Self-cleaning method of robot, robot and storage medium

Abstract

The invention discloses a self-cleaning method of a robot, the robot and a storage medium, and relates to the technical field of robots. The self-cleaning method of the robot comprises the steps that a protection assembly of the robot is detected, real-time state information of the protection assembly is obtained, and the real-time state information comprises a pressure value, light reflection intensity, a light reflection angle or a real-time image of the protection assembly; according to the real-time state information, the scrap accumulation state of the protection assembly is determined; according to the scrap accumulation state, whether the protection assembly needs to be cleaned or not is determined; if the protection component needs to be cleaned, generating a self-cleaning instruction; and in response to the self-cleaning instruction, controlling the robot to be switched to a cleaning mode for self-cleaning. According to the robot provided by the invention, the chippings adhered to the protection assembly can be automatically cleaned, so that the frequency of manual maintenance is reduced, and the service life of the robot is prolonged.

Description

[0001] This application is a divisional application with application number 202510133529.9, application date February 6, 2025, and invention name “Self-cleaning method of robot, robot and storage medium”. Technical Field

[0002] The present application relates to the field of robotics technology, and in particular to a robot self-cleaning method, a robot, and a computer-readable storage medium. Background Art

[0003] When the robot is in use, its bottom is easily caught in the debris generated during cutting, causing the debris to accumulate on the inside of the cutting disc of the cutting component. If it is not processed for a long time, the debris will hinder the rotation of the cutter disc, causing the cutter disc to be unable to rotate normally, affecting the normal operation of the robot, and even causing the cutter disc to get stuck, reducing the service life of the robot. Summary of the Invention

[0004] The present application provides a robot self-cleaning method, a robot, and a computer-readable storage medium, which can self-clean debris adhering to a protective component, thereby reducing the frequency of manual maintenance and extending the service life of the robot.

[0005] In a first aspect, an embodiment of the present application provides a self-cleaning method for a robot, the method comprising:

[0006] Get self-cleaning instructions;

[0007] In response to the self-cleaning instruction, controlling the protective component of the robot to adjust to a cleaning height in contact with the target object;

[0008] The robot is controlled to move so that the target object contacts the protection component to clean debris on the protection component.

[0009] In the second aspect, an embodiment of the present application also provides a robot, which includes a body, a cutting mechanism, and a protective component. The cutting mechanism includes a cutting component and a driving component. The driving component is transmission-connected to the cutting component and is used to drive the cutting component to cut the object to be cut. The protective component is arranged at the bottom of the body and forms a accommodating structure. The accommodating structure is used to partially cover the cutting component, and the working part of the cutting component is exposed and is used to cut the object to be cut; the robot also includes a memory and a processor; the memory is used to store a computer program; the processor is used to implement the self-cleaning method of the robot as described above when executing the computer program.

[0010] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the self-cleaning method of the robot as described above is implemented.

[0011] The embodiments of the present application provide a robot self-cleaning method, a robot, and a computer-readable storage medium. The present application obtains a self-cleaning instruction; in response to the self-cleaning instruction, controls the robot's protective component to adjust to a cleaning height where it contacts a target object; and controls the robot to move so that the target object contacts the protective component to clean debris from the protective component. This allows the protective component to move up and down to self-clean debris from the bottom of the machine body, reducing the complexity of debris cleaning and improving the efficiency of debris cleaning. This allows the protective component to promptly clean debris from the protective component, allowing it to prevent debris generated by the cutting component from entering the cutting component, thereby preventing excessive debris from accumulating in the cutting component and causing the cutting component to malfunction. This reduces the frequency of manual maintenance and extends the service life of the robot.

[0012] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0014] Figure 1 This is a schematic structural diagram of a self-propelled robot provided in one embodiment of the present application;

[0015] Figure 2 yes Figure 1 Schematic diagram of the self-propelled robot from another angle;

[0016] Figure 3 yes Figure 1 A schematic cross-sectional view of the self-propelled robot in FIG. 1 , wherein the protective component is in the highest position;

[0017] Figure 4 yes Figure 1 A schematic cross-sectional view of the self-propelled robot in FIG, wherein the protective component is in the lowest position;

[0018] Figure 5 yes Figure 1 Exploded diagram of the self-propelled robot in FIG;

[0019] Figure 6 yes Figure 5 Exploded diagram of the drive assembly and cutting assembly;

[0020] Figure 7 yes Figure 5 Schematic diagram of the structure of the protection component in;

[0021] Figure 8 yes Figure 5 Another schematic diagram of the protection components in;

[0022] Figure 9 yes Figure 5 A cross-sectional schematic diagram of the protection component in FIG.

[0023] Figure 10 This is a schematic flow chart of the steps of a self-cleaning method for a robot provided in one embodiment of the present application;

[0024] Figure 11 This is a schematic flow chart of the steps of a self-cleaning method for a robot provided in another embodiment of the present application;

[0025] Figure 12 This is a schematic flow chart of the steps of a self-cleaning method for a robot provided in another embodiment of the present application;

[0026] Figure 13 This is a schematic flow chart of the steps of a self-cleaning method for a robot provided in another embodiment of the present application;

[0027] Figure 14 This is a schematic block diagram of the structure of a robot provided in one embodiment of the present application;

[0028] Description of reference numerals:

[0029] 10. Machine body; 11. Vehicle body; 12. Travel assembly; 13. Chassis assembly; 131. Bottom plate; 132. Side panels;

[0030] 20. Cutting mechanism; 21. Cutting assembly; 211. Cutting disc; 2111. First protrusion; 212. Cutting blade; 22. Driving assembly; 221. First driving assembly; 222. Second driving assembly; 223. Driving frame;

[0031] 30. Protection assembly; 31. Protection plate; 311. Accommodation structure; 311a. Recessed structure; 311b. Through-hole structure; 3111. First groove; 3112. Second groove; 312. Cutting surface; 313. Second protrusion; 314. Protection member; 32. Sealing member; 33. Protection frame. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0033] It should also be understood that the terms used in this specification of the present application are only for the purpose of describing specific realities. In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0034] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0035] Before introducing the self-cleaning method of the robot provided in the embodiment of the present application, the structure of the robot provided in the embodiment of the present application is first introduced. The self-cleaning method of the robot provided in the embodiment of the present application is applied to the robot.

[0036] like Figure 1 and Figure 2 As shown, the present application provides a self-propelled robot, comprising a main body 10 and a cutting mechanism 20. The cutting mechanism 20 is disposed at the bottom of the main body 10 and is used to cut objects to be cut. The objects to be cut include, but are not limited to, lawns, gardens, and grass on paths. In other words, the self-propelled robot can cut grass on lawns to ensure the lawn's aesthetics.

[0037] In an optional embodiment, the machine body 10 includes a vehicle body 11 and a traveling assembly 12. The cutting mechanism 20 is arranged at the bottom of the vehicle body 11, and the traveling assembly 12 is arranged on the vehicle body 11 for driving the vehicle body 11 to move forward, so that the vehicle body 11 can drive the cutting mechanism 20 to cut the grass on the lawn along a preset trajectory, thereby greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0038] In an optional embodiment, if Figures 1 to 3 As shown, the machine body 10 includes a chassis assembly 13, which is arranged at the bottom of the vehicle body 11. The cutting mechanism 20 is installed at the lower end of the chassis assembly 13 for cutting the object to be cut.

[0039] In an optional embodiment, if Figures 2 to 4 As shown, the cutting mechanism 20 includes a cutting assembly 21 and a driving assembly 22. The driving assembly 22 is connected to the cutting assembly 21 for driving the cutting assembly 21 to cut the object to be cut, providing cutting power for the cutting assembly 21, greatly reducing manual operation, saving time and effort, and truly freeing people from the labor of lawn maintenance.

[0040] In an optional embodiment, if Figures 2 to 5 As shown, the cutting mechanism 20 also includes a protection component 30, which is arranged on the chassis component 13 and can move up and down relative to the chassis component 13, so that the protection component 30 can be cleaned, reducing the tediousness of debris cleaning and improving the cleaning efficiency.

[0041] In an optional embodiment, a receiving space is formed on a side of the chassis assembly 13 away from the vehicle body 11, and the protective assembly 30 is received in the receiving space. The cutting assembly 21 is disposed on the protective assembly 30 and at least partially extends out of the protective assembly 30 for cutting the material to be cut. The drive assembly 22 is disposed on the side of the protective assembly 30 facing the chassis assembly 13, so that the protective assembly 30 can isolate the drive assembly 22 from the portion of the cutting assembly 21 exposed from the protective assembly 30, thereby preventing debris generated by the cutting assembly 21 from entering the chassis assembly 13. Such debris would not only contaminate the bottom of the chassis assembly 13 and increase the overall weight of the vehicle body 11, but would also affect the normal operation of the drive assembly 22 and even cause the motor of the drive assembly 22 to stall.

