SELF-CONTAINED CLEANING DEVICE AND METHOD FOR CONTROLLING IT

Abstract

This disclosure provides a self-contained device comprising a first main body, a second main body, and a connecting arm. The first main body includes a first cleaning module, and the second main body includes a second cleaning module. The two ends of the connecting arm are movably connected to the first and second main bodies, respectively. When the first and second main bodies are in the same plane, the connecting arm is configured to support them, allowing them to move in the same plane. When the first and second main bodies are not in the same plane, the connecting arm is configured to support them, allowing them to move alternately.The autonomous device is applicable to environments such as multi-level stair cleaning and window cleaning. Obstacle crossing is achieved through the combined operation of the first main body, the second main body, and the connecting arm, thus extending the effective cleaning area. This reduces the need for human intervention, such as having a user carry the cleaning robot to another floor, thereby improving the user experience.

Description

Title of the invention: SELF-CONTAINED CLEANING DEVICE AND METHOD FOR CONTROLLING IT technical field

[0001] This disclosure relates to the field of cleaning devices, and in particular to an autonomous device and a method of controlling it.

[0002] The emergence of cleaning devices has, to some extent, solved the problem of cumbersome cleaning methods for people. They offer advantages such as ease of use and high cleaning efficiency, and have gradually become one of the cleaning tools commonly used in work and daily life. However, cleaning devices currently on the market generally cannot overcome or climb relatively high obstacles. Furthermore, they can usually only clean a single surface. For rooms with a multi-level layout, since the cleaning robot is unable to climb stairs, it is incapable of cleaning them, let alone traversing stairs to clean surfaces in rooms located on different levels.Therefore, it is necessary to address the aforementioned issues to reduce human intervention caused by users moving cleaning robots to different floors, thereby minimizing the resulting degradation in user experience. Furthermore, the effective cleaning area is expanded by cleaning stair surfaces. Description of the invention

[0003] An objective of the present invention is to provide a self-contained device and a method for controlling it for addressing technical problems in the related art. A specific solution is as follows.

[0004] A first aspect of the embodiments of this disclosure provides a self-contained device. The self-contained device comprises: a first main body, which includes a first cleaning module disposed at the bottom of the first main body; a second main body, which includes a second cleaning module disposed at the bottom of the second main body; and a connecting arm, where the two ends of the connecting arm are respectively movably connected to the first main body and the second main body. When the first main body and the second main body are on the same plane, the connecting arm is configured to support the first and second main bodies so as to move on the same plane; when the first and second main bodies are not on the same plane, the connecting arm is configured to support the first main body and the second main body in order to move alternately.

[0005] In certain embodiments, a lateral surface of the first main body is provided with a first track, and a lateral surface of the second main body is provided with a second track. The first and second tracks are configured to be movably connected to the two ends of the connecting arm.

[0006] In certain embodiments, the first track extends in a first direction or extends in a second direction on the lateral surface of the first main body; and / or the second track extends in the first direction or extends in the second direction on the lateral surface of the second main body. The first direction is substantially perpendicular to the second direction.

[0007] In some embodiments, the first track extends in a first direction along the lateral surface of the first main body, the second track extends in a second direction along the lateral surface of the second main body, and the height of the first main body and the height of the second main body in the second direction are different; or the first track extends in the second direction along the lateral surface of the first main body, the second track extends in the first direction along the lateral surface of the second main body, and the height of the first main body and the height of the second main body in the second direction are different. The first direction is substantially perpendicular to the second direction.

[0008] In some embodiments, the connecting arm comprises: a first end part configured to move along the first track and a second end part configured to move along the second track, where in response to the first end part moving along the first track and / or the second end part moving along the second track, the first main body and the second main body move alternately.

[0009] In some embodiments, the first end part moves translationally or rotates in the first track; and / or the second end part moves translationally or rotates in the second track.

[0010] In some embodiments, the connecting arm has a telescopic structure and is configured to adjust the distance between the first main body and the second main body.

[0011] In some embodiments, the autonomous device further includes telescopic feet arranged telescopically at the bottom of the first main body and / or the second main body and configured to assist the first main body and the second main body to move alternately.

[0012] In some embodiments, the autonomous device further includes a suction disc disposed on the lateral surface of the first main body and / or the second main body and configured to allow the first main body and the second main body to move alternately in a stable manner.

[0013] In some embodiments, the autonomous device further includes a cleaning part disposed on the lateral surface of the first main body and / or the second main body and configured to clean an operating surface in a vertical direction.

[0014] In some embodiments, the first cleaning module is a dry cleaning module, a wet cleaning module or a drying module; the second cleaning module is a dry cleaning module, a wet cleaning module or a drying module.

[0015] A second aspect of this disclosure provides a method for controlling an autonomous device, which includes the autonomous device according to any embodiment of the first aspect of this disclosure. The method includes: controlling the autonomous device to cross an obstacle, such that the first main body and the second main body are on different operating surfaces; and controlling the autonomous device to move in a third direction, and cleaning the different operating surfaces by the first cleaning module and the second cleaning module.

[0016] In certain embodiments, controlling the autonomous device to cross the obstacle so that the first main body and the second main body are on different operating surfaces includes: controlling the connecting arm to move along the first main body and / or the second main body, so that the first main body moves from a first operating surface to a second operating surface, where the first operating surface and the second operating surface are not in the same plane, or the first operating surface and the second operating surface are in the same plane.

[0017] In certain embodiments, controlling the connecting arm to move along the first main body and / or the second main body includes: controlling the connecting arm to rotate and / or move translationally along the first track of the first main body; and / or controlling the connecting arm to rotate and / or move translationally along the second track of the second main body.

[0018] In certain embodiments, controlling the autonomous device to overcome the obstacle so that the first main body and the second main body are on different operating surfaces also includes: controlling the telescopic legs of the first main body and / or the second main body to extend and be supported on the first working surface and / or the second working surface.

