When the spatial step size is less than the step size threshold, it indicates that the cleaning robot does not have enough space to land after crossing the gap, and the rotating device is very likely to land in the gap. At this time, obtain the fourth duration of the low level before the low level changes to high level, and calculate the target moving step size of the cleaning robot according to the fourth duration and the target moving speed, so as to first move the cleaning robot close to the gap and then cross the gap to ensure that the cleaning robot can stably cross the gap.

[0231] Optionally, controlling the cleaning robot to move according to the target moving step size includes: controlling the rotating device to be in a fixed state; controlling the adsorption device to be in a disengaged state; controlling the rotating device to drive the adsorption device and the mounting bracket to move the target moving step size relative to the object to be cleaned.

[0232] In this embodiment, by first controlling the rotating device to be in a fixed state and then controlling the adsorption device to be in a disengaged state, the rotating device is fixed on the surface of the object to be cleaned, while the adsorption device is disengaged from the surface of the object to be cleaned. At this time, control the rotating device to drive the adsorption device and the mounting bracket to move the target moving step size relative to the object to be cleaned, so as to control the cleaning robot to move according to the target moving step size.

[0233] It should be noted that the specific values of the first duration threshold and the second duration threshold need to be specifically set by technicians according to the actual product equipment, and this application does not make any limitations.

[0234] The embodiments of the present disclosure provide a computer-readable storage medium storing computer-executable instructions, and the computer-executable instructions are configured to execute the above-mentioned mobile control method of the cleaning robot.

[0235] The technical solution of the embodiments of the present disclosure can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present disclosure. The aforementioned storage medium may be a non-transitory storage medium, for example: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0236] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner can depend on the specific application and design constraints of the technical solution. The skilled person can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the embodiments of the present disclosure. The skilled person can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0237] In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units can be merely a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in an electrical, mechanical, or other form. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. Additionally, in the embodiments of the present disclosure, the various functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0238] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code, which contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functionality involved. In the descriptions corresponding to the flowcharts and block diagrams in the accompanying drawings, the operations or steps corresponding to different blocks may also occur in a different order than disclosed in the description, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functionality involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A mobile control method for a cleaning robot, characterized in that, Including: Obtain the movable direction of the cleaning robot on the surface of the object to be cleaned; Generate a plurality of first movement routes according to the preset movement rules and the movable direction of the cleaning robot; Determine the target movement route from the plurality of first movement routes according to the physical parameters of the cleaning robot; Control the cleaning robot to move according to the target movement route.

2. The mobile control method according to claim 1, wherein The cleaning robot includes a distance sensor; obtaining the movable direction of the cleaning robot on the surface of the object to be cleaned includes: Control the cleaning robot to adjust its posture, and obtain the digital signal during the posture adjustment of the cleaning robot output by the distance sensor; Analyze the digital signal to determine the movable direction of the cleaning robot on the surface of the object to be cleaned.

3. The mobile control method according to claim 2, characterized in that The number of distance sensors is multiple, and the multiple distance sensors are arranged at intervals along the circumferential direction of the cleaning robot; controlling the cleaning robot to adjust its posture and obtaining the digital signal during the posture adjustment of the cleaning robot output by the distance sensor includes: Respectively control the cleaning robot to adjust its posture in the direction from the center of the robot body to each distance sensor, and obtain the digital signal during the posture adjustment of the cleaning robot output by the distance sensor.

4. The mobile control method according to claim 3, wherein Analyzing the digital signal to determine the movable direction of the cleaning robot on the surface of the object to be cleaned includes: When the digital signal output by the distance sensor detecting the object to be cleaned is at a high level, obtain the high-level occupancy duration in the digital signal; when the high-level occupancy duration is greater than the first duration threshold, use the direction from the center of the robot body to the distance sensor corresponding to the digital signal as the movable direction; or, When the digital signal output by the distance sensor detecting the object to be cleaned is at a low level, obtain the low-level occupancy duration in the digital signal; when the low-level occupancy duration is greater than the first duration threshold, use the direction from the center of the robot body to the distance sensor corresponding to the digital signal as the movable direction.

5. The mobile control method according to any one of claims 1 to 4, characterized in that, Generating a plurality of first movement routes according to the preset movement rules and the movable direction of the cleaning robot includes: Obtain the cleaning width of the cleaning robot; Generate a plurality of first movement routes according to the preset movement rules, the movable direction and the cleaning width of the cleaning robot.

6. The mobile control method according to any one of claims 1 to 4, characterized in that The physical parameters include the remaining battery power; determining the target movement route from the plurality of first movement routes according to the physical parameters of the cleaning robot includes: Respectively determine the cleanable distance corresponding to the remaining battery power during the movement of the cleaning robot according to each first movement route; Use the first movement route corresponding to the maximum cleanable distance as the target movement route.

7. The mobile control method according to claim 6, characterized in that, Using the first movement route corresponding to the maximum cleanable distance as the target movement route includes: When the number of the maximum cleanable distances is one, use the first movement route corresponding to the maximum cleanable distance as the target movement route; When the number of the maximum cleanable distances is multiple, use the first movement routes corresponding to the multiple maximum cleanable distances as the second movement routes; obtain the initial forward direction of the cleaning robot corresponding to each second movement route; obtain the coverage rate of the surface of the object to be cleaned in the initial forward direction; use the second movement route corresponding to the initial forward direction with the maximum coverage rate as the target movement route.

8. The mobile control method according to any one of claims 1 to 4, characterized in that, Controlling a cleaning robot to move along a target movement route, including: Rectifying the surface image of the object to be cleaned obtained to obtain a target image; the surface image of the object to be cleaned is the image of the surface of the object to be cleaned in the current forward direction of the cleaning robot; Identifying the target image to obtain a target reference line; Determining the deviation angle of the cleaning robot according to the target reference line; Controlling the cleaning robot to rotate by the deviation angle so that the cleaning robot moves along the target movement route.

9. A mobile control device for a cleaning robot, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to execute the movement control method of the cleaning robot according to any one of claims 1 to 8 when running the program instructions.

10. A cleaning robot, characterized in that, Including: The robot body; The movement control device of the cleaning robot according to claim 9, installed on the robot body.

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