[0042] In an optional embodiment, the protective component 30 is adapted to the receiving space so that the side walls of the receiving space can be cleaned when the protective component 30 moves up and down relative to the chassis component 13, which can effectively prevent the accumulation of debris in the receiving space, and can also prevent the cutting component from being blocked by debris accumulated in the receiving space, causing the cutting component to fail to work normally.

[0043] In an optional embodiment, the protective component 30 is arranged to have no gap with the circumference of the receiving space, thereby preventing the debris generated by the cutting component 21 during cutting from entering the chassis component 13, avoiding excessive accumulation of debris in the cutting component 21, affecting the normal operation of the driving component 22, and even causing the motor of the driving component 22 to stall.

[0044] In an optional embodiment, the chassis assembly 13 includes a bottom plate 131 and side panels 132 connected to the four edges of the bottom plate 131. The bottom plate 131 is installed at the bottom of the vehicle body 11. The side panels 132 and the bottom plate 131 enclose a receiving space that is compatible with the protection assembly 30. The protection assembly 30 is received in the receiving space and can clean or scrape the inner wall of the receiving space, so that debris attached to the inner wall of the receiving space can be peeled off from the inner wall surface of the receiving space, avoiding debris from adhering to the inner wall of the receiving space, thereby achieving the technical effect of cleaning the receiving space.

[0045] Illustratively, when the protective component 30 moves toward the side away from the bottom plate 131, the protective component 30 can move within the receiving space relative to the inner wall of the receiving space to scrape and clean the inner wall of the receiving space, thereby peeling off debris attached to the inner wall of the receiving space from the inner wall of the receiving space, preventing debris from accumulating on the inner wall of the receiving space, thereby achieving the technical effect of cleaning the receiving space.

[0046] In an optional embodiment, the side panels 132 can prevent other people from reaching their hands into the cutting assembly 21 through the gap between the robot and the ground when the cutting assembly 21 performs a cutting action, causing them to be cut by the cutting assembly 21; or, when the height of the obstacles on the ground (such as hard obstacles such as stones and iron cans) is greater than the height of the cutting assembly 21 from the ground, the side panels 132 can push the obstacles away when the robot moves, or prevent the obstacles from entering the receiving space, thereby preventing the cutting assembly 21 from colliding with the obstacles and causing damage to the cutting assembly 21.

[0047] After adopting the above technical solution, since the protection component 30 can move up and down relative to the vehicle body 11, it is not only convenient to clean the protection component 30, but also convenient for the protection component 30 to scrape and clean the inner wall of the receiving space, preventing debris from accumulating on the inner wall of the receiving space. In addition, the present application can isolate the drive component 22 from the portion of the cutting component 21 exposed from the protection component 30 through the protection component 30, preventing the debris generated by the cutting component 21 from entering the chassis component 13, thereby soiling the chassis component 13, allowing grass residue to enter the chassis area and entangle the rotating shaft of the cutting component 21, affecting the normal operation of the drive component 22 and causing the motor of the drive component 22 to stall; and it can also clean the debris on the protection component 30, solving the problem of a large amount of debris accumulating at the bottom of the vehicle body 11 and being difficult to clean, saving manpower cleaning consumption, and ensuring that the self-propelled robot is not affected during the lawn mowing process.

[0048] It should be noted that the debris includes but is not limited to grass clippings generated by the robot when mowing the lawn. These grass clippings are easily accumulated at the bottom of the vehicle body 11 when the cutting component 21 cuts, which not only increases the overall weight of the robot, but also causes grass clippings to accumulate at the bottom of the vehicle body 11. In addition, the grass clippings may be drawn into the rotating shaft, affecting the rotation of the cutting component 21 and reducing the cutting efficiency.

[0049] For example, when the robot needs to clean debris from the bottom, the robot adjusts the position of the protective assembly 30 to the lowest position, so that the debris on the protective assembly 30 can be cleaned while the robot is moving. When the protective assembly 30 is in the lowest position, the protective assembly 30 can contact the object to be cut, or the protective assembly 30 can also contact the cleaning assembly fixed on the grass, so that the object to be cut or the cleaning assembly can clean the bottom of the mobile robot, thereby quickly removing debris from the bottom of the vehicle body 11 without manual cleaning. The cleaning speed is fast and the efficiency is high, and the accumulation of debris on the bottom of the mobile robot is avoided, which may affect the normal operation of the robot or even damage the mobile robot.

[0050] It should be noted that the present application can also adjust the cutting height by adjusting the position of the protection component 30, and the present application is not limited thereto.

[0051] In an optional embodiment, if Figures 2 to 5As shown, the protection component 30 is installed on the side of the chassis component 13 away from the vehicle body 11, the drive component 22 is arranged on the side of the protection component 30 facing the chassis component 13, and the cutting component 21 is exposed from the side of the protection component 30 away from the chassis component 13, so that the protection component 30 can prevent the debris generated by the cutting component 21 during cutting from entering the side thereof facing away from the chassis component 13, thereby avoiding affecting the drive component 22; or, the protection component 30 and the chassis component 13 can jointly block the debris generated by the cutting component 21 during cutting, thereby preventing the debris from entering the interior of the robot, especially entering the circuit area of the robot, causing a short circuit in the circuit area.

[0052] In an optional embodiment, a receiving structure 311 is formed on the protective component 30. The receiving structure 311 is used to partially cover the cutting component 21 and expose the working part of the cutting component 21 for cutting the object to be cut. The receiving structure 311 can be a through-hole structure provided on the protective component 30, or a recessed structure provided on the protective component 30. This is not limited in the present application. The main purpose is to allow the non-cutting part of the cutting component 21 to be covered by the receiving structure 311, while the working part of the cutting component 21 can be exposed from the receiving structure 311, so that the object to be cut can be cut, and the debris generated by the cutting component 21 during cutting can be prevented from entering the inner side of the cutting component 21, thereby avoiding the reduction in the speed of the driving component 22 due to the accumulation of debris, or even the stalling phenomenon.

[0053] In an optional embodiment, if Figures 2 to 8 As shown, the protection component 30 includes a seal 32 and a protection plate 31. The protection plate 31 is installed in the receiving space. The cutting component 21 is arranged on the side of the protection plate 31 away from the bottom plate 131. The seal 32 is arranged between the protection plate 31 and the side panel 132, and is used to fill the gap between the protection plate 31 and the side panel 132 to prevent the debris generated by the cutting component 21 during cutting from entering the side facing away from the chassis component 13; at the same time, it will not affect the up and down movement of the protection plate 31, and the grass stuck on the seal 32 can be scraped off when the protection component 30 is in the lowest position to prevent grass blockage.

[0054] In an optional embodiment, the outer contour of the protective plate 31 is adapted to the inner contour of the receiving space, and the seal 32 is arranged on the outer peripheral side of the protective plate 31 and abuts against the inner side surface of the side panel 132. This can not only effectively prevent debris from entering the gap between the protective plate 31 and the side panel 132 to the side of the protective plate 31 facing the bottom plate 131, but also reduce the processing area of the protective plate 31, reduce the process difficulty, and better ensure the matching accuracy of the protective plate 31 and the side panel 132.

[0055] In an optional embodiment, the seal 32 includes at least one of a sealing rubber strip and a sealing wool strip. The sealing rubber strip and / or the sealing wool strip are contained in the receiving space to fill the gap between the side panels 132 of the protective plate 31, thereby effectively preventing the debris generated by the cutting assembly 21 during cutting from entering the side facing away from the chassis assembly 13, and does not affect the up and down movement of the protective plate 31 relative to the receiving space.

[0056] Exemplarily, the seal 32 includes a sealing strip, which is arranged on the outer peripheral side of the protective plate 31. When the protective plate 31 is installed in the receiving space, the sealing strip abuts against the inner side of the side panel 132 to fill the gap between the protective plate 31 and the side panel 132, thereby effectively preventing the debris generated by the cutting assembly 21 during cutting from entering the side facing away from the chassis assembly 13, and does not affect the up and down movement of the protective plate 31 relative to the receiving space.

[0057] Exemplarily, the seal 32 includes a sealing strip, which is arranged on the outer peripheral side of the protective plate 31. When the protective plate 31 is installed in the receiving space, the sealing strip abuts against the inner side of the side panel 132 to fill the gap between the protective plate 31 and the side panel 132, thereby effectively preventing the debris generated by the cutting assembly 21 during cutting from entering the side facing away from the chassis assembly 13, and does not affect the up and down movement of the protective plate 31 relative to the receiving space.