[0019] In some embodiments, controlling the autonomous device to cross the obstacle so that the first main body and the second main body are on different operating surfaces also includes: controlling the telescopic legs to retract.

[0020] In certain embodiments, controlling the autonomous device to overcome the obstacle so that the first main body and the second main body are on different operating surfaces also includes: controlling the suction disc of the first main body and / or the second main body to be attached to a vertical plane.

[0021] In some embodiments, the method also includes: controlling the autonomous device to move in the third direction, and cleaning the operating surface in the vertical direction by the cleaning part of the first main body and / or the second main body.

[0022] Compared to the prior art, the above solutions of the achievements of this disclosure provide at least the following beneficial effects.

[0023] The autonomous device according to this disclosure does not need to be equipped with any additional wheels or tracks. Obstacle crossing is achieved solely by the structure of the autonomous device, and specifically by the connecting arm that drives the first or second main body to move. Furthermore, during the obstacle crossing process, the connecting arm only needs to bear the weight of the first or second main body. This presents a simple structure and stable function compared to obstacle crossing methods in the prior art. The autonomous device is applicable to environments such as multi-story stair cleaning and glass cleaning. Alternating movement of the first and second main bodies can be achieved by the control method of the autonomous device, thus expanding the effective cleaning area.This reduces human intervention caused by a user carrying a cleaning robot to another floor, improving the user experience.

[0024] It should be understood that the preceding general description and the following detailed description are solely illustrative and explanatory and should not be interpreted as limiting this disclosure. Brief description of the drawings

[0025] The drawings, which are incorporated and form part of the specification, illustrate embodiments conforming to this disclosure and are used in conjunction with the specification to explain the principles of this disclosure. The drawings in the following description are only a few embodiments of this disclosure, and those with ordinary competence in the prior art can still derive further drawings from these drawings without creative effort. In the drawings:

[0026] [Fig. 1] is a structural diagram of a first main body and a second main body in the same plane according to an embodiment.

[0027] [Fig.2] is a structural diagram of a first main body and a second main body in different planes according to an embodiment.

[0028] [Fig.3] is a structural diagram of a first main body and a second main body on the same operating surface according to an embodiment.

[0029] [Fig.4] is another structural diagram of a first main body and a second main body on the same operating surface according to an embodiment.

[0030] [Fig.5] is a structural diagram of a first main body and a second main body on different operating surfaces according to an embodiment.

[0031] [Fig.6] is a structural diagram of telescopic legs extending according to an embodiment.

[0032] [Fig.7] is a flowchart of a method for controlling an autonomous device according to an embodiment.

[0033] [Fig.8] is a structural diagram of an autonomous device on an operating surface according to an embodiment.

[0034] [Fig.9] is a structural diagram of an autonomous device during an obstacle crossing process according to an embodiment.

[0035] [Fig. 10] is a diagram of an electronic structure of an autonomous device according to one embodiment.

[0036] Drawing references: first main body 100, first track 110, second main body 200, second track 210, connecting arm 300, first terminal part 310, second terminal part 320, first operating surface 410, second operating surface 420, telescopic foot 500, self-contained device 1000.

[0037] DETAILED DESCRIPTION

[0038] For clearer descriptions of the objectives, technical solutions, and benefits of this disclosure, this disclosure is described in detail below with reference to the drawings. Apparently, the embodiments described are only some embodiments of this disclosure, and not all possible embodiments. Based on the embodiments of this disclosure, all other embodiments achieved by persons with general skills in the prior art without creative effort shall fall within the scope of protection of this disclosure.

[0039] The terms used in the embodiments of this disclosure are intended to describe particular embodiments only and are not intended to limit this disclosure. As used in the embodiments and accompanying claims of this disclosure, "a plurality of" generally includes at least two. Other qualifiers are similar.

[0040] It should be understood that although the terms "first," "second," "third," and similar terms may be used in embodiments of this disclosure for descriptive purposes, this description should not be limited to these terms. These terms are used solely to distinguish the described objects from one another. For example, "first" may also be referred to as "second," and similarly, "second" may also be referred to as "first," without departing from the scope of the embodiments of this disclosure. Furthermore, the terms "first," "second," "third," and similar terms are used herein for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] It should be understood that the term "and / or" as used here is simply a description of an association relationship between associated objects, indicating that three possible relationships can exist. For example, "A and / or B" can represent: the existence of A alone, the simultaneous existence of A and B, and the existence of B alone. Furthermore, the character " / " here generally indicates an "or" relationship between the associated objects before and after the / . The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0042] In the description of this disclosure, it should be noted that, unless otherwise clearly specified and defined, the term "connect" should be understood in its broadest sense. For example, it may refer to a fixed connection, a detachable connection, or an integrated connection; or a mechanical or electrical connection; or a direct or indirect connection via an intermediary. For persons with general knowledge of the prior art, the specific meanings of the aforementioned terms in this disclosure may be understood under specific conditions.

[0043] It should further be noted that the terms "include", "comprise", or any variation thereof, are intended to encompass a non-exclusive inclusion, so that a good or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed or inherent in that good or apparatus. Without further limitation, an element defined by the expression "comprising a..." or "including a..." does not exclude the presence of other identical elements in the merchandise or device comprising the element.

[0044] In the prior art, cleaning devices on the market are generally unable to overcome or climb relatively high obstacles. Furthermore, they can usually only clean a single surface. For rooms with a multi-level layout, since the sweeping robot is unable to climb stairs, it is unable to clean them, let alone traverse them to clean the different levels of the rooms. Therefore, it is necessary to solve the above problems to reduce the human intervention required by a user carrying a sweeping robot to another floor, thereby minimizing the degradation of the user experience. Moreover, the effective cleaning area is extended by cleaning the surfaces of the stairs.In existing technical solutions, a tracked structure with relatively high climbing ability is used, and an extension arm provides support only when the track crosses an obstacle. Meanwhile, the extension arm must support the entire machine body. Therefore, the support arm's rotary joint motor must have a relatively high torque. Since the machine body's position will change when the entire machine crosses the obstacle, the support point must move accordingly. Because the support arm lifts the main unit, the machine's center of gravity will exceed the support arm's reach, causing the machine to tip over. The implementation of adding a drive mechanism (a wheel or a track) will make controlling the entire machine complex..

[0045] The embodiments of this disclosure provide a self-contained device. The self-contained device comprises: a first main body, which includes a first cleaning module disposed at the bottom of the first main body; a second main body, which includes a second cleaning module disposed at the bottom of the second main body; and a connecting arm, where the two ends of the connecting arm are respectively movably connected to the first main body and the second main body. When the first main body and the second main body are on the same plane, the connecting arm is configured to support the first and second main bodies to move on the same plane; when the first and second main bodies are not on the same plane, the connecting arm is configured to support the first and second main bodies to move alternately.

[0046] The autonomous device according to this disclosure does not need to be equipped with any additional wheels or tracks. Obstacle crossing is achieved solely by the structure of the autonomous device, and specifically by the connecting arm that drives the first or second main body to move. Furthermore, during the obstacle crossing process, the connecting arm only needs to bear the weight of the first or second main body. This presents a simple structure and stable function compared to a prior art obstacle crossing method. The autonomous device is applicable to environments such as multi-level stair cleaning and window cleaning. Alternating movement of the first and second main bodies can be achieved by the control method of the autonomous device, thus extending the effective cleaning area.This reduces human intervention caused by a user carrying a sweeping robot to another floor, improving the user experience.

[0047] For this purpose, optional embodiments of this disclosure will be described in detail below with reference to the drawings.

[0048] A first aspect of the embodiments of the present disclosure provides a self-contained device 1000, which includes: a first main body 100, a second main body 200, and a connecting arm 300.

[0049] The autonomous device 1000 in this disclosure may be a cleaning robot, an integrated sweeping and cleaning robot, or similar. The autonomous device 1000 comprises at least one mobile platform and a cleaning module disposed at the bottom of the mobile platform. The mobile platform may be configured to move automatically in a target direction on an operating surface. The operating surface may be a surface to be cleaned by the autonomous device 1000. In some embodiments, the autonomous device 1000 may be a cleaning robot, and in this case, the autonomous device 1000 operates on the floor, and the floor serves as the operating surface. The autonomous device 1000 may also be a window cleaning robot, and in this case, the autonomous device 1000 operates on the exterior surface of a window of a building, and the window serves as the operating surface.The autonomous device 1000 can also be a pipe cleaning robot, in which case the autonomous device 1000 operates on the inner surface of a pipe, and the inner surface of the pipe serves as the operating surface. The following description in this disclosure is illustrated using a cleaning robot as an example.

[0050] In order to describe the behavior of the autonomous device 1000 more clearly, directions are defined with respect to the autonomous device 1000 as follows: a The diagram consists of a transverse axis Y, a front-to-back axis X, and a perpendicular central axis Z. A direction opposite to the direction of an arrow along the front-to-back axis X—that is, a direction in which the autonomous device 1000 moves backward during normal operation—is marked as "backward," and the direction of the arrow along the front-to-back axis X—that is, a direction in which the autonomous device 1000 moves forward during normal operation—is marked as "forward." The direction of the front-to-back axis X is a first direction. The transverse axis Y is substantially in the direction of the width of the autonomous device 1000. A direction opposite to the direction of an arrow along the transverse axis Y is marked as "leftward," and the direction of the arrow along the transverse axis Y is marked as "rightward." The direction of the transverse axis Y is a third direction.The perpendicular Z-axis extends in the vertical direction of the autonomous device. A direction opposite to the direction of an arrow along the perpendicular Z-axis is marked as "downward," and the direction of the arrow along the perpendicular Z-axis is marked as "upward." The direction of the perpendicular Z-axis is a second direction. As shown in [Fig. 1], the first main body 100 includes a first cleaning module. The first cleaning module is located at the bottom of the first main body, directly opposite the working surface, and is configured to clean the working surface. The first cleaning module can be a dry cleaning module, a wet cleaning module, or a drying module. The second main body 200 includes a second cleaning module. The second cleaning module is located at the bottom of the second main body and is directly opposite the working surface.The second cleaning module can be a dry cleaning module or a wet cleaning module and is configured to clean the operating surface.

[0051] The two ends of the connecting arm 300 are respectively movably connected to the first main body 100 and the second main body 200, such that there is always a connection between the first main body 100 and the second main body 200. The connecting arm is configured to support the first and second main bodies so that they move in the same plane. When the first and second main bodies 100 and 200 are in the same plane, the connecting arm 300 is configured to support them so that they move in the same plane; when the first and second main bodies 100 and 200 are not in the same plane, the connecting arm 300 is configured to support them so that they move alternately.

[0052] More specifically, when the first main body 100 and the second main body 200 are in the same plane, they can move synchronously across the work surface. As illustrated in [Fig. 1], on the work surface, the first main body 100 and the second main body 200, when connected by the linking arm 300, can be considered as a single unit for cleaning the work surface. For example, the first main body 100 is a dry cleaning module, such as a dust extraction module, and the second main body 200 is a wet cleaning module, such as an integrated washing and cleaning module. The first main body 100 and the second main body 200 are arranged in a front-to-back configuration to clean the work surface.

[0053] When the first main body 100 and the second main body 200 are in different planes, as illustrated in [Fig. 2], the connecting arm 300 causes the second main body 200 to leave the original working surface. In this case, the second main body 200 and the first main body 100 are in different planes. More precisely, the second main body 200 is caused by the connecting arm 300 to leave the working surface with the joint of the connecting arm 300 acting as a pivot, thus achieving a state where only the first main body 100 is left separately on the working surface. In this case, the first main body 100 can still move freely on the working surface. After lifting the second main body 200, the connecting arm 300 can transport the second main body 200 from one side of an obstacle to the other side of the obstacle, in order to overcome an obstacle on the working surface.Furthermore, the 300 link arm allows the first main body 100 and the second main body 200 to move alternately on the work surface.