[0058] It should be noted that the sealing strip includes but is not limited to a brush or a hair planting structure arranged on the protective plate 31. Its main purpose is to fill the gap between the protective plate 31 and the side panel 132, preventing the debris generated by the cutting component 21 during cutting from entering the side facing away from the chassis component 13, while at the same time not affecting the lifting and lowering of the protective plate 31.

[0059] In an optional embodiment, the protective plate 31 has a planar cutting surface 312. Cutting surface 312 is a side surface facing away from the base plate 131. At least a portion of the cutting assembly 21 is exposed from cutting surface 312 for cutting the material to be cut. The cutting surface 312 is a planar structure that conforms to the shape of the receiving space, allowing it to cooperate with the base plate assembly 13 to completely cover the cutting assembly 21. This not only prevents grass clippings from splashing onto the inside of the protective plate 31 during cutting by the cutting assembly 21, but also reduces grass clippings accumulation compared to a cutting surface 312 with a groove.

[0060] In an optional embodiment, the accommodating structure 311 is formed on the cutting surface 312 and corresponds to the projected position of the cutting assembly 21, and the diameter of the accommodating structure 311 is adapted to the outer diameter of the cutting assembly 21 to prevent the debris generated by the cutting assembly 21 during cutting from entering the side of the cutting assembly 21 facing away from the chassis assembly 13 through the gap between the cutting assembly 21 and the protective plate 31, while not affecting the rotation of the cutting assembly 21.

[0061] In an optional embodiment, the depth of the accommodating structure 311 is adapted to the height of the connecting seat of the cutting assembly 21, so that the connecting seat of the cutting assembly 21 can be accommodated in the accommodating structure 311, and the cutter disc 211 of the cutting assembly 21 can expose the cutting surface 312 from the accommodating structure 311, thereby effectively preventing debris from entering the inner side of the cutting assembly 21, causing the output shaft 2211 connected to the cutting assembly 21 to become stuck.

[0062] In an optional embodiment, the cutting assembly 21 includes a cutter disc 211 and a cutting blade 212 for cutting the material to be cut. The cutter disc 211 includes a connecting seat and a cutter disc body connected to the connecting seat. The connecting seat is drivingly connected to the output shaft 2211 of the drive assembly 22. The cutting blade 212 is mounted on the cutter disc body. The drive assembly 22 can drive the cutter disc body and cutting blade 212 to rotate through the connection between the output shaft 2211 and the connecting seat, thereby improving cutting efficiency and ensuring a neat cut of the lawn.

[0063] It should be noted that the driving assembly 22 may be, but is not limited to, a driving motor, and the cutter head 211 is connected to the output shaft 2211 of the driving motor.

[0064] In an optional embodiment, if Figures 3 to 6 As shown, the drive assembly 22 includes a first drive assembly 221 and a second drive assembly 222. The first drive assembly 221 is used to drive the cutting assembly 21 to rotate relative to the chassis assembly 13, so that the cutting assembly 21 can cut the object to be cut. The second drive assembly 222 is used to drive the protective assembly 30 to move up and down to clean debris accumulated on the protective assembly 30.

[0065] Exemplarily, the self-propelled robot has at least two working modes: a cutting mode and a cleaning mode. In the cutting mode, the second drive component 222 controls the protection component 30 to move upward, and the first drive component 221 controls the cutting component 21 to rotate relative to the chassis component 13 and the protection component 30 to perform the cutting action; in the cleaning mode, the second drive component 222 controls the protection component 30 to move downward so that the protection component 30 can contact the object to be cut or the external cleaning component, so that the bottom of the mobile robot can be cleaned by the object to be cut or the cleaning component, and the debris on the protection component 30 can be quickly removed without manual cleaning. The cleaning speed is fast and the efficiency is high, which avoids the accumulation of debris on the bottom of the mobile robot, affecting the normal operation of the robot or even damaging the mobile robot.

[0066] In an optional embodiment, the first drive component 221 is installed on the side of the protection component 30 facing the chassis component 13 and is transmission-connected to the cutting component 21, and the second drive component 222 is transmission-connected to the first drive component 221, and is used to drive the first drive component 221 to move up and down, so that the first drive component 221 can drive the protection component 30 and the cutting component 21 to move up and down.

[0067] Exemplarily, the first drive assembly 221 and the second drive assembly 222 are independent of each other. In the cutting mode, the second drive assembly 222 drives the first drive assembly 221 upward, thereby driving the protective assembly 30 and the cutting assembly 21 upward, so that the protective assembly 30 is at the highest position. The first drive assembly 221 then drives the cutting assembly 21 to rotate relative to the protective assembly 30. When the self-propelled robot switches from the cutting mode to the cleaning mode, it is necessary to control the second drive assembly 222 to drive the first drive assembly 221 downward, and drive the protective assembly 30 and the cutting assembly 21 downward along the first drive assembly 221, so that the protective assembly 30 is at the lowest position, so that the object to be cut or the external cleaning assembly can clean debris on the protective assembly 30. Among them, when the protection component 30 moves between the lowest position and the highest position, the first drive component 221 can be controlled to stop driving the cutting component 21 to rotate, or the first drive component 221 can be controlled to drive the cutting component 21 to reduce the rotation speed. It should be understood that reducing the rotation speed of the cutting component 21 also helps to improve the safety of the operation and avoid potential safety hazards caused by high-speed rotation. By lowering the protection component 30 to the lowest position, it can pass through the lawn.

[0068] In an optional embodiment, the drive component 22 includes a drive frame 223, and the first drive component 221 is fixed on the drive frame 223. The drive frame 223 can move back and forth along the height direction of the vehicle body 11 under the drive of the second drive component 222, so as to drive the first drive component 221 and the protection component 30 and the cutting component 21 connected to the first drive component 221 to move back and forth, thereby realizing the automatic cleaning function of the protection component 30.

[0069] In an optional embodiment, the outer diameter of the blade disc 211 is adapted to the inner diameter of the accommodating structure 311 to prevent grass clippings from entering the inner side of the blade disc 211 through the gap between the blade disc 211 and the accommodating structure 311, thereby preventing the output shaft 2211 from getting stuck due to accumulation of debris.

[0070] In an optional embodiment, the cutting diameter of the cutting blade 212 during cutting is no less than the diameter of the accommodating structure 311. Specifically, one end of the cutting blade 212 is fixed to the blade disc 211, while the other end of the cutting blade 212 extends radially outward from the accommodating structure 311. This not only allows the material to be cut, but also prevents grass clippings from entering the blade disc 211 through the gap between the blade disc 211 and the accommodating structure 311, thereby preventing the output shaft 2211 from becoming stuck due to accumulation of debris.

[0071] In an optional embodiment, if Figures 5 to 9 As shown, the accommodating structure 311 is two recessed structures 311a formed on the protective disc 31, and the maximum diameter of the recessed structure 311a is adapted to the diameter of the cutter disc 211 so that at least part of the cutter disc 211 can be set in the recessed structure 311a.

[0072] Illustratively, the accommodating structure 311 has a first groove 3111 and a second groove 3112, wherein the second groove 3112 is disposed at the bottom of the first groove 3111. The inner diameter of the second groove 3112 is smaller than the inner diameter of the first groove 3111, and the outer diameter of the blade disc 211 matches the outer diameter of the first groove 3111, thereby preventing grass clippings from entering the inner side of the blade disc 211 through the gap between the blade disc 211 and the accommodating structure 311. At the same time, the blade disc 211 can rotate relative to the protective disc 31 to perform a cutting operation.

[0073] In an optional embodiment, the depth of the first groove 3111 is adapted to the thickness of the blade disc body, and the connecting seat is connected to the drive assembly 22 and accommodated in the second groove 3112 to ensure that grass clippings do not enter the inner side of the blade disc body through the gap between the blade disc body and the first groove 3111, while ensuring that the blade disc body can rotate relative to the protective disc 31 to perform the cutting action.

[0074] It should be noted that the cutterhead body and the connecting seat can be an integral structure, that is, the cutterhead body can also be a partial structure of the cutterhead 211, or the cutterhead body can also be the entire structure of the cutterhead 211. The connecting seat is the connecting portion of the cutterhead 211 facing the chassis assembly 13, and is used to connect to the rotating shaft. The rotating shaft can be an integral structure with the output shaft 2211 of the drive assembly 22, or the rotating shaft can be drivingly connected to the output shaft 2211 to transmit the torque output by the output shaft 2211 to the connecting seat, and then to the cutterhead body through the connecting seat. This application is not limited to this.