[0054] In certain embodiments, a lateral surface of the first main body 100 is provided with a first track 110. The first track 110 extends along the length of a lateral wall of the first main body 100. That is to say, the first track 110 extends in the first direction. A lateral surface of the second main body 200 is provided with a second track 210. The second track 210 extends along the length of a lateral wall of the second main body 200. That is to say, the second track 210 extends in the first direction. The first track 110 and the second track 210 are respectively movably connected to the two ends of the connecting arm 300 and are configured to allow the first main body 100 and the second main body 200 to move alternately and stably relative to each other.

[0055] In other embodiments, the first track 110 extends in the direction of the width of the side wall of the first main body 100. That is to say, the The first track 110 extends in the second direction. The second track 210 extends along the width of the side wall of the second main body 200. That is, the second track 210 extends in the second direction. The two ends of the connecting arm 300 move in the second direction along the first track 110 and the second track 210, respectively.

[0056] In other embodiments, the first track 110 or the second track 210 extends in the first direction, and the second track 210 or the first track 110 extends in the second direction, where the first direction is substantially perpendicular to the second direction. It may be understood that in the embodiments of this disclosure, being substantially perpendicular, for example, means that the angle between the two directions is greater than or equal to 75° and less than or equal to 105°, such as 85°, 90°, 95°, and so on.

[0057] In certain embodiments, the connecting arm 300 comprises a first end portion 310 and a second end portion 320. The first end portion 310 and the second end portion 320 are movably arranged in the first track 110 and the second track 210, respectively, and move translationally in the extension direction of the first track 110 or the second track 210. The connecting arm 300 can rotate circumferentially with respect to the first main body 100 and the second main body 200. Depending on the situation in which the first main body 100 remains stationary, the second main body 200 moves with respect to the first main body 100. In this case, the first end portion 310 moves translationally in the first track 110 to ensure that the center of gravity of the second main body 200 remains stable during the movement.As the second main body 200 gradually moves away from the operating surface where the first main body 100 is located, the connecting arm 300 rotates in synchronization with the movement of the second main body 200, with the first end section 310 as its center of rotation. Similarly, to adjust the stability of the second main body 200 during movement, the second end section 320 can move freely within the second track 210, thereby changing the pivot point of either the first main body 100 or the second main body 200, and simultaneously altering the distance between the first and second main bodies 200.Therefore, it can be assured that the second main body 200 maintains a stable center of gravity relative to the first main body 100 during movement, thus preventing the device from tipping over or the inability to complete the alternating movement of the first main body 100 and the second main body 200 due to an unstable center of gravity.

[0058] In some embodiments, the first track 110 extends in the first direction along the lateral surface of the first main body 100, the second track 210 extends in the second direction along the lateral surface of the second main body 200, and the height of the first main body 100 and the height of the second main body 200 in the second direction are different; or the first track 110 extends in the second direction along the lateral surface of the first main body 100, the second track 210 extends in the first direction along the lateral surface of the second main body 200, and the height of the first main body 100 and the height of the second main body 200 in the second direction are different. The first direction is substantially perpendicular to the second direction.

[0059] In certain embodiments, depending on the situation in which the connecting arm 300 is movably connected to the first main body 100 and the second main body 200, as illustrated in [Fig. 1], when the first main body 100 and the second main body 200 are on the same operating surface and the first main body 100 and the second main body 200 are placed side by side on the operating surface, if one-third of the projection area of ​​the first main body 100 and the second main body 200 in the second direction lies outside the edge of the operating surface, the position of the self-contained device 1000 on the operating surface is unstable. In order to make the position of the self-contained device 1000 stable on the operating surface for cleaning the operating surface, as illustrated in [Fig. 1], the following is required:[3] The lateral surface of the first main body 100 or the second main body 200 can be in contact with the working surface, so that the position of the autonomous device 1000 remains stable on the working surface. In this case, the height of the first main body 100 and the height of the second main body 200 in the second direction are different, and the autonomous device 1000 can move on the working surface in a third direction to clean the working surface.

[0060] In certain embodiments, the self-contained device 1000 can move up or down the steps. In this embodiment, a downward path is used as an example for the description. As illustrated in [Fig. 4], when the first main body 100 and the second main body 200 are on the same plane, they can clean a first work surface 410 simultaneously. After the first main body 100 and the second main body 200 have finished cleaning the first work surface 410, the second main body 200 can descend from the first work surface 410 to a second work surface 420 with the support of the connecting arm 300, and then clean the second work surface 420.

[0061] More specifically, the second end part 320 moves to a position having a suitable center of gravity in the second track 210, so that the second main body 200 is lifted away from the first working surface 410 and rotates circumferentially around the first main body 100. The second end part 320 of the connecting arm 300 rotates circumferentially with the first end part 310 as its center of rotation. As the position of the second main body 200 changes, the first end part 310 and the second end part 320 move respectively along the first track 110 and the second track 210, so that the center of gravity of the second main body 200 remains stable during the rotation around the first main body 100. Furthermore, as illustrated in [Fig.[5] The second main body 200 is moved from the first working surface 410 to the second working surface 420. After the second main body 200 has been transported to the second working surface 420 by the connecting arm 300, the first main body 100 and the second main body 200 can move laterally on their respective working surfaces to clean the first working surface 410 and the second working surface 420 respectively. Once the cleaning is complete, the first main body 100 can be transported to the second working surface 420 by the connecting arm 300 in the same manner, so that the first main body 100 and the second main body 200 jointly clean the second working surface 420.Furthermore, after the first main body 100 and the second main body 200 have respectively finished cleaning the first work surface 410 and the second work surface 420, the first main body 100 can also be moved to the next work surface of the second work surface, so that the first main body 100 and the second main body 200 move alternately on the steps, and the downward movement of the autonomous device 1000 on the steps is carried out.

[0062] In some embodiments, the connecting arm 300 is of telescopic structure and is configured to adjust the distance between the first main body 100 and the second main body 200.

[0063] In actual application, for example, in a staged cleaning situation, the first main body 100 and the second main body 200 alternately clean the work surfaces. More specifically, as illustrated in [Fig. 4], when the first main body 100 and the second main body 200 are in the same plane, they can clean a first work surface 410 simultaneously. After the first main body 100 and the second main body 200 have finished cleaning the first work surface 410, the second body The main body 200 can be lowered from the first work surface 410 to a second work surface 420 with the support of the connecting arm 300, and then the second work surface 420 can be cleaned. In the process of lowering the second main body 200 from the first work surface 410 to the second work surface 420, if the step is relatively high and the connecting arm 300 cannot transport the second main body 200 to the second work surface 420, it is necessary to use the telescopic function of the connecting arm 300 to extend the connecting arm 300, so that the second main body 200 can be transported to the second work surface 420 by the connecting arm 300. As illustrated in [Fig.[5] After the second main body 200 is transported to the second working surface 420 by the connecting arm 300, the first main body 100 and the second main body 200 can move in the third direction on their respective working surfaces to clean the first working surface 410 and the second working surface 420 respectively. After cleaning, the first main body 100 can also be transported to the second working surface 420 by the connecting arm 300 in the same way, so that the first main body 100 and the second main body 200 jointly clean the second working surface 420.

[0064] In some embodiments, the first main body 100 or the second main body 200 includes telescopic feet 500. As illustrated in [Fig.6], the telescopic feet 500 are arranged telescopically at the bottom of the first main body 100 or the second main body 200 and are configured to help the first main body 100 and the second main body 200 to move alternately.

[0065] In other embodiments, the telescopic feet 500 can be arranged at the bottom of the first main body 100 and the second main body 200 and configured to help the first main body 100 and the second main body 200 to move alternately.

[0066] More specifically, in the process of lowering the second main body 200 from the first working surface 410 to the second working surface 420, it may happen that the connecting arm 300, even after being extended, is still unable to transport the second main body 200 to the second working surface 420 due to an excessive step height. In this case, the telescopic legs 500 located at the bottom of the first main body 100 and the second main body 200 must be used to reduce the transport distance of the second main body 200. That is, when the second main body 200 moves to a position parallel to the second working surface 420, the telescopic legs 500 of the second main body 200 come into contact with the second working surface. 420 before the second main body 200. This reduces the travel distance required to transport the second main body 200 from the first work surface 410 to the second work surface 420, so that the second main body 200 is safely transported from the first work surface 410 to the second work surface 420, thus preventing the self-contained device 1000 from getting stuck on the edge of the step or tipping over completely during the transport process.

[0067] Furthermore, when the second main body 200 remains stable relative to the second work surface 420, the telescopic legs 500 gradually retract into the second main body 200. When the telescopic legs 500 retract to the maximum extendable distance of the connecting arm 300, the retraction speed of the telescopic legs 500 slows down.Meanwhile, the connecting arm 300 moves in the first track 110 and the second track 210 to allow the first main body 100 to move around the second main body 200, thus transporting the first main body 100 to the next work surface.

[0068] In certain embodiments, the lower surfaces of the first main body 100 and the second main body 200 are further equipped with universal wheels. The universal wheels may be Mecanum wheels, thus enabling the omnidirectional movement function of the first main body 100 and the second main body 200. More specifically, the Mecanum wheels, with their special design and structure, allow the first main body 100 and the second main body 200 equipped with Mecanum wheels to move freely in any required direction without changing the direction of the first main body 100 and the second main body 200 themselves. Regardless of the work surface on which the autonomous device 1000 is located, the universal wheels can allow the autonomous device 1000 to move freely relative to the work surface.

[0069] In certain embodiments, the first main body 100 or the second main body 200 further comprises a suction disc. The suction disc is disposed on the lateral surface of the first main body 100 or the second main body 200. When the self-contained device 1000 is in an up-and-down movement scenario on the steps, the suction disc can attach the first main body 100 or the second main body 200 to the lateral surface of the step, which allows the first main body 100 or the second main body 200 to be more stable on a working surface and ensures that the first main body 100 and the second main body 200 can move alternately in a stable manner to perform the up- or down-movement action on the steps.

[0070] In other embodiments, the suction disc may be an electromagnetic suction disc. The lateral surfaces and the bottoms of the first main body 100 and the second main body 200 may each be equipped with a suction disc. During the process in which the self-contained device 1000 is applied to cleaning steps or a vertical glass surface, the suction disc may allow the first main body 100 or the second main body 200 to be more stable on the working surface, thus ensuring that the first main body 100 and the second main body 200 can move alternately in a more stable manner.

[0071] In certain embodiments, the first main body 100 and / or the second main body 200 include a cleaning portion. The cleaning portion is disposed on the lateral surface of the first main body 100 and / or the second main body 200 and is configured to clean a vertical contact surface. When the autonomous device 1000 is in an up-and-down movement scenario on the steps, the cleaning portion can come into contact with the lateral surfaces of the steps, so that the first main body 100 and the second main body 200 clean the lateral surfaces of the steps as they move up or down the steps. This allows three surfaces of the steps to be cleaned and increases the cleaning area of ​​the autonomous device 1000.

[0072] The autonomous device 1000 according to this disclosure can be applied not only to the scenario of upward and downward movement on steps, but also to application scenarios such as obstacle avoidance on a plane, cleaning of vertical walls and cleaning of doors and windows.