[0075] In an optional embodiment, a first protrusion 2111 is formed on the side of the blade disc body facing the second groove 3112, and a second protrusion 313 is formed on the side of the second groove 3112 facing the blade disc body. The first protrusion 2111 is arranged on the outside of the second protrusion 313 to prevent grass clippings from entering the inner side of the blade disc body through the gap between the blade disc body and the second groove 3112.

[0076] In an optional embodiment, the accommodating structure 311 is two through-hole structures 311b formed on the cutter disc 211. The two through-hole structures are spaced apart along the width direction of the vehicle body 11, and the cutting assembly 21 is correspondingly installed in each through-hole structure 311b, so that the robot can drive the two cutting assemblies 21 to cut the object to be cut, thereby ensuring the cutting efficiency of the robot.

[0077] In an optional embodiment, the protection component 30 includes a protective frame 33, which is installed on the first drive component 221 and can be raised and lowered as the first drive component 221 is raised and lowered. The protective plate 31 is connected to the protective frame 33, and at least part of the cutting component 21 passes through the through-hole structure 311b and is connected to the first drive component 221, so that the first drive component 221 can drive the cutting component 21 to cut the object to be cut.

[0078] In an optional embodiment, the protection assembly 30 includes a protective member 314, which is arranged on the side of the protective plate 31 away from the base plate 131. At least part of the structure of the cutting assembly 21 is located on the inner side of the protective member 314, which can effectively prevent obstacles from entering the cutting assembly 21 from both sides of the protective plate 31, thereby improving the safety of the cutting assembly 21.

[0079] In an optional embodiment, the protective member 314 includes a protective protrusion and a protective strip, the protective protrusion is arranged on the outside of the protective strip, and at least part of the protective strip is covered above the cutting assembly 21 and connected to the cutting surface 312, which is used to prevent obstacles from entering the cutting assembly 21 from both sides of the protective disk 31, thereby improving the safety of the cutting assembly 21.

[0080] In an optional embodiment, if Figures 3 to 5As shown, the protective disc 31 has a highest position and a lowest position and can reciprocate between the highest position and the lowest position. The cutting assembly 21 performs a cutting action when the protective disc 31 is at the highest position; the bottom of the machine body 10 performs a cleaning action when the protective disc 31 is at the lowest position, thereby avoiding the accumulation of debris at the bottom of the machine body 10, reducing the frequency of manual maintenance, extending the service life of the robot, and improving the work efficiency of the robot.

[0081] For example, Figure 3 As shown, when the protective plate 31 moves from the lowest position to the highest position, the robot can drive the cutting mechanism 20 to cut the object to be cut, and the protective plate 31 can prevent the grass clippings generated by the cutting mechanism 20 during the mowing operation from entering the interior of the cutting component 21 and the machine body 10. The side panel 132 of the chassis component 13 can prevent other people from reaching their hands into the position of the cutting component 21 through the gap between the robot and the ground when the cutting component 21 performs the cutting action, causing injuries to the cutting component 21.

[0082] For example, Figure 4 As shown, after the robot completes the mowing action, the protective plate 31 moves from the highest position to the lowest position so that the protective plate 31 can contact the object to be cut or the external cleaning component, so that the object to be cut or the cleaning component can clean the bottom of the mobile robot, thereby quickly removing the debris on the protective plate 31 without manual cleaning, with fast cleaning speed and high efficiency, avoiding the accumulation of debris on the bottom of the mobile robot, affecting the normal operation of the robot, or even damaging the mobile robot.

[0083] In an optional embodiment, the moving distance of the protective plate 31 between the highest position and the lowest position is between 15 mm and 70 mm, so that the cutting mechanism 20 can cut the object to be cut when the protective plate 31 is in the highest position, and can clean it when the protective plate 31 is in the lowest position, thereby avoiding the accumulation of debris at the bottom of the vehicle body 11.

[0084] In an optional embodiment, if Figures 3 to 5 As shown, the robot also includes a detection component, which is disposed on the bottom of the vehicle body 11 and is used to detect the accumulation of debris on the protective plate 31. The robot can then raise or lower the protective plate 31 based on the debris accumulation detected by the detection component. When the detection component detects the presence of debris on the protective plate 31, the protective plate 31 is controlled to move from the highest position to the lowest position to remove the debris from the protective plate 31.

[0085] In an optional embodiment, the detection component includes a pressure sensor, which is arranged on the protective disc 31 and is used to monitor the weight change of the blade guard disc 211 so that the robot can monitor the weight change of the blade guard disc 211. When the value detected by the pressure sensor exceeds a preset threshold, the robot controls the cutting component 21 to stop rotating and moves the protective disc 31 from the highest position to the lowest position. The walking component 12 drives the vehicle body 11 to continue moving and cleans the grass clippings on the blade guard disc 211.

[0086] In an optional embodiment, the pressure sensor includes but is not limited to a thin film pressure sensor. The thin film pressure sensor has high sensitivity and anti-interference capabilities, which can further improve the accuracy of detecting the accumulation of grass clippings.

[0087] In some other embodiments, the detection component can also detect whether there are grass clippings on the blade guard 211 through other sensors, such as infrared sensors and optical sensors; wherein the infrared light of the infrared sensor will produce different reflection or absorption characteristics when encountering different substances, so that the infrared sensor can be used to detect the intensity of the reflected light of the grass clippings, and then determine the accumulation of grass clippings.

[0088] Exemplarily, the infrared sensor is mounted on the side panel 132 and is lower than the lowest position of the blade guard 211 so that it can obtain the accumulation of grass clippings on the blade guard 211 without being damaged by the movement of the blade guard 211; when the infrared sensor emits light and receives reflected light, the accumulation of grass clippings will change the surface properties, causing the intensity of the reflected light to change, so that the infrared sensor can determine the degree of grass clippings accumulation by detecting this change.

[0089] In an optional embodiment, the optical sensor may be a laser sensor, which determines the degree of accumulation of grass clippings on the blade guard 211 by emitting a laser beam and measuring the time and angle of its reflection.

[0090] In an optional embodiment, the optical sensor may also be a camera, which acquires real-time images on the blade guard disc 211 and analyzes the accumulation of grass clippings through an image processing algorithm.

[0091] In an optional embodiment, the robot further includes a control system, which controls the protective plate 31 to move between a highest position and a lowest position according to the accumulation of debris detected by the detection component, so as to be able to clean the grass clippings accumulated on the protective plate 31.

[0092] Exemplarily, the detection component is connected to the control system via a cable, and the detection component transmits the collected pressure change signal to the control system. The control system determines whether grass clippings are accumulated on the blade guard 211 based on a preset pressure threshold. When the pressure value detected by the detection component exceeds the set threshold, the control system will identify it as grass clippings accumulation, and then control the cutting component 21 to stop rotating, and then move the blade guard 211 from the highest position to the lowest position, so that the blade guard 211 can clean up the grass clippings while the robot is moving.

[0093] In an optional embodiment, the control system includes an amplifying circuit and a filtering circuit, the output signal end of the detection component is connected to the input signal end of the amplifying circuit, and the output signal end of the amplifying circuit is connected to the input signal end of the filtering circuit, so that the amplifying circuit can amplify the pressure change signal collected by the detection component and filter the signal interference in the pressure change signal through the filtering circuit, so as to be able to detect the weak signal transmitted by the component and ensure the accuracy of the data.

[0094] For example, when the detection component transmits the collected pressure change signal to the control system, the control system amplifies and filters the pressure change signal through the amplifier circuit and the filter circuit to ensure data accuracy. The control system then determines whether grass clippings are accumulating on the blade guard 211 based on a preset pressure threshold. When the pressure value detected by the detection component exceeds the preset threshold, the control system identifies grass clippings as accumulation.

[0095] When the control system confirms that there is grass clippings accumulated on the blade guard 211, the control system will issue a control command to adjust the position of the blade guard 211 to the lowest position, and then start the cleaning program to ensure that the robot can work for a long time without affecting the operation of the blade guard 211 due to grass clippings accumulation.

[0096] In one alternative embodiment, while the robot is cutting, the detection component can continuously monitor pressure changes on the blade guard 211. This allows the control system to continuously receive pressure change signals from the detection component and analyze these pressure change signals in real time. When the pressure change signal exceeds a preset pressure threshold, the control system will determine that excessive grass clippings have accumulated. At this point, the control system will pause the mowing operation and prepare to initiate a cleaning process.