[0073] In certain embodiments, as illustrated in [Fig. 7], some embodiments of this disclosure provide a method for controlling a self-contained device 1000. The self-contained device 1000 comprises a first main body 100, a second main body 200, and a connecting arm 300. The control method comprises the following steps:

[0074] At step S102, the autonomous device 1000 is controlled to cross an obstacle, so that the first main body 100 and the second main body 200 are on different operating surfaces;

[0075] In step S104, the autonomous device 1000 is controlled to move in a third direction, and the different operating surfaces are cleaned by a first cleaning module and a second cleaning module. In some embodiments, step S102 includes the following step:

[0076] In step S1021, the connecting arm 300 is controlled to move along the first main body 100 and / or the second main body 200, so that the first main body 100 moves from a first operating surface 410 to a second operating surface 420, where the first operating surface 410 and the second operating surface 420 are not in the same plane, or the first operating surface 410 and the second operating surface 420 are in the same plane.

[0077] As illustrated in [Fig.1], the linking arm 300 can move along the first main body 100 and the second main body 200 to change the distance between the first main body 100 and the second main body 200.

[0078] In certain embodiments, as illustrated in [Fig. 4] and [Fig. 5], the first working surface 410 and the second working surface 420 are not in the same plane. After the first main body 100 and the second main body 200 have finished cleaning the first working surface 410, the second main body 200 can move downward from the first working surface 410 to the second working surface 420 with the support of the connecting arm 300, and then clean the second working surface 420. The specific implementation of the self-contained device 1000 moving downward on the step has been described in detail above, and will not be repeated here.

[0079] In certain embodiments, as illustrated in [Fig. 8], when the self-contained device 1000 is used to clean a working surface with an obstacle, for example, in a domestic scenario where a movable door may be present between the living room and the kitchen, because a sliding track of the movable door is arranged on the working surface, the working surface is divided into a first working surface 410 and a second working surface 420. After the self-contained device 1000 has finished cleaning the first working surface 410, the self-contained device 1000 cannot move translationally from the first working surface 410 to the second working surface 420 due to the blocking of the sliding track. In this case, as illustrated in [Fig. 8], the device is unable to move translationally from the first working surface 410 to the second working surface 420.[9], with the support of the link arm 300, the first main body 100 can be lifted away from the first working surface 410 and rotate circumferentially around the second main body 200. In this case, the second main body 200 can continue moving towards the obstacle, so that the first main body 100 crosses the obstacle. In response to the first main body 100 crossing the obstacle, it can be placed on the second working surface 420. In an obstacle crossing environment illustrated in [Fig. 9], the first working surface 410 and the second working surface 420 are substantially in the same plane.

[0080] In some embodiments, step S1021 further includes the following step:

[0081] At step S10211, the link arm 300 is controlled to rotate and / or move translationally along a first track 110 of the first main body 100; and / or the link arm 300 is controlled to rotate and / or move translationally along a second track 210 of the second main body 200.

[0082] In certain embodiments, as illustrated in [Fig. 2], the first end portion 310 and the second end portion 320 of the connecting arm 300 are respectively movable within the first track 110 and the second track 210 and move translationally in the extension direction of the first track 110 or the second track 210. The connecting arm 300 can rotate circumferentially with respect to the first main body 100 and the second main body 200. Depending on the situation in which the first main body 100 remains stationary, the second main body 200 moves with respect to the first main body 100. In this case, the first end portion 310 moves within the first track 110 to ensure that the center of gravity of the second main body 200 remains stable during the movement.As the second main body 200 gradually moves away from the work surface where the first main body 100 is located, the connecting arm 300 rotates in synchronization with the movement of the second main body 200 with the first terminal part 310 as the center of rotation.

[0083] Similarly, in order to adjust the stability of the second main body 200 during movement, the second terminal part 320 can move within the second track 210, thereby modifying the pivot of the first main body 100 or the pivot of the second main body 200 and simultaneously altering the distance between the first main body 100 and the second main body 200. Consequently, it can be ensured that the second main body 200 maintains a stable center of gravity relative to the first main body 100 during movement, thus preventing the device from tipping over or the inability to complete the alternating movement of the first main body 100 and the second main body 200 due to an unstable center of gravity.

[0084] In some embodiments, step S1021 further includes the following step:

[0085] At step S10212, the telescopic legs 500 of the first main body 100 and / or the second main body 200 are controlled to extend and be supported on the first working surface 410 and / or the second working surface 420.

[0086] As illustrated in [Fig. 6], in the process of moving the second main body 200 downwards from the first working surface 410 to the second working surface 420, it may happen that the connecting arm 300, even after having been Even when extended, it still cannot transport the second main body 200 to the second working surface 420 due to excessive step height. In this case, the telescopic legs 500 must be used to reduce the transport distance of the second main body 200. When the second main body 200 moves to a position parallel to the second working surface 420, the telescopic legs 500 of the second main body 200 make contact with the second working surface 420 before the second main body 200.This reduces the travel distance required to transport the second main body 200 from the first work surface 410 to the second work surface 420, so that the second main body 200 is safely transported from the first work surface 410 to the second work surface 420, thus preventing the autonomous device 1000 from getting stuck on the edge of the step or tipping over completely during the transport process.

[0087] In some embodiments, step S1021 further includes the following step:

[0088] At step S10213, the telescopic feet 500 of the first main body 100 and / or the second main body 200 are controlled to retract into the first main body 100 and / or the second main body 200.

[0089] When the telescopic legs 500 of the second main body 200 are in stable contact with the second working surface 420 and the first main body 100 remains stable relative to the first working surface 410, the telescopic legs 500 gradually retract into the second main body 200. During this time, the connecting arm 300 moves in the first track 110 and the second track 210 to allow the first main body 100 to move around the second main body 200, thus transporting the first main body 100 to the next working surface.

[0090] In some embodiments, step S1021 further includes the following step:

[0091] In step S10214, a suction disc of the first main body 100 and / or the second main body 200 is checked to be attached to a vertical plane.