[0097] When the control system starts the cleaning program, the control system adjusts the blade guard 211 to the lowest position, and then controls the driving robot to continue moving so that the grass clippings accumulated on the blade guard 211 can be cleaned; after the grass clippings accumulated on the blade guard 211 are cleaned, the robot returns to the position point where the cleaning program was started, ends the cleaning program, and starts the cutting action.

[0098] It should be noted that the preset pressure threshold can be a multi-level pressure threshold. For example, the first-level pressure threshold triggers a warning prompt, and the second-level pressure threshold triggers a cleaning program to prevent the control system from misjudging and frequently starting the cleaning program.

[0099] In an optional embodiment, the robot also includes a charging chassis assembly 13. When the machine body 10 returns to the charging chassis assembly 13 for charging, the protective plate 31 moves from the highest position to the lowest position, so that the robot can clean the grass residue on the blade guard 211.

[0100] After briefly introducing the structure of the robot provided in the embodiment of the present application, some embodiments of the self-cleaning method of the robot provided in the present application are described in detail below with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other. Figure 10 , Figure 10 This is a schematic flow chart of a robot self-cleaning method provided in an embodiment of the present application. The robot self-cleaning method is applicable to the robot described in the above embodiment, and can also be applied to a terminal device or server. Its specific structure can be referred to the above embodiment and will not be repeated here.

[0101] The terminal device may include a fixed terminal such as a mobile phone, a tablet computer, a personal digital assistant (PDA), etc. The server may be, for example, a single server or a server cluster.

[0102] The following will take the application of the robot's self-cleaning method to the robot as an example to describe the specific process of the robot's self-cleaning.

[0103] like Figure 10 As shown, the self-cleaning method of the robot may include steps S101 to S103.

[0104] Step S101: Obtain a self-cleaning instruction.

[0105] like Figure 2 and Figure 3 As shown, the self-cleaning instruction is used to instruct the robot to self-clean the protection component 30.

[0106] Specifically, the user can send a self-cleaning instruction through a mobile terminal (such as a mobile phone application or a remote controller), and the instruction is transmitted to the self-moving robot through the wireless communication module, or by setting a detection component to detect the accumulation of debris in the protective component 30, and determine whether the protective component 30 needs to be cleaned, thereby triggering the cleaning mode and generating a self-cleaning instruction.

[0107] For example, a self-cleaning instruction can be sent to the robot by setting a button on the robot so that the robot obtains the self-cleaning instruction; a self-cleaning instruction can also be sent to the robot through a terminal device connected to the robot for communication so that the robot obtains the self-cleaning instruction; the robot can also detect the debris accumulation state of the protective component 30 and generate a self-cleaning instruction based on the debris accumulation state.

[0108] It should be noted that the specific structure of the robot can be referred to the above embodiment and will not be repeated here.

[0109] like Figure 2-Figure 4 As shown, in some embodiments, the debris accumulation state of the protection component 30 is obtained; whether the protection component 30 needs to be cleaned is determined based on the debris accumulation state; if the protection component 30 needs to be cleaned, a self-cleaning instruction is generated.

[0110] like Figure 11 As shown, specifically, "obtaining the self-cleaning instruction of the robot" may include steps S201 to S204.

[0111] S201: Obtain a debris accumulation state of a protective component.

[0112] S202: Determine whether the protective component needs to be cleaned according to the debris accumulation state.

[0113] S203: If the debris accumulation state is a dense debris state or a scattered debris state, it is determined that the protection component needs to be cleaned.

[0114] S204: If the debris accumulation state is a state of sparse debris, it is determined that the protection component does not need to be cleaned.

[0115] The debris accumulation state is used to indicate the amount of debris accumulated on the protective assembly 30, and can generally include a dense debris state, a dispersed debris state, and a scarce debris state. The dense debris state indicates that a large amount of debris has accumulated on the protective assembly 30, the dispersed debris state indicates that a relatively large amount of debris has accumulated on the protective assembly 30, and the scarce debris state indicates that a relatively small amount of debris has accumulated on the protective assembly 30. That is, the amount of debris accumulated in the dense debris state is greater than that in the dispersed debris state, and the amount of debris accumulated in the dispersed debris state is greater than that in the scarce debris state.

[0116] Specifically, the robot first detects the debris accumulation state of the protective assembly 30. Based on the debris accumulation state, it determines whether the protective assembly 30 needs to be cleaned. If the protective assembly 30 needs to be cleaned, a self-cleaning instruction is generated to control the robot to remove the accumulated grass clippings on the protective assembly 30. If the protective assembly 30 does not need to be cleaned, the self-cleaning instruction is not generated, and the cutting assembly 21 is controlled to continue cutting. This allows the robot to intelligently detect the debris accumulation state of the protective assembly 30, accurately determining whether the protective assembly 30 needs to be cleaned. This eliminates the need for manual control of debris removal, allowing the protective assembly 30 to be cleaned promptly, reducing the complexity of debris cleaning and improving debris cleaning efficiency.

[0117] In some embodiments, the protection component 30 is detected to obtain real-time status information of the protection component 30; and the debris accumulation state of the protection component 30 is determined based on the real-time status information.

[0118] The real-time status information may be used to provide feedback on the real-time status of the protection component 30 , including information such as the pressure value, light reflection intensity, light reflection angle, and real-time image of the protection component 30 .

[0119] Specifically, the protection component 30 may be detected by the detection component to obtain real-time status information of the protection component 30 ; and the debris accumulation state of the protection component 30 may be determined based on the real-time status information.

[0120] For example, the detection component can be provided on the robot and corresponding to the protective component 30, thereby detecting the status of the protective component 30 to obtain real-time status information of the protective component 30, and analyzing the real-time status information to determine the debris accumulation status of the protective component 30. Thus, the detection component can enable the robot to accurately detect the debris accumulation status of the protective component 30, thereby accurately determining whether the protective component 30 needs to be cleaned. This can effectively avoid false detections, eliminate the need for manual control to clean debris, and thus enable timely cleaning of debris from the protective component 30, thereby improving debris cleaning efficiency.

[0121] In some embodiments, if the detection component is a pressure sensor, the pressure sensor is provided on the protection component 30 and is used to detect the pressure value of the protection component 30. If the pressure value of the protection component 30 exceeds the first pressure threshold, the debris accumulation state of the protection component 30 is determined to be a debris-dense state; if the pressure value of the protection component 30 exceeds the second pressure threshold and does not exceed the first pressure threshold, the debris accumulation state of the protection component 30 is determined to be a debris-dispersed state, and the first pressure threshold is greater than the second pressure threshold; if the pressure value of the protection component 30 does not exceed the second pressure threshold, the debris accumulation state of the protection component 30 is determined to be a debris-sparse state.

[0122] The first pressure threshold and the second pressure threshold may be any pressure values, which are set according to actual conditions. As long as the first pressure threshold is greater than the second pressure threshold, no specific limitation is made here.

[0123] For example, the pressure sensor can detect the pressure value of the protective assembly 30. The greater the pressure value detected in the protective assembly 30, the more debris accumulated on the protective assembly 30. Therefore, if the pressure value detected in the protective assembly 30 exceeds a first pressure threshold, it indicates that a large amount of debris has accumulated on the protective assembly 30, and the debris accumulation state of the protective assembly 30 is determined to be a dense debris state. If the pressure value of the protective assembly 30 exceeds a second pressure threshold but does not exceed the first pressure threshold, it indicates that a large amount of debris has accumulated on the protective assembly 30, and the debris accumulation state of the protective assembly 30 is determined to be a dispersed debris state. If the pressure value of the protective assembly 30 does not exceed the second pressure threshold, it indicates that a small amount of debris has accumulated on the protective assembly 30, and the debris accumulation state of the protective assembly 30 is determined to be a sparse debris state.

[0124] In some embodiments, if the detection component is an optical sensor, the optical sensor is set on the vehicle body 11 and is used to send light to the location of the protection component 30, and determine the debris accumulation state of the protection component 30 based on the light reflection intensity and / or light reflection angle corresponding to the light.

[0125] Optical sensors may include infrared sensors and laser sensors. The infrared light from an infrared sensor exhibits different reflection or absorption characteristics when encountering different materials. This allows the infrared sensor to detect the intensity of light reflected from grass clippings and thereby determine the debris accumulation status of the protective assembly 30. A laser sensor can determine the debris accumulation status of the protective assembly 30 based on the laser's reflection time and angle.

[0126] Exemplarily, the infrared sensor can be installed on the side panel and below the lowest position of the protection component 30, so that it can obtain the accumulation of grass clippings in the protection component 30 and will not be damaged by the movement of the protection component 30; when the infrared sensor emits light and receives reflected light, the accumulation of grass clippings will change the surface characteristics, resulting in a change in the intensity of the reflected light, so that the infrared sensor can determine the degree of accumulation of grass clippings by detecting this change.

[0127] For example, the laser sensor determines the debris accumulation state of the protection component 30 by emitting a laser beam and measuring parameters such as the reflection intensity, reflection time, and reflection angle of the laser beam.

[0128] It should be noted that by detecting the protection component 30 through the optical sensor, it can be accurately determined that the debris accumulation state of the protection component 30 is at least one of a debris dense state, a debris dispersed state, or a debris sparse state.

[0129] In some embodiments, if the detection component is a camera, the camera is set on the vehicle body 11 and is used to obtain a real-time image of the protection component 30, perform feature extraction on the real-time image of the protection component 30, and obtain debris feature information; determine the debris accumulation state of the protection component 30 based on the debris feature information.

[0130] The real-time image may be a picture of the protection component 30 and its surrounding environment, and the debris feature information may be image features of debris accumulated on the protection component 30 .

[0131] Exemplarily, a real-time image of the protective component 30 is obtained, and features are extracted from the real-time image and irrelevant features are filtered out to obtain debris feature information. The debris feature information is then identified and statistically processed based on an image feature recognition algorithm to determine the debris accumulation on the protective component 30, thereby accurately determining the debris accumulation state of the protective component 30.

[0132] It should be noted that by detecting the protection component 30 through a camera, it is also possible to accurately determine whether the debris accumulation state of the protection component 30 is at least one of a debris-dense state, a debris-dispersed state, or a debris-sparse state.

[0133] In some embodiments, if the debris accumulation state is a dense debris state or a scattered debris state, it is determined that the protection component 30 needs to be cleaned; if the debris accumulation state is a sparse debris state, it is determined that the protection component 30 does not need to be cleaned.

[0134] For example, if the debris accumulation state is a dense debris state or a scattered debris state, it means that there is a lot of debris accumulated on the protection component 30, and the debris needs to be cleaned to avoid affecting the normal operation of the cutting component 21. Therefore, it is determined that the protection component 30 needs to be cleaned.

[0135] For example, if the debris accumulation state is a sparse debris state, it means that there is less debris accumulated on the protection component 30, and the normal operation of the cutting component 21 can be maintained without cleaning the debris, so it is determined that the protection component 30 does not need to be cleaned.

[0136] In some embodiments, if the debris accumulation state is a debris dispersion state, a debris accumulation alarm prompt of the robot is triggered.

[0137] For example, if the debris accumulation state is a dense debris state, the robot is directly triggered to self-clean the protective component 30; if the debris accumulation state is a scattered debris state, the robot's debris accumulation alarm is triggered, prompting the user to determine whether the protective component 30 needs to be cleaned, thereby preventing the robot from misjudging and avoiding frequent self-cleaning of the protective component 30.

[0138] like Figure 3 and Figure 4 As shown, in some embodiments, the robot includes at least a cleaning mode and a cutting mode, the protective component 30 is in a first position in the cleaning mode, and the protective component 30 is in a second position in the cutting mode; wherein the height of the first position is less than the height of the second position.

[0139] The robot is used to clean the protective component 30 when it is in the cleaning mode, and is used to perform a cutting operation on the object to be cut when it is in the cutting mode.

[0140] like Figure 3-Figure 5 As shown, since the debris on the protection component 30 needs to be in contact with the target when cleaning, and the height of the target is generally low, the height of the first position is generally low, that is, the first position of the protection component 30 can be as follows Figure 3 When the robot cuts the object to be cut, it is generally adjusted according to the height of the object to be cut. Generally, the height of the object to be cut is not too low, so the height of the cutting component 21 is relatively high, that is, the first position of the protection component 30 can be as follows: Figure 4 Since the cutting assembly 21 is disposed on the protection assembly 30, the height of the protection assembly 30 is relatively high, so the height of the first position is smaller than the height of the second position.

[0141] Specifically, the detection component can obtain the debris accumulation state of the protection component 30 in real time, and determine the working mode of the robot in real time according to the debris accumulation state.

[0142] For example, if the robot's working mode is switched from cleaning mode to cutting mode based on the debris accumulation state, it means that the grass clippings accumulated at the bottom of the protective component 30 have been cleaned up, and the protective component 30 can be controlled to move upward relative to the vehicle body 11 to the cutting position and perform the corresponding cutting operation.

[0143] For example, if the robot's working mode is determined to be switched from cutting mode to cleaning mode based on the debris accumulation state, it means that there is a lot of grass clippings accumulated at the bottom of the protection component 30, and the debris needs to be cleaned to avoid affecting the normal operation of the cutting component 21. The protection component 30 can be controlled to move downward relative to the vehicle body 11 to the cleaning position and perform the corresponding cleaning operation.

[0144] The embodiment of the present application provides a robot self-cleaning method that can also detect the debris accumulation state of the protective component 30, thereby accurately determining whether the protective component 30 needs to be self-cleaned. There is no need for manual control to clean the debris, so that the debris on the protective component 30 can be cleaned in a timely manner, reducing the tediousness of debris cleaning, and improving the debris cleaning efficiency, thereby realizing the intelligent self-cleaning of the robot.

[0145] Step S102 : In response to the self-cleaning instruction, the protective component of the robot is controlled to adjust to a cleaning height in contact with the target object.

[0146] like Figure 2 As shown, since the protection component 30 is set on the vehicle body 11 and can move up and down relative to the vehicle body 11, the protection component 30 can be controlled to move downward relative to the vehicle body 11 to a cleaning height in contact with the target object; the protection component 30 can also be controlled to move upward relative to the vehicle body 11 to a cleaning height in contact with the target object, which is not specifically limited here.

[0147] The specific structure of the robot can be referred to the above embodiments and will not be repeated here.

[0148] like Figure 3 and Figure 4 As shown in the above embodiment, it can be seen that the protection component 30 can move up and down relative to the vehicle body 11. For example, when the robot needs to clean the debris at the bottom, the robot will adjust the protection component 30 to a cleaning height that contacts the target object. The cleaning height can be any height, or it can be adjusted according to the height of the target object. The height of the cleaning height from the ground is lower than the height of the target object to ensure that the protection component can fully contact the target object so that the debris on the protection component can be cleaned; optionally, the height of the protection component 30 can be adjusted to the lowest height, that is, Figure 4 The height of the middle protection assembly 30 is not specifically limited here.

[0149] For example, after receiving the self-cleaning instruction, the robot adjusts the position of the protective component 30 to the lowest position so that the debris on the protective component 30 can be cleaned during the movement of the robot.

[0150] In some embodiments, before the robot's protective assembly 30 is adjusted to a cleaning height that contacts the target, image information corresponding to the target is obtained; based on the image information, feature extraction is performed on the target to determine the target's height; and based on the target's height, a cleaning height is determined. This allows the cleaning height to be adjusted based on the target's height, thereby improving the effectiveness and efficiency of debris removal from the protective assembly 30.

[0151] For example, the height of the target object can be determined by obtaining image information corresponding to the target object and extracting the characteristic information of the target object, and then the cleaning height can be adjusted according to the height of the target object to ensure that the protective component 30 can contact the target objects in different environments at the cleaning height.

[0152] In some embodiments, after responding to the self-cleaning instruction, if it is detected that the robot is in the cutting mode, the robot is controlled to stop performing the cutting action.

[0153] like Figure 12 As shown, specifically, “in response to the self-cleaning instruction, controlling the protection component of the robot to adjust to a cleaning height in contact with the target object” may include steps S301 to S304 .

[0154] S301: Receive a self-cleaning instruction.

[0155] S302: Determine whether the robot is in cutting mode.

[0156] S303: If it is detected that the robot is in cutting mode, the robot is controlled to stop executing the cutting action.

[0157] S304: If it is detected that the robot is not in the cutting mode, the protective component of the robot is controlled to be adjusted to a cleaning height that contacts the target object.

[0158] For example, if the robot receives a self-cleaning command, it means that there is a lot of debris on the protective component 30, to the extent that it needs to be cleaned. In order to avoid further accumulation of debris on the protective component 30, the robot can be controlled to stop executing the cutting action and switch the cutting mode to the cleaning mode.

[0159] Step S103: Control the robot to move so that the target object contacts the protective component to clean the debris on the protective component.