[0092] The suction disc is disposed on the lateral surface of the first main body 100 or the second main body 200. When the autonomous device 1000 is in a scenario of moving up and down on the steps, the suction disc can fix the first main body 100 or the second main body 200 to the lateral surface of the step, which allows the first main body 100 or the second main body 200 to be more stable on an operating surface and ensures that the first main body 100 and the second main body 200 can move alternately in a stable manner to perform the action of moving up or down on the steps.

[0093] In certain embodiments, as illustrated in [Fig. 5], at step S104, after the second main body 200 has been transported to the second working surface 420 by the connecting arm 300, the autonomous device 1000 can move laterally on the working surface, i.e., move in the third direction, so that the first main body 100 and the second main body 200 clean the first working surface 410 and the second working surface 420 respectively. Once the cleaning is complete, the first main body 100 is transported to the second working surface 420 by the connecting arm 300 in the same manner, so that the first main body 100 and the second main body 200 jointly clean the second working surface 420.

[0094] In some embodiments, the control method further comprises the following step:

[0095] In step S106, the autonomous device 1000 is controlled to move in the third direction, and an operating surface in a vertical direction is cleaned by a cleaning part of the first main body 100 and / or the second main body 200.

[0096] More specifically, the cleaning part is disposed on the lateral surface of the first main body 100 and / or the second main body 200 and is configured to clean a vertical contact surface. As illustrated in [Fig. 5] and [Fig. 6], when the self-contained device 1000 is moving up and down the steps, the cleaning part can come into contact with the lateral surfaces of the steps. Furthermore, when the telescopic legs 500 extend or retract, the cleaning part moves in the second direction to clean the lateral surfaces of the steps.Alternatively, when the second main body 200 is stably placed on the second working surface 420, the autonomous device 1000 can move in the third direction, so that the cleaning part moves in the third direction to clean the lateral surfaces of the steps in the vertical direction. This allows three surfaces of the steps to be cleaned and increases the cleaning area of ​​the autonomous device 1000.

[0097] The autonomous device 1000 and its control method according to this disclosure can be applied not only to the scenario of moving up and down stairs, but also to application scenarios such as obstacle avoidance on a plane, cleaning vertical walls, and cleaning doors and windows. Compared to the prior art, the above solutions in the embodiments of this disclosure have a simple structure and stable function. Obstacle crossing can be achieved through the cooperation of the The first main body is 100, the second main body 200, and the connecting arm 300, which allows for an extended effective cleaning area. This reduces the need for human intervention by a user carrying a cleaning robot to another floor, thus improving the user experience.

[0098] For the specific structure, operating principle and beneficial effects related to the autonomous device and the method of controlling an autonomous device according to the embodiments of this disclosure, reference may be made to the autonomous device and the method of controlling an autonomous device described in any of the above embodiments, which will not be repeated here.

[0099] Certain embodiments of this disclosure provide a self-contained device, which includes a processor and memory. The memory stores computer program instructions executable by the processor, and the processor, when executing the computer program instructions, is made to perform the steps of the method according to any one of the above embodiments.

[0100] Certain embodiments of this disclosure provide a computer-readable, non-transient storage medium for storing computer program instructions. When loaded and executed by a processor, the computer program instructions cause the processor to perform the steps of the method according to any one of the above embodiments.

[0101] As illustrated in [Fig. 10], the autonomous device may include a processing unit (such as a central processing unit or a graphics processing unit) 1001. The processing unit can perform various appropriate actions and processing according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1008 into a random access memory (RAM) 1003. Various programs and data necessary for the operation of the autonomous device are also stored in the RAM 1003. The processing unit 1001, the ROM 1002, and the RAM 1003 are connected to each other via a bus 1004. An input / output (LO) interface 1005 is also connected to the bus 1004.

[0102] In general, the following devices can be connected to the I / O interface 1005: an input device 1006 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer or a gyroscope; an output device 1007 including, for example, a liquid crystal display (LCD), a speaker or a vibrator; a storage device 1008 including, for example, a hard drive; and a communication device 1009. The communication device 1009 can enable the autonomous device to perform wireless or wired communication with other devices to exchange data.

[0103] The flowcharts and block diagrams in the drawings illustrate the architecture, functionality, and operations that can be implemented for the computer program system, method, and product according to various embodiments of this disclosure. In this regard, each block in the flowcharts or block diagrams can represent a module, program segment, or portion of code, which comprises one or more executable instructions configured to implement specific logical functions. It should also be noted that in some alternative implementations, the functions shown in the blocks may occur in a different order than shown in the drawings. For example, two blocks shown consecutively may actually execute in parallel, or sometimes in reverse order, depending on the functionality involved.Furthermore, it should be noted that each block in block diagrams and / or flowcharts, and the combination of blocks in block diagrams and / or flowcharts, can be implemented using a specialized hardware system performing the specified functions or operations, or a combination of specialized hardware and computer instructions.

[0104] Finally, it should be noted that the embodiments in the specification are described progressively, and each embodiment focuses on the differences from the other embodiments. Reference should be made to one another for identical or similar parts. Since the system or apparatus disclosed in the embodiments corresponds to the method disclosed in the embodiments, the description is relatively simple, and reference can be made to the description of the method part.

[0105] The above embodiments are used solely to illustrate the technical solutions of this disclosure, but are not intended to limit them; although this disclosure has been described in detail with reference to previous embodiments, those of ordinary competence in the art should understand that they may still modify the technical solutions recorded in previous embodiments, or make equivalent substitutions for some of the technical features; and such modifications or substitutions do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions in the embodiments of this disclosure.