[0160] By controlling the movement of the robot, the protection component 30 can be kept in contact with the target object, so that the debris on the protection component 30 can be taken out during the movement of the robot, thereby cleaning the debris on the protection component 30.

[0161] Specifically, the surface characteristics of the target object can form contact friction with the protection component 30 to remove debris. For example, the target object can be an object to be cut or a cleaning component.

[0162] like Figure 4As shown, the first position is taken as the lowest position of the protection assembly 30 for illustration. The robot can adjust the protection assembly 30 to the lowest height, and then control the robot to continue moving so as to clean grass clippings accumulated at the bottom of the protection assembly 30. When the protection assembly 30 is at the lowest position, the protection assembly 30 can contact the object to be cut, or the protection assembly 30 can also contact the cleaning assembly fixed to the grass, so that the object to be cut or the cleaning assembly can clean the bottom of the robot, thereby quickly removing debris from the bottom of the robot without manual cleaning, with high cleaning speed and efficiency, and avoiding the accumulation of debris at the bottom of the robot, which may affect the normal operation of the robot or even damage the robot.

[0163] In some embodiments, the robot is controlled to move within the cleaning area so that the target object in the cleaning area contacts the protection component 30 .

[0164] The cleaning area may be an area including a target object, which is used to clean debris from the protective assembly 30. For example, the target object may be an object to be cut or a cleaning assembly. For example, the cleaning area may be an area where debris can be cleaned using an object to be cut, or an area where a cleaning assembly capable of cleaning debris is provided.

[0165] like Figure 4 As shown, the first position is taken as the lowest position of the protection component 30 as an example for explanation. When the protection component 30 is in the lowest position, the robot can be controlled to move in the cleaning area, so that the objects to be cut or the cleaning components can clean the bottom of the robot, thereby quickly removing debris from the bottom of the robot without manual cleaning, with fast cleaning speed and high efficiency.

[0166] In some embodiments, the cleaning area corresponding to the robot is determined; the real-time position of the robot is obtained, and a cleaning path is generated according to the real-time position and the cleaning area; the robot is controlled to move within the cleaning area based on the cleaning path, so that the target object in the cleaning area contacts the protective component 30.

[0167] like Figure 13 As shown, specifically, “controlling the robot to move in the cleaning area so that the target object in the cleaning area contacts the protection component” may include steps S401 to S403.

[0168] S401: Determine the cleaning area corresponding to the robot.

[0169] S402: Acquire the real-time position of the robot, and generate a cleaning path according to the real-time position and the cleaning area.

[0170] S403 : Control the robot to move within the cleaning area based on the cleaning path, so that the target object in the cleaning area contacts the protective component.

[0171] The real-time position may be the position of the robot when it receives the self-cleaning instruction, or the position where the robot's cutting action is interrupted, which is not specifically limited here. The cleaning path is the path along which the robot moves during self-cleaning.

[0172] For example, after determining the cleaning area of the robot, a cleaning path can be generated according to the real-time position of the robot and the cleaning area; the robot is controlled to move according to the cleaning path so that the objects to be cut or cleaning components on the cleaning path can clean the bottom of the robot, thereby quickly removing debris from the bottom of the vehicle body without manual cleaning, with fast cleaning speed and high efficiency.

[0173] In some embodiments, the robot acquires image information and / or working path information captured by the robot; determines the robot's area to be cut based on the image information and / or working path information, and uses the area to be cut as a cleaning area. This allows the area to be accurately determined as the cleaning area to clean debris from the protective assembly 30.

[0174] For example, the position of the object to be cut can be determined based on the collected image information, and then the area to be cut can be determined based on the position of the object to be cut, and the area to be cut can be used as the cleaning area; the position of the cleaning component can also be determined based on the collected image information, and then the area to be cut can be determined based on the position of the cleaning component, and the area to be cut can be used as the cleaning area.

[0175] For example, the cut area can be determined based on the work path information, which indicates that there is no object to be cut in the area. Then, the area to be cut is determined based on the environment map and the cut area, and the area to be cut is used as a clean area.

[0176] In some embodiments, if the working mode of the robot is switched from the cleaning mode to the cutting mode, the protection assembly 30 is controlled to adjust to the cutting height, and the robot is controlled to move to the working position to perform the cutting action.

[0177] like Figure 3 and Figure 4 As shown, when the robot is in cleaning mode, it is used to clean the protective component 30, and when the robot is in cutting mode, it is used to perform a cutting operation on the object to be cut. The cutting height can be the height corresponding to the second position, which is generally the highest height of the protective component 30, that is, Figure 3 The height of the middle protection assembly 30 is not specifically limited. The working position can be the latest cutting position of the task or the position where the robot's cutting action is interrupted, which is not specifically limited here.

[0178] For example, if the robot's working mode is switched from cleaning mode to cutting mode, it means that the grass clippings accumulated at the bottom of the protective component 30 have been cleaned up. The protective component 30 can be controlled to adjust to the cutting height, waiting for subsequent cutting operations, and the robot can be controlled to move to the latest working position. After the robot moves to the working position and the protective component 30 is adjusted to the cutting height, the cutting action is performed.

[0179] For example, if the working mode of the robot is switched from cleaning mode to cutting mode, it means that the grass clippings accumulated at the bottom of the protective component 30 have been cleaned up. The protective component 30 can be controlled to adjust to the cutting height, waiting for subsequent cutting operations, and the robot can be controlled to return to the position where the cutting action is interrupted based on the cleaning path. After the robot returns to the position where the cutting action is interrupted and the protective component 30 moves to the cutting position, the cutting action is performed again.

[0180] An embodiment of the present application provides a self-cleaning method for a robot. In response to a self-cleaning instruction, the protection component 30 of the robot is controlled to adjust to a cleaning height in contact with a target object; the robot is controlled to move so that the target object contacts the protection component 30 to clean the debris on the protection component 30. Thus, the debris at the bottom of the machine body can be self-cleaned by the up and down movement of the protection component 30, which reduces the tediousness of debris cleaning and improves the efficiency of debris cleaning, thereby enabling the debris on the protection component 30 to be cleaned in a timely manner so that the protection component 30 can prevent the debris generated by the cutting component 21 during cutting from entering the cutting component 21, avoiding excessive debris accumulation in the cutting component 21, causing the cutting component 21 to fail to work normally, thereby reducing the frequency of manual maintenance and extending the service life of the robot.

[0181] See also Figure 14 , Figure 14 This is a schematic block diagram of the structure of a robot 100 provided in an embodiment of the present application. Figure 14 In the embodiment, the robot 100 includes a processor 200 and a memory 300, wherein the processor 200 and the memory 300 are connected via a bus, which can be any applicable bus such as an I2C (Inter-integrated Circuit) bus.

[0182] The memory 300 may include a storage medium and an internal memory. The storage medium may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause the processor to execute the robot self-cleaning method described in any embodiment.

[0183] The processor 200 is used to provide computing and control capabilities to support the operation of the entire robot 100.

[0184] The processor 200 may be a central processing unit (CPU), a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or any conventional processor.

[0185] The processor 200 is configured to run the computer program stored in the memory 300 and implement the following steps when executing the computer program:

[0186] Get self-cleaning instructions;

[0187] In response to the self-cleaning instruction, controlling the protective component of the robot to adjust to a cleaning height in contact with the target object;

[0188] The robot is controlled to move so that the target object contacts the protection component to clean debris on the protection component.

[0189] In some embodiments, when obtaining the self-cleaning instruction of the robot, the processor 200 is configured to implement:

[0190] Obtaining a debris accumulation state of the protection component; determining whether the protection component needs to be cleaned according to the debris accumulation state; and generating a self-cleaning instruction if the protection component needs to be cleaned.

[0191] In some embodiments, when obtaining the debris accumulation status of the protection component, the processor 200 is configured to implement:

[0192] The protection component is detected to obtain real-time status information of the protection component; and a debris accumulation state of the protection component is determined according to the real-time status information.

[0193] In some embodiments, when determining whether the protective component needs to be cleaned according to the debris accumulation state, the processor 200 is configured to implement:

[0194] If the debris accumulation state is a dense debris state or a scattered debris state, it is determined that the protection component needs to be cleaned; if the debris accumulation state is a sparse debris state, it is determined that the protection component does not need to be cleaned.

[0195] In some embodiments, the robot includes at least a cleaning mode and a cutting mode, the protective component is in a first position in the cleaning mode, and the protective component is in a second position in the cutting mode; wherein the height of the first position is less than the height of the second position.

[0196] In some embodiments, when determining the debris accumulation state of the protection component according to the real-time state information, the processor 200 is configured to implement:

[0197] Obtain the pressure value of the protection component; if the pressure value of the protection component exceeds a first pressure threshold, determine that the debris accumulation state of the protection component is a debris-dense state; if the pressure value of the protection component exceeds a second pressure threshold and does not exceed the first pressure threshold, determine that the debris accumulation state of the protection component is a debris-dispersed state, and the first pressure threshold is greater than the second pressure threshold; if the pressure value of the protection component does not exceed the second pressure threshold, determine that the debris accumulation state of the protection component is a debris-sparse state.

[0198] In some embodiments, when determining the debris accumulation state of the protection component according to the real-time state information, the processor 200 is configured to implement:

[0199] Obtaining the light reflection intensity and / or light reflection angle corresponding to the protection component; and determining the debris accumulation state of the protection component according to the light reflection intensity and / or light reflection angle.

[0200] In some embodiments, when determining the debris accumulation state of the protection component according to the real-time state information, the processor 200 is configured to implement:

[0201] A real-time image of the protection component is acquired, and features are extracted from the real-time image to obtain debris feature information; and a debris accumulation state of the protection component is determined based on the debris feature information.

[0202] In some embodiments, after responding to the self-cleaning instruction, the processor 200 is further configured to:

[0203] If it is detected that the robot is in the cutting mode, the robot is controlled to stop performing the cutting action.

[0204] In some embodiments, when controlling the robot to move so that the target object contacts the protection component, the processor 200 is configured to implement:

[0205] The robot is controlled to move in a cleaning area so that a target object in the cleaning area contacts the protection component.

[0206] In some embodiments, when controlling the robot to move within a cleaning area so that a target object within the cleaning area contacts the protective component, the processor 200 is configured to:

[0207] Determine the cleaning area corresponding to the robot; obtain the real-time position of the robot, and generate a cleaning path according to the real-time position and the cleaning area; control the robot to move within the cleaning area based on the cleaning path so that the target object in the cleaning area contacts the protective component.

[0208] In some embodiments, when determining the cleaning area corresponding to the robot, the processor 200 is configured to implement:

[0209] Acquire image information and / or work path information collected by the robot; determine the area to be cut by the robot according to the image information and / or the work path information, and use the area to be cut as the cleaning area.

[0210] In some embodiments, the processor 200 is further configured to implement:

[0211] If the working mode of the robot is switched from the cleaning mode to the cutting mode, the protection component is controlled to be adjusted to the cutting height, and the robot is controlled to move to the working position to perform the cutting action.

[0212] In some embodiments, before controlling the protective component of the robot to adjust to a cleaning height in contact with the target object, the processor 200 is further configured to:

[0213] Acquire image information corresponding to the target object; extract features of the target object based on the image information corresponding to the target object to determine the height of the target object; and determine the cleaning height based on the height of the target object.

[0214] In some embodiments, the surface characteristics of the target object can form contact friction with the protection component to remove debris.

[0215] The embodiments of the present application also provide a computer-readable storage medium, which stores a computer program, including program instructions. The processor executes the program instructions to implement any of the robot self-cleaning methods provided in the embodiments of the present application. For example, the computer program is loaded by the processor and can execute the following steps:

[0216] Obtain a self-cleaning instruction; in response to the self-cleaning instruction, control the protective component of the robot to adjust to a cleaning height in contact with a target object; control the robot to move so that the target object contacts the protective component to clean debris on the protective component.

[0217] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0218] The computer-readable storage medium may be an internal storage unit of the robot in the aforementioned embodiments, such as the robot's hard drive or memory. Alternatively, the computer-readable storage medium may be an external storage device of the robot, such as a plug-in hard drive, a SmartMediaCard (SMC), a SecureDigital (SD), or a FlashCard equipped on the robot.

[0219] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. They can refer to mechanical connections or electrical connections. They can refer to direct connections or indirect connections through an intermediary. They can refer to internal communication between two components or interactions between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0220] In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0221] The disclosure above provides many different embodiments or examples for realizing the different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described above. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0222] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with an embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

1. A self-cleaning method for a robot, characterized in that: include: Detecting the protection component of the robot to obtain real-time status information of the protection component, wherein the real-time status information includes a pressure value, light reflection intensity, light reflection angle, or a real-time image of the protection component; determining a debris accumulation state of the protection component based on the real-time state information; determining whether the protection component needs to be cleaned according to the debris accumulation state; If the protection component needs to be cleaned, a self-cleaning instruction is generated; In response to the self-cleaning instruction, the robot is controlled to switch to a cleaning mode for self-cleaning.

2. The method according to claim 1, characterized in that Determining the debris accumulation state of the protection component according to the real-time state information includes: Obtaining a pressure value of the protection component; If the pressure value of the protection component exceeds a first pressure threshold, determining that the debris accumulation state of the protection component is a debris dense state; If the pressure value of the protection component exceeds a second pressure threshold and does not exceed the first pressure threshold, determining that the debris accumulation state of the protection component is a debris dispersion state, and the first pressure threshold is greater than the second pressure threshold; If the pressure value of the protection component does not exceed the second pressure threshold, it is determined that the debris accumulation state of the protection component is a debris-sparse state.

3. The method according to claim 1, characterized in that Determining the debris accumulation state of the protection component according to the real-time state information includes: Obtaining the light reflection intensity and / or light reflection angle corresponding to the protection component; The debris accumulation state of the protection component is determined according to the light reflection intensity and / or the light reflection angle.

4. The method according to claim 1, wherein Determining the debris accumulation state of the protection component according to the real-time state information includes: Acquiring a real-time image of the protection component and performing feature extraction on the real-time image to obtain debris feature information; A debris accumulation state of the protection component is determined based on the debris characteristic information.

5. The method according to claim 1, wherein The determining whether the protection component needs to be cleaned according to the debris accumulation state includes: If the debris accumulation state is a debris dense state or a debris scattered state, it is determined that the protection component needs to be cleaned; If the debris accumulation state is a state of sparse debris, it is determined that the protection component does not need to be cleaned.

6. The method according to claim 1, characterized in that After responding to the self-cleaning instruction, the method further includes: If it is detected that the robot is in the cutting mode, the robot is controlled to stop performing the cutting action.

7. The method according to claim 1, characterized in that In response to the self-cleaning instruction, controlling the robot to switch to a cleaning mode for self-cleaning includes: In response to the self-cleaning instruction, controlling the protective component to adjust to a cleaning height in contact with the target object; The robot is controlled to move so that the target object contacts the protection component to clean debris on the protection component.

8. The method according to claim 7, characterized in that The controlling the robot to move so that the target object contacts the protection component includes: The robot is controlled to move in a cleaning area so that a target object in the cleaning area comes into contact with the protection component.

9. The method according to claim 8, characterized in that The controlling the robot to move within the cleaning area so that the target object in the cleaning area contacts the protection component includes: Determining a cleaning area corresponding to the robot; Acquiring the real-time position of the robot, and generating a cleaning path according to the real-time position and the cleaning area; The robot is controlled to move within the cleaning area based on the cleaning path, so that a target object in the cleaning area comes into contact with the protection component.

10. The method according to claim 9, characterized in that Determining the cleaning area corresponding to the robot includes: Acquiring image information and / or work path information collected by the robot; An area to be cut of the robot is determined according to the image information and / or the working path information, and the area to be cut is used as the cleaning area.

11. The method according to claim 1, wherein The method further comprises: If the working mode of the robot is switched from the cleaning mode to the cutting mode, the protection component is controlled to be adjusted to the cutting height, and the robot is controlled to move to the working position to perform the cutting action.

12. The method according to claim 7, characterized in that Before controlling the protection component to adjust to a cleaning height in contact with the target object, the method further includes: Acquiring image information corresponding to the target object; Extracting features of the target object based on the image information corresponding to the target object to determine the height of the target object; The cleaning height is determined according to the height of the target object.

13. The method according to any one of claims 1 to 12, characterized in that The surface characteristics of the target object can form contact friction with the protection component to remove debris.

14. A robot, characterized in that: The robot includes a body, a cutting mechanism, and a protective assembly. The cutting mechanism includes a cutting assembly and a driving assembly. The driving assembly is in transmission connection with the cutting assembly and is used to drive the cutting assembly to cut the object to be cut. The protective assembly is arranged at the bottom of the body and forms a accommodating structure. The accommodating structure is used to partially cover the cutting assembly. The working part of the cutting assembly is exposed and is used to cut the object to be cut. The robot also includes a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the robot self-cleaning method according to any one of claims 1 to 13 when executing the computer program.

15. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the self-cleaning method of the robot according to any one of claims 1 to 13 is implemented.

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