Claims

Demands

1. Autonomous cleaning device (1000), comprising: A first main body (100), comprising a first cleaning module disposed at the bottom of the first main body (100); a second main body (200), comprising a second cleaning module disposed at the bottom of the second main body (200); and a connecting arm (300), the two ends of the connecting arm (300) being respectively movably connected to the first main body (100) and the second main body (200), characterized in that when the first main body (100) and the second main body (200) are in the same plane, the connecting arm (300) is configured to support the first main body (100) and the second main body (200) in order to move in the same plane;when the first main body (100) and the second main body (200) are not in the same plane, the connecting arm (300) is configured to support the first main body (100) and the second main body (200) in order to move alternately.

2. Self-contained cleaning device (1000) according to claim 1, characterized in that a lateral surface of the first main body (100) is provided with a first track (110); a lateral surface of the second main body (200) is provided with a second track (210); the first track (110) and the second track (210) are configured to be movably connected to the two ends of the connecting arm (300).

3. Self-contained cleaning device (1000) according to claim 2, characterized in that the first track (110) extends in a first direction or extends in a second direction on the lateral surface of the first main body (100); and / or the second track (210) extends in the first direction or extends in the second direction on the lateral surface of the second main body (200); the first direction is substantially perpendicular to the second direction.

4. Autonomous cleaning device (1000) according to claim 2, characterized in that the first track (110) extends in a first direction on the lateral surface of the first main body (100), the second track (210) extends in a second direction on the lateral surface of the second main body (200), and a height of the first main body (100) and a height of the second main body (200) in the second direction are different; or the first track (110) extends in the second direction on the lateral surface of the first main body (100), the second track (210) extends in the first direction on the lateral surface of the second main body (200), and the height of the first main body (100) and the height of the second main body (200) in the second direction are different; the first direction is substantially perpendicular to the second direction.

5. Autonomous cleaning device (1000) according to any one of claims 2 to 4, characterized in that the connecting arm (300) comprises: a first end part (310), configured to move along the first track (110); and a second end part (320), configured to move along the second track (210), in which, in response to the movement of the first end part (310) along the first track (110) and / or the movement of the second end part (320) along the second track (210), the first main body (100) and the second main body (200) move alternately.

6. Autonomous cleaning device (1000) according to claim 5, characterized in that the first end part (310) moves translationally or rotates in the first track (110); and / or the second end part (320) moves translationally or rotates in the second track (210).

7. Autonomous cleaning device (1000) according to claim 1, characterized in that the connecting arm (300) is of telescopic structure and is configured to adjust a distance between the first main body (100) and the second main body (200).

8. Autonomous cleaning device (1000) according to claim 1, characterized in that it further comprises: telescopic legs (500), arranged telescopically at the bottom of the first main body (100) and / or the second main body (200) and configured to assist the first main body (100) and the second main body (200) in moving alternately.

9. Self-contained cleaning device (1000) according to claim 1, characterized in that it further comprises: a suction disc, disposed on the lateral surface of the first main body (100) and / or the second main body (200) and configured to allow the first main body (100) and the second main body (200) to move alternately in a stable manner.

10. Self-contained cleaning device (1000) according to claim 1, characterized in that it further comprises: a cleaning part, disposed on the lateral surface of the first main body (100) and / or the second main body (200) and configured to clean an operating surface in a vertical direction.

11. Self-contained cleaning device (1000) according to claim 1, characterized in that the first cleaning module is a dry cleaning module, a wet cleaning module or a drying module; the second cleaning module is a dry cleaning module, a wet cleaning module or a drying module.

12. A method for controlling an autonomous cleaning device (1000), characterized in that the autonomous cleaning device (1000) is the autonomous cleaning device (1000) according to any one of claims 1 to 11, and the method comprises: controlling the autonomous cleaning device (1000) to cross an obstacle, so that the first main body (100) and the second main body (200) are on different operating surfaces; and controlling the autonomous cleaning device (1000) to move in a third direction, and cleaning the different operating surfaces by the first cleaning module and the second cleaning module.

13. Method of controlling the autonomous cleaning device (1000) according to claim 12, characterized in that controlling the autonomous cleaning device (1000) to overcome the obstacle so that the first main body (100) and the second main body (200) are on different operating surfaces comprises: controlling the connecting arm (300) to move along the first main body (100) and / or the second main body (200), so that the first main body (100) moves from a first operating surface (410) to a second operating surface (420), wherein the first operating surface (410) and the second operating surface (420) are not in the same plane, or the first operating surface (410) and the second operating surface (420) are in the same plane.

14. Method of controlling the autonomous cleaning device (1000) according to claim 13, characterized in that controlling the connecting arm (300) to move along the first main body (100) and / or the second main body (200) comprises: controlling the connecting arm (300) to rotate and / or move translationally along the first track (110) of the first main body (100); and / or controlling the connecting arm (300) to rotate and / or move translationally along the second track (210) of the second main body (200).

15. Method of controlling the autonomous cleaning device (1000) according to claim 13, characterized in that controlling the autonomous cleaning device (1000) to overcome the obstacle so that the first main body (100) and the second main body (200) are on different operating surfaces further comprises: controlling the telescopic legs (500) of the first main body (100) and / or the second main body (200) to extend and be supported on the first operating surface (410) and / or the second operating surface (420).

16. Method of controlling the autonomous cleaning device (1000) according to claim 15, characterized in that controlling the autonomous cleaning device (1000) to overcome the obstacle such that the first main body (100) and the second main body (200) are on different operating surfaces also includes: controlling the telescopic legs (500) to retract.

17. Method of controlling the autonomous cleaning device (1000) according to claim 13, characterized in that controlling the autonomous cleaning device (1000) to overcome the obstacle so that the first main body (100) and the second main body (200) are on different operating surfaces further comprises: controlling the suction disc of the first main body (100) and / or the second main body (200) to be attached to a vertical plane.

18. Method of controlling the autonomous cleaning device (1000) according to claim 12, characterized in that it further comprises: controlling the autonomous cleaning device (1000) to move in the third direction, and cleaning the operating surface in the vertical direction by the cleaning part of the first main body (100) and / or the second main body (200).

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